+ python -m lidar_slam --no-model /working/c25c745b-27eb-4d15-8486-e0e515b02da3 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/c25c745b-27eb-4d15-8486-e0e515b02da3 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 0.017105681 Adjusted end_distance from 9.223372036854776e+18 to 417.627105681 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.017105681 meters 0.10625713824626479 Centerline is valid? [0, False] SLAMing on 0.047105680999999996 meters 0.10475907203953574 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.03 [[ 0.99564061 -0.06638262 -0.0655219 0.07910558] [ 0.06413349 0.99729701 -0.03585483 0.01742459] [ 0.06772494 0.03149637 0.99720675 -0.02558148] [ 0. 0. 0. 1. ]] SLAMing on 0.077105681 meters 0.10527927227361125 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.06 [[ 0.9975986 -0.04312209 -0.05419882 0.07020394] [ 0.04033216 0.99785533 -0.05155639 0.00603451] [ 0.0563058 0.04924662 0.99719829 -0.0589466 ] [ 0. 0. 0. 1. ]] SLAMing on 0.10710568099999998 meters 0.10755801341196251 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.00, Z:-0.08 [[ 9.99233293e-01 -2.45780234e-02 -3.04753638e-02 8.86349486e-02] [ 2.40709049e-02 9.99567448e-01 -1.68970114e-02 -5.58835125e-04] [ 3.08774767e-02 1.61504868e-02 9.99392687e-01 -7.91687625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.13710568099999998 meters 0.14643119661835607 Centerline is valid? [False, False] Translation: X:0.14, Y:0.00, Z:-0.07 [[ 0.99444491 -0.09343677 -0.04846543 0.13781167] [ 0.09519865 0.99482821 0.03541244 0.00402764] [ 0.04490595 -0.03982957 0.99819691 -0.07243692] [ 0. 0. 0. 1. ]] SLAMing on 0.16710568099999998 meters 0.1922233467509 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:-0.04 [[ 0.99365783 -0.10325424 -0.04452736 0.21955331] [ 0.10499745 0.99371669 0.03876441 0.02639032] [ 0.04024499 -0.04319382 0.9982558 -0.04067323] [ 0. 0. 0. 1. ]] SLAMing on 0.19710568099999998 meters 0.14765501681692184 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.00, Z:-0.05 [[ 0.9941587 -0.09562296 -0.05004718 0.23044681] [ 0.09949413 0.99168448 0.08162608 -0.00140045] [ 0.04182568 -0.08612868 0.99540568 -0.04637313] [ 0. 0. 0. 1. ]] SLAMing on 0.22710568099999998 meters 0.1816090449496132 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.00, Z:-0.02 [[ 0.99647656 -0.07403913 -0.03940399 0.25101126] [ 0.075496 0.99646441 0.03686511 -0.00250059] [ 0.03653521 -0.03971006 0.99854308 -0.01690632] [ 0. 0. 0. 1. ]] SLAMing on 0.257105681 meters 0.18701532181689987 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.04, Z:-0.02 [[ 0.99678283 -0.06016228 -0.05295749 0.27309761] [ 0.06084804 0.99808157 0.01143228 -0.03593562] [ 0.0521681 -0.01461786 0.99853133 -0.02093779] [ 0. 0. 0. 1. ]] SLAMing on 0.28710568099999995 meters 0.18114239127388101 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.07, Z:-0.00 [[ 9.97908419e-01 -2.78980608e-02 -5.83136763e-02 3.00889299e-01] [ 2.86575501e-02 9.99514485e-01 1.22286004e-02 -6.78106081e-02] [ 5.79442099e-02 -1.38741504e-02 9.98223410e-01 -3.37182047e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3171056809999999 meters 0.1708238710058475 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.10, Z:-0.00 [[ 9.98535008e-01 -3.48655135e-02 -4.13791362e-02 3.12667351e-01] [ 3.58357415e-02 9.99094330e-01 2.29416487e-02 -1.00722830e-01] [ 4.05417880e-02 -2.43908914e-02 9.98880097e-01 -6.01592049e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.34710568099999994 meters 0.187486818008894 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.16, Z:0.01 [[ 0.99609893 -0.08048238 -0.0361872 0.30631855] [ 0.08217948 0.99545372 0.04814999 -0.16404473] [ 0.03214745 -0.050936 0.99818438 0.0117021 ] [ 0. 0. 0. 1. ]] SLAMing on 0.3771056809999999 meters 0.1838380939744337 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.13, Z:0.02 [[ 0.9995766 0.00163854 -0.0290505 0.31244775] [-0.00211977 0.99986092 -0.01654231 -0.13363276] [ 0.02901935 0.01659689 0.99944105 0.01655115] [ 0. 0. 0. 1. ]] SLAMing on 0.40710568099999994 meters 0.1846861810294306 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.10, Z:0.02 [[ 9.98287701e-01 -4.01880673e-02 -4.25039333e-02 3.18887417e-01] [ 4.01686278e-02 9.99192054e-01 -1.31165175e-03 -1.00936633e-01] [ 4.25223051e-02 -3.97918868e-04 9.99095438e-01 1.80521162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4371056809999999 meters 0.17797320271184167 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.11, Z:0.00 [[ 0.9979174 -0.02858023 -0.05782769 0.32222193] [ 0.02820098 0.99957515 -0.00736379 -0.11015201] [ 0.05801358 0.00571766 0.99829942 0.00156032] [ 0. 0. 0. 1. ]] SLAMing on 0.46710568099999994 meters 0.1616971452329696 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.12, Z:-0.01 [[ 0.9977158 -0.01098296 -0.06665247 0.33860006] [ 0.01066797 0.99993019 -0.00507987 -0.12028313] [ 0.06670361 0.00435722 0.99776332 -0.01093582] [ 0. 0. 0. 1. ]] SLAMing on 0.4971056809999999 meters 0.15885965434742239 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.15, Z:-0.01 [[ 0.99855102 0.00285889 -0.05373721 0.34188321] [-0.00259751 0.99998446 0.00493326 -0.15346627] [ 0.05375048 -0.00478653 0.99854293 -0.01476654] [ 0. 0. 0. 1. ]] SLAMing on 0.5271056809999999 meters 0.16401186003130355 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.18, Z:-0.02 [[ 0.99811926 -0.00448907 -0.06113754 0.35209296] [ 0.0052336 0.99991402 0.0120234 -0.18040788] [ 0.06107831 -0.01232076 0.99805693 -0.02075691] [ 0. 0. 0. 1. ]] SLAMing on 0.5571056809999999 meters 0.15790754156688594 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.22, Z:-0.03 [[ 0.9974009 -0.02050525 -0.06907233 0.36507168] [ 0.02191531 0.99956535 0.01971859 -0.2207373 ] [ 0.06863797 -0.02118108 0.99741676 -0.03269449] [ 0. 0. 0. 1. ]] SLAMing on 0.5871056809999999 meters 0.147358453118151 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.25, Z:-0.03 [[ 0.99822747 -0.01942534 -0.0562546 0.36187987] [ 0.02050314 0.9996159 0.01864588 -0.25324091] [ 0.05587079 -0.01976623 0.99824233 -0.02926042] [ 0. 0. 0. 1. ]] SLAMing on 0.6171056809999999 meters 0.13487609861169012 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.25, Z:-0.03 [[ 0.99948886 0.0076943 -0.03102938 0.34582857] [-0.00761672 0.99996757 0.0026177 -0.24941422] [ 0.03104852 -0.00238002 0.99951504 -0.02660095] [ 0. 0. 0. 1. ]] SLAMing on 0.6471056809999999 meters 0.13305071237146884 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.22, Z:-0.02 [[ 0.99989437 0.00924066 -0.01121871 0.3328317 ] [-0.00931378 0.99993561 -0.00648312 -0.21819829] [ 0.01115808 0.00658692 0.99991605 -0.02348429] [ 0. 0. 0. 1. ]] SLAMing on 0.6771056809999999 meters 0.12410589540087995 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.18, Z:-0.02 [[ 0.99959817 -0.0252863 -0.01281051 0.3325239 ] [ 0.02526167 0.99967871 -0.00208136 -0.18120137] [ 0.01285902 0.00175691 0.99991578 -0.02343602] [ 0. 0. 0. 1. ]] SLAMing on 0.7071056809999999 meters 0.12353661753273651 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.10, Z:-0.01 [[ 0.99993679 0.0059576 0.00953526 0.30794473] [-0.00565312 0.99948312 -0.03164692 -0.10329086] [-0.00971887 0.03159102 0.99945363 -0.01281497] [ 0. 0. 0. 1. ]] SLAMing on 0.7371056809999998 meters 0.12376127566246907 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.02, Z:-0.02 [[ 0.99968906 -0.02475188 0.00302051 0.3145846 ] [ 0.02482297 0.99934454 -0.02634967 -0.01910733] [-0.00236632 0.02641645 0.99964822 -0.02460923] [ 0. 0. 0. 1. ]] SLAMing on 0.7671056809999999 meters 0.1334423783920175 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.03 [[ 0.99997454 -0.00541212 -0.00464971 0.33224425] [ 0.00539246 0.99997651 -0.00423001 0.02812813] [ 0.0046725 0.00420483 0.99998024 -0.02965776] [ 0. 0. 0. 1. ]] SLAMing on 0.7971056809999999 meters 0.1321747763121058 Centerline is valid? [False, False] Translation: X:0.40, Y:0.16, Z:-0.09 [[ 0.99964501 -0.02622188 -0.00471785 0.39710467] [ 0.02639737 0.99876586 0.04207068 0.15586456] [ 0.00360886 -0.04218029 0.9991035 -0.09164618] [ 0. 0. 0. 1. ]] SLAMing on 0.8271056809999998 meters 0.056248238905124426 Centerline is valid? [False, True] Translation: X:0.33, Y:0.07, Z:-0.04 [[ 0.99986378 -0.01117143 0.01215016 0.33221875] [ 0.01138905 0.99977327 -0.01799167 0.0721013 ] [-0.01194641 0.0181276 0.99976431 -0.0432873 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8571056809999998 meters 0.03715581504949335 Centerline is valid? [True, True] Translation: X:0.36, Y:0.09, Z:-0.03 [[ 9.99323412e-01 2.53632849e-02 2.66349736e-02 3.62060200e-01] [-2.53835911e-02 9.99677695e-01 4.24508651e-04 9.29083568e-02] [-2.66156221e-02 -1.10031271e-03 9.99645136e-01 -2.56010033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8871056809999999 meters 0.07173965787154299 Centerline is valid? [True, True] Translation: X:0.39, Y:0.12, Z:-0.01 [[ 9.96315624e-01 8.19745787e-02 2.52060854e-02 3.90533857e-01] [-8.20107405e-02 9.96631364e-01 4.02516069e-04 1.17413367e-01] [-2.50881792e-02 -2.46820278e-03 9.99682195e-01 -1.16031823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9171056809999999 meters 0.03858510765373015 Centerline is valid? [True, True] Translation: X:0.42, Y:0.05, Z:-0.02 [[ 9.98696343e-01 -4.59671123e-02 2.21954574e-02 4.21904684e-01] [ 4.59705687e-02 9.98942732e-01 3.54751394e-04 4.93876436e-02] [-2.21882977e-02 6.66048878e-04 9.99753588e-01 -2.11689990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9471056809999998 meters 0.03858510765373015 Centerline is valid? [True, True] Translation: X:0.45, Y:0.05, Z:-0.02 [[ 9.98709906e-01 -4.56713472e-02 2.21957407e-02 4.54608317e-01] [ 4.56751283e-02 9.98956290e-01 3.36841114e-04 4.97155799e-02] [-2.21879588e-02 6.77386748e-04 9.99753587e-01 -1.99573850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9771056809999998 meters 0.08515311216265757 Centerline is valid? [True, True] Translation: X:0.49, Y:0.01, Z:-0.09 [[ 9.92840121e-01 -1.17574171e-01 -2.10904972e-02 4.87669504e-01] [ 1.17593396e-01 9.93061772e-01 -3.30635437e-04 6.40037983e-03] [ 2.09830407e-02 -2.15183505e-03 9.99777516e-01 -9.46215826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0071056809999999 meters 0.04701419741968036 Centerline is valid? [True, True] Translation: X:0.51, Y:0.13, Z:-0.04 [[ 9.98935437e-01 4.44025923e-02 1.25061063e-02 5.13930290e-01] [-4.44085051e-02 9.99013437e-01 1.95358456e-04 1.25587240e-01] [-1.24850938e-02 -7.50527970e-04 9.99921777e-01 -3.83115860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.037105681 meters 0.0281846196795371 Centerline is valid? [True, True] Translation: X:0.55, Y:0.02, Z:-0.06 [[ 9.99970973e-01 7.37443250e-03 1.91599542e-03 5.46339771e-01] [-7.37450426e-03 9.99972808e-01 3.03929551e-05 2.33983064e-02] [-1.91571919e-03 -4.45215893e-05 9.99998164e-01 -5.50238854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.067105681 meters 0.02559417777116 Centerline is valid? [True, True] Translation: X:0.58, Y:0.01, Z:-0.03 [[ 9.99663260e-01 -1.90995524e-02 1.75662841e-02 5.75736102e-01] [ 1.90976573e-02 9.99817585e-01 2.75643306e-04 1.39368106e-02] [-1.75683444e-02 5.99243885e-05 9.99845663e-01 -3.09390026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.097105681 meters 0.03412188645568767 Centerline is valid? [True, True] Translation: X:0.61, Y:0.08, Z:-0.04 [[ 9.99585424e-01 2.76202122e-02 8.13048682e-03 6.05388243e-01] [-2.76221479e-02 9.99618428e-01 1.25864318e-04 8.49557496e-02] [-8.12390805e-03 -3.50393647e-04 9.99966939e-01 -4.27119348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.127105681 meters 0.04644245818761551 Centerline is valid? [True, True] Translation: X:0.63, Y:0.12, Z:-0.05 [[ 9.98704916e-01 5.08653835e-02 -1.09746129e-03 6.34685310e-01] [-5.08654332e-02 9.98705516e-01 -1.73736032e-05 1.24734383e-01] [ 1.09515693e-03 7.31739469e-05 9.99999398e-01 -4.85899820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.157105681 meters 0.035547678604647935 Centerline is valid? [True, True] Translation: X:0.67, Y:0.10, Z:-0.07 [[ 9.99486437e-01 2.85942736e-02 -1.44647486e-02 6.66368664e-01] [-2.86005309e-02 9.99590896e-01 -2.25872173e-04 9.73483495e-02] [ 1.44523724e-02 6.39455662e-04 9.99895355e-01 -7.46092193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.187105681 meters 0.027573343247590077 Centerline is valid? [True, True] Translation: X:0.69, Y:0.08, Z:-0.06 [[ 9.99864054e-01 1.31273236e-02 -9.97727602e-03 6.94910535e-01] [-1.31295190e-02 9.99913792e-01 -1.54573138e-04 8.14157352e-02] [ 9.97438677e-03 2.85548959e-04 9.99950214e-01 -6.40011739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2171056809999998 meters 0.027479318506420453 Centerline is valid? [True, True] Translation: X:0.72, Y:0.08, Z:-0.05 [[ 9.99840041e-01 1.78784710e-02 5.02654754e-04 7.24944121e-01] [-1.78784772e-02 9.99840167e-01 7.82499750e-06 7.90156642e-02] [-5.02434514e-04 -1.68104474e-05 9.99999874e-01 -4.56500207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2471056809999999 meters 0.03262278822503246 Centerline is valid? [True, True] Translation: X:0.75, Y:0.08, Z:-0.06 [[ 9.99673957e-01 2.42502204e-02 -7.99413532e-03 7.53319014e-01] [-2.42519788e-02 9.99705870e-01 -1.23087238e-04 8.11619653e-02] [ 7.98879912e-03 3.16920707e-04 9.99968039e-01 -5.51732160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2771056809999999 meters 0.02237007560315244 Centerline is valid? [True, True] Translation: X:0.78, Y:0.02, Z:-0.04 [[ 9.99753774e-01 -2.17653502e-02 4.31992544e-03 7.83426640e-01] [ 2.17652547e-02 9.99763106e-01 6.91333184e-05 2.39159649e-02] [-4.32040679e-03 2.49079813e-05 9.99990667e-01 -4.02923128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.307105681 meters 0.022831475529108868 Centerline is valid? [True, True] Translation: X:0.81, Y:0.03, Z:-0.03 [[ 9.99747081e-01 -2.04428641e-02 9.37350763e-03 8.13634170e-01] [ 2.04423824e-02 9.99791022e-01 1.47207671e-04 2.50277020e-02] [-9.37455811e-03 4.44463883e-05 9.99956057e-01 -2.62968776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.337105681 meters 0.030564030832025326 Centerline is valid? [True, True] Translation: X:0.84, Y:0.07, Z:-0.03 [[ 9.99798971e-01 1.88684481e-02 6.78229959e-03 8.43309391e-01] [-1.88696027e-02 9.99821948e-01 1.06282803e-04 7.14076504e-02] [-6.77908659e-03 -2.34240735e-04 9.99976994e-01 -2.60259022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.367105681 meters 0.026652108529991565 Centerline is valid? [True, True] Translation: X:0.87, Y:0.06, Z:-0.04 [[ 9.99930736e-01 1.10809290e-02 -3.96685250e-03 8.74484893e-01] [-1.10812636e-02 9.99938599e-01 -6.23832532e-05 5.55425546e-02] [ 3.96591767e-03 1.06336670e-04 9.99992130e-01 -3.81255268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.397105681 meters 0.023125463397673553 Centerline is valid? [True, True] Translation: X:0.91, Y:0.05, Z:-0.05 [[ 9.99938588e-01 3.53306416e-03 -1.05041898e-02 9.05545291e-01] [-3.53499794e-03 9.99993738e-01 -1.65535314e-04 4.92666844e-02] [ 1.05035392e-02 2.02657437e-04 9.99944816e-01 -5.10324174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4271056809999998 meters 0.020279023484329816 Centerline is valid? [True, True] Translation: X:0.94, Y:0.03, Z:-0.05 [[ 9.99691116e-01 -2.21499047e-02 -1.12718554e-02 9.35840072e-01] [ 2.21493140e-02 9.99754658e-01 -1.77258029e-04 2.86890698e-02] [ 1.12730161e-02 -7.24605861e-05 9.99936455e-01 -5.35589749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4571056809999998 meters 0.021598402789199382 Centerline is valid? [True, True] Translation: X:0.97, Y:0.05, Z:-0.02 [[ 9.99868843e-01 -1.51591136e-02 5.70076613e-03 9.65374779e-01] [ 1.51588476e-02 9.99885094e-01 8.98664412e-05 5.01212046e-02] [-5.70147337e-03 -3.43760955e-06 9.99983746e-01 -2.28947566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4871056809999998 meters 0.03588974821689026 Centerline is valid? [True, True] Translation: X:0.99, Y:0.12, Z:-0.01 [[ 9.99332671e-01 3.27260126e-02 1.62240986e-02 9.94802036e-01] [-3.27344679e-02 9.99464051e-01 2.55796971e-04 1.15417425e-01] [-1.62070321e-02 -7.86713505e-04 9.99868348e-01 -8.98324107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5171056809999999 meters 0.031785901166068685 Centerline is valid? [True, True] Translation: X:1.03, Y:0.10, Z:-0.05 [[ 9.99637659e-01 2.52348477e-02 -9.36766113e-03 1.02704063e+00] [-2.52373375e-02 9.99681477e-01 -1.47651909e-04 1.04823177e-01] [ 9.36095134e-03 3.84013234e-04 9.99956112e-01 -4.81889287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.547105681 meters 0.020691115634651047 Centerline is valid? [True, True] Translation: X:1.06, Y:0.07, Z:-0.03 [[ 9.99836402e-01 -1.80737452e-02 -7.12808916e-04 1.05734030e+00] [ 1.80737422e-02 9.99836657e-01 -1.06687749e-05 7.00620773e-02] [ 7.12885308e-04 -2.21609507e-06 9.99999746e-01 -2.68955948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.577105681 meters 0.021043857385317798 Centerline is valid? [True, True] Translation: X:1.09, Y:0.05, Z:-0.02 [[ 9.99978600e-01 -6.26339381e-03 1.88908159e-03 1.08831173e+00] [ 6.26335240e-03 9.99980385e-01 2.78389390e-05 5.12081180e-02] [-1.88921890e-03 -1.60063595e-05 9.99998215e-01 -2.39044022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.607105681 meters 0.03613568433357818 Centerline is valid? [True, True] Translation: X:1.12, Y:0.08, Z:-0.07 [[ 9.99342678e-01 2.60869391e-02 -2.51730863e-02 1.11950822e+00] [-2.61051979e-02 9.99659122e-01 -3.96918542e-04 7.82863146e-02] [ 2.51541509e-02 1.05380604e-03 9.99683029e-01 -6.58919458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6371056809999998 meters 0.022092684349683936 Centerline is valid? [True, True] Translation: X:1.15, Y:0.04, Z:-0.05 [[ 9.99049945e-01 -4.29020071e-02 -7.65675576e-03 1.14861563e+00] [ 4.29023603e-02 9.99079263e-01 -1.18192715e-04 4.09937251e-02] [ 7.65477661e-03 -2.10412469e-04 9.99970680e-01 -4.61056286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6671056809999998 meters 0.017742969537543053 Centerline is valid? [True, True] Translation: X:1.18, Y:0.08, Z:-0.05 [[ 9.99952938e-01 -7.40574081e-03 -6.26713028e-03 1.17773715e+00] [ 7.40526623e-03 9.99972576e-01 -9.89265655e-05 7.70635050e-02] [ 6.26769103e-03 5.25121416e-05 9.99980356e-01 -4.67227564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6971056809999998 meters 0.01991661235772497 Centerline is valid? [True, True] Translation: X:1.21, Y:0.10, Z:-0.05 [[ 9.99930444e-01 1.02043249e-02 -5.91424313e-03 1.20801621e+00] [-1.02050577e-02 9.99947923e-01 -9.37439243e-05 1.01636964e-01] [ 5.91297853e-03 1.54092596e-04 9.99982506e-01 -4.60180344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7271056809999998 meters 0.01745062771624387 Centerline is valid? [True, True] Translation: X:1.24, Y:0.08, Z:-0.06 [[ 9.99766808e-01 -1.90392500e-02 -1.01899839e-02 1.23722634e+00] [ 1.90386160e-02 9.99818736e-01 -1.59219387e-04 7.75041438e-02] [ 1.01911682e-02 -3.48209316e-05 9.99948068e-01 -5.50819591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7571056809999999 meters 0.018617673561930403 Centerline is valid? [True, True] Translation: X:1.27, Y:0.06, Z:-0.05 [[ 9.99464269e-01 -2.93606929e-02 -1.44611257e-02 1.26861336e+00] [ 2.93603602e-02 9.99568864e-01 -2.35357225e-04 6.44302575e-02] [ 1.44618013e-02 -1.89352724e-04 9.99895405e-01 -4.90934733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.787105681 meters 0.02738124087958322 Centerline is valid? [True, True] Translation: X:1.30, Y:0.04, Z:-0.04 [[ 9.98380615e-01 -5.63944014e-02 -7.47122309e-03 1.29877871e+00] [ 5.63951069e-02 9.98408523e-01 -1.16377801e-04 4.23546251e-02] [ 7.46589587e-03 -3.05151084e-04 9.99972083e-01 -3.84325915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.817105681 meters 0.022305016625737317 Centerline is valid? [True, True] Translation: X:1.33, Y:0.06, Z:-0.03 [[ 9.99230922e-01 -3.90513111e-02 -3.54404403e-03 1.32855573e+00] [ 3.90513603e-02 9.99237203e-01 -5.53326091e-05 6.32578479e-02] [ 3.54350146e-03 -8.31096865e-05 9.99993718e-01 -3.48245979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8471056809999997 meters 0.020892465775514252 Centerline is valid? [True, True] Translation: X:1.36, Y:0.11, Z:-0.04 [[ 9.99996132e-01 2.26592232e-03 -1.61272437e-03 1.36054444e+00] [-2.26597198e-03 9.99997432e-01 -2.89621267e-05 1.09999937e-01] [ 1.61265460e-03 3.26164029e-05 9.99998699e-01 -3.54418615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8771056809999997 meters 0.019521004211970613 Centerline is valid? [True, True] Translation: X:1.39, Y:0.10, Z:-0.04 [[ 9.99881429e-01 -1.13251505e-02 -1.04340667e-02 1.39150804e+00] [ 1.13240895e-02 9.99935868e-01 -1.60764111e-04 9.98367367e-02] [ 1.04352183e-02 4.25887432e-05 9.99945551e-01 -4.34871843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9071056809999998 meters 0.017243511776710057 Centerline is valid? [True, True] Translation: X:1.42, Y:0.07, Z:-0.04 [[ 9.99825072e-01 -1.57578622e-02 -1.00754737e-02 1.42487641e+00] [ 1.57570597e-02 9.99875837e-01 -1.59024896e-04 7.35962434e-02] [ 1.00767286e-02 2.37237124e-07 9.99949228e-01 -3.79707251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9371056809999998 meters 0.021829878494246873 Centerline is valid? [True, True] Translation: X:1.46, Y:0.07, Z:-0.04 [[ 9.99851077e-01 7.68246396e-03 -1.54533004e-02 1.45579819e+00] [-7.68705554e-03 9.99970426e-01 -2.37748115e-04 6.75189344e-02] [ 1.54510169e-02 3.56503087e-04 9.99880562e-01 -4.33925383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9671056809999998 meters 0.01990500864972672 Centerline is valid? [True, True] Translation: X:1.49, Y:0.02, Z:-0.04 [[ 9.99639639e-01 -2.56403857e-02 -7.94754724e-03 1.48556843e+00] [ 2.56402573e-02 9.99671228e-01 -1.18069089e-04 2.33302754e-02] [ 7.94796165e-03 -8.57506140e-05 9.99968411e-01 -3.92755890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9971056809999999 meters 0.0209586526701979 Centerline is valid? [True, True] Translation: X:1.52, Y:0.04, Z:-0.04 [[ 9.99904669e-01 -8.88883853e-03 -1.05660163e-02 1.51656169e+00] [ 8.88757346e-03 9.99960491e-01 -1.66679059e-04 3.70035840e-02] [ 1.05670804e-02 7.27569234e-05 9.99944164e-01 -4.09328150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0271056809999997 meters 0.02535520501286984 Centerline is valid? [True, True] Translation: X:1.55, Y:0.07, Z:-0.04 [[ 9.99802578e-01 1.59344324e-02 -1.18700776e-02 1.54557063e+00] [-1.59376876e-02 9.99872971e-01 -1.79678798e-04 7.25029458e-02] [ 1.18657067e-02 3.68824913e-04 9.99929532e-01 -3.89041479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0571056809999995 meters 0.029624786700317707 Centerline is valid? [True, True] Translation: X:1.58, Y:0.10, Z:-0.03 [[ 9.99388191e-01 3.34186782e-02 -1.03167865e-02 1.57513749e+00] [-3.34220634e-02 9.99441315e-01 -1.55844210e-04 9.67782772e-02] [ 1.03058146e-02 5.00557155e-04 9.99946768e-01 -3.12917479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0871056809999997 meters 0.03869205998623738 Centerline is valid? [True, True] Translation: X:1.61, Y:0.11, Z:-0.05 [[ 9.98276735e-01 5.38017671e-02 -2.34292422e-02 1.60630121e+00] [-5.38248425e-02 9.98550329e-01 -3.54930016e-04 1.08946901e-01] [ 2.33761816e-02 1.61539365e-03 9.99725435e-01 -5.41120650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1171056809999995 meters 0.032825177079134495 Centerline is valid? [True, True] Translation: X:1.64, Y:0.07, Z:-0.05 [[ 9.99191855e-01 3.54179990e-02 -1.90053415e-02 1.63644681e+00] [-3.54298429e-02 9.99372125e-01 -2.86733799e-04 7.29330155e-02] [ 1.89832530e-02 9.59858340e-04 9.99819341e-01 -4.92184254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1471056809999998 meters 0.028451769259279943 Centerline is valid? [True, True] Translation: X:1.67, Y:0.05, Z:-0.06 [[ 9.99213899e-01 2.88903120e-02 -2.71465338e-02 1.66804051e+00] [-2.89121109e-02 9.99581873e-01 -4.10766484e-04 4.91807037e-02] [ 2.71233159e-02 1.19530718e-03 9.99631381e-01 -5.55518600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1771056809999996 meters 0.035606909433095586 Centerline is valid? [True, True] Translation: X:1.70, Y:0.05, Z:-0.05 [[ 9.98822556e-01 4.20226555e-02 -2.42404045e-02 1.69816228e+00] [-4.20438722e-02 9.99115698e-01 -3.66043836e-04 5.16914117e-02] [ 2.42035865e-02 1.38477331e-03 9.99706091e-01 -4.93530848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2071056809999994 meters 0.03220914249321771 Centerline is valid? [True, True] Translation: X:1.73, Y:0.04, Z:-0.06 [[ 9.99150866e-01 2.93465429e-02 -2.89193327e-02 1.72933798e+00] [-2.93714602e-02 9.99568470e-01 -4.37110185e-04 4.02616285e-02] [ 2.88940254e-02 1.28614205e-03 9.99581653e-01 -6.42236079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2371056809999996 meters 0.022690515867116203 Centerline is valid? [True, True] Translation: X:1.76, Y:0.00, Z:-0.04 [[ 9.99787134e-01 -3.35030633e-03 -2.03583371e-02 1.75988511e+00] [ 3.34473377e-03 9.99994359e-01 -3.07767651e-04 4.95461824e-03] [ 2.03592533e-02 2.39608920e-04 9.99792700e-01 -4.39824578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2671056809999994 meters 0.023975726597798695 Centerline is valid? [True, True] Translation: X:1.79, Y:0.02, Z:-0.04 [[ 9.99774732e-01 1.13615209e-02 -1.79276722e-02 1.78982859e+00] [-1.13682024e-02 9.99935343e-01 -2.70822930e-04 1.79071554e-02] [ 1.79234361e-02 4.74567330e-04 9.99839250e-01 -4.24385090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2971056809999997 meters 0.02232881650384156 Centerline is valid? [True, True] Translation: X:1.82, Y:0.02, Z:-0.04 [[ 9.99811257e-01 3.03953869e-03 -1.91888308e-02 1.81956178e+00] [-3.04566114e-03 9.99995320e-01 -2.89847200e-04 1.88950026e-02] [ 1.91878600e-02 3.48235169e-04 9.99815835e-01 -4.39513718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3271056809999995 meters 0.020429864367062456 Centerline is valid? [True, True] Translation: X:1.85, Y:0.02, Z:-0.04 [[ 9.99808087e-01 -1.10998461e-02 -1.61425985e-02 1.84768612e+00] [ 1.10973635e-02 9.99938393e-01 -2.43362136e-04 1.56957400e-02] [ 1.61443053e-02 6.41751481e-05 9.99869670e-01 -3.70129371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3571056809999997 meters 0.021270946669499437 Centerline is valid? [True, True] Translation: X:1.88, Y:0.02, Z:-0.04 [[ 9.99602627e-01 -1.53602727e-02 -2.36357748e-02 1.87914794e+00] [ 1.53560057e-02 9.99882024e-01 -3.62034643e-04 2.47708454e-02] [ 2.36385473e-02 -1.06031212e-06 9.99720570e-01 -4.30507223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3871056809999995 meters 0.02212640018279102 Centerline is valid? [True, True] Translation: X:1.91, Y:0.05, Z:-0.04 [[ 9.99730295e-01 -2.83640827e-03 -2.30497819e-02 1.91041366e+00] [ 2.82903807e-03 9.99995936e-01 -3.52353893e-04 4.93881520e-02] [ 2.30506876e-02 2.87050151e-04 9.99734256e-01 -4.13847441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4171056809999993 meters 0.022618461668059264 Centerline is valid? [True, True] Translation: X:1.94, Y:0.07, Z:-0.03 [[ 9.99830745e-01 7.15330319e-03 -1.69502399e-02 1.93977370e+00] [-7.15868275e-03 9.99974343e-01 -2.56719384e-04 7.26194656e-02] [ 1.69479686e-02 3.78017323e-04 9.99856301e-01 -3.21369236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4471056809999996 meters 0.026175423048833794 Centerline is valid? [True, True] Translation: X:1.97, Y:0.10, Z:-0.03 [[ 9.99554895e-01 2.45847737e-02 -1.68997299e-02 1.96805832e+00] [-2.45926087e-02 9.99697523e-01 -2.55924508e-04 9.72960628e-02] [ 1.68883263e-02 6.71419039e-04 9.99857157e-01 -2.85545224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4771056809999994 meters 0.03541417690983056 Centerline is valid? [True, True] Translation: X:2.00, Y:0.11, Z:-0.03 [[ 9.98924439e-01 4.01511391e-02 -2.31916019e-02 1.99819191e+00] [-4.01701298e-02 9.99192792e-01 -3.53389652e-04 1.12129060e-01] [ 2.31586925e-02 1.28461922e-03 9.99730976e-01 -3.28790934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5071056809999996 meters 0.0374429736992517 Centerline is valid? [True, True] Translation: X:2.03, Y:0.11, Z:-0.05 [[ 9.98376534e-01 4.50788164e-02 -3.48166054e-02 2.02793932e+00] [-4.51246106e-02 9.98981225e-01 -5.30239271e-04 1.05254647e-01] [ 3.47572325e-02 2.10046420e-03 9.99393578e-01 -4.69039151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5371056809999994 meters 0.03455356533145299 Centerline is valid? [True, True] Translation: X:2.06, Y:0.09, Z:-0.04 [[ 9.98765266e-01 3.62631214e-02 -3.39548203e-02 2.05791924e+00] [-3.63016813e-02 9.99340742e-01 -5.19624110e-04 9.11613489e-02] [ 3.39135921e-02 1.75159958e-03 9.99423234e-01 -4.43183316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5671056809999997 meters 0.026180574225940025 Centerline is valid? [True, True] Translation: X:2.09, Y:0.07, Z:-0.04 [[ 9.99444999e-01 1.54616567e-02 -2.95064691e-02 2.08832270e+00] [-1.54817508e-02 9.99880048e-01 -4.52660006e-04 6.51121568e-02] [ 2.94959308e-02 9.09220580e-04 9.99564487e-01 -3.77794902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5971056809999995 meters 0.02069063881262336 Centerline is valid? [True, True] Translation: X:2.12, Y:0.04, Z:-0.03 [[ 9.99647454e-01 -6.36022499e-03 -2.57781927e-02 2.11768254e+00] [ 6.35214325e-03 9.99979747e-01 -3.95386421e-04 3.94469277e-02] [ 2.57801854e-02 2.31500256e-04 9.99667609e-01 -3.13765059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6271056809999993 meters 0.022356505844886878 Centerline is valid? [True, True] Translation: X:2.15, Y:0.03, Z:-0.03 [[ 9.99555965e-01 -1.72324128e-02 -2.43087721e-02 2.14752436e+00] [ 1.72284309e-02 9.99851510e-01 -3.73244136e-04 2.60240515e-02] [ 2.43115944e-02 -4.57235965e-05 9.99704428e-01 -2.89650335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6571056809999996 meters 0.024892048810767196 Centerline is valid? [True, True] Translation: X:2.18, Y:0.01, Z:-0.02 [[ 9.99119263e-01 -3.56179963e-02 -2.21823715e-02 2.17796975e+00] [ 3.56191646e-02 9.99365378e-01 -3.42561760e-04 6.02586892e-03] [ 2.21804955e-02 -4.47857490e-04 9.99753882e-01 -1.86594512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6871056809999994 meters 0.028498430329096453 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.01, Z:-0.02 [[ 9.98326358e-01 -5.25501137e-02 -2.41447466e-02 2.20969476e+00] [ 5.25564537e-02 9.98617885e-01 -3.72355204e-04 -6.33184984e-03] [ 2.41309431e-02 -8.97230241e-04 9.99708404e-01 -2.02861440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7171056809999996 meters 0.029424283165537274 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.01, Z:-0.02 [[ 9.98181735e-01 -5.58197477e-02 -2.27459716e-02 2.24118512e+00] [ 5.58262341e-02 9.98440438e-01 -3.50221347e-04 -6.51708729e-03] [ 2.27300471e-02 -9.20237383e-04 9.99741216e-01 -1.93180781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7471056809999994 meters 0.02626572783921037 Centerline is valid? [True, True] Translation: X:2.27, Y:0.01, Z:-0.02 [[ 9.98458218e-01 -4.90676769e-02 -2.59528567e-02 2.27161155e+00] [ 4.90738868e-02 9.98795072e-01 -3.97967092e-04 1.02232938e-02] [ 2.59411127e-02 -8.76254037e-04 9.99663089e-01 -2.00760377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7771056809999997 meters 0.02479595770559155 Centerline is valid? [True, True] Translation: X:2.30, Y:0.03, Z:-0.02 [[ 9.98745185e-01 -4.21444423e-02 -2.70536620e-02 2.30198137e+00] [ 4.21486695e-02 9.99111264e-01 -4.14225944e-04 2.83225516e-02] [ 2.70470758e-02 -7.26569692e-04 9.99633897e-01 -1.94941998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8071056809999995 meters 0.02297917470923946 Centerline is valid? [True, True] Translation: X:2.33, Y:0.05, Z:-0.02 [[ 9.99034035e-01 -3.32373901e-02 -2.87449467e-02 2.33296128e+00] [ 3.32384972e-02 9.99447352e-01 -4.39435379e-04 5.29998001e-02] [ 2.87436665e-02 -5.16427930e-04 9.99586682e-01 -2.23902046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8371056809999993 meters 0.02297917470923946 Centerline is valid? [True, True] Translation: X:2.37, Y:0.05, Z:-0.02 [[ 9.99038457e-01 -3.31042251e-02 -2.87449424e-02 2.36550836e+00] [ 3.31052689e-02 9.99451774e-01 -4.39719676e-04 5.33801273e-02] [ 2.87437403e-02 -5.12312182e-04 9.99586682e-01 -2.11848857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8671056809999995 meters 0.021310521787118314 Centerline is valid? [True, True] Translation: X:2.40, Y:0.07, Z:-0.01 [[ 9.99228284e-01 -3.01780461e-02 -2.51420347e-02 2.39572599e+00] [ 3.01780070e-02 9.99544468e-01 -3.81068147e-04 7.06371637e-02] [ 2.51420816e-02 -3.77962428e-04 9.99683816e-01 -1.27875122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8971056809999993 meters 0.021374223537444132 Centerline is valid? [True, True] Translation: X:2.43, Y:0.08, Z:-0.01 [[ 9.99340226e-01 -2.72914371e-02 -2.39643509e-02 2.42681850e+00] [ 2.72906071e-02 9.99627477e-01 -3.61744406e-04 7.92863830e-02] [ 2.39652961e-02 -2.92495946e-04 9.99712748e-01 -7.08150084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9271056809999996 meters 0.02094454243744309 Centerline is valid? [True, True] Translation: X:2.46, Y:0.10, Z:-0.01 [[ 9.99550906e-01 -1.63475535e-02 -2.51146080e-02 2.45884621e+00] [ 1.63432251e-02 9.99866369e-01 -3.77610875e-04 9.56293494e-02] [ 2.51174250e-02 -3.30123997e-05 9.99684507e-01 -6.31802363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9571056809999994 meters 0.020955744923213695 Centerline is valid? [True, True] Translation: X:2.49, Y:0.11, Z:-0.01 [[ 9.99516892e-01 -7.51818782e-03 -3.01572581e-02 2.49114691e+00] [ 7.50802672e-03 9.99971713e-01 -4.50160971e-04 1.06487741e-01] [ 3.01597894e-02 2.23521995e-04 9.99545065e-01 -1.09015600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9871056809999996 meters 0.01958047421296893 Centerline is valid? [True, True] Translation: X:2.52, Y:0.11, Z:-0.01 [[ 9.99467449e-01 -8.99789250e-03 -3.13664831e-02 2.52090803e+00] [ 8.98774104e-03 9.99959501e-01 -4.64619818e-04 1.07399718e-01] [ 3.13693934e-02 1.82458557e-04 9.99507843e-01 -1.23430859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0171056809999994 meters 0.021088902695809715 Centerline is valid? [True, True] Translation: X:2.55, Y:0.09, Z:-0.01 [[ 9.99141294e-01 -2.61237646e-02 -3.21593426e-02 2.55033623e+00] [ 2.61219094e-02 9.99658650e-01 -4.77898193e-04 9.19267152e-02] [ 3.21608495e-02 -3.62575615e-04 9.99482640e-01 -1.46902765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0471056809999992 meters 0.024821524504257553 Centerline is valid? [True, True] Translation: X:2.58, Y:0.08, Z:-0.02 [[ 9.98621094e-01 -4.04550685e-02 -3.34559260e-02 2.58127098e+00] [ 4.04610642e-02 9.99180992e-01 -4.98064620e-04 7.86928314e-02] [ 3.34486746e-02 -8.56284536e-04 9.99440070e-01 -1.57126528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0771056809999995 meters 0.030708969908444288 Centerline is valid? [True, True] Translation: X:2.61, Y:0.06, Z:-0.01 [[ 9.97797494e-01 -5.69085000e-02 -3.40820086e-02 2.61145454e+00] [ 5.69243259e-02 9.98378367e-01 -5.06588890e-04 5.80746995e-02] [ 3.40555693e-02 -1.43462224e-03 9.99418911e-01 -1.43770510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1071056809999993 meters 0.030681400536253994 Centerline is valid? [True, True] Translation: X:2.64, Y:0.06, Z:-0.01 [[ 9.97522081e-01 -6.11238361e-02 -3.48363953e-02 2.64249143e+00] [ 6.11429355e-02 9.98128886e-01 -5.17796509e-04 5.70359733e-02] [ 3.48028622e-02 -1.61348602e-03 9.99392894e-01 -1.22108044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1371056809999995 meters 0.032173651100373776 Centerline is valid? [True, True] Translation: X:2.67, Y:0.06, Z:-0.01 [[ 9.97451869e-01 -6.22486205e-02 -3.48550981e-02 2.67329959e+00] [ 6.22684354e-02 9.98059304e-01 -5.17786012e-04 5.50962954e-02] [ 3.48196864e-02 -1.65390580e-03 9.99392242e-01 -1.02530994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1671056809999993 meters 0.03298922066339266 Centerline is valid? [True, True] Translation: X:2.70, Y:0.06, Z:-0.01 [[ 9.97168816e-01 -6.55332140e-02 -3.68747812e-02 2.70406258e+00] [ 6.55579753e-02 9.97848617e-01 -5.38531116e-04 5.54143086e-02] [ 3.68307411e-02 -1.88042956e-03 9.99319749e-01 -1.10462083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1971056809999996 meters 0.03550041676280998 Centerline is valid? [True, True] Translation: X:2.74, Y:0.05, Z:-0.01 [[ 9.96757887e-01 -7.12093956e-02 -3.74557985e-02 2.73507851e+00] [ 7.12390224e-02 9.97459124e-01 -5.44747296e-04 5.44548062e-02] [ 3.73994191e-02 -2.12533330e-03 9.99298137e-01 -1.19896789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2271056809999994 meters 0.03738371229433418 Centerline is valid? [True, True] Translation: X:2.77, Y:0.05, Z:-0.01 [[ 9.96112889e-01 -7.88891205e-02 -3.91869724e-02 2.76583663e+00] [ 7.89274786e-02 9.96880198e-01 -5.69660720e-04 5.27748897e-02] [ 3.91096568e-02 -2.52548254e-03 9.99231733e-01 -1.48638989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.257105680999999 meters 0.042651055191806134 Centerline is valid? [True, True] Translation: X:2.80, Y:0.05, Z:-0.02 [[ 9.95606858e-01 -8.45341951e-02 -4.02610814e-02 2.79604906e+00] [ 8.45792965e-02 9.96416580e-01 -5.84831989e-04 4.71221684e-02] [ 4.01662473e-02 -2.82299120e-03 9.99189023e-01 -1.66084951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2871056809999994 meters 0.04495907375995831 Centerline is valid? [True, True] Translation: X:2.83, Y:0.05, Z:-0.01 [[ 9.95169739e-01 -8.89197267e-02 -4.15989485e-02 2.82630315e+00] [ 8.89716652e-02 9.96033974e-01 -6.04820136e-04 4.64089942e-02] [ 4.14877464e-02 -3.09922902e-03 9.99134206e-01 -1.34636088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3171056809999993 meters 0.04366925696444044 Centerline is valid? [True, True] Translation: X:2.86, Y:0.05, Z:-0.00 [[ 9.95724017e-01 -8.54356954e-02 -3.51343704e-02 2.85694556e+00] [ 8.54705775e-02 9.96340564e-01 -5.10674147e-04 5.46797276e-02] [ 3.50494282e-02 -2.49446441e-03 9.99382467e-01 -1.42692879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3471056809999995 meters 0.03791509234382669 Centerline is valid? [True, True] Translation: X:2.89, Y:0.07, Z:0.00 [[ 9.96353036e-01 -7.91876731e-02 -3.17795547e-02 2.88697741e+00] [ 7.92130642e-02 9.96857602e-01 -4.61202007e-04 6.73364382e-02] [ 3.17162122e-02 -2.05783589e-03 9.99494796e-01 3.84896575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3771056809999993 meters 0.031209322303865965 Centerline is valid? [True, True] Translation: X:2.92, Y:0.09, Z:0.01 [[ 9.97657669e-01 -6.18855911e-02 -2.91435792e-02 2.91694408e+00] [ 6.18995734e-02 9.98082293e-01 -4.23028979e-04 8.87925628e-02] [ 2.91138697e-02 -1.38193701e-03 9.99575146e-01 5.74855305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4071056809999996 meters 0.02223881321089132 Centerline is valid? [True, True] Translation: X:2.95, Y:0.12, Z:0.02 [[ 9.99128659e-01 -3.56420339e-02 -2.17156096e-02 2.94649862e+00] [ 3.56435997e-02 9.99364515e-01 -3.15069983e-04 1.23234086e-01] [ 2.17130394e-02 -4.59227048e-04 9.99764139e-01 1.66192303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4371056809999994 meters 0.019514359048799942 Centerline is valid? [True, True] Translation: X:2.98, Y:0.16, Z:0.02 [[ 9.99783690e-01 -5.19701537e-03 -2.01386485e-02 2.97663938e+00] [ 5.19214567e-03 9.99986477e-01 -2.94088244e-04 1.55527675e-01] [ 2.01399046e-02 1.89461833e-04 9.99797154e-01 1.76568367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.467105680999999 meters 0.022973919713496098 Centerline is valid? [True, True] Translation: X:3.01, Y:0.18, Z:0.01 [[ 9.99575035e-01 1.61809535e-02 -2.42471940e-02 3.00571369e+00] [-1.61941498e-02 9.99868806e-01 -3.47963032e-04 1.81992717e-01] [ 2.42383825e-02 7.40477850e-04 9.99705933e-01 1.37825722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4971056809999994 meters 0.02511041470368358 Centerline is valid? [True, True] Translation: X:3.04, Y:0.20, Z:0.02 [[ 9.99428927e-01 2.33475478e-02 -2.44277009e-02 3.03580015e+00] [-2.33630926e-02 9.99726984e-01 -3.51117640e-04 1.96012322e-01] [ 2.44128340e-02 9.21623763e-04 9.99701538e-01 1.50630701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.527105680999999 meters 0.023486401865960366 Centerline is valid? [True, True] Translation: X:3.06, Y:0.20, Z:0.02 [[ 9.99565236e-01 1.92379609e-02 -2.23436679e-02 3.06482843e+00] [-1.92498664e-02 9.99814654e-01 -3.17857750e-04 1.95414885e-01] [ 2.23334116e-02 7.47832179e-04 9.99750299e-01 1.59491181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5571056809999995 meters 0.021022830151654067 Centerline is valid? [True, True] Translation: X:3.10, Y:0.19, Z:0.01 [[ 9.99658356e-01 8.79727765e-03 -2.46125825e-02 3.09555795e+00] [-8.80883704e-03 9.99961136e-01 -3.61270477e-04 1.86717784e-01] [ 2.46084478e-02 5.77955280e-04 9.99696999e-01 1.33414533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5871056809999993 meters 0.01916378768705239 Centerline is valid? [True, True] Translation: X:3.13, Y:0.17, Z:0.01 [[ 9.99664931e-01 -2.68976131e-03 -2.57447070e-02 3.12574479e+00] [ 2.68092326e-03 9.99996335e-01 -3.77805598e-04 1.74813736e-01] [ 2.57456288e-02 3.08659424e-04 9.99668479e-01 1.42601879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6171056809999995 meters 0.016145272641632565 Centerline is valid? [True, True] Translation: X:3.15, Y:0.16, Z:0.02 [[ 9.99550210e-01 -1.69066460e-02 -2.47698125e-02 3.15456544e+00] [ 1.69028290e-02 9.99857071e-01 -3.63481104e-04 1.57105892e-01] [ 2.47724175e-02 -5.53622912e-05 9.99693115e-01 1.86930462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6471056809999993 meters 0.019212603993539832 Centerline is valid? [True, True] Translation: X:3.19, Y:0.14, Z:0.01 [[ 9.99190198e-01 -2.91678622e-02 -2.77161364e-02 3.18705352e+00] [ 2.91676468e-02 9.99574449e-01 -4.12140152e-04 1.39445018e-01] [ 2.77163630e-02 -3.96608078e-04 9.99615749e-01 1.39582727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.677105680999999 meters 0.02253147661818806 Centerline is valid? [True, True] Translation: X:3.22, Y:0.12, Z:0.02 [[ 9.98867375e-01 -3.95339350e-02 -2.64770754e-02 3.21752908e+00] [ 3.95376587e-02 9.99218008e-01 -3.83063647e-04 1.21653379e-01] [ 2.64715145e-02 -6.64211790e-04 9.99649347e-01 1.70374169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7071056809999994 meters 0.021468114601104434 Centerline is valid? [True, True] Translation: X:3.25, Y:0.11, Z:0.02 [[ 9.98990550e-01 -3.92423917e-02 -2.18613048e-02 3.24865829e+00] [ 3.92447836e-02 9.99229576e-01 -3.19766208e-04 1.10172924e-01] [ 2.18570107e-02 -5.38498754e-04 9.99760962e-01 2.39494563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.737105680999999 meters 0.01864790944503982 Centerline is valid? [True, True] Translation: X:3.28, Y:0.12, Z:0.02 [[ 9.99418509e-01 -2.59559521e-02 -2.21118290e-02 3.27971769e+00] [ 2.59553671e-02 9.99663054e-01 -3.13497542e-04 1.15159380e-01] [ 2.21125157e-02 -2.60605395e-04 9.99755454e-01 2.39502995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7671056809999994 meters 0.01664897533743233 Centerline is valid? [True, True] Translation: X:3.31, Y:0.12, Z:0.03 [[ 9.99775365e-01 -9.33646716e-03 -1.90275928e-02 3.31120905e+00] [ 9.33300732e-03 9.99956410e-01 -2.70627370e-04 1.23176251e-01] [ 1.90292901e-02 9.29819148e-05 9.99818922e-01 3.27273459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7971056809999992 meters 0.018487397117838842 Centerline is valid? [True, True] Translation: X:3.34, Y:0.13, Z:0.03 [[ 9.99820567e-01 4.02190156e-03 -1.85110176e-02 3.34119956e+00] [-4.02740781e-03 9.99991856e-01 -2.60188402e-04 1.26076967e-01] [ 1.85098204e-02 3.34693133e-04 9.99828623e-01 3.35197363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8271056809999995 meters 0.018932200294194068 Centerline is valid? [True, True] Translation: X:3.37, Y:0.12, Z:0.03 [[ 9.99795084e-01 6.10320862e-03 -1.93013084e-02 3.36990304e+00] [-6.10948247e-03 9.99981302e-01 -2.66098375e-04 1.23458980e-01] [ 1.92993235e-02 3.83964853e-04 9.99813677e-01 3.28067345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8571056809999993 meters 0.018401873613565996 Centerline is valid? [True, True] Translation: X:3.40, Y:0.11, Z:0.03 [[ 9.99756283e-01 3.10284469e-03 -2.18574023e-02 3.39847366e+00] [-3.11041554e-03 9.99995114e-01 -3.12386398e-04 1.12109635e-01] [ 2.18563262e-02 3.80295868e-04 9.99761050e-01 3.17480807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.887105680999999 meters 0.016618749574227015 Centerline is valid? [True, True] Translation: X:3.43, Y:0.09, Z:0.03 [[ 9.99730848e-01 -6.11727972e-03 -2.23787863e-02 3.42738303e+00] [ 6.11161088e-03 9.99981272e-01 -3.21699061e-04 9.44613709e-02] [ 2.23803351e-02 1.84842042e-04 9.99749512e-01 3.14065432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9171056809999993 meters 0.01646429764768973 Centerline is valid? [True, True] Translation: X:3.46, Y:0.08, Z:0.03 [[ 9.99614989e-01 -1.54458909e-02 -2.30499121e-02 3.45765235e+00] [ 1.54422868e-02 9.99880705e-01 -3.34357883e-04 7.57323821e-02] [ 2.30523268e-02 -2.17142020e-05 9.99734260e-01 2.85012478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.947105680999999 meters 0.017044577659835896 Centerline is valid? [True, True] Translation: X:3.49, Y:0.06, Z:0.03 [[ 9.99422658e-01 -2.36877318e-02 -2.43565530e-02 3.48991681e+00] [ 2.36860312e-02 9.99719382e-01 -3.58358226e-04 5.89064744e-02] [ 2.43582069e-02 -2.18758744e-04 9.99703271e-01 2.53368259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9771056809999994 meters 0.020956124667962563 Centerline is valid? [True, True] Translation: X:3.52, Y:0.04, Z:0.03 [[ 9.98986125e-01 -3.74048337e-02 -2.50519368e-02 3.51993984e+00] [ 3.74076500e-02 9.99300025e-01 -3.56376830e-04 3.93335504e-02] [ 2.50477313e-02 -5.81118576e-04 9.99686087e-01 2.87816530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.007105681 meters 0.02635052413013763 Centerline is valid? [True, True] Translation: X:3.55, Y:0.02, Z:0.03 [[ 9.98333590e-01 -5.08168579e-02 -2.73439242e-02 3.55020263e+00] [ 5.08252649e-02 9.98707486e-01 -3.87921332e-04 1.80259474e-02] [ 2.73282947e-02 -1.00248729e-03 9.99626010e-01 2.68151518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.037105681 meters 0.029529765974551835 Centerline is valid? [True, True] Translation: X:3.58, Y:0.00, Z:0.02 [[ 9.97751163e-01 -6.06312277e-02 -2.85739409e-02 3.58140684e+00] [ 6.06443974e-02 9.98159352e-01 -4.06276711e-04 2.36572129e-03] [ 2.85459794e-02 -1.32748636e-03 9.99591599e-01 2.45864934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.067105681 meters 0.029673822146836386 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.00, Z:0.02 [[ 9.97469641e-01 -6.37249459e-02 -3.15189864e-02 3.61392772e+00] [ 6.37425315e-02 9.97966277e-01 -4.47570612e-04 -2.75732892e-03] [ 3.14834069e-02 -1.56266188e-03 9.99503053e-01 2.43802280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0971056809999995 meters 0.030330476570390834 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.00, Z:0.03 [[ 9.97775267e-01 -5.82432923e-02 -3.24381841e-02 3.64343372e+00] [ 5.82591433e-02 9.98301389e-01 -4.57095915e-04 -2.06464151e-03] [ 3.24097070e-02 -1.43374182e-03 9.99473639e-01 2.60054414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.127105681 meters 0.025193819036707966 Centerline is valid? [True, True] Translation: X:3.67, Y:0.01, Z:0.03 [[ 9.98489967e-01 -4.59614664e-02 -3.00887049e-02 3.67275667e+00] [ 4.59695369e-02 9.98942752e-01 -4.23826141e-04 1.26332139e-02] [ 3.00763734e-02 -9.59977682e-04 9.99547143e-01 2.96222018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.157105681 meters 0.019715315497885966 Centerline is valid? [True, True] Translation: X:3.70, Y:0.03, Z:0.04 [[ 9.99195643e-01 -3.08856245e-02 -2.55762709e-02 3.70238995e+00] [ 3.08864963e-02 9.99522833e-01 -3.61053968e-04 3.25924060e-02] [ 2.55752181e-02 -4.29197843e-04 9.99672808e-01 3.51361320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.187105680999999 meters 0.01651456176982649 Centerline is valid? [True, True] Translation: X:3.73, Y:0.06, Z:0.04 [[ 9.99654168e-01 -1.47334113e-02 -2.17823543e-02 3.73454804e+00] [ 1.47301625e-02 9.99891457e-01 -3.09599592e-04 5.58787463e-02] [ 2.17845515e-02 -1.13650962e-05 9.99762688e-01 3.93393127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.217105681 meters 0.01729858829145091 Centerline is valid? [True, True] Translation: X:3.77, Y:0.08, Z:0.04 [[ 9.99785118e-01 -1.69515404e-03 -2.06602338e-02 3.76640575e+00] [ 1.68952288e-03 9.99998531e-01 -2.90012156e-04 7.80882138e-02] [ 2.06606950e-02 2.55043900e-04 9.99786513e-01 4.47208127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.247105681 meters 0.01898315896221146 Centerline is valid? [True, True] Translation: X:3.79, Y:0.10, Z:0.04 [[ 9.99713929e-01 5.42153520e-03 -2.32952181e-02 3.79482786e+00] [-5.43051264e-03 9.99985203e-01 -3.22132604e-04 9.58982436e-02] [ 2.32931269e-02 4.48545428e-04 9.99728578e-01 4.38969782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.277105681 meters 0.018583025358660677 Centerline is valid? [True, True] Translation: X:3.82, Y:0.10, Z:0.04 [[ 9.99700369e-01 4.07203445e-03 -2.41369347e-02 3.82387047e+00] [-4.08131507e-03 9.99991615e-01 -3.35248659e-04 1.00694191e-01] [ 2.41353672e-02 4.33658643e-04 9.99708606e-01 4.06048683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3071056809999995 meters 0.016828109993780652 Centerline is valid? [True, True] Translation: X:3.85, Y:0.09, Z:0.04 [[ 9.99797489e-01 -3.60550007e-03 -1.97985266e-02 3.85280982e+00] [ 3.60073693e-03 9.99993479e-01 -2.76223598e-04 9.49956777e-02] [ 1.97993934e-02 2.04878374e-04 9.99803952e-01 4.19858246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.337105681 meters 0.016646632492876186 Centerline is valid? [True, True] Translation: X:3.88, Y:0.09, Z:0.05 [[ 9.99763871e-01 -1.53264288e-02 -1.54046505e-02 3.88264135e+00] [ 1.53249100e-02 9.99882543e-01 -2.16643773e-04 8.84046984e-02] [ 1.54061615e-02 -1.94822643e-05 9.99881318e-01 5.11858345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.367105681 meters 0.01695050083958899 Centerline is valid? [True, True] Translation: X:3.91, Y:0.09, Z:0.06 [[ 9.99671237e-01 -2.02911730e-02 -1.56743505e-02 3.91434497e+00] [ 2.02901561e-02 9.99794109e-01 -2.23915758e-04 8.67364055e-02] [ 1.56756668e-02 -9.41928750e-05 9.99877125e-01 5.52575374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.397105680999999 meters 0.01768591764286715 Centerline is valid? [True, True] Translation: X:3.95, Y:0.09, Z:0.06 [[ 9.99584492e-01 -2.48454997e-02 -1.46131487e-02 3.94567561e+00] [ 2.48451252e-02 9.99691291e-01 -2.07196259e-04 8.62664035e-02] [ 1.46137854e-02 -1.55955341e-04 9.99893201e-01 5.98939404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.427105681 meters 0.01728169843768415 Centerline is valid? [True, True] Translation: X:3.98, Y:0.09, Z:0.06 [[ 9.99773478e-01 -1.88052988e-02 -9.96766718e-03 3.97621775e+00] [ 1.88048291e-02 9.99823164e-01 -1.40848360e-04 9.17131410e-02] [ 9.96855323e-03 -4.66238233e-05 9.99950312e-01 6.21468820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.457105681 meters 0.01692348096852818 Centerline is valid? [True, True] Translation: X:4.01, Y:0.10, Z:0.06 [[ 9.99910423e-01 -6.15581948e-03 -1.18849597e-02 4.00892307e+00] [ 6.15425439e-03 9.99981048e-01 -1.68254557e-04 1.03010625e-01] [ 1.18857702e-02 9.50964202e-05 9.99929357e-01 5.70386291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.487105681 meters 0.01754472988431108 Centerline is valid? [True, True] Translation: X:4.04, Y:0.11, Z:0.05 [[ 9.99812782e-01 1.40564438e-03 -1.92983165e-02 4.03902098e+00] [-1.41108462e-03 9.99998968e-01 -2.68287881e-04 1.12450045e-01] [ 1.92979195e-02 2.95469210e-04 9.99813734e-01 5.33392782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.517105680999999 meters 0.017786545522517384 Centerline is valid? [True, True] Translation: X:4.07, Y:0.12, Z:0.05 [[ 9.99704020e-01 2.28255409e-03 -2.42211186e-02 4.06687489e+00] [-2.29132510e-03 9.99997319e-01 -3.34375375e-04 1.15401675e-01] [ 2.42202904e-02 3.89774863e-04 9.99706570e-01 5.00505005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.547105681 meters 0.016811371541654418 Centerline is valid? [True, True] Translation: X:4.10, Y:0.11, Z:0.04 [[ 9.99618653e-01 -1.79027067e-03 -2.75561939e-02 4.09609461e+00] [ 1.78036448e-03 9.99998341e-01 -3.84021182e-04 1.09273317e-01] [ 2.75568357e-02 3.34814668e-04 9.99620182e-01 4.47017358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.577105681 meters 0.016179554226503676 Centerline is valid? [True, True] Translation: X:4.13, Y:0.10, Z:0.05 [[ 9.99591782e-01 -6.55730291e-03 -2.78077443e-02 4.12514466e+00] [ 6.54899128e-03 9.99978479e-01 -3.89960604e-04 1.01447247e-01] [ 2.78097030e-02 2.07688740e-04 9.99613214e-01 4.63113129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.607105680999999 meters 0.016189841536346904 Centerline is valid? [True, True] Translation: X:4.15, Y:0.10, Z:0.05 [[ 9.99565308e-01 -6.90070022e-03 -2.86631512e-02 4.15437288e+00] [ 6.89192756e-03 9.99976168e-01 -4.04843223e-04 9.68904348e-02] [ 2.86652619e-02 2.07122879e-04 9.99589045e-01 4.82925219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6371056809999995 meters 0.01667909644125251 Centerline is valid? [True, True] Translation: X:4.18, Y:0.10, Z:0.05 [[ 9.99530849e-01 -2.77085209e-03 -3.05025280e-02 4.18358882e+00] [ 2.75894622e-03 9.99996101e-01 -4.32404387e-04 9.51794805e-02] [ 3.05036072e-02 3.48046689e-04 9.99534596e-01 4.71321057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.667105681 meters 0.0173114793317587 Centerline is valid? [True, True] Translation: X:4.21, Y:0.09, Z:0.05 [[ 9.99467280e-01 1.26506351e-03 -3.26122140e-02 4.21214357e+00] [-1.28080605e-03 9.99999073e-01 -4.61833023e-04 9.42984958e-02] [ 3.26115995e-02 5.03356916e-04 9.99467974e-01 4.64235468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.697105681 meters 0.01807950580825443 Centerline is valid? [True, True] Translation: X:4.24, Y:0.09, Z:0.05 [[ 9.99459851e-01 7.29489881e-04 -3.28553595e-02 4.23998880e+00] [-7.45538755e-04 9.99999609e-01 -4.76222391e-04 9.07044050e-02] [ 3.28549993e-02 5.00460104e-04 9.99460003e-01 4.69535802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.727105680999999 meters 0.017410261379046003 Centerline is valid? [True, True] Translation: X:4.27, Y:0.08, Z:0.05 [[ 9.99555986e-01 -1.91335813e-03 -2.97349912e-02 4.26922307e+00] [ 1.90131249e-03 9.99998099e-01 -4.33368607e-04 8.02361009e-02] [ 2.97357639e-02 3.76640675e-04 9.99557723e-01 4.98702452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.757105681 meters 0.017410261379046003 Centerline is valid? [True, True] Translation: X:4.30, Y:0.08, Z:0.05 [[ 9.99555228e-01 -2.27525192e-03 -2.97349814e-02 4.29652703e+00] [ 2.26334544e-03 9.99997344e-01 -4.34071579e-04 8.08397365e-02] [ 2.97358900e-02 3.66577981e-04 9.99557723e-01 5.08833087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.787105681 meters 0.017515815522713966 Centerline is valid? [True, True] Translation: X:4.32, Y:0.07, Z:0.06 [[ 9.99636006e-01 -2.64939834e-03 -2.68483836e-02 4.32498700e+00] [ 2.63958871e-03 9.99996436e-01 -4.00805517e-04 7.18490342e-02] [ 2.68493498e-02 3.29790936e-04 9.99639437e-01 5.59414260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.817105680999999 meters 0.017518969259069445 Centerline is valid? [True, True] Translation: X:4.35, Y:0.06, Z:0.07 [[ 9.99735727e-01 -2.94067469e-03 -2.27997286e-02 4.35313299e+00] [ 2.93355282e-03 9.99995637e-01 -3.45806391e-04 6.45010646e-02] [ 2.28006461e-02 2.78830795e-04 9.99739993e-01 6.69886092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8471056809999995 meters 0.01826587703851213 Centerline is valid? [True, True] Translation: X:4.38, Y:0.06, Z:0.07 [[ 9.99841036e-01 -3.49503024e-04 -1.78263955e-02 4.38207684e+00] [ 3.44595543e-04 9.99999902e-01 -2.78363926e-04 5.70873042e-02] [ 1.78264911e-02 2.72176779e-04 9.99841058e-01 7.48110020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.877105681 meters 0.018943729668496025 Centerline is valid? [True, True] Translation: X:4.41, Y:0.05, Z:0.08 [[ 9.99855366e-01 1.51417258e-03 -1.69397081e-02 4.41072443e+00] [-1.51880225e-03 9.99998813e-01 -2.60441017e-04 5.44319029e-02] [ 1.69392937e-02 2.86131415e-04 9.99856479e-01 7.60077124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.907105681 meters 0.02210798337895121 Centerline is valid? [True, True] Translation: X:4.44, Y:0.05, Z:0.07 [[ 9.99686404e-01 9.95593866e-03 -2.29776781e-02 4.43855107e+00] [-9.96702272e-03 9.99950260e-01 -3.67906494e-04 5.46718256e-02] [ 2.29728723e-02 5.96810159e-04 9.99735911e-01 6.89592820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.937105680999999 meters 0.02961389126517353 Centerline is valid? [True, True] Translation: X:4.47, Y:0.06, Z:0.07 [[ 9.99326017e-01 2.83223349e-02 -2.33528866e-02 4.46911041e+00] [-2.83388922e-02 9.99598301e-01 -3.78302210e-04 6.03029928e-02] [ 2.33327914e-02 1.03984218e-03 9.99727213e-01 6.65085587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.967105681 meters 0.031777557033231256 Centerline is valid? [True, True] Translation: X:4.50, Y:0.06, Z:0.07 [[ 9.99269145e-01 3.18379974e-02 -2.11545989e-02 4.49725169e+00] [-3.18523292e-02 9.99492528e-01 -3.40791801e-04 6.19841854e-02] [ 2.11330134e-02 1.01436598e-03 9.99776158e-01 7.10739721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.997105681 meters 0.033527693114714714 Centerline is valid? [True, True] Translation: X:4.53, Y:0.06, Z:0.07 [[ 9.98930514e-01 3.71373816e-02 -2.75434928e-02 4.52734258e+00] [-3.71638181e-02 9.99309086e-01 -4.48345133e-04 6.01657343e-02] [ 2.75078123e-02 1.47148699e-03 9.99620505e-01 6.65498442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.027105680999999 meters 0.036490722113431115 Centerline is valid? [True, True] Translation: X:4.56, Y:0.06, Z:0.05 [[ 9.98460763e-01 4.04533777e-02 -3.79424318e-02 4.55635004e+00] [-4.05060466e-02 9.99179101e-01 -6.20114208e-04 5.88351102e-02] [ 3.78861991e-02 2.15605761e-03 9.99279734e-01 5.30952762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0571056809999995 meters 0.03938412206232219 Centerline is valid? [True, True] Translation: X:4.59, Y:0.06, Z:0.05 [[ 9.98311959e-01 4.48508744e-02 -3.69002951e-02 4.58663020e+00] [-4.49038119e-02 9.98991131e-01 -6.06679178e-04 5.75844127e-02] [ 3.68358574e-02 2.26261899e-03 9.99318768e-01 5.24987355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.087105681 meters 0.04266946932145966 Centerline is valid? [True, True] Translation: X:4.62, Y:0.06, Z:0.05 [[ 9.98129840e-01 4.84937303e-02 -3.72180052e-02 4.61581528e+00] [-4.85501379e-02 9.98820559e-01 -6.12783896e-04 5.72809893e-02] [ 3.71443926e-02 2.41857718e-03 9.99306982e-01 5.42598231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.117105681 meters 0.041200415229014034 Centerline is valid? [True, True] Translation: X:4.64, Y:0.05, Z:0.05 [[ 9.98012091e-01 4.84139881e-02 -4.03478980e-02 4.64441530e+00] [-4.84803472e-02 9.98823914e-01 -6.67284890e-04 4.94765102e-02] [ 4.02681395e-02 2.62203849e-03 9.99185469e-01 5.30541478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.147105680999999 meters 0.03977129782478522 Centerline is valid? [True, True] Translation: X:4.67, Y:0.03, Z:0.05 [[ 9.98319014e-01 4.08010075e-02 -4.11633823e-02 4.67341925e+00] [-4.08641584e-02 9.99164471e-01 -6.93558449e-04 2.95208572e-02] [ 4.11006912e-02 2.37449956e-03 9.99152188e-01 4.96415050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.177105681 meters 0.03743274487258685 Centerline is valid? [True, True] Translation: X:4.70, Y:0.02, Z:0.05 [[ 9.98479558e-01 3.56776447e-02 -4.20199792e-02 4.70322409e+00] [-3.57390336e-02 9.99360904e-01 -7.10404624e-04 2.03834971e-02] [ 4.19677789e-02 2.21107794e-03 9.99116518e-01 5.01282473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.207105681 meters 0.030400543407117016 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.00, Z:0.05 [[ 9.98806740e-01 2.32653934e-02 -4.29396992e-02 4.73407416e+00] [-2.33181358e-02 9.99727830e-01 -7.27763117e-04 -2.66229165e-03] [ 4.29110806e-02 1.72816844e-03 9.99077401e-01 5.27984321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.237105680999999 meters 0.023579070300711845 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.03, Z:0.06 [[ 9.99057766e-01 1.44839079e-02 -4.09120506e-02 4.76449009e+00] [-1.45244617e-02 9.99894273e-01 -6.94163045e-04 -3.10653347e-02] [ 4.08976709e-02 1.28773449e-03 9.99162510e-01 5.53779433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.267105680999999 meters 0.022679870026091994 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.05, Z:0.06 [[ 9.99220172e-01 1.16131818e-02 -3.77383307e-02 4.79274019e+00] [-1.16456500e-02 9.99931982e-01 -6.40636696e-04 -4.89218643e-02] [ 3.77283240e-02 1.07962450e-03 9.99287450e-01 5.92197750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.297105681 meters 0.022098790793528 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.06, Z:0.07 [[ 9.99488429e-01 1.18337697e-02 -2.97126657e-02 4.82088861e+00] [-1.18541076e-02 9.99929608e-01 -5.08425587e-04 -5.89580690e-02] [ 2.97045576e-02 8.60382627e-04 9.99558352e-01 7.48599367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.327105681 meters 0.024078119778608142 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.06, Z:0.09 [[ 9.99641321e-01 1.42578576e-02 -2.26703009e-02 4.84871481e+00] [-1.42703473e-02 9.99898098e-01 -3.89239682e-04 -6.38385673e-02] [ 2.26624410e-02 7.12613137e-04 9.99742920e-01 8.89435215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.357105680999999 meters 0.024424386602722604 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.07, Z:0.09 [[ 9.99655051e-01 1.53115478e-02 -2.13385936e-02 4.87790510e+00] [-1.53228915e-02 9.99882530e-01 -3.68192669e-04 -6.71108388e-02] [ 2.13304494e-02 6.95034616e-04 9.99772238e-01 9.15698145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3871056809999995 meters 0.024345298531402385 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.08, Z:0.08 [[ 9.99540581e-01 1.43662666e-02 -2.66877686e-02 4.90777328e+00] [-1.43837711e-02 9.99896441e-01 -4.64039182e-04 -7.86914758e-02] [ 2.66783383e-02 8.47696750e-04 9.99643710e-01 8.32261097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.417105681 meters 0.024520317636798697 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.08, Z:0.08 [[ 9.99507618e-01 1.57562818e-02 -2.71341336e-02 4.93610717e+00] [-1.57749169e-02 9.99875456e-01 -4.72841167e-04 -8.16245172e-02] [ 2.71233040e-02 9.00647051e-04 9.99631690e-01 8.30111133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.447105680999999 meters 0.027627552281487375 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.08, Z:0.08 [[ 9.99360070e-01 2.10515347e-02 -2.89185807e-02 4.96410858e+00] [-2.10750721e-02 9.99777766e-01 -5.09334362e-04 -7.85868646e-02] [ 2.89014317e-02 1.11846960e-03 9.99581641e-01 8.30940609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.477105680999999 meters 0.033369744747725534 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.07, Z:0.08 [[ 9.98853551e-01 3.10660395e-02 -3.64209301e-02 4.99411601e+00] [-3.11101811e-02 9.99515753e-01 -6.45754889e-04 -6.91954364e-02] [ 3.63832323e-02 1.77807629e-03 9.99336329e-01 7.80040666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.507105681 meters 0.03947084257428835 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.06, Z:0.08 [[ 9.98364083e-01 4.23201684e-02 -3.84468687e-02 5.02420314e+00] [-4.23777123e-02 9.99101428e-01 -6.82635341e-04 -5.83024105e-02] [ 3.83834322e-02 2.31080895e-03 9.99260413e-01 7.59326267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.537105681 meters 0.042442272028463075 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.05, Z:0.08 [[ 9.98050182e-01 4.95284549e-02 -3.79837539e-02 5.05449394e+00] [-4.95898475e-02 9.98769438e-01 -6.75270166e-04 -5.16125441e-02] [ 3.79035674e-02 2.55756207e-03 9.99278129e-01 7.77317614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.567105680999999 meters 0.04613445815219341 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.05, Z:0.08 [[ 9.98043386e-01 4.99995587e-02 -3.75425564e-02 5.08249702e+00] [-5.00598651e-02 9.98745996e-01 -6.67462333e-04 -4.58481036e-02] [ 3.74621050e-02 2.54553167e-03 9.99294807e-01 7.97778366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5971056809999995 meters 0.04521571558492347 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.05, Z:0.08 [[ 9.98056091e-01 4.81453136e-02 -3.95735668e-02 5.11012578e+00] [-4.82110741e-02 9.98836919e-01 -7.08541892e-04 -4.66150165e-02] [ 3.94934266e-02 2.61504872e-03 9.99216408e-01 7.99993295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.627105681 meters 0.043220105123956555 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.05, Z:0.08 [[ 9.98005764e-01 4.72879569e-02 -4.18132169e-02 5.13878736e+00] [-4.73608772e-02 9.98877559e-01 -7.54532719e-04 -4.83721048e-02] [ 4.17306037e-02 2.73333863e-03 9.99125160e-01 7.84262356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.657105680999999 meters 0.04629348997399758 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.04, Z:0.08 [[ 9.97640737e-01 5.23774252e-02 -4.43797789e-02 5.16945779e+00] [-5.24651242e-02 9.98622426e-01 -8.12840764e-04 -4.01570300e-02] [ 4.42760680e-02 3.13931367e-03 9.99014402e-01 7.56233428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.687105680999999 meters 0.050203533282691525 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.03, Z:0.07 [[ 9.97445113e-01 5.50955780e-02 -4.54722313e-02 5.19791304e+00] [-5.51904975e-02 9.98475495e-01 -8.33639313e-04 -3.20544469e-02] [ 4.53569788e-02 3.34114452e-03 9.98965255e-01 7.37103194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.717105681 meters 0.05046284191175644 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.03, Z:0.07 [[ 9.97246631e-01 5.74428123e-02 -4.68986064e-02 5.22694255e+00] [-5.75465260e-02 9.98342452e-01 -8.63160234e-04 -2.78354675e-02] [ 4.67712874e-02 3.55963551e-03 9.98899282e-01 7.26019897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.747105681 meters 0.04972198298177507 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.03, Z:0.08 [[ 9.97614432e-01 5.12926037e-02 -4.62007898e-02 5.25575992e+00] [-5.13868325e-02 9.98678459e-01 -8.53390664e-04 -2.61100797e-02] [ 4.60959609e-02 3.22546709e-03 9.98931809e-01 7.54091240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.777105680999999 meters 0.035983750462973835 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.05, Z:0.09 [[ 9.98536740e-01 3.56326833e-02 -4.06778885e-02 5.28573746e+00] [-3.56928400e-02 9.99362524e-01 -7.53328369e-04 -4.64008236e-02] [ 4.06251142e-02 2.20413542e-03 9.99172028e-01 8.52899525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8071056809999995 meters 0.03288526056033237 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.05, Z:0.09 [[ 9.98926497e-01 2.73669943e-02 -3.73751536e-02 5.31523271e+00] [-2.74120341e-02 9.99623979e-01 -6.93067435e-04 -5.17111542e-02] [ 3.73421326e-02 1.71685241e-03 9.99301065e-01 9.15462607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.837105681 meters 0.024824952660496665 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.06, Z:0.10 [[ 9.99372191e-01 1.32203612e-02 -3.28701504e-02 5.34556449e+00] [-1.32475785e-02 9.99912061e-01 -6.10371186e-04 -6.47658963e-02] [ 3.28591905e-02 1.04543789e-03 9.99459444e-01 1.02001233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.867105680999999 meters 0.0210617156358208 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.07, Z:0.11 [[ 9.99563815e-01 4.15224850e-03 -2.92393463e-02 5.37435968e+00] [-4.16991179e-03 9.99991158e-01 -5.43143110e-04 -7.06221842e-02] [ 2.92368325e-02 6.64831694e-04 9.99572291e-01 1.07773151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.897105680999999 meters 0.017541149307875818 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.08, Z:0.11 [[ 9.99669620e-01 -4.16520090e-03 -2.53633875e-02 5.40344730e+00] [ 4.15457848e-03 9.99991259e-01 -4.71490376e-04 -7.81039230e-02] [ 2.53651296e-02 3.65960421e-04 9.99678186e-01 1.11610924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.927105681 meters 0.016919915596049082 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.08, Z:0.12 [[ 9.99675872e-01 -8.61498781e-03 -2.39568998e-02 5.43155891e+00] [ 8.60673182e-03 9.99962861e-01 -4.47709401e-04 -7.93925109e-02] [ 2.39598671e-02 2.41373675e-04 9.99712892e-01 1.15086007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.957105681 meters 0.015807745111413585 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.08, Z:0.11 [[ 9.99377005e-01 -2.19838912e-02 -2.76099831e-02 5.46103778e+00] [ 2.19779543e-02 9.99758321e-01 -5.18507607e-04 -8.44511739e-02] [ 2.76147091e-02 -8.86263678e-05 9.99618637e-01 1.13173378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.987105680999999 meters 0.016499276960408 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.09, Z:0.11 [[ 9.99180459e-01 -2.65788898e-02 -3.05282435e-02 5.49192702e+00] [ 2.65737051e-02 9.99646691e-01 -5.75609918e-04 -8.53258898e-02] [ 3.05327566e-02 -2.36110358e-04 9.99533739e-01 1.10221595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.017105680999999 meters 0.019481750578101965 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.09, Z:0.10 [[ 9.98709323e-01 -3.71271870e-02 -3.46591869e-02 5.52354150e+00] [ 3.71269460e-02 9.99310345e-01 -6.50763264e-04 -8.90503739e-02] [ 3.46594450e-02 -6.36866420e-04 9.99398978e-01 1.04937140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.047105681 meters 0.024479808464944797 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.09, Z:0.11 [[ 9.98092917e-01 -5.00252466e-02 -3.61663422e-02 5.55416493e+00] [ 5.00335004e-02 9.98747310e-01 -6.77373337e-04 -9.02549665e-02] [ 3.61549228e-02 -1.13344717e-03 9.99345554e-01 1.05673517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.077105680999999 meters 0.027951019520142055 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.09, Z:0.11 [[ 9.97783136e-01 -5.58099818e-02 -3.62499584e-02 5.58421943e+00] [ 5.58220908e-02 9.98440501e-01 -6.78769706e-04 -9.10920184e-02] [ 3.62313087e-02 -1.34628350e-03 9.99342524e-01 1.07645949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.107105680999999 meters 0.031432667309305364 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.09, Z:0.11 [[ 9.97428462e-01 -6.23220193e-02 -3.53896863e-02 5.61555127e+00] [ 6.23376464e-02 9.98054898e-01 -6.62731158e-04 -8.79168424e-02] [ 3.53621525e-02 -1.54508284e-03 9.99373369e-01 1.11014772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1371056809999995 meters 0.031003646727895327 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.08, Z:0.12 [[ 9.97667398e-01 -6.03678834e-02 -3.18666243e-02 5.64669555e+00] [ 6.03795747e-02 9.98175311e-01 -5.96158997e-04 -7.54173532e-02] [ 3.18444664e-02 -1.32932483e-03 9.99491952e-01 1.17070783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.167105681 meters 0.028139341056066376 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.06, Z:0.12 [[ 9.97977639e-01 -5.54530343e-02 -3.10739838e-02 5.67748067e+00] [ 5.54619466e-02 9.98460636e-01 -5.75703449e-04 -6.18284274e-02] [ 3.10580742e-02 -1.14888446e-03 9.99516921e-01 1.19959537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.197105680999999 meters 0.02215339830903255 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.03, Z:0.12 [[ 9.98587789e-01 -4.21815609e-02 -3.22977277e-02 5.70790725e+00] [ 4.21843030e-02 9.99109668e-01 -5.96802635e-04 -2.84849075e-02] [ 3.22941461e-02 -7.66497309e-04 9.99478114e-01 1.20398464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.227105680999999 meters 0.0197651683490434 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.01, Z:0.12 [[ 9.98754387e-01 -3.71264991e-02 -3.33361243e-02 5.73932239e+00] [ 3.71266280e-02 9.99310380e-01 -6.15345962e-04 -1.17455869e-02] [ 3.33359806e-02 -6.23078407e-04 9.99444008e-01 1.19081021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.257105681 meters 0.019234647933744763 Centerline is valid? [True, True] Translation: X:5.77, Y:0.01, Z:0.12 [[ 9.98918402e-01 -3.31111661e-02 -3.26447148e-02 5.76982129e+00] [ 3.31091906e-02 9.99451560e-01 -6.01225846e-04 1.19876224e-02] [ 3.26467184e-02 -4.80264521e-04 9.99466838e-01 1.18576226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.287105680999999 meters 0.020377916518242587 Centerline is valid? [True, True] Translation: X:5.80, Y:0.03, Z:0.12 [[ 9.98751620e-01 -3.72779247e-02 -3.32499427e-02 5.80221795e+00] [ 3.72782559e-02 9.99304738e-01 -6.10174470e-04 2.61970347e-02] [ 3.32495713e-02 -6.30087135e-04 9.99446882e-01 1.16298482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.317105680999999 meters 0.022307675076961287 Centerline is valid? [True, True] Translation: X:5.83, Y:0.03, Z:0.12 [[ 9.98559016e-01 -4.11458627e-02 -3.44515594e-02 5.83324436e+00] [ 4.11486309e-02 9.99152838e-01 -6.28972861e-04 2.88967972e-02] [ 3.44482530e-02 -7.89567979e-04 9.99406171e-01 1.15271479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3471056809999995 meters 0.025647783498897184 Centerline is valid? [True, True] Translation: X:5.86, Y:0.04, Z:0.12 [[ 9.98117314e-01 -4.96012037e-02 -3.60769856e-02 5.86446332e+00] [ 4.96098467e-02 9.98768458e-01 -6.56119863e-04 3.62018301e-02] [ 3.60650996e-02 -1.13488913e-03 9.99348798e-01 1.18251034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.377105681 meters 0.027035846973438898 Centerline is valid? [True, True] Translation: X:5.90, Y:0.05, Z:0.12 [[ 9.97817319e-01 -5.59108658e-02 -3.51364919e-02 5.89504218e+00] [ 5.59230207e-02 9.98434880e-01 -6.37512478e-04 4.75697184e-02] [ 3.51171429e-02 -1.32881777e-03 9.99382319e-01 1.23605341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.407105680999999 meters 0.026048356001165812 Centerline is valid? [True, True] Translation: X:5.93, Y:0.05, Z:0.13 [[ 9.97819640e-01 -5.70180863e-02 -3.32400985e-02 5.92664689e+00] [ 5.70295909e-02 9.98372307e-01 -6.02659530e-04 5.49724280e-02] [ 3.32203563e-02 -1.29432370e-03 9.99447214e-01 1.26170739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.437105680999999 meters 0.02475609892391117 Centerline is valid? [True, True] Translation: X:5.96, Y:0.07, Z:0.13 [[ 9.98136704e-01 -5.22940796e-02 -3.14396264e-02 5.95739070e+00] [ 5.23021220e-02 9.98631146e-01 -5.67085016e-04 6.55069073e-02] [ 3.14262453e-02 -1.07833081e-03 9.99505492e-01 1.26100994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.467105681 meters 0.020213342378188257 Centerline is valid? [True, True] Translation: X:5.99, Y:0.08, Z:0.12 [[ 9.98600812e-01 -4.00653184e-02 -3.45136089e-02 5.98746093e+00] [ 4.00677737e-02 9.99196771e-01 -6.20784320e-04 8.41387485e-02] [ 3.45107585e-02 -7.62967746e-04 9.99404035e-01 1.23744954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.497105680999999 meters 0.018202729605051534 Centerline is valid? [True, True] Translation: X:6.02, Y:0.10, Z:0.12 [[ 9.98831434e-01 -3.23746432e-02 -3.58838241e-02 6.01871019e+00] [ 3.23723430e-02 9.99475670e-01 -6.45258378e-04 9.52891194e-02] [ 3.58858991e-02 -5.17139113e-04 9.99355760e-01 1.24158051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.527105680999999 meters 0.016804462506749645 Centerline is valid? [True, True] Translation: X:6.05, Y:0.12, Z:0.12 [[ 9.99225446e-01 -1.31148269e-02 -3.71013341e-02 6.05079496e+00] [ 1.30991536e-02 9.99913981e-01 -6.65506469e-04 1.18679105e-01] [ 3.71068707e-02 1.78994924e-04 9.99311287e-01 1.21248660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5571056809999995 meters 0.020775274215440075 Centerline is valid? [True, True] Translation: X:6.08, Y:0.14, Z:0.12 [[ 9.99194468e-01 4.76576058e-03 -3.98459897e-02 6.08121920e+00] [-4.79790896e-03 9.99988237e-01 -7.11227639e-04 1.41210025e-01] [ 3.98421315e-02 9.01832153e-04 9.99205580e-01 1.17870420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.587105681 meters 0.023458363926244067 Centerline is valid? [True, True] Translation: X:6.11, Y:0.15, Z:0.12 [[ 9.99092169e-01 1.17554176e-02 -4.09468923e-02 6.11024555e+00] [-1.17952079e-02 9.99930167e-01 -7.30291295e-04 1.51134431e-01] [ 4.09354480e-02 1.21260542e-03 9.99161057e-01 1.18204162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.617105680999999 meters 0.02639511988825365 Centerline is valid? [True, True] Translation: X:6.14, Y:0.16, Z:0.12 [[ 9.98958522e-01 1.89516067e-02 -4.15055152e-02 6.14013606e+00] [-1.89988037e-02 9.99819230e-01 -7.42939947e-04 1.61400693e-01] [ 4.14839323e-02 1.53072133e-03 9.99137999e-01 1.18074418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.647105680999999 meters 0.02639511988825365 Centerline is valid? [True, True] Translation: X:6.17, Y:0.16, Z:0.12 [[ 9.98961137e-01 1.88133556e-02 -4.15054863e-02 6.16755752e+00] [-1.88605002e-02 9.99821848e-01 -7.44548091e-04 1.62032413e-01] [ 4.14840846e-02 1.52658884e-03 9.99137999e-01 1.19090888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.677105681 meters 0.024230080866377145 Centerline is valid? [True, True] Translation: X:6.20, Y:0.16, Z:0.12 [[ 9.99039042e-01 1.41400722e-02 -4.14855613e-02 6.19764703e+00] [-1.41833655e-02 9.99899130e-01 -7.49416624e-04 1.57655799e-01] [ 4.14707799e-02 1.33710135e-03 9.99138822e-01 1.17679489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.707105680999999 meters 0.022888403899567783 Centerline is valid? [True, True] Translation: X:6.23, Y:0.15, Z:0.12 [[ 9.99011737e-01 9.40888725e-03 -4.34398652e-02 6.22616238e+00] [-9.45195759e-03 9.99955020e-01 -7.86202316e-04 1.53352325e-01] [ 4.34305140e-02 1.19601711e-03 9.99055734e-01 1.15408049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.737105680999999 meters 0.01977310318256387 Centerline is valid? [True, True] Translation: X:6.26, Y:0.14, Z:0.11 [[ 9.98786542e-01 -8.92005758e-04 -4.92407109e-02 6.25693567e+00] [ 8.48950523e-04 9.99999239e-01 -8.95290116e-04 1.40711050e-01] [ 4.92414720e-02 8.52400792e-04 9.98786539e-01 1.08680827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.767105680999999 meters 0.018041084888304762 Centerline is valid? [True, True] Translation: X:6.29, Y:0.13, Z:0.11 [[ 9.98775996e-01 -9.19475368e-03 -4.86000693e-02 6.28537009e+00] [ 9.16254333e-03 9.99957631e-01 -8.85508370e-04 1.30747416e-01] [ 4.86061522e-02 4.39124263e-04 9.98817926e-01 1.14597738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.797105681 meters 0.017463448206957447 Centerline is valid? [True, True] Translation: X:6.31, Y:0.13, Z:0.12 [[ 9.98862358e-01 -1.09173713e-02 -4.64198215e-02 6.31350365e+00] [ 1.08895645e-02 9.99940344e-01 -8.51874631e-04 1.27809614e-01] [ 4.64263526e-02 3.45413861e-04 9.98921656e-01 1.21918890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.827105680999999 meters 0.017696589549035684 Centerline is valid? [True, True] Translation: X:6.34, Y:0.12, Z:0.12 [[ 9.98991305e-01 -9.91683796e-03 -4.37953053e-02 6.34083846e+00] [ 9.89054958e-03 9.99950754e-01 -8.16903882e-04 1.23992864e-01] [ 4.38012496e-02 3.82920237e-04 9.99040191e-01 1.24923252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.857105680999999 meters 0.017952544561037717 Centerline is valid? [True, True] Translation: X:6.37, Y:0.12, Z:0.13 [[ 9.99133276e-01 -7.33675765e-03 -4.09739989e-02 6.36892683e+00] [ 7.31107371e-03 9.99972972e-01 -7.76646853e-04 1.19154945e-01] [ 4.09785895e-02 4.76409789e-04 9.99159911e-01 1.26518924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8871056809999995 meters 0.018373447064562842 Centerline is valid? [True, True] Translation: X:6.40, Y:0.12, Z:0.13 [[ 9.99112464e-01 -7.57339229e-03 -4.14358417e-02 6.39713732e+00] [ 7.54708512e-03 9.99971207e-01 -7.91281619e-04 1.18226260e-01] [ 4.14406414e-02 4.77859503e-04 9.99140853e-01 1.26436766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.917105680999999 meters 0.017944578619408378 Centerline is valid? [True, True] Translation: X:6.42, Y:0.11, Z:0.13 [[ 9.99053171e-01 -1.08093852e-02 -4.21416401e-02 6.42477380e+00] [ 1.07844417e-02 9.99941511e-01 -8.19197640e-04 1.13371253e-01] [ 4.21480303e-02 3.63947941e-04 9.99111311e-01 1.25254196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.947105680999999 meters 0.01708793405908117 Centerline is valid? [True, True] Translation: X:6.45, Y:0.10, Z:0.12 [[ 9.98981474e-01 -1.99627430e-02 -4.04660891e-02 6.45377977e+00] [ 1.99469965e-02 9.99800724e-01 -7.92884425e-04 9.84689938e-02] [ 4.04738533e-02 -1.51000858e-05 9.99180598e-01 1.23907897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.977105680999999 meters 0.01767078925001838 Centerline is valid? [True, True] Translation: X:6.49, Y:0.09, Z:0.12 [[ 9.98802538e-01 -2.67706407e-02 -4.09490227e-02 6.48531025e+00] [ 2.67601029e-02 9.99641560e-01 -8.05548019e-04 8.86422098e-02] [ 4.09559100e-02 -2.91216654e-04 9.99160912e-01 1.23378056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.007105681 meters 0.02270837492836165 Centerline is valid? [True, True] Translation: X:6.52, Y:0.07, Z:0.13 [[ 9.98258923e-01 -4.42166109e-02 -3.90386322e-02 6.51597185e+00] [ 4.42204188e-02 9.99021505e-01 -7.66357344e-04 6.60777755e-02] [ 3.90343188e-02 -9.61281608e-04 9.99237408e-01 1.28818173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.037105680999999 meters 0.029761091353952475 Centerline is valid? [True, True] Translation: X:6.55, Y:0.05, Z:0.13 [[ 9.97221261e-01 -6.35175362e-02 -3.89265746e-02 6.54669795e+00] [ 6.35360188e-02 9.97979254e-01 -7.63349161e-04 4.59884502e-02] [ 3.88964000e-02 -1.71201156e-03 9.99241782e-01 1.33609146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.067105680999999 meters 0.03330558850503475 Centerline is valid? [True, True] Translation: X:6.58, Y:0.04, Z:0.13 [[ 9.96748878e-01 -7.00505122e-02 -3.98070415e-02 6.57671358e+00] [ 7.00750387e-02 9.97541418e-01 -7.80543746e-04 3.59795970e-02] [ 3.97638501e-02 -2.01147387e-03 9.99207081e-01 1.33922514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0971056809999995 meters 0.03756712716837985 Centerline is valid? [True, True] Translation: X:6.61, Y:0.02, Z:0.13 [[ 9.96118589e-01 -7.84486076e-02 -3.99195731e-02 6.60786637e+00] [ 7.84799689e-02 9.96915383e-01 -7.83268974e-04 2.23057655e-02] [ 3.98578829e-02 -2.35265807e-03 9.99202589e-01 1.33286224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.127105680999999 meters 0.036755600048026 Centerline is valid? [True, True] Translation: X:6.64, Y:0.02, Z:0.14 [[ 9.96287447e-01 -7.80077845e-02 -3.64157644e-02 6.64049337e+00] [ 7.80336359e-02 9.96950472e-01 -7.13034582e-04 2.10371224e-02] [ 3.63603358e-02 -2.13126710e-03 9.99336472e-01 1.37077916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.157105680999999 meters 0.038338564944451606 Centerline is valid? [True, True] Translation: X:6.67, Y:0.02, Z:0.14 [[ 9.96500968e-01 -7.60134273e-02 -3.47531210e-02 6.67110476e+00] [ 7.60358862e-02 9.97104852e-01 -6.76858384e-04 1.98765106e-02] [ 3.47039559e-02 -1.96799432e-03 9.99395699e-01 1.41094116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.187105680999999 meters 0.035042619898499695 Centerline is valid? [True, True] Translation: X:6.70, Y:0.03, Z:0.15 [[ 9.96907728e-01 -7.12878808e-02 -3.30608572e-02 6.70121658e+00] [ 7.13057153e-02 9.97454302e-01 -6.40779691e-04 2.91298887e-02] [ 3.30223740e-02 -1.71862984e-03 9.99453135e-01 1.45813474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.217105681 meters 0.03528815179208341 Centerline is valid? [True, True] Translation: X:6.73, Y:0.04, Z:0.15 [[ 9.96877938e-01 -7.11365093e-02 -3.42633085e-02 6.73312124e+00] [ 7.11555691e-02 9.97465009e-01 -6.64324380e-04 3.54784115e-02] [ 3.42237090e-02 -1.77577489e-03 9.99412620e-01 1.45262732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.247105680999999 meters 0.03582810159855826 Centerline is valid? [True, True] Translation: X:6.76, Y:0.04, Z:0.14 [[ 9.96793882e-01 -7.15278785e-02 -3.58569306e-02 6.76424703e+00] [ 7.15491255e-02 9.97436837e-01 -6.91926492e-04 3.82381772e-02] [ 3.58145155e-02 -1.87582393e-03 9.99356694e-01 1.44068188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.277105680999999 meters 0.03418538327232071 Centerline is valid? [True, True] Translation: X:6.80, Y:0.05, Z:0.14 [[ 9.96660146e-01 -7.24676761e-02 -3.76429187e-02 6.79594002e+00] [ 7.24918621e-02 9.97368741e-01 -7.23776416e-04 4.60929104e-02] [ 3.75963208e-02 -2.00744616e-03 9.99290992e-01 1.39903730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3071056809999995 meters 0.03397242347467245 Centerline is valid? [True, True] Translation: X:6.83, Y:0.05, Z:0.14 [[ 9.96746848e-01 -7.12736330e-02 -3.76269963e-02 6.82777402e+00] [ 7.12971723e-02 9.97454860e-01 -7.17565867e-04 5.13141880e-02] [ 3.75823739e-02 -1.96746692e-03 9.99291596e-01 1.40720829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.337105680999999 meters 0.031098952890848755 Centerline is valid? [True, True] Translation: X:6.86, Y:0.06, Z:0.15 [[ 9.96952511e-01 -6.91251435e-02 -3.61580658e-02 6.85917567e+00] [ 6.91455762e-02 9.97606344e-01 -6.86593739e-04 5.98057883e-02] [ 3.61189767e-02 -1.81566894e-03 9.99345847e-01 1.45428697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.367105680999999 meters 0.027998127391314815 Centerline is valid? [True, True] Translation: X:6.89, Y:0.07, Z:0.15 [[ 9.97287832e-01 -6.27338224e-02 -3.84895785e-02 6.89010895e+00] [ 6.27523310e-02 9.98028865e-01 -7.28232348e-04 7.32943278e-02] [ 3.84593951e-02 -1.68905351e-03 9.99258736e-01 1.47952802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.397105680999999 meters 0.024619033805317925 Centerline is valid? [True, True] Translation: X:6.92, Y:0.09, Z:0.14 [[ 9.97593702e-01 -5.40917751e-02 -4.33691732e-02 6.92034333e+00] [ 5.41071683e-02 9.98534798e-01 -8.19691833e-04 8.71014577e-02] [ 4.33499671e-02 -1.52886374e-03 9.99058779e-01 1.43889365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.427105681 meters 0.022929719354334712 Centerline is valid? [True, True] Translation: X:6.95, Y:0.09, Z:0.14 [[ 9.97869829e-01 -4.92892371e-02 -4.27361225e-02 6.95130244e+00] [ 4.92998104e-02 9.98783699e-01 -8.07120020e-04 9.48537266e-02] [ 4.27239248e-02 -1.30148202e-03 9.99086069e-01 1.44717096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.457105680999999 meters 0.020597061360610076 Centerline is valid? [True, True] Translation: X:6.98, Y:0.11, Z:0.15 [[ 9.98394498e-01 -4.06319985e-02 -3.94647584e-02 6.98031258e+00] [ 4.06343096e-02 9.99173808e-01 -7.43891526e-04 1.09674182e-01] [ 3.94623788e-02 -8.60926007e-04 9.99220686e-01 1.47019136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.487105680999999 meters 0.0189962457652162 Centerline is valid? [True, True] Translation: X:7.01, Y:0.12, Z:0.15 [[ 9.98660409e-01 -3.47834187e-02 -3.83079863e-02 7.01142828e+00] [ 3.47812673e-02 9.99394687e-01 -7.22804861e-04 1.21826634e-01] [ 3.83099396e-02 -6.10563713e-04 9.99265718e-01 1.46829479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.517105680999999 meters 0.018662869858959874 Centerline is valid? [True, True] Translation: X:7.04, Y:0.13, Z:0.15 [[ 9.98660969e-01 -3.32239421e-02 -3.96539770e-02 7.04224322e+00] [ 3.32204803e-02 9.99447769e-01 -7.46400572e-04 1.27566283e-01] [ 3.96568772e-02 -5.71923043e-04 9.99213193e-01 1.46970510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.547105680999999 meters 0.018341670928225626 Centerline is valid? [True, True] Translation: X:7.07, Y:0.14, Z:0.15 [[ 9.98607739e-01 -3.13227000e-02 -4.24437478e-02 7.07279938e+00] [ 3.13171620e-02 9.99509181e-01 -7.95543720e-04 1.39691581e-01] [ 4.24478342e-02 -5.34781610e-04 9.99098541e-01 1.47197720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.577105680999999 meters 0.018241489313277678 Centerline is valid? [True, True] Translation: X:7.11, Y:0.14, Z:0.15 [[ 9.98611942e-01 -3.18410946e-02 -4.19563243e-02 7.10569865e+00] [ 3.18364114e-02 9.99492789e-01 -7.79950399e-04 1.44743520e-01] [ 4.19598780e-02 -5.56871016e-04 9.99119141e-01 1.49377609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.607105680999999 meters 0.01936770025718262 Centerline is valid? [True, True] Translation: X:7.14, Y:0.15, Z:0.15 [[ 9.98514214e-01 -3.67849303e-02 -4.02024149e-02 7.13819686e+00] [ 3.67848259e-02 9.99322933e-01 -7.42566260e-04 1.47498433e-01] [ 4.02025104e-02 -7.37375868e-04 9.99191280e-01 1.51696846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6371056809999995 meters 0.021955951153670484 Centerline is valid? [True, True] Translation: X:7.17, Y:0.15, Z:0.15 [[ 9.98098645e-01 -4.62821921e-02 -4.07069241e-02 7.16958120e+00] [ 4.62901092e-02 9.98927758e-01 -7.48549298e-04 1.46844001e-01] [ 4.06979209e-02 -1.13720192e-03 9.99170849e-01 1.53383520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.667105680999999 meters 0.02402735013638595 Centerline is valid? [True, True] Translation: X:7.20, Y:0.15, Z:0.16 [[ 9.97822970e-01 -5.18811447e-02 -4.07144540e-02 7.20037759e+00] [ 5.18937861e-02 9.98652330e-01 -7.47016184e-04 1.45503921e-01] [ 4.06983404e-02 -1.36743726e-03 9.99170544e-01 1.55058241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.697105680999999 meters 0.029125422795740742 Centerline is valid? [True, True] Translation: X:7.23, Y:0.14, Z:0.16 [[ 9.97234898e-01 -6.32023461e-02 -3.90899176e-02 7.23100960e+00] [ 6.32227052e-02 9.97999187e-01 -7.16347488e-04 1.39804365e-01] [ 3.90569809e-02 -1.75700363e-03 9.99235440e-01 1.57464988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.727105680999999 meters 0.033115971305915724 Centerline is valid? [True, True] Translation: X:7.26, Y:0.14, Z:0.16 [[ 9.96799588e-01 -7.01079371e-02 -3.84117038e-02 7.26084744e+00] [ 7.01327724e-02 9.97537418e-01 -7.02179374e-04 1.35942458e-01] [ 3.83663402e-02 -1.99398717e-03 9.99261751e-01 1.59924002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.757105680999999 meters 0.03300356288639263 Centerline is valid? [True, True] Translation: X:7.29, Y:0.14, Z:0.16 [[ 9.96769274e-01 -7.07867583e-02 -3.79506238e-02 7.29305611e+00] [ 7.08115207e-02 9.97489473e-01 -6.92956744e-04 1.37653283e-01] [ 3.79043999e-02 -1.99662339e-03 9.99279375e-01 1.60233693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.787105680999999 meters 0.0317135563134563 Centerline is valid? [True, True] Translation: X:7.32, Y:0.14, Z:0.16 [[ 9.97052007e-01 -6.75469677e-02 -3.63964556e-02 7.32455090e+00] [ 6.75676978e-02 9.97714472e-01 -6.61561664e-04 1.41334162e-01] [ 3.63579570e-02 -1.79961333e-03 9.99337211e-01 1.60643690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.817105680999999 meters 0.027283495331136432 Centerline is valid? [True, True] Translation: X:7.36, Y:0.15, Z:0.17 [[ 9.97734246e-01 -5.77178563e-02 -3.45691231e-02 7.35510860e+00] [ 5.77307153e-02 9.98331995e-01 -6.26886424e-04 1.52925100e-01] [ 3.45476442e-02 -1.37023415e-03 9.99402113e-01 1.67748224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8471056809999995 meters 0.024399924157798902 Centerline is valid? [True, True] Translation: X:7.39, Y:0.16, Z:0.17 [[ 9.98134292e-01 -5.06155230e-02 -3.41467897e-02 7.38614033e+00] [ 5.06239411e-02 9.98717595e-01 -6.18558340e-04 1.61209872e-01] [ 3.41343083e-02 -1.11124078e-03 9.99416637e-01 1.71862461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.877105680999999 meters 0.019194316331158236 Centerline is valid? [True, True] Translation: X:7.42, Y:0.18, Z:0.17 [[ 9.98714848e-01 -3.49267505e-02 -3.67256672e-02 7.41613883e+00] [ 3.49259174e-02 9.99389683e-01 -6.64436065e-04 1.78258283e-01] [ 3.67264595e-02 -6.19095454e-04 9.99325164e-01 1.72052441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.907105680999999 meters 0.016913599147200368 Centerline is valid? [True, True] Translation: X:7.45, Y:0.19, Z:0.17 [[ 9.99040443e-01 -2.05348195e-02 -3.86848141e-02 7.44626966e+00] [ 2.05231191e-02 9.99789134e-01 -6.99589030e-04 1.92881602e-01] [ 3.86910227e-02 -9.50153107e-05 9.99251218e-01 1.68065604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.937105680999999 meters 0.016729114505538784 Centerline is valid? [True, True] Translation: X:7.48, Y:0.20, Z:0.17 [[ 9.99115638e-01 -1.58332803e-02 -3.89518706e-02 7.47820014e+00] [ 1.58178829e-02 9.99874642e-01 -7.03466065e-04 1.98126109e-01] [ 3.89581258e-02 8.67078194e-05 9.99240840e-01 1.68333544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.967105680999999 meters 0.01727365224785592 Centerline is valid? [True, True] Translation: X:7.51, Y:0.21, Z:0.17 [[ 9.99116792e-01 -1.02422019e-02 -4.07520895e-02 7.50933292e+00] [ 1.02208435e-02 9.99947498e-01 -7.32423738e-04 2.05187815e-01] [ 4.07574516e-02 3.15256126e-04 9.99169020e-01 1.65222756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.997105680999999 meters 0.017361943173623287 Centerline is valid? [True, True] Translation: X:7.54, Y:0.21, Z:0.16 [[ 9.99053778e-01 -8.45283264e-03 -4.26626095e-02 7.53900988e+00] [ 8.42788769e-03 9.99964192e-01 -7.64531978e-04 2.07137542e-01] [ 4.26675444e-02 4.04252879e-04 9.99089244e-01 1.63563395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.027105680999998 meters 0.017468587040903368 Centerline is valid? [True, True] Translation: X:7.57, Y:0.21, Z:0.16 [[ 9.98963501e-01 -8.45621927e-03 -4.47260013e-02 7.56642252e+00] [ 8.42867646e-03 9.99964155e-01 -8.04364342e-04 2.08212806e-01] [ 4.47311999e-02 4.26549626e-04 9.98998968e-01 1.61461379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.057105681 meters 0.016720947453088966 Centerline is valid? [True, True] Translation: X:7.59, Y:0.20, Z:0.17 [[ 9.99092748e-01 -1.65408632e-02 -3.92438668e-02 7.59428559e+00] [ 1.65256826e-02 9.99863189e-01 -7.11208291e-04 2.00318195e-01] [ 3.92502618e-02 6.20313588e-05 9.99229410e-01 1.68914679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.087105680999999 meters 0.01898697640737048 Centerline is valid? [True, True] Translation: X:7.63, Y:0.18, Z:0.18 [[ 9.98838515e-01 -3.33539208e-02 -3.47726420e-02 7.62531898e+00] [ 3.33520554e-02 9.99443464e-01 -6.33850368e-04 1.81858329e-01] [ 3.47744312e-02 -5.26624922e-04 9.99395048e-01 1.78190922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.117105681 meters 0.021724141490600965 Centerline is valid? [True, True] Translation: X:7.66, Y:0.17, Z:0.18 [[ 9.98451803e-01 -4.33480092e-02 -3.48560926e-02 7.65661584e+00] [ 4.33523992e-02 9.99059644e-01 -6.30177375e-04 1.71689013e-01] [ 3.48506324e-02 -8.81893506e-04 9.99392143e-01 1.79704744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.147105681 meters 0.03013979326146216 Centerline is valid? [True, True] Translation: X:7.69, Y:0.15, Z:0.18 [[ 9.97354864e-01 -6.29226727e-02 -3.63869849e-02 7.68738246e+00] [ 6.29405221e-02 9.98017064e-01 -6.55871040e-04 1.48024020e-01] [ 3.63561010e-02 -1.63607966e-03 9.99337559e-01 1.77253409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.177105680999999 meters 0.036307148978793 Centerline is valid? [True, True] Translation: X:7.72, Y:0.13, Z:0.18 [[ 9.96539606e-01 -7.66990782e-02 -3.20322503e-02 7.71806117e+00] [ 7.67199995e-02 9.97052510e-01 -5.77241180e-04 1.30402874e-01] [ 3.19821094e-02 -1.88227053e-03 9.99486669e-01 1.82773149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.207105681 meters 0.039453934480575666 Centerline is valid? [True, True] Translation: X:7.75, Y:0.12, Z:0.19 [[ 9.96389682e-01 -7.96790580e-02 -2.93061385e-02 7.74766394e+00] [ 7.96978544e-02 9.96818927e-01 -5.27990258e-04 1.22732044e-01] [ 2.92549833e-02 -1.80955232e-03 9.99570343e-01 1.88278142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.237105681 meters 0.0415787949271275 Centerline is valid? [True, True] Translation: X:7.78, Y:0.12, Z:0.19 [[ 9.96730242e-01 -7.51497227e-02 -2.96874528e-02 7.77729963e+00] [ 7.51670096e-02 9.97170815e-01 -5.34858431e-04 1.16711740e-01] [ 2.96436560e-02 -1.69840748e-03 9.99559087e-01 1.92554478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.267105680999999 meters 0.032561059347674316 Centerline is valid? [True, True] Translation: X:7.81, Y:0.13, Z:0.19 [[ 9.97158273e-01 -6.89616262e-02 -3.03260920e-02 7.80781077e+00] [ 6.89768097e-02 9.97618114e-01 -5.46427359e-04 1.30037529e-01] [ 3.02915412e-02 -1.54692252e-03 9.99539909e-01 1.91832129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.297105681 meters 0.026595715872358205 Centerline is valid? [True, True] Translation: X:7.84, Y:0.14, Z:0.19 [[ 9.98125306e-01 -5.32260279e-02 -3.02136435e-02 7.83681661e+00] [ 5.32339112e-02 9.98581922e-01 -5.43971214e-04 1.40634236e-01] [ 3.01997516e-02 -1.06543898e-03 9.99543316e-01 1.93043165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.327105680999999 meters 0.02038980827576948 Centerline is valid? [True, True] Translation: X:7.87, Y:0.16, Z:0.19 [[ 9.98787531e-01 -3.68554342e-02 -3.26365612e-02 7.86696194e+00] [ 3.68558725e-02 9.99320418e-01 -5.88360335e-04 1.55716866e-01] [ 3.26360662e-02 -6.15201971e-04 9.99467112e-01 1.91715450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.357105680999998 meters 0.01820984958594065 Centerline is valid? [True, True] Translation: X:7.90, Y:0.16, Z:0.19 [[ 9.98919538e-01 -3.06063592e-02 -3.49715143e-02 7.89948920e+00] [ 3.06030212e-02 9.99531419e-01 -6.30851577e-04 1.63010878e-01] [ 3.49744354e-02 -4.40064029e-04 9.99388110e-01 1.90167324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.387105681 meters 0.017799416127443422 Centerline is valid? [True, True] Translation: X:7.93, Y:0.16, Z:0.19 [[ 9.98906311e-01 -2.64888478e-02 -3.85295164e-02 7.93137362e+00] [ 2.64819942e-02 9.99649054e-01 -6.88316668e-04 1.64369582e-01] [ 3.85342273e-02 -3.32774564e-04 9.99257225e-01 1.85478656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.417105680999999 meters 0.01851798990479096 Centerline is valid? [True, True] Translation: X:7.96, Y:0.16, Z:0.18 [[ 9.98580472e-01 -3.20415687e-02 -4.25485375e-02 7.96405534e+00] [ 3.20384207e-02 9.99486352e-01 -7.56062689e-04 1.58296858e-01] [ 4.25509080e-02 -6.08198506e-04 9.99094115e-01 1.80484390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.447105680999998 meters 0.01925989972349835 Centerline is valid? [True, True] Translation: X:8.00, Y:0.15, Z:0.18 [[ 9.98379817e-01 -3.52809267e-02 -4.46429996e-02 7.99645198e+00] [ 3.52808789e-02 9.99377124e-01 -7.89231628e-04 1.53681672e-01] [ 4.46430374e-02 -7.87091334e-04 9.99002693e-01 1.79218695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.477105681 meters 0.020522563287417223 Centerline is valid? [True, True] Translation: X:8.03, Y:0.15, Z:0.18 [[ 9.97958116e-01 -4.00905471e-02 -4.97227023e-02 8.02809183e+00] [ 4.00966624e-02 9.99195422e-01 -8.74880360e-04 1.46345391e-01] [ 4.97177709e-02 -1.12062045e-03 9.98762678e-01 1.79141047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.507105680999999 meters 0.022388268320281596 Centerline is valid? [True, True] Translation: X:8.06, Y:0.14, Z:0.18 [[ 9.97785916e-01 -4.36340745e-02 -5.01929537e-02 8.05894118e+00] [ 4.36449655e-02 9.99046717e-01 -8.79546892e-04 1.38305938e-01] [ 5.01834838e-02 -1.31307023e-03 9.98739152e-01 1.81328479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.537105681 meters 0.022210565310744654 Centerline is valid? [True, True] Translation: X:8.09, Y:0.14, Z:0.18 [[ 9.97779339e-01 -4.51178794e-02 -4.89976215e-02 8.09082943e+00] [ 4.51303605e-02 9.98980743e-01 -8.52111244e-04 1.36745619e-01] [ 4.89861257e-02 -1.36106133e-03 9.98798532e-01 1.83565904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.567105681 meters 0.022210565310744654 Centerline is valid? [True, True] Translation: X:8.12, Y:0.14, Z:0.18 [[ 9.97785226e-01 -4.49874289e-02 -4.89977041e-02 8.12338103e+00] [ 4.49999873e-02 9.98986628e-01 -8.47334584e-04 1.37189473e-01] [ 4.89861706e-02 -1.35943813e-03 9.98798532e-01 1.84770419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.597105680999999 meters 0.02252752753134258 Centerline is valid? [True, True] Translation: X:8.16, Y:0.13, Z:0.19 [[ 9.97887031e-01 -4.67157337e-02 -4.51565515e-02 8.15560817e+00] [ 4.67283949e-02 9.98907331e-01 -7.75738188e-04 1.30354599e-01] [ 4.51434495e-02 -1.33599409e-03 9.98979621e-01 1.86167148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.627105681 meters 0.02452442699542867 Centerline is valid? [True, True] Translation: X:8.19, Y:0.12, Z:0.19 [[ 9.97902401e-01 -4.95078698e-02 -4.17105490e-02 8.18672439e+00] [ 4.95212405e-02 9.98772816e-01 -7.13242466e-04 1.20351086e-01] [ 4.16946736e-02 -1.35381176e-03 9.99129482e-01 1.87504978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.657105680999999 meters 0.02502444804831136 Centerline is valid? [True, True] Translation: X:8.22, Y:0.12, Z:0.19 [[ 9.97842553e-01 -5.18457988e-02 -4.02771888e-02 8.21912465e+00] [ 5.18602710e-02 9.98654115e-01 -6.86122033e-04 1.16442890e-01] [ 4.02585529e-02 -1.40414417e-03 9.99188309e-01 1.89514099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.687105680999998 meters 0.027886924958192404 Centerline is valid? [True, True] Translation: X:8.25, Y:0.11, Z:0.19 [[ 9.97546688e-01 -5.74478133e-02 -4.00044131e-02 8.24918629e+00] [ 5.74667116e-02 9.98347193e-01 -6.78306574e-04 1.07413652e-01] [ 3.99772608e-02 -1.62227960e-03 9.99199273e-01 1.94306078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.717105681 meters 0.029459577254268027 Centerline is valid? [True, True] Translation: X:8.28, Y:0.10, Z:0.20 [[ 9.97295338e-01 -6.12054476e-02 -4.06927662e-02 8.28022898e+00] [ 6.12281266e-02 9.98123560e-01 -6.89900028e-04 1.03279934e-01] [ 4.06586343e-02 -1.80350776e-03 9.99171468e-01 1.97574062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.747105680999999 meters 0.03351006359364509 Centerline is valid? [True, True] Translation: X:8.31, Y:0.09, Z:0.20 [[ 9.96567014e-01 -7.20307846e-02 -4.08136226e-02 8.31084773e+00] [ 7.20626767e-02 9.97399866e-01 -6.91148502e-04 9.19780916e-02] [ 4.07572857e-02 -2.25236310e-03 9.99166538e-01 1.98900478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.777105680999998 meters 0.04318177450841163 Centerline is valid? [True, True] Translation: X:8.34, Y:0.07, Z:0.20 [[ 9.95381627e-01 -8.62529493e-02 -4.21407823e-02 8.34125109e+00] [ 8.62996421e-02 9.96268971e-01 -7.13296913e-04 6.94326230e-02] [ 4.20450778e-02 -2.92673179e-03 9.99111428e-01 1.95852779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.807105681 meters 0.04957419602207266 Centerline is valid? [True, True] Translation: X:8.37, Y:0.06, Z:0.19 [[ 9.94679240e-01 -9.34341917e-02 -4.33965563e-02 8.37151169e+00] [ 9.34905683e-02 9.95619895e-01 -7.33070810e-04 5.64526618e-02] [ 4.32749687e-02 -3.32799839e-03 9.99057657e-01 1.94158203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.837105680999999 meters 0.0495132890264563 Centerline is valid? [True, True] Translation: X:8.40, Y:0.05, Z:0.19 [[ 9.93505141e-01 -1.04015527e-01 -4.61335663e-02 8.40257217e+00] [ 1.04090583e-01 9.94567516e-01 -7.78940682e-04 5.26322899e-02] [ 4.59639684e-02 -4.02818822e-03 9.98934977e-01 1.93943948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.867105680999998 meters 0.052486226727235415 Centerline is valid? [True, True] Translation: X:8.43, Y:0.05, Z:0.19 [[ 9.93377969e-01 -1.04947211e-01 -4.67578234e-02 8.43363075e+00] [ 1.05025507e-01 9.94469218e-01 -7.85867521e-04 4.91699639e-02] [ 4.65816907e-02 -4.13010064e-03 9.98905946e-01 1.94704490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.897105681 meters 0.05331173994208494 Centerline is valid? [True, True] Translation: X:8.46, Y:0.05, Z:0.20 [[ 9.93654621e-01 -1.00809634e-01 -4.98789688e-02 8.46331949e+00] [ 1.00894132e-01 9.94896824e-01 -8.27284509e-04 5.41281278e-02] [ 4.97078259e-02 -4.21046020e-03 9.98754927e-01 1.95146578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.927105680999999 meters 0.04709891979665556 Centerline is valid? [True, True] Translation: X:8.49, Y:0.07, Z:0.19 [[ 9.94262955e-01 -9.26853746e-02 -5.33909808e-02 8.49323409e+00] [ 9.27705386e-02 9.95687120e-01 -8.86363159e-04 7.30294441e-02] [ 5.32428649e-02 -4.07183200e-03 9.98573291e-01 1.94107720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.957105681 meters 0.04154003875157414 Centerline is valid? [True, True] Translation: X:8.52, Y:0.09, Z:0.19 [[ 9.94946004e-01 -8.42547229e-02 -5.46222490e-02 8.52356282e+00] [ 8.43312269e-02 9.96437365e-01 -9.06897601e-04 9.20709665e-02] [ 5.45040603e-02 -3.70404713e-03 9.98506679e-01 1.92211579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.987105681 meters 0.037577653077796334 Centerline is valid? [True, True] Translation: X:8.55, Y:0.10, Z:0.19 [[ 9.95271020e-01 -8.06727227e-02 -5.41064645e-02 8.55440802e+00] [ 8.07425724e-02 9.96734584e-01 -8.97312125e-04 1.04026829e-01] [ 5.40021730e-02 -3.47562637e-03 9.98534769e-01 1.94398541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.017105680999999 meters 0.037081829529310925 Centerline is valid? [True, True] Translation: X:8.58, Y:0.12, Z:0.20 [[ 9.96078694e-01 -7.39717067e-02 -4.85326844e-02 8.58327087e+00] [ 7.40199746e-02 9.97256435e-01 -8.04423284e-04 1.17675609e-01] [ 4.84590363e-02 -2.79111917e-03 9.98821271e-01 2.01273941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.047105681 meters 0.03174846205135761 Centerline is valid? [True, True] Translation: X:8.61, Y:0.14, Z:0.22 [[ 9.97135594e-01 -6.50299729e-02 -3.86226673e-02 8.61309024e+00] [ 6.50538001e-02 9.97881552e-01 -6.40833883e-04 1.41830562e-01] [ 3.85825206e-02 -1.87355300e-03 9.99253661e-01 2.17076232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.077105680999999 meters 0.02863898533553094 Centerline is valid? [True, True] Translation: X:8.64, Y:0.16, Z:0.23 [[ 9.97960893e-01 -5.66355962e-02 -2.94357786e-02 8.64146824e+00] [ 5.66458023e-02 9.98394218e-01 -4.87718013e-04 1.63983134e-01] [ 2.94161334e-02 -1.18068979e-03 9.99566555e-01 2.32333646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.107105680999998 meters 0.02574809955510038 Centerline is valid? [True, True] Translation: X:8.67, Y:0.18, Z:0.23 [[ 9.98214845e-01 -5.28231333e-02 -2.78718432e-02 8.67224178e+00] [ 5.28307686e-02 9.98603373e-01 -4.62886310e-04 1.76190109e-01] [ 2.78573678e-02 -1.01043091e-03 9.99611398e-01 2.34814088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.137105681 meters 0.022200646573595714 Centerline is valid? [True, True] Translation: X:8.70, Y:0.19, Z:0.23 [[ 9.98660098e-01 -4.35216106e-02 -2.79978223e-02 8.70275919e+00] [ 4.35257039e-02 9.99052200e-01 -4.63503670e-04 1.93170680e-01] [ 2.79914583e-02 -7.55742300e-04 9.99607877e-01 2.32097628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.167105680999999 meters 0.021142536189577475 Centerline is valid? [True, True] Translation: X:8.73, Y:0.20, Z:0.23 [[ 9.98858046e-01 -3.89426843e-02 -2.76779756e-02 8.73306551e+00] [ 3.89449362e-02 9.99241253e-01 -4.57898029e-04 2.01034800e-01] [ 2.76748068e-02 -6.20541864e-04 9.99616787e-01 2.33780340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.197105680999998 meters 0.01841408226870144 Centerline is valid? [True, True] Translation: X:8.76, Y:0.22, Z:0.23 [[ 9.99052440e-01 -3.16232476e-02 -2.99030556e-02 8.76427221e+00] [ 3.16226152e-02 9.99499758e-01 -4.94177344e-04 2.18605538e-01] [ 2.99037243e-02 -4.51903739e-04 9.99552681e-01 2.34912145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.227105681 meters 0.0184860719095941 Centerline is valid? [True, True] Translation: X:8.80, Y:0.23, Z:0.23 [[ 9.98903907e-01 -3.15284560e-02 -3.45968346e-02 8.79519610e+00] [ 3.15276137e-02 9.99502719e-01 -5.70021764e-04 2.25051719e-01] [ 3.45976022e-02 -5.21358670e-04 9.99401188e-01 2.32602835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.257105680999999 meters 0.018995389143129145 Centerline is valid? [True, True] Translation: X:8.83, Y:0.22, Z:0.23 [[ 9.98752865e-01 -3.39920424e-02 -3.65685180e-02 8.82747525e+00] [ 3.39928439e-02 9.99421896e-01 -6.00004569e-04 2.24800281e-01] [ 3.65677729e-02 -6.43811641e-04 9.99330968e-01 2.30283807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.287105680999998 meters 0.02134710449147513 Centerline is valid? [True, True] Translation: X:8.86, Y:0.22, Z:0.22 [[ 9.98293156e-01 -4.14721775e-02 -4.11197381e-02 8.85938353e+00] [ 4.14796844e-02 9.99139122e-01 -6.70966615e-04 2.19264827e-01] [ 4.11121654e-02 -1.03581238e-03 9.99154001e-01 2.20972772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.317105681 meters 0.024619491566888016 Centerline is valid? [True, True] Translation: X:8.89, Y:0.21, Z:0.21 [[ 9.97723127e-01 -4.90991670e-02 -4.62367173e-02 8.88999739e+00] [ 4.91169224e-02 9.98792752e-01 -7.52706176e-04 2.12323856e-01] [ 4.62178553e-02 -1.52001290e-03 9.98930227e-01 2.12610887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.347105680999999 meters 0.025117668796338182 Centerline is valid? [True, True] Translation: X:8.92, Y:0.21, Z:0.21 [[ 9.97496562e-01 -5.13269097e-02 -4.86431644e-02 8.92213515e+00] [ 5.13492590e-02 9.98680443e-01 -7.90895468e-04 2.12333446e-01] [ 4.86195712e-02 -1.70887494e-03 9.98815907e-01 2.13163569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.377105681 meters 0.02622877600746606 Centerline is valid? [True, True] Translation: X:8.95, Y:0.21, Z:0.21 [[ 9.97352516e-01 -5.20250109e-02 -5.08070499e-02 8.95355987e+00] [ 5.20506616e-02 9.98644110e-01 -8.19027948e-04 2.12831207e-01] [ 5.07807710e-02 -1.82768097e-03 9.98708152e-01 2.14514863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.407105680999999 meters 0.02551498610197281 Centerline is valid? [True, True] Translation: X:8.99, Y:0.22, Z:0.22 [[ 9.97444940e-01 -5.13128620e-02 -4.97049444e-02 8.98605682e+00] [ 5.13370708e-02 9.98681070e-01 -7.90311225e-04 2.15344648e-01] [ 4.96799402e-02 -1.76341432e-03 9.98763633e-01 2.18072045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.437105680999998 meters 0.026130401154152612 Centerline is valid? [True, True] Translation: X:9.02, Y:0.22, Z:0.22 [[ 9.97446106e-01 -5.00843838e-02 -5.09197333e-02 9.01742502e+00] [ 5.01085514e-02 9.98743455e-01 -8.02656193e-04 2.17363052e-01] [ 5.08959509e-02 -1.75090778e-03 9.98702426e-01 2.17703739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.467105681 meters 0.025669299108197496 Centerline is valid? [True, True] Translation: X:9.05, Y:0.22, Z:0.22 [[ 9.97384585e-01 -5.08226205e-02 -5.13911637e-02 9.04955374e+00] [ 5.08487995e-02 9.98706044e-01 -7.98764829e-04 2.19219698e-01] [ 5.13652611e-02 -1.81650325e-03 9.98678282e-01 2.18248837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.497105680999999 meters 0.026415192784246432 Centerline is valid? [True, True] Translation: X:9.08, Y:0.22, Z:0.22 [[ 9.97346658e-01 -5.36522323e-02 -4.92044793e-02 9.08129198e+00] [ 5.36799732e-02 9.98557903e-01 -7.58441111e-04 2.17836172e-01] [ 4.91742137e-02 -1.88486642e-03 9.98788438e-01 2.20386238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.527105680999998 meters 0.027741667671199993 Centerline is valid? [True, True] Translation: X:9.11, Y:0.22, Z:0.22 [[ 9.97174647e-01 -5.69331692e-02 -4.90034395e-02 9.11333350e+00] [ 5.69651852e-02 9.98375888e-01 -7.44130441e-04 2.15373613e-01] [ 4.89662181e-02 -2.04946200e-03 9.98798333e-01 2.22145785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.557105681 meters 0.034645031536859584 Centerline is valid? [True, True] Translation: X:9.14, Y:0.20, Z:0.23 [[ 9.96464791e-01 -6.87685247e-02 -4.82577433e-02 9.14309112e+00] [ 6.88135747e-02 9.97629270e-01 -7.29182301e-04 2.01600039e-01] [ 4.81934820e-02 -2.59418334e-03 9.98834650e-01 2.25190673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.587105680999999 meters 0.03728769584885739 Centerline is valid? [True, True] Translation: X:9.17, Y:0.20, Z:0.23 [[ 9.95997478e-01 -7.58635956e-02 -4.72624415e-02 9.17339598e+00] [ 7.59148367e-02 9.97114051e-01 -7.12430112e-04 1.95404806e-01] [ 4.71800920e-02 -2.87834193e-03 9.98882252e-01 2.29143370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.617105680999998 meters 0.04580727891234144 Centerline is valid? [True, True] Translation: X:9.20, Y:0.18, Z:0.23 [[ 9.94974434e-01 -8.82660814e-02 -4.72755227e-02 9.20331430e+00] [ 8.83313071e-02 9.96090896e-01 -7.11739016e-04 1.78434715e-01] [ 4.71535402e-02 -3.46774659e-03 9.98881634e-01 2.31970797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.647105681 meters 0.051170779146602154 Centerline is valid? [True, True] Translation: X:9.23, Y:0.17, Z:0.23 [[ 9.93977149e-01 -9.82281233e-02 -4.85866493e-02 9.23458865e+00] [ 9.83089432e-02 9.95155676e-01 -7.29239870e-04 1.66415839e-01] [ 4.84229117e-02 -4.05165438e-03 9.98818705e-01 2.30206994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.677105680999999 meters 0.05208867045553543 Centerline is valid? [True, True] Translation: X:9.27, Y:0.16, Z:0.23 [[ 9.93537786e-01 -1.02571859e-01 -4.85971356e-02 9.26505404e+00] [ 1.02657909e-01 9.94716454e-01 -7.28517347e-04 1.62851241e-01] [ 4.84150958e-02 -4.26507082e-03 9.98818196e-01 2.29340907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.707105680999998 meters 0.057644677774595324 Centerline is valid? [True, True] Translation: X:9.29, Y:0.15, Z:0.23 [[ 9.93015421e-01 -1.07784979e-01 -4.79872091e-02 9.29495395e+00] [ 1.07874975e-01 9.94164209e-01 -7.18002841e-04 1.51314724e-01] [ 4.77845557e-02 -4.46363108e-03 9.98847692e-01 2.29771443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.737105681 meters 0.05587681292096895 Centerline is valid? [True, True] Translation: X:9.33, Y:0.16, Z:0.24 [[ 9.92998801e-01 -1.08606464e-01 -4.64544636e-02 9.32657955e+00] [ 1.08691960e-01 9.94075240e-01 -6.89077700e-04 1.55813296e-01] [ 4.62540703e-02 -4.36497336e-03 9.98920171e-01 2.38600565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.767105680999999 meters 0.05597770036353751 Centerline is valid? [True, True] Translation: X:9.36, Y:0.16, Z:0.24 [[ 9.93086992e-01 -1.07584028e-01 -4.69457583e-02 9.35903565e+00] [ 1.07670852e-01 9.94186362e-01 -6.82713578e-04 1.58369437e-01] [ 4.67462817e-02 -4.37669582e-03 9.98897207e-01 2.42156215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.797105681 meters 0.05245481926830907 Centerline is valid? [True, True] Translation: X:9.39, Y:0.17, Z:0.24 [[ 9.93657989e-01 -1.02916634e-01 -4.52986536e-02 9.38937819e+00] [ 1.02993123e-01 9.94681857e-01 -6.48331046e-04 1.66965014e-01] [ 4.51244729e-02 -4.02123049e-03 9.98973279e-01 2.43335187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.827105680999999 meters 0.05216917061983989 Centerline is valid? [True, True] Translation: X:9.42, Y:0.17, Z:0.24 [[ 9.94484749e-01 -9.56031616e-02 -4.31291107e-02 9.41888841e+00] [ 9.56656536e-02 9.95413332e-01 -6.17406083e-04 1.71383687e-01] [ 4.29903178e-02 -3.51197363e-03 9.99069316e-01 2.43552100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.857105680999998 meters 0.046949299420587114 Centerline is valid? [True, True] Translation: X:9.45, Y:0.18, Z:0.25 [[ 9.94805281e-01 -9.21094295e-02 -4.33394286e-02 9.44928050e+00] [ 9.21692230e-02 9.95743164e-01 -6.20798332e-04 1.81853275e-01] [ 4.32121211e-02 -3.37698800e-03 9.99060213e-01 2.45425045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.887105681 meters 0.04389148738610754 Centerline is valid? [True, True] Translation: X:9.48, Y:0.19, Z:0.25 [[ 9.95047098e-01 -8.78476088e-02 -4.65195782e-02 9.47935530e+00] [ 8.79119214e-02 9.96128029e-01 -6.65595909e-04 1.93166182e-01] [ 4.63979268e-02 -3.42732623e-03 9.98917157e-01 2.47518660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.917105680999999 meters 0.045231628376338734 Centerline is valid? [True, True] Translation: X:9.51, Y:0.19, Z:0.25 [[ 9.95134821e-01 -8.64000195e-02 -4.73468530e-02 9.51097407e+00] [ 8.64651352e-02 9.96254649e-01 -6.74897949e-04 1.94026193e-01] [ 4.72278336e-02 -3.42223760e-03 9.98878281e-01 2.47707552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.947105680999998 meters 0.04670037257378994 Centerline is valid? [True, True] Translation: X:9.54, Y:0.20, Z:0.25 [[ 9.94893093e-01 -8.88774963e-02 -4.78385124e-02 9.54241161e+00] [ 8.89473339e-02 9.96036104e-01 -6.71154153e-04 1.96395617e-01] [ 4.77085361e-02 -3.58738151e-03 9.98854857e-01 2.49320329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.977105681 meters 0.05171173024141116 Centerline is valid? [True, True] Translation: X:9.57, Y:0.19, Z:0.25 [[ 9.94736745e-01 -9.15788163e-02 -4.59578903e-02 9.57293580e+00] [ 9.16462143e-02 9.95791423e-01 -6.42824171e-04 1.92451641e-01] [ 4.58233420e-02 -3.57242584e-03 9.98943171e-01 2.50170065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.007105680999999 meters 0.04756928701877743 Centerline is valid? [True, True] Translation: X:9.60, Y:0.20, Z:0.25 [[ 9.94608793e-01 -9.29122901e-02 -4.60505812e-02 9.60472408e+00] [ 9.29815835e-02 9.95667623e-01 -6.39699306e-04 1.98965715e-01] [ 4.59105087e-02 -3.64560541e-03 9.98938904e-01 2.48858640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.037105680999998 meters 0.04991189291628236 Centerline is valid? [True, True] Translation: X:9.64, Y:0.20, Z:0.25 [[ 9.94488183e-01 -9.40891898e-02 -4.62653024e-02 9.63590952e+00] [ 9.41609864e-02 9.95556785e-01 -6.29911368e-04 1.96913620e-01] [ 4.61190036e-02 -3.72994710e-03 9.98928989e-01 2.48054777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.067105681 meters 0.04756152149227561 Centerline is valid? [True, True] Translation: X:9.67, Y:0.20, Z:0.26 [[ 9.94566289e-01 -9.41879011e-02 -4.43456381e-02 9.66825277e+00] [ 9.42544753e-02 9.95547961e-01 -5.91924565e-04 2.04093398e-01] [ 4.42039617e-02 -3.59106663e-03 9.99016073e-01 2.57788531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.097105680999999 meters 0.04886423504821255 Centerline is valid? [True, True] Translation: X:9.70, Y:0.20, Z:0.25 [[ 9.94758794e-01 -9.15470289e-02 -4.55420961e-02 9.69840741e+00] [ 9.16150179e-02 9.95794322e-01 -5.96521280e-04 2.02138085e-01] [ 4.54051705e-02 -3.57894516e-03 9.98962242e-01 2.53574930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.127105680999998 meters 0.045605133506878455 Centerline is valid? [True, True] Translation: X:9.73, Y:0.21, Z:0.25 [[ 9.94858343e-01 -8.98867102e-02 -4.66610752e-02 9.72957114e+00] [ 8.99562925e-02 9.95945527e-01 -6.10761611e-04 2.06519753e-01] [ 4.65267884e-02 -3.58983604e-03 9.98910592e-01 2.52181381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.157105680999999 meters 0.04412077067978762 Centerline is valid? [True, True] Translation: X:9.76, Y:0.21, Z:0.26 [[ 9.95171480e-01 -8.61641113e-02 -4.70050220e-02 9.75884347e+00] [ 8.62306725e-02 9.96275009e-01 -6.13655738e-04 2.12004550e-01] [ 4.68828038e-02 -3.44258197e-03 9.98894465e-01 2.57413324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.187105680999998 meters 0.04285207333447562 Centerline is valid? [True, True] Translation: X:9.79, Y:0.22, Z:0.26 [[ 9.95410488e-01 -8.28393055e-02 -4.79125267e-02 9.78993567e+00] [ 8.29046469e-02 9.96557288e-01 -6.25276962e-04 2.17669980e-01] [ 4.77993752e-02 -3.34976386e-03 9.98851340e-01 2.60872139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.217105681 meters 0.035562580757181106 Centerline is valid? [True, True] Translation: X:9.82, Y:0.23, Z:0.26 [[ 9.96257500e-01 -6.98190495e-02 -5.09538514e-02 9.82015385e+00] [ 6.98760428e-02 9.97555461e-01 -6.64177483e-04 2.33762289e-01] [ 5.08756649e-02 -2.89876170e-03 9.98700788e-01 2.57994213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.247105680999999 meters 0.027727885296032304 Centerline is valid? [True, True] Translation: X:9.85, Y:0.25, Z:0.25 [[ 9.97262655e-01 -5.24376422e-02 -5.21295527e-02 9.84967111e+00] [ 5.24735792e-02 9.98622081e-01 -6.79967904e-04 2.51078347e-01] [ 5.20933784e-02 -2.05731762e-03 9.98640099e-01 2.52229314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.277105680999998 meters 0.024061617447796543 Centerline is valid? [True, True] Translation: X:9.88, Y:0.26, Z:0.25 [[ 9.97669038e-01 -4.41888244e-02 -5.19984417e-02 9.88022860e+00] [ 4.42133566e-02 9.99021881e-01 -6.78973493e-04 2.61314223e-01] [ 5.19775841e-02 -1.62163481e-03 9.98646935e-01 2.54124746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.307105681 meters 0.01834122090415111 Centerline is valid? [True, True] Translation: X:9.91, Y:0.28, Z:0.26 [[ 9.98327824e-01 -2.85961208e-02 -5.02376222e-02 9.90974352e+00] [ 2.85993066e-02 9.99590741e-01 -6.55564939e-04 2.82661765e-01] [ 5.02358086e-02 -7.82292443e-04 9.98737078e-01 2.62565251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.337105680999999 meters 0.016287858993269767 Centerline is valid? [True, True] Translation: X:9.94, Y:0.30, Z:0.27 [[ 9.98737902e-01 -1.64994315e-02 -4.74380914e-02 9.93989471e+00] [ 1.64886395e-02 9.99863862e-01 -6.18829118e-04 2.96113727e-01] [ 4.74418436e-02 -1.64141492e-04 9.98873988e-01 2.67249226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.367105680999998 meters 0.016094923026333682 Centerline is valid? [True, True] Translation: X:9.97, Y:0.30, Z:0.27 [[ 9.98845566e-01 -1.32713589e-02 -4.61671489e-02 9.97104714e+00] [ 1.32577520e-02 9.99911932e-01 -6.00930367e-04 2.99286485e-01] [ 4.61710582e-02 -1.18359790e-05 9.98933548e-01 2.69928272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.397105681 meters 0.01593673349019314 Centerline is valid? [True, True] Translation: X:10.00, Y:0.30, Z:0.27 [[ 9.98967793e-01 -1.11359101e-02 -4.40379461e-02 1.00021334e+01] [ 1.11215636e-02 9.99937991e-01 -5.70774051e-04 3.01330648e-01] [ 4.40415715e-02 8.04140736e-05 9.99029696e-01 2.74055811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.427105680999999 meters 0.016000525232097048 Centerline is valid? [True, True] Translation: X:10.03, Y:0.30, Z:0.28 [[ 9.98938437e-01 -1.30422744e-02 -4.41802909e-02 1.00327567e+01] [ 1.30297713e-02 9.99914946e-01 -5.70970672e-04 2.99623706e-01] [ 4.41839799e-02 -5.29453630e-06 9.99023411e-01 2.75031958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.457105680999998 meters 0.016000525232097048 Centerline is valid? [True, True] Translation: X:10.06, Y:0.30, Z:0.28 [[ 9.98938956e-01 -1.30024163e-02 -4.41803041e-02 1.00635919e+01] [ 1.29899198e-02 9.99915465e-01 -5.69942171e-04 2.99979770e-01] [ 4.41839800e-02 -4.56117049e-06 9.99023411e-01 2.76173807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.487105681 meters 0.016429294691698983 Centerline is valid? [True, True] Translation: X:10.10, Y:0.29, Z:0.28 [[ 9.98868720e-01 -1.92504030e-02 -4.34822095e-02 1.00954934e+01] [ 1.92442893e-02 9.99814655e-01 -5.59226903e-04 2.91762725e-01] [ 4.34849156e-02 -2.78189958e-04 9.99054045e-01 2.75589301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.517105680999999 meters 0.01797643496928117 Centerline is valid? [True, True] Translation: X:10.13, Y:0.28, Z:0.28 [[ 9.98623597e-01 -2.87336717e-02 -4.38781014e-02 1.01276940e+01] [ 2.87366830e-02 9.99586858e-01 -5.62259391e-04 2.81120263e-01] [ 4.38761293e-02 -6.99425592e-04 9.99036734e-01 2.76345996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.547105680999998 meters 0.021823243002280716 Centerline is valid? [True, True] Translation: X:10.16, Y:0.27, Z:0.27 [[ 9.98063502e-01 -4.02773070e-02 -4.74023743e-02 1.01581200e+01] [ 4.02939883e-02 9.99187685e-01 -6.03980989e-04 2.65603410e-01] [ 4.73881954e-02 -1.30721933e-03 9.98875693e-01 2.73059631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.577105680999999 meters 0.022942400181478216 Centerline is valid? [True, True] Translation: X:10.19, Y:0.26, Z:0.27 [[ 9.97878677e-01 -4.41850251e-02 -4.78103596e-02 1.01906619e+01] [ 4.42065286e-02 9.99022229e-01 -6.08026635e-04 2.60092438e-01] [ 4.77904777e-02 -1.50679321e-03 9.98856246e-01 2.73925561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.607105680999998 meters 0.02455306882785009 Centerline is valid? [True, True] Translation: X:10.22, Y:0.25, Z:0.28 [[ 9.97743496e-01 -4.74732767e-02 -4.74784691e-02 1.02223292e+01] [ 4.74984185e-02 9.98871133e-01 -5.99167902e-04 2.51673510e-01] [ 4.74533167e-02 -1.65733632e-03 9.98872082e-01 2.75888637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.637105681 meters 0.0238289586187562 Centerline is valid? [True, True] Translation: X:10.25, Y:0.25, Z:0.28 [[ 9.97742797e-01 -4.64482651e-02 -4.84960768e-02 1.02540340e+01] [ 4.64736010e-02 9.98919335e-01 -6.05604245e-04 2.50881139e-01] [ 4.84717981e-02 -1.64955005e-03 9.98823189e-01 2.79664994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.667105680999999 meters 0.023589507118969025 Centerline is valid? [True, True] Translation: X:10.29, Y:0.25, Z:0.28 [[ 9.97806523e-01 -4.50624721e-02 -4.84924396e-02 1.02862447e+01] [ 4.50863719e-02 9.98982911e-01 -6.01405951e-04 2.51125092e-01] [ 4.84702194e-02 -1.58626139e-03 9.98823369e-01 2.82079423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.697105680999998 meters 0.022374063486237647 Centerline is valid? [True, True] Translation: X:10.32, Y:0.25, Z:0.28 [[ 9.98022396e-01 -4.15201912e-02 -4.71950244e-02 1.03178851e+01] [ 4.15390463e-02 9.99136712e-01 -5.81603601e-04 2.51482583e-01] [ 4.71784298e-02 -1.37998289e-03 9.98885525e-01 2.83069156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.727105681 meters 0.02146380622026046 Centerline is valid? [True, True] Translation: X:10.35, Y:0.25, Z:0.28 [[ 9.98155937e-01 -3.94652071e-02 -4.61218354e-02 1.03502372e+01] [ 3.94811633e-02 9.99220155e-01 -5.65303992e-04 2.52256145e-01] [ 4.61081774e-02 -1.25668218e-03 9.98935662e-01 2.84932267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.757105680999999 meters 0.02020181572312728 Centerline is valid? [True, True] Translation: X:10.38, Y:0.25, Z:0.29 [[ 9.98401270e-01 -3.41743880e-02 -4.50223909e-02 1.03806137e+01] [ 3.41843626e-02 9.99415393e-01 -5.48579997e-04 2.54673143e-01] [ 4.50148178e-02 -9.91358767e-04 9.98985827e-01 2.89771016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.787105680999998 meters 0.017506361173140923 Centerline is valid? [True, True] Translation: X:10.41, Y:0.26, Z:0.29 [[ 9.98680314e-01 -2.49426911e-02 -4.48942279e-02 1.04124276e+01] [ 2.49433441e-02 9.99688717e-01 -5.45729592e-04 2.63225096e-01] [ 4.48938651e-02 -5.74802776e-04 9.98991597e-01 2.92721405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.817105681 meters 0.016718762296084134 Centerline is valid? [True, True] Translation: X:10.44, Y:0.27, Z:0.29 [[ 9.98762038e-01 -1.95458319e-02 -4.57422372e-02 1.04443086e+01] [ 1.95409967e-02 9.99808904e-01 -5.52905371e-04 2.66662645e-01] [ 4.57443031e-02 -3.41628011e-04 9.98953123e-01 2.92204234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.847105680999999 meters 0.0162418946741273 Centerline is valid? [True, True] Translation: X:10.48, Y:0.27, Z:0.29 [[ 9.98929482e-01 -8.43039967e-03 -4.54842550e-02 1.04764927e+01] [ 8.41427427e-03 9.99964450e-01 -5.45976447e-04 2.73216202e-01] [ 4.54872409e-02 1.62674973e-04 9.98964907e-01 2.93917076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.877105680999998 meters 0.017742405210127127 Centerline is valid? [True, True] Translation: X:10.50, Y:0.28, Z:0.30 [[ 9.99011544e-01 2.37178268e-03 -4.43881611e-02 1.05048132e+01] [-2.39768262e-03 9.99996985e-01 -5.30255780e-04 2.80176467e-01] [ 4.43867696e-02 6.36160368e-04 9.99014219e-01 2.98160616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.907105680999999 meters 0.018205596741267923 Centerline is valid? [True, True] Translation: X:10.53, Y:0.28, Z:0.30 [[ 9.99013293e-01 5.56494487e-03 -4.40621321e-02 1.05331028e+01] [-5.59370133e-03 9.99984215e-01 -5.29365233e-04 2.79632090e-01] [ 4.40584906e-02 7.75313311e-04 9.99028652e-01 2.98762968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.937105680999998 meters 0.018569579306306684 Centerline is valid? [True, True] Translation: X:10.56, Y:0.27, Z:0.30 [[ 9.98967505e-01 5.55299069e-03 -4.50897760e-02 1.05612260e+01] [-5.58330978e-03 9.99984264e-01 -5.46503949e-04 2.72169253e-01] [ 4.50860317e-02 7.97689874e-04 9.98982789e-01 2.95977180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.967105680999998 meters 0.017029606953929147 Centerline is valid? [True, True] Translation: X:10.59, Y:0.26, Z:0.29 [[ 9.98852827e-01 -2.51177894e-03 -4.78196610e-02 1.05908347e+01] [ 2.48668077e-03 9.99996737e-01 -5.84333410e-04 2.57511149e-01] [ 4.78209727e-02 4.64750847e-04 9.98855815e-01 2.94643798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.997105680999999 meters 0.016537370258031113 Centerline is valid? [True, True] Translation: X:10.62, Y:0.25, Z:0.30 [[ 9.98764310e-01 -8.42988795e-03 -4.89774539e-02 1.06201989e+01] [ 8.41046769e-03 9.99964450e-01 -6.02589919e-04 2.49378455e-01] [ 4.89807925e-02 1.89922011e-04 9.98799703e-01 2.95436521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.027105680999998 meters 0.016964737948589503 Centerline is valid? [True, True] Translation: X:10.65, Y:0.23, Z:0.29 [[ 9.98630259e-01 -1.79265140e-02 -4.91553335e-02 1.06485610e+01] [ 1.79181164e-02 9.99839271e-01 -6.11519558e-04 2.32246347e-01] [ 4.91583952e-02 -2.70089053e-04 9.98790959e-01 2.93005818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.057105681 meters 0.01765797078611948 Centerline is valid? [True, True] Translation: X:10.68, Y:0.22, Z:0.30 [[ 9.98724877e-01 -2.16428494e-02 -4.56092856e-02 1.06802928e+01] [ 2.16393342e-02 9.99765679e-01 -5.70864407e-04 2.16899312e-01] [ 4.56109536e-02 -4.16818088e-04 9.98959192e-01 2.95534288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.087105680999999 meters 0.017283567073099897 Centerline is valid? [True, True] Translation: X:10.71, Y:0.21, Z:0.30 [[ 9.98746922e-01 -2.17360392e-02 -4.50791654e-02 1.07128630e+01] [ 2.17328238e-02 9.99763657e-01 -5.61483072e-04 2.12966958e-01] [ 4.50807157e-02 -4.18918068e-04 9.98983260e-01 2.99724321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.117105680999998 meters 0.01690488111330006 Centerline is valid? [True, True] Translation: X:10.74, Y:0.21, Z:0.30 [[ 9.98701233e-01 -1.77291342e-02 -4.77653145e-02 1.07449953e+01] [ 1.77211452e-02 9.99842794e-01 -5.90752537e-04 2.09511000e-01] [ 4.77682790e-02 -2.56470789e-04 9.98858411e-01 3.02929444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.147105681 meters 0.01688485374596281 Centerline is valid? [True, True] Translation: X:10.78, Y:0.21, Z:0.30 [[ 9.98732501e-01 -1.32781913e-02 -4.85497714e-02 1.07759086e+01] [ 1.32648631e-02 9.99911840e-01 -5.96724901e-04 2.10197724e-01] [ 4.85534147e-02 -4.80375168e-05 9.98820586e-01 3.04214360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.177105680999999 meters 0.017324603271368064 Centerline is valid? [True, True] Translation: X:10.81, Y:0.21, Z:0.30 [[ 9.98764360e-01 -5.52605759e-03 -4.93884114e-02 1.08052553e+01] [ 5.50284514e-03 9.99984676e-01 -6.05957839e-04 2.09003579e-01] [ 4.93910031e-02 3.33432314e-04 9.98779464e-01 3.04118143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.207105680999998 meters 0.018043675089078184 Centerline is valid? [True, True] Translation: X:10.83, Y:0.20, Z:0.30 [[ 9.98748859e-01 -1.22005751e-03 -4.99922749e-02 1.08337207e+01] [ 1.19073222e-03 9.99999101e-01 -6.16374461e-04 2.04066534e-01] [ 4.99929820e-02 5.56075877e-04 9.98749414e-01 3.01770059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.237105681 meters 0.01894551735568423 Centerline is valid? [True, True] Translation: X:10.86, Y:0.20, Z:0.30 [[ 9.98728275e-01 -2.07508499e-04 -5.04161734e-02 1.08617193e+01] [ 1.75977175e-04 9.99999786e-01 -6.29858877e-04 2.01787406e-01] [ 5.04162934e-02 6.20185773e-04 9.98728097e-01 2.98305484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.267105680999999 meters 0.019286531744991866 Centerline is valid? [True, True] Translation: X:10.89, Y:0.19, Z:0.30 [[ 9.98759670e-01 -9.35870943e-05 -4.97906955e-02 1.08900063e+01] [ 6.18842582e-05 9.99999794e-01 -6.38263303e-04 1.91785665e-01] [ 4.97907450e-02 6.34390385e-04 9.98759470e-01 2.97026062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.297105680999998 meters 0.019408805695746514 Centerline is valid? [True, True] Translation: X:10.92, Y:0.19, Z:0.30 [[ 9.98786462e-01 -7.61236873e-05 -4.92503644e-02 1.09184141e+01] [ 4.43748979e-05 9.99999791e-01 -6.45733784e-04 1.87917935e-01] [ 4.92504032e-02 6.42764682e-04 9.98786256e-01 2.98939978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.327105680999999 meters 0.019390026321361043 Centerline is valid? [True, True] Translation: X:10.95, Y:0.17, Z:0.30 [[ 9.98960908e-01 -8.46905098e-04 -4.55673988e-02 1.09469341e+01] [ 8.20356722e-04 9.99999483e-01 -6.01315082e-04 1.72637793e-01] [ 4.55678845e-02 5.63308738e-04 9.98961086e-01 3.02945369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.357105680999998 meters 0.01915897770238179 Centerline is valid? [True, True] Translation: X:10.98, Y:0.17, Z:0.30 [[ 9.98954283e-01 -2.28926837e-03 -4.56628897e-02 1.09762118e+01] [ 2.26392092e-03 9.99997253e-01 -6.06807510e-04 1.65080846e-01] [ 4.56641535e-02 5.02795790e-04 9.98956722e-01 3.03460341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.387105680999998 meters 0.018916609486292885 Centerline is valid? [True, True] Translation: X:11.00, Y:0.15, Z:0.30 [[ 9.98812764e-01 -6.98277668e-03 -4.82110368e-02 1.10046545e+01] [ 6.95974203e-03 9.99975572e-01 -6.45639326e-04 1.49215783e-01] [ 4.82143675e-02 3.09336420e-04 9.98836963e-01 3.01769460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.417105680999999 meters 0.018709236780406157 Centerline is valid? [True, True] Translation: X:11.03, Y:0.14, Z:0.30 [[ 9.98800514e-01 -9.20825650e-03 -4.80909751e-02 1.10321195e+01] [ 9.18761311e-03 9.99957582e-01 -6.50292663e-04 1.41230420e-01] [ 4.80949233e-02 2.07671372e-04 9.98842748e-01 3.00639836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.447105680999998 meters 0.01817597680959039 Centerline is valid? [True, True] Translation: X:11.06, Y:0.12, Z:0.30 [[ 9.98922513e-01 -1.37921983e-02 -4.43123863e-02 1.10610871e+01] [ 1.37788151e-02 9.99904883e-01 -6.07455029e-04 1.21973435e-01] [ 4.43165496e-02 -3.77167558e-06 9.99017539e-01 3.04637502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.477105681 meters 0.01800459507130869 Centerline is valid? [True, True] Translation: X:11.09, Y:0.11, Z:0.31 [[ 9.98963034e-01 -1.66399202e-02 -4.23788830e-02 1.10909417e+01] [ 1.66297868e-02 9.99861540e-01 -5.91663207e-04 1.05815212e-01] [ 4.23828605e-02 -1.13702116e-04 9.99101436e-01 3.11003764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.507105680999999 meters 0.01808992404719055 Centerline is valid? [True, True] Translation: X:11.12, Y:0.10, Z:0.31 [[ 9.98949793e-01 -1.64737483e-02 -4.27542553e-02 1.11216274e+01] [ 1.64632100e-02 9.99864293e-01 -5.98595378e-04 1.00967937e-01] [ 4.27583143e-02 -1.05905554e-04 9.99085439e-01 3.12671822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.537105680999998 meters 0.01775114219645095 Centerline is valid? [True, True] Translation: X:11.15, Y:0.09, Z:0.32 [[ 9.99124595e-01 -1.49984734e-02 -3.90523896e-02 1.11515866e+01] [ 1.49885530e-02 9.99887516e-01 -5.46812229e-04 9.09127031e-02] [ 3.90561981e-02 -3.90052635e-05 9.99237015e-01 3.16305044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.567105681 meters 0.0176706872195692 Centerline is valid? [True, True] Translation: X:11.18, Y:0.09, Z:0.32 [[ 9.99184243e-01 -1.53079616e-02 -3.73699812e-02 1.11818491e+01] [ 1.52990643e-02 9.99882825e-01 -5.24055086e-04 8.58295396e-02] [ 3.73736246e-02 -4.80981619e-05 9.99301361e-01 3.19281712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.597105680999999 meters 0.017444644180652655 Centerline is valid? [True, True] Translation: X:11.21, Y:0.08, Z:0.32 [[ 9.99247346e-01 -1.50026410e-02 -3.57723660e-02 1.12128970e+01] [ 1.49942928e-02 9.99887453e-01 -5.01651051e-04 7.70504248e-02] [ 3.57758660e-02 -3.51078482e-05 9.99359838e-01 3.21894690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.627105680999998 meters 0.017423240187448955 Centerline is valid? [True, True] Translation: X:11.24, Y:0.07, Z:0.32 [[ 9.99235591e-01 -1.41535167e-02 -3.64405122e-02 1.12424768e+01] [ 1.41442897e-02 9.99899834e-01 -5.11007365e-04 7.27038610e-02] [ 3.64440947e-02 -4.80841547e-06 9.99335693e-01 3.22112874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.657105680999999 meters 0.017271774479420018 Centerline is valid? [True, True] Translation: X:11.27, Y:0.07, Z:0.32 [[ 9.99225606e-01 -1.43107979e-02 -3.66522870e-02 1.12725980e+01] [ 1.43015376e-02 9.99897595e-01 -5.14832063e-04 7.09167102e-02] [ 3.66559012e-02 -9.75068134e-06 9.99327947e-01 3.22579196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.687105680999998 meters 0.017388424475053635 Centerline is valid? [True, True] Translation: X:11.30, Y:0.06, Z:0.32 [[ 9.99214080e-01 -1.73506493e-02 -3.56395389e-02 1.13020624e+01] [ 1.73437724e-02 9.99849459e-01 -5.02130979e-04 6.48555271e-02] [ 3.56428860e-02 -1.16387706e-04 9.99364584e-01 3.24925909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.717105680999998 meters 0.019226112998530845 Centerline is valid? [True, True] Translation: X:11.33, Y:0.05, Z:0.33 [[ 9.99030288e-01 -2.79583201e-02 -3.40119978e-02 1.13319308e+01] [ 2.79581448e-02 9.99608979e-01 -4.80840095e-04 5.31938117e-02] [ 3.40121419e-02 -4.70538542e-04 9.99421309e-01 3.27973867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.747105680999999 meters 0.021026578074752004 Centerline is valid? [True, True] Translation: X:11.36, Y:0.05, Z:0.33 [[ 9.98846555e-01 -3.47262114e-02 -3.31609701e-02 1.13643106e+01] [ 3.47297596e-02 9.99396630e-01 -4.69162273e-04 4.60623104e-02] [ 3.31572540e-02 -6.83051400e-04 9.99449914e-01 3.30132548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.777105680999998 meters 0.025489482786782074 Centerline is valid? [True, True] Translation: X:11.39, Y:0.03, Z:0.33 [[ 9.98461368e-01 -4.46774786e-02 -3.28453993e-02 1.13941933e+01] [ 4.46864472e-02 9.99000955e-01 -4.61332995e-04 3.22519034e-02] [ 3.28331965e-02 -1.00712103e-03 9.99460338e-01 3.32670261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.807105680999998 meters 0.02596780674136621 Centerline is valid? [True, True] Translation: X:11.43, Y:0.03, Z:0.33 [[ 9.98319134e-01 -4.54709754e-02 -3.59346323e-02 1.14265965e+01] [ 4.54822230e-02 9.98965021e-01 -5.04817686e-04 2.92174437e-02] [ 3.59203953e-02 -1.13041781e-03 9.99354015e-01 3.31250207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.837105680999999 meters 0.023907638085743883 Centerline is valid? [True, True] Translation: X:11.46, Y:0.03, Z:0.33 [[ 9.98417334e-01 -4.19308109e-02 -3.74784460e-02 1.14587132e+01] [ 4.19406843e-02 9.99119965e-01 -5.23076590e-04 3.33311783e-02] [ 3.74673967e-02 -1.04962294e-03 9.99297299e-01 3.30777782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.867105680999998 meters 0.018807851341507996 Centerline is valid? [True, True] Translation: X:11.49, Y:0.05, Z:0.33 [[ 9.98931327e-01 -2.61503618e-02 -3.81098694e-02 1.14894484e+01] [ 2.61492193e-02 9.99657911e-01 -5.28517441e-04 4.70319181e-02] [ 3.81106534e-02 -4.68590704e-04 9.99273415e-01 3.31003272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.897105681 meters 0.01747589789558971 Centerline is valid? [True, True] Translation: X:11.52, Y:0.06, Z:0.33 [[ 9.99177541e-01 -1.59185539e-02 -3.72939701e-02 1.15202288e+01] [ 1.59103412e-02 9.99873289e-01 -5.17007895e-04 5.71049153e-02] [ 3.72974745e-02 -7.67771110e-05 9.99304204e-01 3.32945114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.927105680999999 meters 0.019785685638600708 Centerline is valid? [True, True] Translation: X:11.55, Y:0.08, Z:0.33 [[ 9.99349512e-01 2.70784070e-03 -3.59613788e-02 1.15497174e+01] [-2.72747259e-03 9.99996157e-01 -4.96869216e-04 7.67174453e-02] [ 3.59598952e-02 5.94629683e-04 9.99353057e-01 3.34705495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.957105680999998 meters 0.02379265762912938 Centerline is valid? [True, True] Translation: X:11.58, Y:0.09, Z:0.33 [[ 9.99151463e-01 1.40962303e-02 -3.86994961e-02 1.15802017e+01] [-1.41275726e-02 9.99900057e-01 -5.36528266e-04 8.98717001e-02] [ 3.86880653e-02 1.08280294e-03 9.99250750e-01 3.31081442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.987105681 meters 0.024520473964615822 Centerline is valid? [True, True] Translation: X:11.61, Y:0.09, Z:0.33 [[ 9.99057445e-01 1.49435615e-02 -4.07542787e-02 1.16094161e+01] [-1.49790419e-02 9.99887648e-01 -5.65358820e-04 9.18131638e-02] [ 4.07412514e-02 1.17528599e-03 9.99169039e-01 3.27493660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.017105680999999 meters 0.021407595278273985 Centerline is valid? [True, True] Translation: X:11.64, Y:0.08, Z:0.32 [[ 9.99007518e-01 7.69493002e-03 -4.38721684e-02 1.16396313e+01] [-7.72923841e-03 9.99969941e-01 -6.12428202e-04 8.41334130e-02] [ 4.38661370e-02 9.50918827e-04 9.99036965e-01 3.22645959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.047105680999998 meters 0.01846000944286207 Centerline is valid? [True, True] Translation: X:11.67, Y:0.07, Z:0.32 [[ 9.98931579e-01 -6.85849339e-03 -4.57018878e-02 1.16686982e+01] [ 6.83641909e-03 9.99976427e-01 -6.39290780e-04 7.28924561e-02] [ 4.57051950e-02 3.26170490e-04 9.98954918e-01 3.21605776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.077105680999999 meters 0.017788423126818075 Centerline is valid? [True, True] Translation: X:11.70, Y:0.06, Z:0.32 [[ 9.98832769e-01 -1.49449458e-02 -4.59319914e-02 1.16972114e+01] [ 1.49310769e-02 9.99888317e-01 -6.45037124e-04 6.45916260e-02] [ 4.59365017e-02 -4.15298780e-05 9.98944361e-01 3.23953530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.107105680999998 meters 0.020328414919081123 Centerline is valid? [True, True] Translation: X:11.73, Y:0.05, Z:0.33 [[ 9.98556326e-01 -3.12372507e-02 -4.36977943e-02 1.17268131e+01] [ 3.12401324e-02 9.99511717e-01 -6.17107056e-04 4.67284854e-02] [ 4.36957342e-02 -7.48908726e-04 9.99044605e-01 3.29249103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.137105680999998 meters 0.025754445913403576 Centerline is valid? [True, True] Translation: X:11.76, Y:0.03, Z:0.34 [[ 9.98340689e-01 -4.24739236e-02 -3.88823078e-02 1.17568365e+01] [ 4.24846597e-02 9.99096968e-01 -5.50476684e-04 3.06933461e-02] [ 3.88705767e-02 -1.10233834e-03 9.99243646e-01 3.37174491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.167105680999999 meters 0.024818067986259653 Centerline is valid? [True, True] Translation: X:11.79, Y:0.03, Z:0.34 [[ 9.98335395e-01 -4.42939922e-02 -3.69388765e-02 1.17888363e+01] [ 4.43050110e-02 9.99017915e-01 -5.20619107e-04 3.04085120e-02] [ 3.69256597e-02 -1.11682485e-03 9.99317391e-01 3.41203434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.197105680999998 meters 0.023747790812305457 Centerline is valid? [True, True] Translation: X:11.82, Y:0.03, Z:0.34 [[ 9.98586937e-01 -4.09705270e-02 -3.38458989e-02 1.18208569e+01] [ 4.09779634e-02 9.99159938e-01 -4.74213195e-04 3.16310429e-02] [ 3.38368950e-02 -9.13392907e-04 9.99426951e-01 3.44897188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.227105680999998 meters 0.021919962237728144 Centerline is valid? [True, True] Translation: X:11.85, Y:0.04, Z:0.35 [[ 9.98776419e-01 -3.61273213e-02 -3.37710283e-02 1.18526548e+01] [ 3.61320645e-02 9.99346913e-01 -4.70019572e-04 3.67430866e-02] [ 3.37659534e-02 -7.50772506e-04 9.99429486e-01 3.46684737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.257105680999999 meters 0.018380497328159152 Centerline is valid? [True, True] Translation: X:11.88, Y:0.05, Z:0.35 [[ 9.99141269e-01 -2.07993569e-02 -3.58345069e-02 1.18831635e+01] [ 2.07949378e-02 9.99783639e-01 -4.96062085e-04 5.25093614e-02] [ 3.58370715e-02 -2.49540241e-04 9.99357615e-01 3.45083856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.287105680999998 meters 0.018718628049565318 Centerline is valid? [True, True] Translation: X:11.91, Y:0.07, Z:0.34 [[ 9.99342907e-01 -3.90196949e-03 -3.60351140e-02 1.19130991e+01] [ 3.88655195e-03 9.99992323e-01 -4.97887035e-04 6.63377115e-02] [ 3.60367802e-02 3.57507534e-04 9.99350400e-01 3.42883325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.317105681 meters 0.020111267101107163 Centerline is valid? [True, True] Translation: X:11.94, Y:0.07, Z:0.34 [[ 9.99347366e-01 1.62146308e-03 -3.60861777e-02 1.19411164e+01] [-1.64048707e-03 9.99998531e-01 -4.97579312e-04 7.11376139e-02] [ 3.60853179e-02 5.56453483e-04 9.99348558e-01 3.42398409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.347105680999999 meters 0.020681840192522505 Centerline is valid? [True, True] Translation: X:11.97, Y:0.07, Z:0.34 [[ 9.99316816e-01 4.49484161e-03 -3.66837503e-02 1.19698620e+01] [-4.51667758e-03 9.99989668e-01 -5.12398220e-04 7.32229571e-02] [ 3.66810681e-02 6.77736830e-04 9.99326793e-01 3.42738590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.377105680999998 meters 0.020681840192522505 Centerline is valid? [True, True] Translation: X:12.00, Y:0.07, Z:0.34 [[ 9.99317446e-01 4.35402331e-03 -3.66835772e-02 1.19972953e+01] [-4.37620868e-03 9.99990287e-01 -5.24503437e-04 7.37579989e-02] [ 3.66809372e-02 6.84680424e-04 9.99326793e-01 3.43758665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.407105680999999 meters 0.02034041818730996 Centerline is valid? [True, True] Translation: X:12.03, Y:0.07, Z:0.34 [[ 9.99285037e-01 2.37778935e-03 -3.77327546e-02 1.20263599e+01] [-2.40005960e-03 9.99996971e-01 -5.44924499e-04 7.37870261e-02] [ 3.77313446e-02 6.35095758e-04 9.99287717e-01 3.44074447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.437105680999998 meters 0.01942403057618706 Centerline is valid? [True, True] Translation: X:12.06, Y:0.07, Z:0.34 [[ 9.99258025e-01 -1.26502547e-03 -3.84941458e-02 1.20554405e+01] [ 1.24440650e-03 9.99999069e-01 -5.59594414e-04 7.13343377e-02] [ 3.84948179e-02 5.11276844e-04 9.99258669e-01 3.43086345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.467105680999998 meters 0.019183264006095706 Centerline is valid? [True, True] Translation: X:12.08, Y:0.07, Z:0.34 [[ 9.99257672e-01 -3.44340213e-03 -3.83698948e-02 1.20835184e+01] [ 3.42438023e-03 9.99993979e-01 -5.61460686e-04 7.08734052e-02] [ 3.83715971e-02 4.29650789e-04 9.99263447e-01 3.43503969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.497105680999999 meters 0.018976219123194263 Centerline is valid? [True, True] Translation: X:12.11, Y:0.07, Z:0.34 [[ 9.99220787e-01 -5.09786331e-03 -3.91385970e-02 1.21116305e+01] [ 5.07913511e-03 9.99986934e-01 -5.77928592e-04 6.87286822e-02] [ 3.91410318e-02 3.78688041e-04 9.99233624e-01 3.42633902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.527105680999998 meters 0.02105198847906203 Centerline is valid? [True, True] Translation: X:12.14, Y:0.08, Z:0.35 [[ 9.99228621e-01 2.50560277e-03 -3.91903784e-02 1.21400906e+01] [-2.53076232e-03 9.99996622e-01 -5.92386183e-04 7.72766788e-02] [ 3.91887618e-02 6.91110762e-04 9.99231586e-01 3.45073375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.557105680999998 meters 0.022681149594490684 Centerline is valid? [True, True] Translation: X:12.17, Y:0.08, Z:0.35 [[ 9.99190926e-01 8.64077227e-03 -3.92788818e-02 1.21694111e+01] [-8.67088449e-03 9.99962229e-01 -5.96330538e-04 8.38250256e-02] [ 3.92722455e-02 9.36430709e-04 9.99228109e-01 3.47074282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.587105680999999 meters 0.02873956118064255 Centerline is valid? [True, True] Translation: X:12.20, Y:0.10, Z:0.34 [[ 9.98891450e-01 2.25409905e-02 -4.13252266e-02 1.22000121e+01] [-2.25862762e-02 9.99744700e-01 -6.29212913e-04 9.85560411e-02] [ 4.13004932e-02 1.56189838e-03 9.99145550e-01 3.44526599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.617105680999998 meters 0.03234228125156375 Centerline is valid? [True, True] Translation: X:12.23, Y:0.10, Z:0.34 [[ 9.98711184e-01 2.85378039e-02 -4.19710097e-02 1.22291397e+01] [-2.85898036e-02 9.99591024e-01 -6.39106685e-04 1.04939657e-01] [ 4.19356059e-02 1.83822592e-03 9.99118625e-01 3.42849203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.647105680999998 meters 0.034316391546993216 Centerline is valid? [True, True] Translation: X:12.26, Y:0.11, Z:0.34 [[ 9.98539890e-01 3.45822395e-02 -4.14988772e-02 1.22588552e+01] [-3.46383126e-02 9.99399713e-01 -6.32707257e-04 1.07581600e-01] [ 4.14520856e-02 2.06923452e-03 9.99138350e-01 3.42570267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.677105680999999 meters 0.033525584808744034 Centerline is valid? [True, True] Translation: X:12.29, Y:0.11, Z:0.34 [[ 9.98599292e-01 3.34851786e-02 -4.09658102e-02 1.22876907e+01] [-3.35389490e-02 9.99437215e-01 -6.25816560e-04 1.05071934e-01] [ 4.09217997e-02 1.99889019e-03 9.99160353e-01 3.44653583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.707105680999998 meters 0.03154636775145885 Centerline is valid? [True, True] Translation: X:12.32, Y:0.10, Z:0.35 [[ 9.98698043e-01 3.06926533e-02 -4.07453169e-02 1.23166965e+01] [-3.07436850e-02 9.99527105e-01 -6.26308184e-04 9.97493611e-02] [ 4.07068255e-02 1.87815394e-03 9.99169368e-01 3.45166745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.737105681 meters 0.027553017597830114 Centerline is valid? [True, True] Translation: X:12.35, Y:0.09, Z:0.34 [[ 9.98924107e-01 2.09340477e-02 -4.13810823e-02 1.23469175e+01] [-2.09784802e-02 9.99779723e-01 -6.39740213e-04 8.51399517e-02] [ 4.13585746e-02 1.50716413e-03 9.99143231e-01 3.44610970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.767105680999999 meters 0.0216708855440504 Centerline is valid? [True, True] Translation: X:12.38, Y:0.07, Z:0.34 [[ 9.99075644e-01 5.29990343e-03 -4.26587448e-02 1.23767606e+01] [-5.33290322e-03 9.99985562e-01 -6.59813352e-04 6.51091976e-02] [ 4.26546320e-02 8.86698407e-04 9.99089484e-01 3.44446205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.797105680999998 meters 0.019011556256406995 Centerline is valid? [True, True] Translation: X:12.40, Y:0.05, Z:0.35 [[ 9.99138071e-01 -3.68523739e-03 -4.13465231e-02 1.24048727e+01] [ 3.66186492e-03 9.99993090e-01 -6.41003645e-04 5.44805717e-02] [ 4.13485997e-02 4.89045762e-04 9.99144661e-01 3.47272812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.827105680999999 meters 0.01796895851623949 Centerline is valid? [True, True] Translation: X:12.43, Y:0.03, Z:0.36 [[ 9.99099365e-01 -2.13758495e-02 -3.66542145e-02 1.24337855e+01] [ 2.13692474e-02 9.99771488e-01 -5.71921728e-04 3.25369213e-02] [ 3.66580639e-02 -2.11866344e-04 9.99327845e-01 3.55938965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.857105680999998 meters 0.021003499145410783 Centerline is valid? [True, True] Translation: X:12.46, Y:0.02, Z:0.36 [[ 9.98759077e-01 -3.37265697e-02 -3.66445746e-02 1.24635063e+01] [ 3.37281523e-02 9.99430879e-01 -5.75170882e-04 1.55273908e-02] [ 3.66431179e-02 -6.61496653e-04 9.99328197e-01 3.59340662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.887105680999998 meters 0.021368850053653667 Centerline is valid? [True, True] Translation: X:12.49, Y:0.01, Z:0.36 [[ 9.98644132e-01 -3.62358217e-02 -3.73746346e-02 1.24948203e+01] [ 3.62392188e-02 9.99342972e-01 -5.86775595e-04 1.21381594e-02] [ 3.73713407e-02 -7.68447555e-04 9.99301152e-01 3.60028663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.917105680999999 meters 0.020379186401683243 Centerline is valid? [True, True] Translation: X:12.53, Y:0.01, Z:0.36 [[ 9.98815244e-01 -3.20393226e-02 -3.66277125e-02 1.25255754e+01] [ 3.20398242e-02 9.99486429e-01 -5.73426598e-04 1.39106225e-02] [ 3.66272738e-02 -6.00798242e-04 9.99328816e-01 3.61445026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.947105680999998 meters 0.018064251712597918 Centerline is valid? [True, True] Translation: X:12.56, Y:0.03, Z:0.36 [[ 9.99105370e-01 -2.22827268e-02 -3.59435699e-02 1.25555282e+01] [ 2.22769547e-02 9.99751680e-01 -5.61114731e-04 2.56652680e-02] [ 3.59471475e-02 -2.40100537e-04 9.99353664e-01 3.63281112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.977105680999998 meters 0.017681199637899627 Centerline is valid? [True, True] Translation: X:12.59, Y:0.03, Z:0.37 [[ 9.99228745e-01 -1.79615911e-02 -3.49184140e-02 1.25859932e+01] [ 1.79535335e-02 9.99838674e-01 -5.44318700e-04 3.31346809e-02] [ 3.49225576e-02 -8.30100243e-05 9.99390018e-01 3.65709722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.007105680999999 meters 0.017897618528983326 Centerline is valid? [True, True] Translation: X:12.62, Y:0.05, Z:0.37 [[ 9.99403156e-01 -9.44815756e-03 -3.32274451e-02 1.26158653e+01] [ 9.43615709e-03 9.99955344e-01 -5.17959368e-04 4.64252276e-02] [ 3.32308550e-02 2.04110837e-04 9.99447682e-01 3.69193940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.037105680999998 meters 0.018290601729473492 Centerline is valid? [True, True] Translation: X:12.64, Y:0.05, Z:0.36 [[ 9.99275981e-01 -5.17769775e-03 -3.76922561e-02 1.26449955e+01] [ 5.15920862e-03 9.99986518e-01 -5.87778412e-04 5.08361907e-02] [ 3.76947913e-02 3.92890637e-04 9.99289222e-01 3.63440686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.067105680999997 meters 0.019557082350831416 Centerline is valid? [True, True] Translation: X:12.67, Y:0.06, Z:0.36 [[ 9.99145437e-01 -1.27740177e-03 -4.13129938e-02 1.26725077e+01] [ 1.25129145e-03 9.99999001e-01 -6.57864577e-04 5.58244223e-02] [ 4.13137929e-02 6.05607795e-04 9.99146037e-01 3.59374491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.097105680999999 meters 0.019949807223201537 Centerline is valid? [True, True] Translation: X:12.70, Y:0.06, Z:0.36 [[ 9.99140668e-01 1.25598023e-03 -4.14288215e-02 1.27007376e+01] [-1.28461211e-03 9.99998954e-01 -6.64495829e-04 5.77123991e-02] [ 4.14279436e-02 7.17144772e-04 9.99141237e-01 3.60824983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.127105680999998 meters 0.023960871131894344 Centerline is valid? [True, True] Translation: X:12.73, Y:0.07, Z:0.36 [[ 9.99057217e-01 1.02543525e-02 -4.21844131e-02 1.27286292e+01] [-1.02922621e-02 9.99946801e-01 -6.81573845e-04 6.57103436e-02] [ 4.21751798e-02 1.11510431e-03 9.99109609e-01 3.61633805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.157105680999999 meters 0.026999180678698907 Centerline is valid? [True, True] Translation: X:12.76, Y:0.07, Z:0.36 [[ 9.98836112e-01 1.68627801e-02 -4.51892558e-02 1.27587685e+01] [-1.69132194e-02 9.99856692e-01 -7.34039267e-04 6.97034704e-02] [ 4.51704019e-02 1.49748072e-03 9.98978174e-01 3.59957998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.187105680999998 meters 0.028451970057592157 Centerline is valid? [True, True] Translation: X:12.79, Y:0.07, Z:0.36 [[ 9.98754219e-01 1.93386616e-02 -4.60002887e-02 1.27876521e+01] [-1.93936290e-02 9.99811645e-01 -7.48901960e-04 7.30746054e-02] [ 4.59771416e-02 1.64008153e-03 9.98941146e-01 3.60893838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.217105680999998 meters 0.028094720750133754 Centerline is valid? [True, True] Translation: X:12.82, Y:0.07, Z:0.36 [[ 9.98745728e-01 2.12938739e-02 -4.53160197e-02 1.28161683e+01] [-2.13494118e-02 9.99771800e-01 -7.41882021e-04 7.10807262e-02] [ 4.52898810e-02 1.70842186e-03 9.98972426e-01 3.60173904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.247105680999999 meters 0.02835970612282062 Centerline is valid? [True, True] Translation: X:12.84, Y:0.07, Z:0.36 [[ 9.98871053e-01 2.02055186e-02 -4.29925106e-02 1.28442065e+01] [-2.02546692e-02 9.99794603e-01 -7.07897813e-04 6.85946606e-02] [ 4.29693766e-02 1.57789771e-03 9.99075144e-01 3.61114487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.277105680999998 meters 0.02631676789443427 Centerline is valid? [True, True] Translation: X:12.87, Y:0.07, Z:0.36 [[ 9.98915407e-01 1.67922169e-02 -4.34284484e-02 1.28731252e+01] [-1.68393678e-02 9.99857948e-01 -7.20090391e-04 6.63050980e-02] [ 4.34101874e-02 1.45061700e-03 9.99056280e-01 3.62653860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.307105680999998 meters 0.0225684929073322 Centerline is valid? [True, True] Translation: X:12.90, Y:0.06, Z:0.36 [[ 9.98791130e-01 6.98184781e-03 -4.86572961e-02 1.29028508e+01] [-7.02964399e-03 9.99974963e-01 -8.11246328e-04 6.24180989e-02] [ 4.86504139e-02 1.15230911e-03 9.98815203e-01 3.59444604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.337105680999999 meters 0.01894683129920672 Centerline is valid? [True, True] Translation: X:12.93, Y:0.05, Z:0.36 [[ 9.98671752e-01 -5.40187733e-03 -5.12401337e-02 1.29319795e+01] [ 5.36500381e-03 9.99985241e-01 -8.57137615e-04 5.17012889e-02] [ 5.12440076e-02 5.81095611e-04 9.98685994e-01 3.57107274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.367105680999998 meters 0.017537324000761658 Centerline is valid? [True, True] Translation: X:12.96, Y:0.04, Z:0.36 [[ 9.98706114e-01 -1.24687479e-02 -4.93014113e-02 1.29613163e+01] [ 1.24430541e-02 9.99922239e-01 -8.28051629e-04 4.44050902e-02] [ 4.93079023e-02 2.13520096e-04 9.98783603e-01 3.60832694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.397105680999998 meters 0.017542924290068297 Centerline is valid? [True, True] Translation: X:12.99, Y:0.03, Z:0.37 [[ 9.98852236e-01 -2.41148846e-02 -4.13845788e-02 1.29893778e+01] [ 2.41066679e-02 9.99709149e-01 -6.97641784e-04 3.36081151e-02] [ 4.13893656e-02 -3.00803240e-04 9.99143048e-01 3.73128897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.427105680999999 meters 0.018537185504752075 Centerline is valid? [True, True] Translation: X:13.02, Y:0.03, Z:0.38 [[ 9.98925266e-01 -2.89075132e-02 -3.62307715e-02 1.30192997e+01] [ 2.89042585e-02 9.99581996e-01 -6.13720945e-04 3.26453249e-02] [ 3.62333680e-02 -4.34162228e-04 9.99343262e-01 3.83585820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.457105680999998 meters 0.018399707639598133 Centerline is valid? [True, True] Translation: X:13.05, Y:0.03, Z:0.39 [[ 9.98938526e-01 -2.79783998e-02 -3.65927728e-02 1.30499125e+01] [ 2.79744564e-02 9.99608446e-01 -6.19862361e-04 3.45420539e-02] [ 3.65957875e-02 -4.04458535e-04 9.99330068e-01 3.85807488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.487105680999997 meters 0.017362675175120388 Centerline is valid? [True, True] Translation: X:13.08, Y:0.04, Z:0.38 [[ 9.99021823e-01 -2.29849956e-02 -3.77768173e-02 1.30814959e+01] [ 2.29772581e-02 9.99735784e-01 -6.39026417e-04 3.89567041e-02] [ 3.77815241e-02 -2.29606345e-04 9.99285997e-01 3.84569261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.517105680999999 meters 0.017107994813243283 Centerline is valid? [True, True] Translation: X:13.11, Y:0.04, Z:0.39 [[ 9.99158735e-01 -2.01189634e-02 -3.57358167e-02 1.31112835e+01] [ 2.01102643e-02 9.99797586e-01 -6.02890909e-04 4.10446464e-02] [ 3.57407128e-02 -1.16272999e-04 9.99361090e-01 3.85376067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.547105680999998 meters 0.017245764486727815 Centerline is valid? [True, True] Translation: X:13.14, Y:0.04, Z:0.39 [[ 9.99153154e-01 -2.05928856e-02 -3.56217356e-02 1.31417153e+01] [ 2.05845135e-02 9.99787935e-01 -6.01794355e-04 4.11506079e-02] [ 3.56265742e-02 -1.31971371e-04 9.99365163e-01 3.86014455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.577105680999999 meters 0.017364607107540578 Centerline is valid? [True, True] Translation: X:13.17, Y:0.04, Z:0.38 [[ 9.99024004e-01 -2.19279905e-02 -3.83432125e-02 1.31725855e+01] [ 2.19192730e-02 9.99759534e-01 -6.47771042e-04 3.98885847e-02] [ 3.83481966e-02 -1.93316522e-04 9.99264419e-01 3.83418151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.607105680999998 meters 0.017102075207418337 Centerline is valid? [True, True] Translation: X:13.20, Y:0.04, Z:0.38 [[ 9.98976889e-01 -1.93764022e-02 -4.08623245e-02 1.32035412e+01] [ 1.93643678e-02 9.99812255e-01 -6.90328974e-04 3.86335291e-02] [ 4.08680289e-02 -1.01650390e-04 9.99164548e-01 3.81197187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.637105680999998 meters 0.01705076659583724 Centerline is valid? [True, True] Translation: X:13.23, Y:0.04, Z:0.38 [[ 9.99013122e-01 -1.65215725e-02 -4.12288752e-02 1.32334892e+01] [ 1.65068829e-02 9.99863509e-01 -6.96717410e-04 3.98168497e-02] [ 4.12347587e-02 1.54696199e-05 9.99149486e-01 3.81388702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.667105680999999 meters 0.017700053537128117 Centerline is valid? [True, True] Translation: X:13.26, Y:0.04, Z:0.38 [[ 9.99064673e-01 -9.67975522e-03 -4.21435921e-02 1.32615826e+01] [ 9.65823283e-03 9.99953103e-01 -7.14273375e-04 4.41073827e-02] [ 4.21485297e-02 3.06572670e-04 9.99111309e-01 3.81748814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.697105680999998 meters 0.018953513485654546 Centerline is valid? [True, True] Translation: X:13.29, Y:0.05, Z:0.38 [[ 9.99086397e-01 -3.91480093e-03 -4.25563862e-02 1.32900120e+01] [ 3.88744587e-03 9.99992181e-01 -7.25532178e-04 5.09164037e-02] [ 4.25588938e-02 5.59433681e-04 9.99093803e-01 3.83510243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.727105680999998 meters 0.022266725118124386 Centerline is valid? [True, True] Translation: X:13.32, Y:0.06, Z:0.38 [[ 9.98941161e-01 4.85889519e-03 -4.57487564e-02 1.33181729e+01] [-4.90033440e-03 9.99987678e-01 -7.93691848e-04 6.11604505e-02] [ 4.57443362e-02 1.01703566e-03 9.98952662e-01 3.79780268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.757105680999999 meters 0.023909730573569044 Centerline is valid? [True, True] Translation: X:13.35, Y:0.06, Z:0.38 [[ 9.98844632e-01 1.03562300e-02 -4.69270758e-02 1.33474215e+01] [-1.04061253e-02 9.99945519e-01 -8.19070951e-04 6.43385913e-02] [ 4.69160367e-02 1.30645365e-03 9.98897982e-01 3.78705856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.787105680999998 meters 0.029736282180041745 Centerline is valid? [True, True] Translation: X:13.38, Y:0.07, Z:0.38 [[ 9.98620295e-01 2.22904321e-02 -4.75462269e-02 1.33777596e+01] [-2.23552806e-02 9.99749743e-01 -8.32517562e-04 7.07997964e-02] [ 4.75157709e-02 1.89427818e-03 9.98868692e-01 3.75357630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.817105680999997 meters 0.031652290131237076 Centerline is valid? [True, True] Translation: X:13.41, Y:0.07, Z:0.38 [[ 9.98472145e-01 2.65228062e-02 -4.84759354e-02 1.34071706e+01] [-2.65952354e-02 9.99645923e-01 -8.49630934e-04 7.32329218e-02] [ 4.84362366e-02 2.13756174e-03 9.98823989e-01 3.75496380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.847105680999999 meters 0.03415533179457297 Centerline is valid? [True, True] Translation: X:13.44, Y:0.08, Z:0.38 [[ 9.98222981e-01 3.27581206e-02 -4.97773586e-02 1.34376303e+01] [-3.28423603e-02 9.99460161e-01 -8.75144793e-04 7.86774871e-02] [ 4.97218188e-02 2.50839559e-03 9.98759955e-01 3.76304344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.877105680999998 meters 0.039746434687485774 Centerline is valid? [True, True] Translation: X:13.47, Y:0.09, Z:0.38 [[ 9.98161990e-01 3.59983161e-02 -4.87520634e-02 1.34659279e+01] [-3.60830091e-02 9.99348428e-01 -8.57964780e-04 8.58249776e-02] [ 4.86894126e-02 2.61550898e-03 9.98810543e-01 3.76569433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.907105680999997 meters 0.03976084973130732 Centerline is valid? [True, True] Translation: X:13.49, Y:0.08, Z:0.38 [[ 9.98206451e-01 3.51891290e-02 -4.84314591e-02 1.34949477e+01] [-3.52719389e-02 9.99377385e-01 -8.55999103e-04 8.26381554e-02] [ 4.83711831e-02 2.56273529e-03 9.98826142e-01 3.76633678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.937105680999998 meters 0.03263041534006603 Centerline is valid? [True, True] Translation: X:13.53, Y:0.06, Z:0.38 [[ 9.98423789e-01 2.72884361e-02 -4.90436357e-02 1.35255786e+01] [-2.73640200e-02 9.99625156e-01 -8.70272530e-04 6.15560353e-02] [ 4.90015036e-02 2.21093183e-03 9.98796258e-01 3.77375909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.967105680999998 meters 0.026224614248103694 Centerline is valid? [True, True] Translation: X:13.55, Y:0.04, Z:0.38 [[ 9.98680013e-01 1.21706728e-02 -4.99009557e-02 1.35546469e+01] [-1.22301415e-02 9.99924816e-01 -8.86558980e-04 4.34289625e-02] [ 4.98864139e-02 1.49568449e-03 9.98753778e-01 3.79036608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.997105680999999 meters 0.01905277135347927 Centerline is valid? [True, True] Translation: X:13.58, Y:0.02, Z:0.39 [[ 9.98974625e-01 -4.17221612e-03 -4.50809467e-02 1.35847463e+01] [ 4.14021998e-03 9.99991107e-01 -8.03095712e-04 2.35189573e-02] [ 4.50838964e-02 6.15627201e-04 9.98983015e-01 3.88276991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.027105680999998 meters 0.016977105834358148 Centerline is valid? [True, True] Translation: X:13.61, Y:0.00, Z:0.40 [[ 9.99089836e-01 -1.88610474e-02 -3.82591134e-02 1.36132084e+01] [ 1.88487622e-02 9.99822114e-01 -6.81813443e-04 4.31774999e-03] [ 3.82651673e-02 -3.99440488e-05 9.99267619e-01 3.97478730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.057105680999998 meters 0.017517033828413107 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.00, Z:0.40 [[ 9.99007753e-01 -2.59325750e-02 -3.62078803e-02 1.36421394e+01] [ 2.59261063e-02 9.99663652e-01 -6.48240794e-04 -4.35353298e-03] [ 3.62125124e-02 -2.91131776e-04 9.99344069e-01 4.02152845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.087105680999999 meters 0.020072203585960773 Centerline is valid? [True, True] Translation: X:13.67, Y:-0.01, Z:0.41 [[ 9.98814071e-01 -3.53726795e-02 -3.34548276e-02 1.36710537e+01] [ 3.53720844e-02 9.99374026e-01 -6.09823229e-04 -1.45909779e-02] [ 3.34554568e-02 -5.74266963e-04 9.99440045e-01 4.08381087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.117105680999998 meters 0.021658384474129978 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.02, Z:0.41 [[ 9.98766381e-01 -3.95197105e-02 -3.00650902e-02 1.37017671e+01] [ 3.95210563e-02 9.99218587e-01 -5.49703867e-04 -1.69560475e-02] [ 3.00633211e-02 -6.39178382e-04 9.99547792e-01 4.14511292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.147105680999998 meters 0.021939206412549473 Centerline is valid? [True, True] Translation: X:13.73, Y:-0.02, Z:0.42 [[ 9.98753745e-01 -4.02118820e-02 -2.95628283e-02 1.37325360e+01] [ 4.02135054e-02 9.99190964e-01 -5.39870148e-04 -1.54795791e-02] [ 2.95606201e-02 -6.49627623e-04 9.99562778e-01 4.16242963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.177105680999999 meters 0.021233048568095658 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.01, Z:0.41 [[ 9.98657028e-01 -3.97528001e-02 -3.32243194e-02 1.37637989e+01] [ 3.97546231e-02 9.99209289e-01 -6.05983368e-04 -7.35487038e-03] [ 3.32221381e-02 -7.15650746e-04 9.99447736e-01 4.13180555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.207105680999998 meters 0.020293136370297886 Centerline is valid? [True, True] Translation: X:13.80, Y:0.00, Z:0.41 [[ 9.98608071e-01 -3.71626911e-02 -3.74280010e-02 1.37951947e+01] [ 3.71632613e-02 9.99308976e-01 -6.80721509e-04 1.34986708e-04] [ 3.74274348e-02 -7.11172589e-04 9.99299095e-01 4.07284120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.237105680999997 meters 0.01924176111416545 Centerline is valid? [True, True] Translation: X:13.83, Y:0.01, Z:0.40 [[ 9.98591772e-01 -3.32209232e-02 -4.13623514e-02 1.38252579e+01] [ 3.32183245e-02 9.99447838e-01 -7.50303681e-04 6.83578140e-03] [ 4.13644384e-02 -6.24740927e-04 9.99143930e-01 4.01132960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.267105680999999 meters 0.01924176111416545 Centerline is valid? [True, True] Translation: X:13.86, Y:0.01, Z:0.40 [[ 9.98591772e-01 -3.32208921e-02 -4.13623666e-02 1.38552362e+01] [ 3.32183282e-02 9.99447838e-01 -7.49462870e-04 7.37885730e-03] [ 4.13644257e-02 -6.25581212e-04 9.99143930e-01 4.02243413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.297105680999998 meters 0.01854760862109367 Centerline is valid? [True, True] Translation: X:13.89, Y:0.01, Z:0.40 [[ 9.98614636e-01 -3.14530871e-02 -4.21842692e-02 1.38856395e+01] [ 3.14488444e-02 9.99505070e-01 -7.64355285e-04 1.36809525e-02] [ 4.21874323e-02 -5.63350145e-04 9.99109555e-01 4.02717751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.327105680999997 meters 0.01835471775733305 Centerline is valid? [True, True] Translation: X:13.91, Y:0.02, Z:0.41 [[ 9.98747153e-01 -2.98432062e-02 -4.01684823e-02 1.39144538e+01] [ 2.98380578e-02 9.99554481e-01 -7.27815544e-04 2.20413762e-02] [ 4.01723069e-02 -4.71645794e-04 9.99192656e-01 4.06798010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.357105680999998 meters 0.018557619820654236 Centerline is valid? [True, True] Translation: X:13.95, Y:0.03, Z:0.41 [[ 9.98919323e-01 -3.09336417e-02 -3.46885491e-02 1.39451124e+01] [ 3.09304597e-02 9.99521341e-01 -6.28482841e-04 2.72915253e-02] [ 3.46913864e-02 -4.45129116e-04 9.99397974e-01 4.14468263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.387105680999998 meters 0.018953512306470143 Centerline is valid? [True, True] Translation: X:13.98, Y:0.03, Z:0.42 [[ 9.98939161e-01 -3.18752555e-02 -3.32343286e-02 1.39767943e+01] [ 3.18729046e-02 9.99491749e-01 -6.00652638e-04 2.91054325e-02] [ 3.32365832e-02 -4.59259143e-04 9.99447407e-01 4.17261537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.417105680999999 meters 0.01901233906889538 Centerline is valid? [True, True] Translation: X:14.01, Y:0.04, Z:0.42 [[ 9.98952610e-01 -3.06315591e-02 -3.39910420e-02 1.40070647e+01] [ 3.06284375e-02 9.99530652e-01 -6.12651055e-04 3.50235037e-02] [ 3.39938548e-02 -4.29083137e-04 9.99421950e-01 4.17175714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.447105680999998 meters 0.017509153310626323 Centerline is valid? [True, True] Translation: X:14.04, Y:0.05, Z:0.42 [[ 9.99101129e-01 -2.38417901e-02 -3.50500065e-02 1.40384985e+01] [ 2.38343216e-02 9.99715723e-01 -6.30951735e-04 5.02714705e-02] [ 3.50550856e-02 -2.05008535e-04 9.99385361e-01 4.15110999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.477105680999998 meters 0.01697293308091818 Centerline is valid? [True, True] Translation: X:14.07, Y:0.06, Z:0.42 [[ 9.99216861e-01 -1.75025239e-02 -3.54869949e-02 1.40678516e+01] [ 1.74909331e-02 9.99846819e-01 -6.37064077e-04 5.98631458e-02] [ 3.54927092e-02 1.58645118e-05 9.99369935e-01 4.15483528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.507105680999999 meters 0.020332058190857767 Centerline is valid? [True, True] Translation: X:14.10, Y:0.08, Z:0.41 [[ 9.99267020e-01 8.88327880e-04 -3.82705317e-02 1.40973419e+01] [-9.15328233e-04 9.99999344e-01 -6.87997192e-04 8.27755890e-02] [ 3.82698954e-02 7.22523002e-04 9.99267178e-01 4.10853338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.537105680999998 meters 0.02676353948158072 Centerline is valid? [True, True] Translation: X:14.13, Y:0.10, Z:0.41 [[ 9.98897686e-01 1.85697373e-02 -4.31112242e-02 1.41276851e+01] [-1.86205317e-02 9.99826321e-01 -7.76918195e-04 1.01216794e-01] [ 4.30893095e-02 1.57881570e-03 9.99069977e-01 4.05601552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.567105680999997 meters 0.034622465492251064 Centerline is valid? [True, True] Translation: X:14.16, Y:0.12, Z:0.40 [[ 9.98381807e-01 3.08545789e-02 -4.77677945e-02 1.41566416e+01] [-3.09309699e-02 9.99521153e-01 -8.60691624e-04 1.18474938e-01] [ 4.77183648e-02 2.33680307e-03 9.98858097e-01 4.02829669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.597105680999999 meters 0.034760843515495264 Centerline is valid? [True, True] Translation: X:14.19, Y:0.12, Z:0.40 [[ 9.98281400e-01 3.32314610e-02 -4.82692137e-02 1.41859745e+01] [-3.33122505e-02 9.99444614e-01 -8.70023048e-04 1.20294397e-01] [ 4.82134935e-02 2.47648396e-03 9.98833983e-01 4.04578360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.627105680999998 meters 0.034053114504711844 Centerline is valid? [True, True] Translation: X:14.22, Y:0.12, Z:0.41 [[ 9.98364351e-01 3.18463689e-02 -4.74808551e-02 1.42150503e+01] [-3.19232160e-02 9.99489954e-01 -8.60874587e-04 1.17633714e-01] [ 4.74292219e-02 2.37520809e-03 9.98871777e-01 4.07823703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.657105680999997 meters 0.029591909508632483 Centerline is valid? [True, True] Translation: X:14.25, Y:0.10, Z:0.41 [[ 9.98654792e-01 2.27998846e-02 -4.65700737e-02 1.42456874e+01] [-2.28645303e-02 9.99738206e-01 -8.55849932e-04 1.04173123e-01] [ 4.65383687e-02 1.91950150e-03 9.98914659e-01 4.08541667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.687105680999998 meters 0.026989910958075222 Centerline is valid? [True, True] Translation: X:14.28, Y:0.10, Z:0.41 [[ 9.98778101e-01 1.73502474e-02 -4.62739063e-02 1.42755766e+01] [-1.74082627e-02 9.99848103e-01 -8.51012488e-04 9.79990663e-02] [ 4.62521122e-02 1.65552095e-03 9.98928427e-01 4.09870259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.717105680999998 meters 0.02377411104586716 Centerline is valid? [True, True] Translation: X:14.31, Y:0.09, Z:0.41 [[ 9.98982250e-01 1.00483806e-02 -4.39715095e-02 1.43060037e+01] [-1.00937785e-02 9.99948728e-01 -8.10528529e-04 9.01484255e-02] [ 4.39611105e-02 1.25354229e-03 9.99032457e-01 4.13985667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.747105680999997 meters 0.02295167242354154 Centerline is valid? [True, True] Translation: X:14.33, Y:0.09, Z:0.42 [[ 9.99033519e-01 5.50414015e-03 -4.36088494e-02 1.43337388e+01] [-5.54453905e-03 9.99984305e-01 -8.05492482e-04 8.66036400e-02] [ 4.36037314e-02 1.04650496e-03 9.99048357e-01 4.15960932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.777105680999998 meters 0.02275830653819427 Centerline is valid? [True, True] Translation: X:14.36, Y:0.08, Z:0.42 [[ 9.99026354e-01 4.03195784e-03 -4.39327515e-02 1.43617676e+01] [-4.07176366e-03 9.99991377e-01 -8.16614718e-04 8.49379139e-02] [ 4.39290801e-02 9.94703405e-04 9.99034157e-01 4.16051887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.807105680999998 meters 0.020909982254029437 Centerline is valid? [True, True] Translation: X:14.39, Y:0.08, Z:0.42 [[ 9.99109854e-01 2.28417492e-03 -4.21222274e-02 1.43904936e+01] [-2.31939940e-03 9.99997000e-01 -7.87392559e-04 7.86636936e-02] [ 4.21203025e-02 8.84389934e-04 9.99112155e-01 4.18873424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.837105680999999 meters 0.02050909600741013 Centerline is valid? [True, True] Translation: X:14.42, Y:0.07, Z:0.42 [[ 9.99158725e-01 3.72440498e-04 -4.10085737e-02 1.44185111e+01] [-4.04380585e-04 9.99999621e-01 -7.70571370e-04 7.35155195e-02] [ 4.10082712e-02 7.86506178e-04 9.99158497e-01 4.21294704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.867105680999998 meters 0.020116816394547155 Centerline is valid? [True, True] Translation: X:14.45, Y:0.07, Z:0.42 [[ 9.99116624e-01 -1.40436499e-03 -4.19999894e-02 1.44478707e+01] [ 1.37215541e-03 9.99998742e-01 -7.95713126e-04 7.02349516e-02] [ 4.20010541e-02 7.37379699e-04 9.99117294e-01 4.21443422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.897105680999998 meters 0.018406224107825147 Centerline is valid? [True, True] Translation: X:14.48, Y:0.06, Z:0.42 [[ 9.99023355e-01 -8.28472988e-03 -4.34015980e-02 1.44759040e+01] [ 8.25649759e-03 9.99965570e-01 -8.29709488e-04 6.01866835e-02] [ 4.34069776e-02 4.70553967e-04 9.99057362e-01 4.21312344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.927105680999999 meters 0.017071546951580075 Centerline is valid? [True, True] Translation: X:14.50, Y:0.05, Z:0.43 [[ 9.98961115e-01 -1.82528747e-02 -4.17555099e-02 1.45049983e+01] [ 1.82352598e-02 9.99833402e-01 -8.02728718e-04 4.62561807e-02] [ 4.17632056e-02 4.04722032e-05 9.99127536e-01 4.26324204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.957105680999998 meters 0.017132784601323666 Centerline is valid? [True, True] Translation: X:14.53, Y:0.04, Z:0.43 [[ 9.98901079e-01 -2.24130964e-02 -4.11617153e-02 1.45330023e+01] [ 2.23993521e-02 9.99748787e-01 -7.95131529e-04 3.96562422e-02] [ 4.11691963e-02 -1.27738013e-04 9.99152181e-01 4.27922110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.987105680999997 meters 0.017832587863809136 Centerline is valid? [True, True] Translation: X:14.56, Y:0.03, Z:0.43 [[ 9.98769664e-01 -2.82462745e-02 -4.07591294e-02 1.45621515e+01] [ 2.82374339e-02 9.99600930e-01 -7.92704105e-04 2.97422000e-02] [ 4.07652545e-02 -3.59204409e-04 9.99168687e-01 4.28343979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.017105680999999 meters 0.018145290853221432 Centerline is valid? [True, True] Translation: X:14.59, Y:0.03, Z:0.43 [[ 9.98716661e-01 -2.94362321e-02 -4.12133434e-02 1.45915840e+01] [ 2.94277068e-02 9.99566580e-01 -8.13640273e-04 2.74493303e-02] [ 4.12194312e-02 -4.00218090e-04 9.99150038e-01 4.29026505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.047105680999998 meters 0.017997743976778183 Centerline is valid? [True, True] Translation: X:14.62, Y:0.03, Z:0.43 [[ 9.98619121e-01 -2.84468958e-02 -4.41658913e-02 1.46210550e+01] [ 2.84360852e-02 9.99595231e-01 -8.73140938e-04 3.00260005e-02] [ 4.41728525e-02 -3.83969811e-04 9.99023829e-01 4.28041999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.077105680999997 meters 0.01773622508471539 Centerline is valid? [True, True] Translation: X:14.65, Y:0.03, Z:0.43 [[ 9.98655176e-01 -2.68999039e-02 -4.43196942e-02 1.46505537e+01] [ 2.68874078e-02 9.99638083e-01 -8.78150671e-04 3.39230686e-02] [ 4.43272763e-02 -3.14671978e-04 9.99017014e-01 4.29703929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.107105680999998 meters 0.01755110093515291 Centerline is valid? [True, True] Translation: X:14.68, Y:0.04, Z:0.43 [[ 9.98682052e-01 -2.59394923e-02 -4.42865836e-02 1.46798539e+01] [ 2.59259812e-02 9.99663478e-01 -8.79522720e-04 3.74564432e-02] [ 4.42944946e-02 -2.69809578e-04 9.99018481e-01 4.31355110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.137105680999998 meters 0.018377022796117415 Centerline is valid? [True, True] Translation: X:14.71, Y:0.04, Z:0.43 [[ 9.98405423e-01 -3.05684190e-02 -4.74571612e-02 1.47086995e+01] [ 3.05580081e-02 9.99532548e-01 -9.45036355e-04 4.45840006e-02] [ 4.74638655e-02 -5.06666895e-04 9.98872827e-01 4.29688280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.167105680999997 meters 0.01926386108092549 Centerline is valid? [True, True] Translation: X:14.74, Y:0.05, Z:0.43 [[ 9.98216598e-01 -3.36457229e-02 -4.93111375e-02 1.47373853e+01] [ 3.36380642e-02 9.99433594e-01 -9.85411400e-04 4.61426564e-02] [ 4.93163623e-02 -6.75077194e-04 9.98782980e-01 4.28423528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.197105680999998 meters 0.02108391901606824 Centerline is valid? [True, True] Translation: X:14.77, Y:0.05, Z:0.43 [[ 9.98117231e-01 -3.75698551e-02 -4.84819368e-02 1.47671282e+01] [ 3.75669545e-02 9.99293641e-01 -9.71344915e-04 5.02065419e-02] [ 4.84841844e-02 -8.51802617e-04 9.98823587e-01 4.28243791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.227105680999998 meters 0.02027955191881051 Centerline is valid? [True, True] Translation: X:14.80, Y:0.06, Z:0.43 [[ 9.98217728e-01 -3.78068898e-02 -4.61736632e-02 1.47969226e+01] [ 3.78045009e-02 9.99284726e-01 -9.25301447e-04 5.72792934e-02] [ 4.61756191e-02 -8.21919985e-04 9.98932999e-01 4.32456719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.257105680999999 meters 0.01957776241646252 Centerline is valid? [True, True] Translation: X:14.83, Y:0.07, Z:0.44 [[ 9.98351577e-01 -3.64978486e-02 -4.42948791e-02 1.48275214e+01] [ 3.64943761e-02 9.99333464e-01 -8.87316188e-04 6.97479752e-02] [ 4.42977401e-02 -7.30660460e-04 9.99018106e-01 4.35059095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.287105680999998 meters 0.019325847827002123 Centerline is valid? [True, True] Translation: X:14.86, Y:0.08, Z:0.43 [[ 9.98357768e-01 -3.43950343e-02 -4.58120947e-02 1.48579060e+01] [ 3.43891985e-02 9.99408097e-01 -9.15748247e-04 7.62190345e-02] [ 4.58164756e-02 -6.61196842e-04 9.98949655e-01 4.33795627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.317105680999997 meters 0.018071440081359882 Centerline is valid? [True, True] Translation: X:14.89, Y:0.09, Z:0.43 [[ 9.98456398e-01 -2.84751781e-02 -4.76863304e-02 1.48885677e+01] [ 2.84621723e-02 9.99594417e-01 -9.51866824e-04 9.18283827e-02] [ 4.76940942e-02 -4.06859031e-04 9.98861906e-01 4.33414236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.347105680999999 meters 0.01747068060194791 Centerline is valid? [True, True] Translation: X:14.92, Y:0.11, Z:0.44 [[ 9.98728633e-01 -2.35627842e-02 -4.45635834e-02 1.49181952e+01] [ 2.35466053e-02 9.99722346e-01 -8.88012143e-04 1.06794250e-01] [ 4.45721342e-02 -1.62437957e-04 9.99006155e-01 4.39964295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.377105680999998 meters 0.017473034314645898 Centerline is valid? [True, True] Translation: X:14.95, Y:0.11, Z:0.44 [[ 9.98868761e-01 -2.15733371e-02 -4.23767554e-02 1.49484064e+01] [ 2.15569230e-02 9.99767266e-01 -8.44312456e-04 1.13933006e-01] [ 4.23851075e-02 -7.01551158e-05 9.99101345e-01 4.44591959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.407105680999997 meters 0.01745454047746569 Centerline is valid? [True, True] Translation: X:14.98, Y:0.12, Z:0.45 [[ 9.98998458e-01 -1.93742195e-02 -4.03326279e-02 1.49783269e+01] [ 1.93575923e-02 9.99812302e-01 -8.02777817e-04 1.24656591e-01] [ 4.03406108e-02 2.12312332e-05 9.99185986e-01 4.48317954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.437105680999998 meters 0.0176608673893955 Centerline is valid? [True, True] Translation: X:15.01, Y:0.13, Z:0.44 [[ 9.98860586e-01 -1.70616062e-02 -4.45694065e-02 1.50088740e+01] [ 1.70389992e-02 9.99854432e-01 -8.87106362e-04 1.33324545e-01] [ 4.45780541e-02 1.26677498e-04 9.99005896e-01 4.44435189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.467105680999998 meters 0.018077577774908052 Centerline is valid? [True, True] Translation: X:15.04, Y:0.14, Z:0.44 [[ 9.98775714e-01 -1.44875732e-02 -4.72988827e-02 1.50379821e+01] [ 1.44590676e-02 9.99895016e-01 -9.44773056e-04 1.39671655e-01] [ 4.73076045e-02 2.59718641e-04 9.98880335e-01 4.42138002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.497105680999997 meters 0.019879806677817028 Centerline is valid? [True, True] Translation: X:15.07, Y:0.15, Z:0.44 [[ 9.98701105e-01 -6.98620411e-03 -5.04707378e-02 1.50669492e+01] [ 6.94346061e-03 9.99975371e-01 -1.02218181e-03 1.53331304e-01] [ 5.04766359e-02 6.70412524e-04 9.98725017e-01 4.38650457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.527105680999998 meters 0.022483513180282282 Centerline is valid? [True, True] Translation: X:15.10, Y:0.17, Z:0.44 [[ 9.98634377e-01 1.42763867e-03 -5.22239598e-02 1.50957748e+01] [-1.48514176e-03 9.99998333e-01 -1.06229644e-03 1.65482629e-01] [ 5.22223562e-02 1.13840572e-03 9.98634833e-01 4.38547680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.557105680999998 meters 0.02420568808399131 Centerline is valid? [True, True] Translation: X:15.12, Y:0.17, Z:0.44 [[ 9.98593524e-01 5.67886475e-03 -5.27136148e-02 1.51245570e+01] [-5.74358606e-03 9.99982926e-01 -1.07638329e-03 1.72255445e-01] [ 5.27066021e-02 1.37763457e-03 9.98609091e-01 4.38525735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.587105680999999 meters 0.026674825090095555 Centerline is valid? [True, True] Translation: X:15.15, Y:0.18, Z:0.44 [[ 9.98517170e-01 1.09531575e-02 -5.33243822e-02 1.51541845e+01] [-1.10271268e-02 9.99938602e-01 -1.09313006e-03 1.81017915e-01] [ 5.33091350e-02 1.67952386e-03 9.98576645e-01 4.39680157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.617105680999998 meters 0.02732259390642503 Centerline is valid? [True, True] Translation: X:15.18, Y:0.19, Z:0.44 [[ 9.98524070e-01 1.13418018e-02 -5.31135111e-02 1.51813271e+01] [-1.14160044e-02 9.99934237e-01 -1.09386865e-03 1.85422765e-01] [ 5.30976117e-02 1.69859826e-03 9.98587882e-01 4.40895336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.647105680999998 meters 0.027063402453949673 Centerline is valid? [True, True] Translation: X:15.21, Y:0.18, Z:0.44 [[ 9.98557998e-01 9.83538119e-03 -5.27749078e-02 1.52096157e+01] [-9.90701638e-03 9.99950324e-01 -1.09593435e-03 1.84871911e-01] [ 5.27615072e-02 1.61719589e-03 9.98605832e-01 4.41830882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.677105680999999 meters 0.024084758800439723 Centerline is valid? [True, True] Translation: X:15.24, Y:0.18, Z:0.44 [[ 9.98527047e-01 3.11657068e-03 -5.41666219e-02 1.52397932e+01] [-3.18237867e-03 9.99994299e-01 -1.12870736e-03 1.79091331e-01] [ 5.41627954e-02 1.29942353e-03 9.98531273e-01 4.43019648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.707105680999998 meters 0.02156785089763378 Centerline is valid? [True, True] Translation: X:15.27, Y:0.17, Z:0.44 [[ 9.98450111e-01 -6.24212414e-03 -5.53029095e-02 1.52687060e+01] [ 6.18774328e-03 9.99980189e-01 -1.15450552e-03 1.73345528e-01] [ 5.53090204e-02 8.10515956e-04 9.98468956e-01 4.43244406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.737105680999997 meters 0.019975877096967874 Centerline is valid? [True, True] Translation: X:15.30, Y:0.17, Z:0.45 [[ 9.98490826e-01 -1.08276830e-02 -5.38408073e-02 1.52974461e+01] [ 1.07825896e-02 9.99941230e-01 -1.12795119e-03 1.68236030e-01] [ 5.38498561e-02 5.45705589e-04 9.98548895e-01 4.45587221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.767105680999999 meters 0.018353888959615334 Centerline is valid? [True, True] Translation: X:15.33, Y:0.16, Z:0.45 [[ 9.98478592e-01 -2.01391913e-02 -5.13314164e-02 1.53264946e+01] [ 2.01102717e-02 9.99797185e-01 -1.07986488e-03 1.55754587e-01] [ 5.13427532e-02 4.59332352e-05 9.98681090e-01 4.49096874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.797105680999998 meters 0.018928100832879952 Centerline is valid? [True, True] Translation: X:15.35, Y:0.14, Z:0.45 [[ 9.98217784e-01 -3.03124883e-02 -5.14043736e-02 1.53546848e+01] [ 3.02966993e-02 9.99540359e-01 -1.08650975e-03 1.44012298e-01] [ 5.14136809e-02 -4.72809500e-04 9.98677330e-01 4.48879765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.827105680999997 meters 0.019990747417348752 Centerline is valid? [True, True] Translation: X:15.39, Y:0.14, Z:0.45 [[ 9.98058159e-01 -3.49235212e-02 -5.15777065e-02 1.53850512e+01] [ 3.49135564e-02 9.99389737e-01 -1.09444357e-03 1.39511518e-01] [ 5.15844523e-02 -7.08442832e-04 9.98668385e-01 4.50759978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.857105680999998 meters 0.022025501837301027 Centerline is valid? [True, True] Translation: X:15.42, Y:0.13, Z:0.46 [[ 9.97840867e-01 -4.27621702e-02 -4.98497890e-02 1.54164222e+01] [ 4.27626595e-02 9.99084700e-01 -1.05719222e-03 1.30166255e-01] [ 4.98493693e-02 -1.07679995e-03 9.98756167e-01 4.56004765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.887105680999998 meters 0.025757247863420454 Centerline is valid? [True, True] Translation: X:15.45, Y:0.12, Z:0.46 [[ 9.97297723e-01 -5.29150471e-02 -5.09632260e-02 1.54481617e+01] [ 5.29289111e-02 9.98597700e-01 -1.07845963e-03 1.16924722e-01] [ 5.09488270e-02 -1.62188273e-03 9.98699948e-01 4.55918579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.917105680999997 meters 0.027533752203891957 Centerline is valid? [True, True] Translation: X:15.48, Y:0.11, Z:0.46 [[ 9.96950473e-01 -5.87342561e-02 -5.13813306e-02 1.54791867e+01] [ 5.87561634e-02 9.98271774e-01 -1.08531998e-03 1.11363391e-01] [ 5.13562775e-02 -1.93695959e-03 9.98678517e-01 4.57859507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.947105680999998 meters 0.03232056346589124 Centerline is valid? [True, True] Translation: X:15.51, Y:0.10, Z:0.46 [[ 9.96403951e-01 -6.81029449e-02 -5.04098775e-02 1.55085512e+01] [ 6.81360332e-02 9.97675473e-01 -1.06378229e-03 1.01788065e-01] [ 5.03651451e-02 -2.37477222e-03 9.98728047e-01 4.63066821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.977105680999998 meters 0.03757611710168909 Centerline is valid? [True, True] Translation: X:15.54, Y:0.09, Z:0.46 [[ 9.96147840e-01 -7.21875455e-02 -4.97839206e-02 1.55384217e+01] [ 7.22249233e-02 9.97387817e-01 -1.05007930e-03 9.16985246e-02] [ 4.97296786e-02 -2.54960562e-03 9.98759460e-01 4.62398083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.007105681 meters 0.03389776895964218 Centerline is valid? [True, True] Translation: X:15.57, Y:0.10, Z:0.46 [[ 9.95964610e-01 -7.35371905e-02 -5.14468436e-02 1.55704031e+01] [ 7.35789778e-02 9.97288804e-01 -1.08381499e-03 9.60110056e-02] [ 5.13870619e-02 -2.70596479e-03 9.98675146e-01 4.61480398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.037105680999996 meters 0.037701750730069365 Centerline is valid? [True, True] Translation: X:15.60, Y:0.09, Z:0.46 [[ 9.95930756e-01 -7.33816204e-02 -5.23169845e-02 1.56017022e+01] [ 7.34248613e-02 9.97300148e-01 -1.09760231e-03 9.16522569e-02] [ 5.22562803e-02 -2.74823144e-03 9.98629926e-01 4.61423472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.067105680999997 meters 0.034855771969559066 Centerline is valid? [True, True] Translation: X:15.63, Y:0.10, Z:0.47 [[ 9.95884768e-01 -7.25637078e-02 -5.42958301e-02 1.56335911e+01] [ 7.26093094e-02 9.97359815e-01 -1.13491190e-03 1.00721804e-01] [ 5.42348325e-02 -2.81214125e-03 9.98524248e-01 4.65175282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.097105681 meters 0.035805270474791207 Centerline is valid? [True, True] Translation: X:15.66, Y:0.10, Z:0.47 [[ 9.96053406e-01 -7.16407200e-02 -5.23948484e-02 1.56648099e+01] [ 7.16821259e-02 9.97426931e-01 -1.09090580e-03 1.02234953e-01] [ 5.23381861e-02 -2.66917368e-03 9.98625851e-01 4.67520379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.127105680999996 meters 0.03835505643435869 Centerline is valid? [True, True] Translation: X:15.70, Y:0.10, Z:0.47 [[ 9.96200261e-01 -7.12923471e-02 -5.00244142e-02 1.56957331e+01] [ 7.13298049e-02 9.97452245e-01 -1.03832070e-03 9.93245278e-02] [ 4.99709886e-02 -2.53385635e-03 9.98747456e-01 4.69170879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.157105680999997 meters 0.035595628594942384 Centerline is valid? [True, True] Translation: X:15.73, Y:0.11, Z:0.47 [[ 9.96110050e-01 -7.34810597e-02 -4.86343637e-02 1.57273458e+01] [ 7.35192247e-02 9.97293293e-01 -1.00606533e-03 1.08478889e-01] [ 4.85766515e-02 -2.57340893e-03 9.98816142e-01 4.73865555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.187105681 meters 0.035595628594942384 Centerline is valid? [True, True] Translation: X:15.76, Y:0.11, Z:0.48 [[ 9.96116640e-01 -7.33916195e-02 -4.86344540e-02 1.57590611e+01] [ 7.34298915e-02 9.97299879e-01 -1.00168480e-03 1.09042568e-01] [ 4.85766503e-02 -2.57342778e-03 9.98816142e-01 4.75039625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.217105681 meters 0.04116406172712164 Centerline is valid? [True, True] Translation: X:15.79, Y:0.11, Z:0.47 [[ 9.95702557e-01 -7.85138431e-02 -4.91120511e-02 1.57887172e+01] [ 7.85592340e-02 9.96908938e-01 -1.00834296e-03 1.07400697e-01] [ 4.90394116e-02 -2.85419545e-03 9.98792766e-01 4.73700872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.247105680999997 meters 0.04030824055670311 Centerline is valid? [True, True] Translation: X:15.82, Y:0.11, Z:0.48 [[ 9.95485674e-01 -8.10648513e-02 -4.93635833e-02 1.58193280e+01] [ 8.11138192e-02 9.96704330e-01 -1.01377010e-03 1.12795161e-01] [ 4.92830784e-02 -2.99487516e-03 9.98780361e-01 4.75126550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.277105681 meters 0.04541546189664468 Centerline is valid? [True, True] Translation: X:15.85, Y:0.11, Z:0.47 [[ 9.95075276e-01 -8.46649058e-02 -5.15465669e-02 1.58492692e+01] [ 8.47231629e-02 9.96403968e-01 -1.05774938e-03 1.13794435e-01] [ 5.14507581e-02 -3.31464793e-03 9.98670032e-01 4.70959646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.307105681 meters 0.046733761091107114 Centerline is valid? [True, True] Translation: X:15.88, Y:0.12, Z:0.47 [[ 9.94410128e-01 -9.02203521e-02 -5.48523909e-02 1.58800796e+01] [ 9.02947576e-02 9.95914449e-01 -1.12539766e-03 1.20955516e-01] [ 5.47298225e-02 -3.83377652e-03 9.98493840e-01 4.67334546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.337105680999997 meters 0.047932312474379714 Centerline is valid? [True, True] Translation: X:15.91, Y:0.13, Z:0.47 [[ 9.94099199e-01 -9.30630092e-02 -5.57320287e-02 1.59107757e+01] [ 9.31443118e-02 9.95651963e-01 -1.14264662e-03 1.25367900e-01] [ 5.55960419e-02 -4.05521736e-03 9.98445109e-01 4.67673915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.367105680999998 meters 0.051491351777613936 Centerline is valid? [True, True] Translation: X:15.94, Y:0.13, Z:0.47 [[ 9.93549147e-01 -9.76873031e-02 -5.75958699e-02 1.59405871e+01] [ 9.77818944e-02 9.95207168e-01 -1.18040651e-03 1.31412726e-01] [ 5.74351333e-02 -4.45904139e-03 9.98339282e-01 4.67811553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.397105681 meters 0.05242485979165743 Centerline is valid? [True, True] Translation: X:15.97, Y:0.14, Z:0.47 [[ 9.93421388e-01 -9.84220587e-02 -5.85409633e-02 1.59727195e+01] [ 9.85211236e-02 9.95134238e-01 -1.19863068e-03 1.40216339e-01] [ 5.83740886e-02 -4.57677613e-03 9.98284288e-01 4.68276864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.427105680999997 meters 0.046790800897302684 Centerline is valid? [True, True] Translation: X:16.00, Y:0.16, Z:0.47 [[ 9.93595375e-01 -9.73484695e-02 -5.73716585e-02 1.60048549e+01] [ 9.74421295e-02 9.95240506e-01 -1.16940768e-03 1.55104254e-01] [ 5.72124385e-02 -4.42849852e-03 9.98352205e-01 4.72916043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.457105680999998 meters 0.045861755421360596 Centerline is valid? [True, True] Translation: X:16.03, Y:0.17, Z:0.48 [[ 9.94080524e-01 -9.38319651e-02 -5.47674548e-02 1.60344029e+01] [ 9.39121822e-02 9.95579863e-01 -1.11277146e-03 1.71067314e-01] [ 5.46297887e-02 -4.03714676e-03 9.98498517e-01 4.77711823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.487105681 meters 0.04124961251818757 Centerline is valid? [True, True] Translation: X:16.06, Y:0.19, Z:0.48 [[ 9.94764412e-01 -8.71524182e-02 -5.33687213e-02 1.60644747e+01] [ 8.72189812e-02 9.96188573e-01 -1.08499054e-03 1.93213648e-01] [ 5.32598698e-02 -3.57545552e-03 9.98574285e-01 4.81275212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.517105680999997 meters 0.033678100920362636 Centerline is valid? [True, True] Translation: X:16.09, Y:0.22, Z:0.48 [[ 9.95955291e-01 -7.48653443e-02 -4.96813678e-02 1.60947131e+01] [ 7.49077733e-02 9.97189955e-01 -1.00995863e-03 2.20017224e-01] [ 4.96173718e-02 -2.71564699e-03 9.98764608e-01 4.83942501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.547105680999998 meters 0.029818271398305497 Centerline is valid? [True, True] Translation: X:16.13, Y:0.23, Z:0.49 [[ 9.96534009e-01 -6.71616721e-02 -4.90844034e-02 1.61251317e+01] [ 6.71937827e-02 9.97739445e-01 -9.97463010e-04 2.33920215e-01] [ 4.90404367e-02 -2.30416092e-03 9.98794136e-01 4.85143807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.577105681 meters 0.023934100744850105 Centerline is valid? [True, True] Translation: X:16.15, Y:0.26, Z:0.49 [[ 9.97437471e-01 -5.08713794e-02 -5.03050083e-02 1.61541210e+01] [ 5.08844120e-02 9.98704026e-01 -1.02240689e-03 2.61808609e-01] [ 5.02918255e-02 -1.53995382e-03 9.98733378e-01 4.87611311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.607105680999997 meters 0.022293104680094513 Centerline is valid? [True, True] Translation: X:16.18, Y:0.27, Z:0.49 [[ 9.97871529e-01 -4.19421253e-02 -4.99326485e-02 1.61835061e+01] [ 4.19437775e-02 9.99119457e-01 -1.01520730e-03 2.74507703e-01] [ 4.99312606e-02 -1.08131744e-03 9.98752071e-01 4.89295078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.637105680999998 meters 0.018096996514389285 Centerline is valid? [True, True] Translation: X:16.21, Y:0.30, Z:0.50 [[ 9.98473653e-01 -2.60302547e-02 -4.87112929e-02 1.62133226e+01] [ 2.60128957e-02 9.99661117e-01 -9.90375272e-04 3.02259518e-01] [ 4.87205652e-02 -2.78258168e-04 9.98812409e-01 4.95409998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.667105681 meters 0.017768899455347844 Centerline is valid? [True, True] Translation: X:16.24, Y:0.31, Z:0.49 [[ 9.98678732e-01 -1.74592007e-02 -4.83318406e-02 1.62441957e+01] [ 1.74321133e-02 9.99847567e-01 -9.81930477e-04 3.14984697e-01] [ 4.83416170e-02 1.38106961e-04 9.98830851e-01 4.94066475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.697105680999996 meters 0.017754031826598394 Centerline is valid? [True, True] Translation: X:16.28, Y:0.32, Z:0.50 [[ 9.98679616e-01 -1.74263839e-02 -4.83254110e-02 1.62754716e+01] [ 1.73994043e-02 9.99848140e-01 -9.78929360e-04 3.18381766e-01] [ 4.83351315e-02 1.36803435e-04 9.98831165e-01 4.95135162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.727105680999998 meters 0.01775000869918469 Centerline is valid? [True, True] Translation: X:16.31, Y:0.32, Z:0.49 [[ 9.98593222e-01 -1.96990457e-02 -4.92292987e-02 1.63072771e+01] [ 1.96739127e-02 9.99805955e-01 -9.95083714e-04 3.22090721e-01] [ 4.92393482e-02 2.51509270e-05 9.98787007e-01 4.94953288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.757105681 meters 0.01794444380728915 Centerline is valid? [True, True] Translation: X:16.34, Y:0.32, Z:0.49 [[ 9.98264446e-01 -2.38226154e-02 -5.38570182e-02 1.63390510e+01] [ 2.37986837e-02 9.99716182e-01 -1.08573222e-03 3.22590400e-01] [ 5.38675975e-02 -1.97878265e-04 9.98548067e-01 4.89211342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.787105680999996 meters 0.018180760326990106 Centerline is valid? [True, True] Translation: X:16.37, Y:0.32, Z:0.49 [[ 9.98127422e-01 -2.61051259e-02 -5.53188132e-02 1.63701411e+01] [ 2.60835834e-02 9.99659148e-01 -1.11152008e-03 3.23398958e-01] [ 5.53289741e-02 -3.33474213e-04 9.98468123e-01 4.88104530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.817105680999997 meters 0.01879010681678994 Centerline is valid? [True, True] Translation: X:16.40, Y:0.32, Z:0.49 [[ 9.97960125e-01 -3.07402345e-02 -5.59519964e-02 1.64011191e+01] [ 3.07256762e-02 9.99527227e-01 -1.12063404e-03 3.23182990e-01] [ 5.59599923e-02 -6.00814836e-04 9.98432831e-01 4.86359797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.847105681 meters 0.01922042645079416 Centerline is valid? [True, True] Translation: X:16.43, Y:0.32, Z:0.49 [[ 9.97891022e-01 -3.36109045e-02 -5.55321053e-02 1.64331092e+01] [ 3.36012207e-02 9.99434705e-01 -1.10833036e-03 3.21519021e-01] [ 5.55379652e-02 -7.59953609e-04 9.98456287e-01 4.86391506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.877105680999996 meters 0.02124524414132301 Centerline is valid? [True, True] Translation: X:16.46, Y:0.32, Z:0.49 [[ 9.97693248e-01 -4.06456904e-02 -5.43701327e-02 1.64648081e+01] [ 4.06470643e-02 9.99172982e-01 -1.08100028e-03 3.15621303e-01] [ 5.43691056e-02 -1.13147959e-03 9.98520265e-01 4.85348483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.907105680999997 meters 0.022572811545629685 Centerline is valid? [True, True] Translation: X:16.50, Y:0.31, Z:0.49 [[ 9.97540244e-01 -4.60826394e-02 -5.28190506e-02 1.64964485e+01] [ 4.60917161e-02 9.98936664e-01 -1.04690191e-03 3.13379925e-01] [ 5.28111302e-02 -1.39019389e-03 9.98603551e-01 4.89597126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.937105681 meters 0.02315882904315079 Centerline is valid? [True, True] Translation: X:16.53, Y:0.31, Z:0.49 [[ 9.97500862e-01 -4.79362123e-02 -5.19051968e-02 1.65289782e+01] [ 4.79476670e-02 9.98849323e-01 -1.02521593e-03 3.12764403e-01] [ 5.18946156e-02 -1.46607931e-03 9.98651491e-01 4.92116020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.967105680999996 meters 0.023454554858699482 Centerline is valid? [True, True] Translation: X:16.56, Y:0.31, Z:0.49 [[ 9.97484234e-01 -4.94700970e-02 -5.07731458e-02 1.65607773e+01] [ 4.94832549e-02 9.98774454e-01 -9.98610030e-04 3.11707470e-01] [ 5.07603223e-02 -1.51632275e-03 9.98709713e-01 4.94662912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.997105680999997 meters 0.0240764131333827 Centerline is valid? [True, True] Translation: X:16.59, Y:0.31, Z:0.50 [[ 9.97577973e-01 -5.00940688e-02 -4.82573495e-02 1.65919764e+01] [ 5.01068592e-02 9.98743415e-01 -9.45395317e-04 3.11592564e-01] [ 4.82440687e-02 -1.47491867e-03 9.98834488e-01 5.00016684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.027105681 meters 0.024911215728687486 Centerline is valid? [True, True] Translation: X:16.62, Y:0.31, Z:0.50 [[ 9.97604418e-01 -5.02286149e-02 -4.75658640e-02 1.66245996e+01] [ 5.02414611e-02 9.98736671e-01 -9.26211337e-04 3.10694492e-01] [ 4.75522949e-02 -1.46578598e-03 9.98867674e-01 5.01524564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.057105681 meters 0.024871380781910354 Centerline is valid? [True, True] Translation: X:16.66, Y:0.31, Z:0.50 [[ 9.97459002e-01 -5.31267705e-02 -4.74666749e-02 1.66565816e+01] [ 5.31434205e-02 9.98586473e-01 -9.12033020e-04 3.09430304e-01] [ 4.74480328e-02 -1.61282591e-03 9.98872406e-01 4.99266565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.087105680999997 meters 0.02659778545382697 Centerline is valid? [True, True] Translation: X:16.69, Y:0.31, Z:0.50 [[ 9.97273953e-01 -5.57545429e-02 -4.83331488e-02 1.66879495e+01] [ 5.57750844e-02 9.98442930e-01 -9.24629140e-04 3.05035533e-01] [ 4.83094430e-02 -1.77367690e-03 9.98830842e-01 4.97013539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.117105680999998 meters 0.030097780667352123 Centerline is valid? [True, True] Translation: X:16.72, Y:0.30, Z:0.50 [[ 9.96685443e-01 -6.35381552e-02 -5.08038496e-02 1.67182445e+01] [ 6.35712358e-02 9.97976836e-01 -9.66104062e-04 2.97704455e-01] [ 5.07624495e-02 -2.26676165e-03 9.98708183e-01 4.96004728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.147105681 meters 0.034234395452413566 Centerline is valid? [True, True] Translation: X:16.75, Y:0.29, Z:0.50 [[ 9.96149900e-01 -7.10603307e-02 -5.13401013e-02 1.67474543e+01] [ 7.11040712e-02 9.97468425e-01 -9.76287507e-04 2.90510278e-01] [ 5.12795053e-02 -2.67796151e-03 9.98680750e-01 4.95645072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.177105680999997 meters 0.03380793396589723 Centerline is valid? [True, True] Translation: X:16.78, Y:0.29, Z:0.50 [[ 9.96095551e-01 -7.25256631e-02 -5.03356940e-02 1.67794742e+01] [ 7.25695571e-02 9.97362894e-01 -9.57417639e-04 2.91852334e-01] [ 5.02723908e-02 -2.69915957e-03 9.98731897e-01 4.98552348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.207105680999998 meters 0.034107934848611327 Centerline is valid? [True, True] Translation: X:16.81, Y:0.29, Z:0.50 [[ 9.96230226e-01 -7.09062150e-02 -4.99764404e-02 1.68105328e+01] [ 7.09477872e-02 9.97479584e-01 -9.43879849e-04 2.94165136e-01] [ 4.99174059e-02 -2.60539622e-03 9.98749951e-01 4.99744971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.237105681 meters 0.032399223263567554 Centerline is valid? [True, True] Translation: X:16.84, Y:0.30, Z:0.50 [[ 9.96414660e-01 -6.72246335e-02 -5.13680334e-02 1.68421697e+01] [ 6.72642647e-02 9.97734734e-01 -9.58813228e-04 3.01804706e-01] [ 5.13161270e-02 -2.49985744e-03 9.98679331e-01 4.99573516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.267105680999997 meters 0.030595725902849563 Centerline is valid? [True, True] Translation: X:16.87, Y:0.31, Z:0.50 [[ 9.96590332e-01 -6.54827872e-02 -5.01967551e-02 1.68742001e+01] [ 6.55185949e-02 9.97850912e-01 -9.33539587e-04 3.07824299e-01] [ 5.01500086e-02 -2.35846434e-03 9.98738912e-01 5.02371898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.297105680999998 meters 0.029541263323321163 Centerline is valid? [True, True] Translation: X:16.91, Y:0.32, Z:0.51 [[ 9.96857520e-01 -6.26461463e-02 -4.84824245e-02 1.69056562e+01] [ 6.26763815e-02 9.98033499e-01 -8.97858886e-04 3.16114338e-01] [ 4.84433311e-02 -2.14366555e-03 9.98823632e-01 5.05768900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.327105681 meters 0.030404336992972496 Centerline is valid? [True, True] Translation: X:16.94, Y:0.32, Z:0.50 [[ 9.96808495e-01 -6.32321986e-02 -4.87289873e-02 1.69366555e+01] [ 6.32637134e-02 9.97996442e-01 -8.96844185e-04 3.17943623e-01] [ 4.86880654e-02 -2.18879479e-03 9.98811635e-01 5.04251906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.357105680999997 meters 0.03251716289821811 Centerline is valid? [True, True] Translation: X:16.97, Y:0.32, Z:0.51 [[ 9.96705716e-01 -6.62640661e-02 -4.67631275e-02 1.69675313e+01] [ 6.62969310e-02 9.97799577e-01 -8.49537095e-04 3.17728205e-01] [ 4.67165226e-02 -2.25351336e-03 9.98905645e-01 5.05863613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.387105680999998 meters 0.03323845906049716 Centerline is valid? [True, True] Translation: X:17.00, Y:0.32, Z:0.51 [[ 9.96597797e-01 -6.78380812e-02 -4.68062490e-02 1.69995498e+01] [ 6.78730287e-02 9.97693610e-01 -8.44101737e-04 3.19781270e-01] [ 4.67555578e-02 -2.33565195e-03 9.98903630e-01 5.08055170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.417105681 meters 0.03321964832241862 Centerline is valid? [True, True] Translation: X:17.03, Y:0.33, Z:0.51 [[ 9.96419960e-01 -6.96622685e-02 -4.79002161e-02 1.70314549e+01] [ 6.97012690e-02 9.97567540e-01 -8.57659993e-04 3.25279616e-01] [ 4.78434473e-02 -2.48411631e-03 9.98851758e-01 5.09076143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.447105680999996 meters 0.03535950305881495 Centerline is valid? [True, True] Translation: X:17.06, Y:0.32, Z:0.51 [[ 9.96373387e-01 -7.03733103e-02 -4.78295959e-02 1.70625986e+01] [ 7.04136420e-02 9.97517523e-01 -8.43226072e-04 3.23492566e-01] [ 4.77702006e-02 -2.52768802e-03 9.98855154e-01 5.07401111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.477105680999998 meters 0.0361346199607289 Centerline is valid? [True, True] Translation: X:17.09, Y:0.32, Z:0.50 [[ 9.96180812e-01 -7.25792748e-02 -4.85390352e-02 1.70948093e+01] [ 7.26239689e-02 9.97359036e-01 -8.44499343e-04 3.23656038e-01] [ 4.84721385e-02 -2.68382334e-03 9.98820929e-01 5.04116689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.507105681 meters 0.03731544644659951 Centerline is valid? [True, True] Translation: X:17.13, Y:0.33, Z:0.51 [[ 9.95900511e-01 -7.58072570e-02 -4.93501055e-02 1.71252286e+01] [ 7.58575749e-02 9.97118296e-01 -8.55223956e-04 3.26873876e-01] [ 4.92727253e-02 -2.89186134e-03 9.98781175e-01 5.08170551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.537105680999996 meters 0.03988175272618842 Centerline is valid? [True, True] Translation: X:17.16, Y:0.33, Z:0.51 [[ 9.95871471e-01 -7.59725723e-02 -4.96808032e-02 1.71562854e+01] [ 7.60239824e-02 9.97105621e-01 -8.56744588e-04 3.26645765e-01] [ 4.96020972e-02 -2.92372502e-03 9.98764779e-01 5.11325066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.567105680999997 meters 0.03791098194842709 Centerline is valid? [True, True] Translation: X:17.19, Y:0.34, Z:0.52 [[ 9.96082442e-01 -7.30695710e-02 -4.98056805e-02 1.71874314e+01] [ 7.31181508e-02 9.97322925e-01 -8.48336416e-04 3.37248266e-01] [ 4.97343345e-02 -2.79668625e-03 9.98758567e-01 5.15579294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.597105681 meters 0.03625785116884116 Centerline is valid? [True, True] Translation: X:17.22, Y:0.34, Z:0.51 [[ 9.96556317e-01 -6.71291543e-02 -4.86742639e-02 1.72168778e+01] [ 6.71685445e-02 9.97741300e-01 -8.27796535e-04 3.44458944e-01] [ 4.86198927e-02 -2.44443359e-03 9.98814363e-01 5.13339542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.627105680999996 meters 0.030970612934715144 Centerline is valid? [True, True] Translation: X:17.25, Y:0.36, Z:0.51 [[ 9.96844238e-01 -6.33984228e-02 -4.77724206e-02 1.72482584e+01] [ 6.34320915e-02 9.97985826e-01 -8.12444235e-04 3.55254238e-01] [ 4.77277063e-02 -2.22042420e-03 9.98857916e-01 5.14536975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.657105680999997 meters 0.03171458632729823 Centerline is valid? [True, True] Translation: X:17.28, Y:0.36, Z:0.52 [[ 9.97136652e-01 -5.94416792e-02 -4.67459465e-02 1.72778147e+01] [ 5.94696722e-02 9.98229798e-01 -7.92914084e-04 3.57580766e-01] [ 4.67103288e-02 -1.98932242e-03 9.98906496e-01 5.15748045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.687105681 meters 0.02277619637119743 Centerline is valid? [True, True] Translation: X:17.31, Y:0.39, Z:0.52 [[ 9.97897604e-01 -4.43905072e-02 -4.72213306e-02 1.73074907e+01] [ 4.44022021e-02 9.99013414e-01 -8.01778058e-04 3.86004491e-01] [ 4.72103340e-02 -1.29663866e-03 9.98884129e-01 5.22185110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.717105680999996 meters 0.021272558181326433 Centerline is valid? [True, True] Translation: X:17.34, Y:0.39, Z:0.52 [[ 9.98016790e-01 -3.99564449e-02 -4.86412323e-02 1.73399037e+01] [ 3.99636384e-02 9.99200794e-01 -8.25006710e-04 3.92306884e-01] [ 4.86353223e-02 -1.12051007e-03 9.98815974e-01 5.21495667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.747105680999997 meters 0.019674070780966554 Centerline is valid? [True, True] Translation: X:17.37, Y:0.40, Z:0.52 [[ 9.98131848e-01 -3.52411830e-02 -4.99086491e-02 1.73717659e+01] [ 3.52430811e-02 9.99378415e-01 -8.42257332e-04 3.99455409e-01] [ 4.99073087e-02 -9.18250699e-04 9.98753432e-01 5.19414590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.777105681 meters 0.019186436042157765 Centerline is valid? [True, True] Translation: X:17.40, Y:0.40, Z:0.52 [[ 9.98168095e-01 -3.30662307e-02 -5.06663379e-02 1.74043208e+01] [ 3.30656089e-02 9.99452821e-01 -8.50695598e-04 4.02957513e-01] [ 5.06667437e-02 -8.26176110e-04 9.98715274e-01 5.19391118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.807105680999996 meters 0.018055993666778347 Centerline is valid? [True, True] Translation: X:17.44, Y:0.41, Z:0.52 [[ 9.98193562e-01 -2.54967753e-02 -5.44015344e-02 1.74356598e+01] [ 2.54850738e-02 9.99674790e-01 -9.08923271e-04 4.13260189e-01] [ 5.44070171e-02 -4.79145765e-04 9.98518726e-01 5.17669169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.837105680999997 meters 0.01760319186491853 Centerline is valid? [True, True] Translation: X:17.47, Y:0.42, Z:0.52 [[ 9.98198075e-01 -2.04323414e-02 -5.64191726e-02 1.74675117e+01] [ 2.04119004e-02 9.99791215e-01 -9.38613120e-04 4.21162644e-01] [ 5.64265712e-02 -2.14700721e-04 9.98406729e-01 5.17705039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.867105680999998 meters 0.017758419343141672 Centerline is valid? [True, True] Translation: X:17.50, Y:0.43, Z:0.52 [[ 9.98461285e-01 -9.58822154e-03 -5.46180309e-02 1.74979099e+01] [ 9.55303049e-03 9.99953959e-01 -9.05360304e-04 4.34197210e-01] [ 5.46241970e-02 3.82199499e-04 9.98506911e-01 5.18566710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.897105681 meters 0.018507414051116174 Centerline is valid? [True, True] Translation: X:17.53, Y:0.44, Z:0.52 [[ 9.98651493e-01 -2.11186983e-03 -5.18723038e-02 1.75266671e+01] [ 2.06986641e-03 9.99997485e-01 -8.63453969e-04 4.41767970e-01] [ 5.18739969e-02 7.54920856e-04 9.98653353e-01 5.22156526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.927105680999997 meters 0.018555726739090152 Centerline is valid? [True, True] Translation: X:17.55, Y:0.44, Z:0.53 [[ 9.98784466e-01 -2.04233500e-03 -4.92485521e-02 1.75546674e+01] [ 2.00371705e-03 9.99997645e-01 -8.33501293e-04 4.44399809e-01] [ 4.92501384e-02 7.33807980e-04 9.98786206e-01 5.25979451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.957105680999998 meters 0.017556859215461157 Centerline is valid? [True, True] Translation: X:17.58, Y:0.44, Z:0.54 [[ 9.99112359e-01 -6.24499065e-03 -4.16592608e-02 1.75831373e+01] [ 6.22062710e-03 9.99980396e-01 -7.14434243e-04 4.42577458e-01] [ 4.16629058e-02 4.54653355e-04 9.99131621e-01 5.36483950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.987105681 meters 0.016765887222139567 Centerline is valid? [True, True] Translation: X:17.61, Y:0.43, Z:0.54 [[ 9.99212901e-01 -1.53791640e-02 -3.65658238e-02 1.76119586e+01] [ 1.53664139e-02 9.99881731e-01 -6.29716679e-04 4.32192952e-01] [ 3.65711837e-02 6.73354461e-05 9.99331048e-01 5.40462858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.017105680999997 meters 0.0168764535531754 Centerline is valid? [True, True] Translation: X:17.64, Y:0.43, Z:0.54 [[ 9.99176257e-01 -1.93800311e-02 -3.56542075e-02 1.76438675e+01] [ 1.93703431e-02 9.99812187e-01 -6.17160301e-04 4.26103449e-01] [ 3.56594717e-02 -7.39823129e-05 9.99363996e-01 5.40476793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.047105680999998 meters 0.017233054967807176 Centerline is valid? [True, True] Translation: X:17.68, Y:0.42, Z:0.54 [[ 9.99036623e-01 -2.27903543e-02 -3.75023457e-02 1.76755388e+01] [ 2.27821628e-02 9.99740244e-01 -6.45811279e-04 4.20108036e-01] [ 3.75073225e-02 -2.09195426e-04 9.99296331e-01 5.39497616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.077105681 meters 0.017233054967807176 Centerline is valid? [True, True] Translation: X:17.71, Y:0.42, Z:0.54 [[ 9.99038426e-01 -2.27110436e-02 -3.75024269e-02 1.77072286e+01] [ 2.27029746e-02 9.99742049e-01 -6.41060114e-04 4.20564344e-01] [ 3.75073123e-02 -2.10972958e-04 9.99296331e-01 5.40668999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.107105680999997 meters 0.017536671703151884 Centerline is valid? [True, True] Translation: X:17.74, Y:0.42, Z:0.54 [[ 9.98824541e-01 -2.48995015e-02 -4.15878829e-02 1.77394829e+01] [ 2.48916261e-02 9.99689905e-01 -7.07255439e-04 4.15107226e-01] [ 4.15925971e-02 -3.28765943e-04 9.99134599e-01 5.37413340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.137105680999998 meters 0.016984482223915753 Centerline is valid? [True, True] Translation: X:17.77, Y:0.42, Z:0.54 [[ 9.98900075e-01 -1.98000502e-02 -4.25040993e-02 1.77704521e+01] [ 1.97873600e-02 9.99803952e-01 -7.19297019e-04 4.15177652e-01] [ 4.25100086e-02 -1.22538068e-04 9.99096033e-01 5.38750926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.167105681 meters 0.01674306505563696 Centerline is valid? [True, True] Translation: X:17.80, Y:0.42, Z:0.54 [[ 9.98974189e-01 -1.52746730e-02 -4.26292577e-02 1.78026639e+01] [ 1.52579089e-02 9.99883333e-01 -7.18608419e-04 4.16768960e-01] [ 4.26352608e-02 6.74379306e-05 9.99090702e-01 5.41157710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.197105680999996 meters 0.017567178230077668 Centerline is valid? [True, True] Translation: X:17.83, Y:0.42, Z:0.54 [[ 9.98948435e-01 -5.99604831e-03 -4.54540607e-02 1.78334309e+01] [ 5.96755745e-03 9.99981903e-01 -7.62475707e-04 4.19191916e-01] [ 4.54578100e-02 4.90424195e-04 9.98966139e-01 5.37445157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.227105680999998 meters 0.01928258325836317 Centerline is valid? [True, True] Translation: X:17.86, Y:0.42, Z:0.53 [[ 9.98784412e-01 1.74861526e-03 -4.92609375e-02 1.78629356e+01] [-1.79143069e-03 9.99998055e-01 -8.25018610e-04 4.21516103e-01] [ 4.92593991e-02 9.12263283e-04 9.98785602e-01 5.32651928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.257105681 meters 0.020143868527813975 Centerline is valid? [True, True] Translation: X:17.89, Y:0.42, Z:0.53 [[ 9.98690545e-01 4.64948978e-03 -5.09468071e-02 1.78919814e+01] [-4.69938497e-03 9.99988588e-01 -8.59614474e-04 4.22994461e-01] [ 5.09422289e-02 1.09790751e-03 9.98700998e-01 5.31828694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.287105680999996 meters 0.021044293323314665 Centerline is valid? [True, True] Translation: X:17.92, Y:0.42, Z:0.53 [[ 9.98436266e-01 8.20304750e-03 -5.52967744e-02 1.79217421e+01] [-8.26796482e-03 9.99965373e-01 -9.45307705e-04 4.21076103e-01] [ 5.52871052e-02 1.40102128e-03 9.98469515e-01 5.27409212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.317105680999997 meters 0.02045874069796657 Centerline is valid? [True, True] Translation: X:17.95, Y:0.41, Z:0.53 [[ 9.98336446e-01 7.02712870e-03 -5.72272585e-02 1.79505157e+01] [-7.09517535e-03 9.99974343e-01 -9.85959163e-04 4.14532226e-01] [ 5.72188617e-02 1.39035640e-03 9.98360691e-01 5.25589789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.347105681 meters 0.020092714190722106 Centerline is valid? [True, True] Translation: X:17.98, Y:0.41, Z:0.53 [[ 9.98402947e-01 4.26565186e-03 -5.63325775e-02 1.79781582e+01] [-4.32797848e-03 9.99990150e-01 -9.84450393e-04 4.11333838e-01] [ 5.63278233e-02 1.22668436e-03 9.98411574e-01 5.27169944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.377105680999996 meters 0.017927963747232944 Centerline is valid? [True, True] Translation: X:18.01, Y:0.40, Z:0.53 [[ 9.98530625e-01 -5.15034397e-03 -5.39450171e-02 1.80081101e+01] [ 5.10657899e-03 9.99986511e-01 -9.49095798e-04 3.99621949e-01] [ 5.39491776e-02 6.72226729e-04 9.98543456e-01 5.33333775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.407105680999997 meters 0.017356185838771136 Centerline is valid? [True, True] Translation: X:18.04, Y:0.39, Z:0.53 [[ 9.98507981e-01 -1.08023143e-02 -5.35268266e-02 1.80356872e+01] [ 1.07671472e-02 9.99941586e-01 -9.45336656e-04 3.92324075e-01] [ 5.35339117e-02 3.67594974e-04 9.98565964e-01 5.32747605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.437105681 meters 0.017184589859544085 Centerline is valid? [True, True] Translation: X:18.07, Y:0.37, Z:0.53 [[ 9.98377272e-01 -2.18152884e-02 -5.26014901e-02 1.80652727e+01] [ 2.17963328e-02 9.99761995e-01 -9.34061172e-04 3.74659545e-01] [ 5.26093476e-02 -2.13974140e-04 9.98615146e-01 5.32255822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.467105680999996 meters 0.01807844752639444 Centerline is valid? [True, True] Translation: X:18.10, Y:0.36, Z:0.54 [[ 9.98375110e-01 -2.99335734e-02 -4.84883660e-02 1.80968320e+01] [ 2.99269199e-02 9.99551717e-01 -8.63356808e-04 3.60279263e-01] [ 4.84924728e-02 -5.89153495e-04 9.98823374e-01 5.38263274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.497105680999997 meters 0.019072208838021534 Centerline is valid? [True, True] Translation: X:18.13, Y:0.35, Z:0.54 [[ 9.98375852e-01 -3.36897709e-02 -4.59418997e-02 1.81287290e+01] [ 3.36878726e-02 9.99432070e-01 -8.15790686e-04 3.53899879e-01] [ 4.59432917e-02 -7.33219142e-04 9.98943780e-01 5.42298839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.527105681 meters 0.019753265063982353 Centerline is valid? [True, True] Translation: X:18.16, Y:0.35, Z:0.55 [[ 9.98316553e-01 -3.74396351e-02 -4.42982413e-02 1.81611007e+01] [ 3.74417179e-02 9.99298506e-01 -7.82981301e-04 3.48331423e-01] [ 4.42964809e-02 -8.76939061e-04 9.99018044e-01 5.46420214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.557105680999996 meters 0.02251125667145481 Centerline is valid? [True, True] Translation: X:18.19, Y:0.33, Z:0.55 [[ 9.98092386e-01 -4.50990885e-02 -4.21623085e-02 1.81918313e+01] [ 4.51079306e-02 9.98981844e-01 -7.42097175e-04 3.28886106e-01] [ 4.21528486e-02 -1.16117295e-03 9.99110499e-01 5.47986553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.587105680999997 meters 0.023792440002893617 Centerline is valid? [True, True] Translation: X:18.22, Y:0.32, Z:0.55 [[ 9.97855365e-01 -4.85285553e-02 -4.39277747e-02 1.82244968e+01] [ 4.85415355e-02 9.98820867e-01 -7.71767255e-04 3.22712070e-01] [ 4.39134307e-02 -1.36220954e-03 9.99034411e-01 5.47392041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.617105680999998 meters 0.02776691129371599 Centerline is valid? [True, True] Translation: X:18.25, Y:0.31, Z:0.55 [[ 9.97366188e-01 -5.66330617e-02 -4.53142665e-02 1.82540194e+01] [ 5.66553806e-02 9.98393479e-01 -7.92652705e-04 3.11039995e-01] [ 4.52863586e-02 -1.77673201e-03 9.98972467e-01 5.47397736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.647105680999996 meters 0.02839484988316814 Centerline is valid? [True, True] Translation: X:18.29, Y:0.31, Z:0.55 [[ 9.97113710e-01 -5.99998798e-02 -4.65216438e-02 1.82856850e+01] [ 6.00271308e-02 9.98196415e-01 -8.12305897e-04 3.07990979e-01] [ 4.64864764e-02 -1.98259945e-03 9.98916952e-01 5.48265753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.677105680999997 meters 0.03265448372919918 Centerline is valid? [True, True] Translation: X:18.32, Y:0.30, Z:0.55 [[ 9.96704134e-01 -6.53453985e-02 -4.80712816e-02 1.83157760e+01] [ 6.53808158e-02 9.97860035e-01 -8.36929642e-04 2.97227952e-01] [ 4.80231002e-02 -2.30876837e-03 9.98843557e-01 5.47779636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.707105680999998 meters 0.02993317669779265 Centerline is valid? [True, True] Translation: X:18.35, Y:0.30, Z:0.55 [[ 9.96887829e-01 -6.28815370e-02 -4.75454428e-02 1.83468396e+01] [ 6.29135351e-02 9.98018641e-01 -8.24657411e-04 2.99101457e-01] [ 4.75030939e-02 -2.16916095e-03 9.98868736e-01 5.49073870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.737105681 meters 0.027066907564642417 Centerline is valid? [True, True] Translation: X:18.38, Y:0.30, Z:0.55 [[ 9.97131532e-01 -5.88950768e-02 -4.75402752e-02 1.83787973e+01] [ 5.89226556e-02 9.98262212e-01 -8.22287492e-04 3.04032211e-01] [ 4.75060890e-02 -1.98127048e-03 9.98868983e-01 5.49988436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.767105680999997 meters 0.02403541663753972 Centerline is valid? [True, True] Translation: X:18.41, Y:0.31, Z:0.55 [[ 9.97693025e-01 -4.68271739e-02 -4.91512390e-02 1.84078571e+01] [ 4.68421432e-02 9.98901944e-01 -8.47903890e-04 3.12131187e-01] [ 4.91369732e-02 -1.45640158e-03 9.98790988e-01 5.49572163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.797105680999998 meters 0.020865212380249278 Centerline is valid? [True, True] Translation: X:18.44, Y:0.32, Z:0.55 [[ 9.97972988e-01 -4.00685872e-02 -4.94411210e-02 1.84396932e+01] [ 4.00754460e-02 9.99196293e-01 -8.52958360e-04 3.21108202e-01] [ 4.94355617e-02 -1.13014557e-03 9.98776676e-01 5.52500748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.827105681 meters 0.017676949852856137 Centerline is valid? [True, True] Translation: X:18.47, Y:0.34, Z:0.55 [[ 9.98441466e-01 -2.51714947e-02 -4.98099900e-02 1.84701173e+01] [ 2.51600590e-02 9.99683069e-01 -8.56672508e-04 3.36110320e-01] [ 4.98157674e-02 -3.97884934e-04 9.98758345e-01 5.54968570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.857105680999997 meters 0.017481116880427604 Centerline is valid? [True, True] Translation: X:18.50, Y:0.35, Z:0.55 [[ 9.98689429e-01 -1.19278516e-02 -4.97709872e-02 1.85003509e+01] [ 1.19000465e-02 9.99928826e-01 -8.54956603e-04 3.46894922e-01] [ 4.97776426e-02 2.61559060e-04 9.98760291e-01 5.53286590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.887105680999998 meters 0.01785300238349951 Centerline is valid? [True, True] Translation: X:18.53, Y:0.35, Z:0.55 [[ 9.98751752e-01 -8.06019248e-03 -4.92947296e-02 1.85291592e+01] [ 8.02807151e-03 9.99967414e-01 -8.49570136e-04 3.49373356e-01] [ 4.92999709e-02 4.52768048e-04 9.98783915e-01 5.53453273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.917105681 meters 0.018071764063464845 Centerline is valid? [True, True] Translation: X:18.56, Y:0.35, Z:0.55 [[ 9.98803527e-01 -6.08677369e-03 -4.85228342e-02 1.85576599e+01] [ 6.05264672e-03 9.99981321e-01 -8.50220416e-04 3.50225458e-01] [ 4.85271029e-02 5.55511577e-04 9.98821712e-01 5.54752262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.947105680999996 meters 0.01829692016881592 Centerline is valid? [True, True] Translation: X:18.59, Y:0.35, Z:0.56 [[ 9.98875559e-01 -5.31650190e-03 -4.71099959e-02 1.85851419e+01] [ 5.28281802e-03 9.99985693e-01 -8.39482915e-04 3.50611057e-01] [ 4.71137850e-02 5.89665431e-04 9.98889355e-01 5.58418631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.977105680999998 meters 0.01799946961176085 Centerline is valid? [True, True] Translation: X:18.61, Y:0.35, Z:0.56 [[ 9.98918409e-01 -6.70515520e-03 -4.60114469e-02 1.86136536e+01] [ 6.67381539e-03 9.99977381e-01 -8.34715907e-04 3.47992772e-01] [ 4.60160030e-02 5.26741183e-04 9.98940564e-01 5.61360892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.007105681 meters 0.01760411745424489 Centerline is valid? [True, True] Translation: X:18.64, Y:0.34, Z:0.56 [[ 9.98780452e-01 -1.08695007e-02 -4.81608026e-02 1.86412308e+01] [ 1.08393930e-02 9.99940859e-01 -8.86281710e-04 3.41967444e-01] [ 4.81675878e-02 3.63166980e-04 9.98839202e-01 5.60449135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.037105680999996 meters 0.017270512865804784 Centerline is valid? [True, True] Translation: X:18.67, Y:0.34, Z:0.56 [[ 9.98651549e-01 -1.40428585e-02 -4.99788059e-02 1.86692958e+01] [ 1.40139779e-02 9.99901369e-01 -9.28245779e-04 3.36712311e-01] [ 4.99869116e-02 2.26592202e-04 9.98749847e-01 5.59378257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.067105680999997 meters 0.017543114788902303 Centerline is valid? [True, True] Translation: X:18.70, Y:0.33, Z:0.55 [[ 9.98328936e-01 -2.04994663e-02 -5.40287607e-02 1.86973635e+01] [ 2.04742863e-02 9.99789860e-01 -1.01957053e-03 3.25896718e-01] [ 5.40383078e-02 -8.83335553e-05 9.98538859e-01 5.52646310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.097105681 meters 0.017902967233092208 Centerline is valid? [True, True] Translation: X:18.73, Y:0.32, Z:0.55 [[ 9.98035760e-01 -2.67944076e-02 -5.66275689e-02 1.87274737e+01] [ 2.67765354e-02 9.99640867e-01 -1.07447592e-03 3.18487453e-01] [ 5.66360220e-02 -4.43924716e-04 9.98394794e-01 5.53100647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.127105680999996 meters 0.018501164456295214 Centerline is valid? [True, True] Translation: X:18.76, Y:0.32, Z:0.55 [[ 9.97969405e-01 -2.96657700e-02 -5.63649563e-02 1.87579790e+01] [ 2.96525733e-02 9.99559692e-01 -1.07064721e-03 3.15375889e-01] [ 5.63718999e-02 -6.02892836e-04 9.98409658e-01 5.54819676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.157105680999997 meters 0.019025291960943196 Centerline is valid? [True, True] Translation: X:18.79, Y:0.31, Z:0.56 [[ 9.97954894e-01 -3.43778795e-02 -5.38905510e-02 1.87894749e+01] [ 3.43727573e-02 9.99408559e-01 -1.02217528e-03 3.11285810e-01] [ 5.38938181e-02 -8.32282005e-04 9.98546325e-01 5.61923846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.187105681 meters 0.019310401867676713 Centerline is valid? [True, True] Translation: X:18.82, Y:0.31, Z:0.56 [[ 9.97946021e-01 -3.64994061e-02 -5.26453414e-02 1.88219786e+01] [ 3.64976186e-02 9.99333244e-01 -9.95656496e-04 3.08530289e-01] [ 5.26465807e-02 -9.27818153e-04 9.98612776e-01 5.64203334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.217105680999996 meters 0.020965402827613434 Centerline is valid? [True, True] Translation: X:18.85, Y:0.30, Z:0.56 [[ 9.97732143e-01 -4.26300352e-02 -5.20888775e-02 1.88542375e+01] [ 4.26368603e-02 9.99090154e-01 -9.80677646e-04 2.99729082e-01] [ 5.20832910e-02 -1.24245259e-03 9.98641971e-01 5.62943357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.247105680999997 meters 0.022972947084872145 Centerline is valid? [True, True] Translation: X:18.89, Y:0.29, Z:0.57 [[ 9.97494545e-01 -4.91549657e-02 -5.08765391e-02 1.88856841e+01] [ 4.91701375e-02 9.98789962e-01 -9.54121217e-04 2.92046186e-01] [ 5.08618763e-02 -1.54987572e-03 9.98704495e-01 5.65640505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.277105681 meters 0.02572240271385295 Centerline is valid? [True, True] Translation: X:18.92, Y:0.29, Z:0.57 [[ 9.97420475e-01 -5.27847941e-02 -4.86432057e-02 1.89168641e+01] [ 5.28030784e-02 9.98604530e-01 -9.09951047e-04 2.87730944e-01] [ 4.86233572e-02 -1.66090720e-03 9.98815804e-01 5.70778836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.307105680999996 meters 0.029387778771776233 Centerline is valid? [True, True] Translation: X:18.95, Y:0.28, Z:0.58 [[ 9.97110107e-01 -6.13159701e-02 -4.48529362e-02 1.89471660e+01] [ 6.13402192e-02 9.98116565e-01 -8.36797753e-04 2.81793953e-01] [ 4.48197676e-02 -1.91690944e-03 9.98993250e-01 5.81364830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.337105680999997 meters 0.031292713196532394 Centerline is valid? [True, True] Translation: X:18.98, Y:0.27, Z:0.59 [[ 9.96785996e-01 -6.89838166e-02 -4.07297343e-02 1.89775159e+01] [ 6.90101924e-02 9.97615666e-01 -7.59709458e-04 2.74850695e-01] [ 4.06850286e-02 -2.05349905e-03 9.99169911e-01 5.85362484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.367105680999998 meters 0.032726502980169964 Centerline is valid? [True, True] Translation: X:19.01, Y:0.27, Z:0.59 [[ 9.96613793e-01 -7.23634657e-02 -3.90445448e-02 1.90087169e+01] [ 7.23902955e-02 9.97376115e-01 -7.28021552e-04 2.71290723e-01] [ 3.89947786e-02 -2.10088982e-03 9.99237206e-01 5.86745495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.397105680999996 meters 0.0367025350217436 Centerline is valid? [True, True] Translation: X:19.04, Y:0.26, Z:0.59 [[ 9.96091756e-01 -7.85914817e-02 -4.03062273e-02 1.90381740e+01] [ 7.86252431e-02 9.96903962e-01 -7.49337370e-04 2.64991654e-01] [ 4.02403292e-02 -2.42267814e-03 9.99187093e-01 5.86051085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.427105680999997 meters 0.03895912414748086 Centerline is valid? [True, True] Translation: X:19.07, Y:0.26, Z:0.58 [[ 9.95460624e-01 -8.43030111e-02 -4.41718107e-02 1.90690774e+01] [ 8.43491366e-02 9.96435922e-01 -8.21892714e-04 2.64594717e-01] [ 4.40836670e-02 -2.90769226e-03 9.99023611e-01 5.84535432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.457105680999998 meters 0.03942732756614667 Centerline is valid? [True, True] Translation: X:19.10, Y:0.27, Z:0.59 [[ 9.95144299e-01 -8.75582198e-02 -4.49597924e-02 1.91004404e+01] [ 8.76093368e-02 9.96154559e-01 -8.36030271e-04 2.66171009e-01] [ 4.48601035e-02 -3.10692684e-03 9.98988447e-01 5.85607863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.487105680999996 meters 0.043070556539909086 Centerline is valid? [True, True] Translation: X:19.13, Y:0.26, Z:0.58 [[ 9.94714070e-01 -9.20306297e-02 -4.55442964e-02 1.91297182e+01] [ 9.20878323e-02 9.95750530e-01 -8.45019671e-04 2.63672767e-01] [ 4.54285250e-02 -3.35352258e-03 9.98961963e-01 5.84984251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.517105680999997 meters 0.043275563935250116 Centerline is valid? [True, True] Translation: X:19.16, Y:0.27, Z:0.59 [[ 9.94724065e-01 -9.18452405e-02 -4.56999554e-02 1.91624413e+01] [ 9.19027366e-02 9.95767629e-01 -8.45813296e-04 2.65119212e-01] [ 4.55842202e-02 -3.35860012e-03 9.98954853e-01 5.85100220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.547105680999998 meters 0.03969540596325486 Centerline is valid? [True, True] Translation: X:19.19, Y:0.28, Z:0.58 [[ 9.95167105e-01 -8.53413718e-02 -4.85724527e-02 1.91929452e+01] [ 8.53988806e-02 9.96346442e-01 -8.93826068e-04 2.76507327e-01] [ 4.84712708e-02 -3.25852679e-03 9.98819262e-01 5.83170080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.577105681 meters 0.033390868832612476 Centerline is valid? [True, True] Translation: X:19.22, Y:0.30, Z:0.59 [[ 9.96077468e-01 -7.19991183e-02 -5.14373884e-02 1.92226112e+01] [ 7.20459017e-02 9.97400868e-01 -9.46465451e-04 2.99629688e-01] [ 5.13718405e-02 -2.76310012e-03 9.98675773e-01 5.87587240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.607105680999997 meters 0.031398269134387355 Centerline is valid? [True, True] Translation: X:19.25, Y:0.31, Z:0.59 [[ 9.96579885e-01 -6.38142519e-02 -5.25002267e-02 1.92521678e+01] [ 6.38516669e-02 9.97958933e-01 -9.66013365e-04 3.10499712e-01] [ 5.24547156e-02 -2.38951750e-03 9.98620445e-01 5.89199866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.637105680999998 meters 0.022635030461015775 Centerline is valid? [True, True] Translation: X:19.28, Y:0.34, Z:0.59 [[ 9.97472700e-01 -4.68572854e-02 -5.34098163e-02 1.92818634e+01] [ 4.68716792e-02 9.98900434e-01 -9.83759173e-04 3.37554974e-01] [ 5.33971850e-02 -1.52213486e-03 9.98572193e-01 5.89995106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.667105681 meters 0.020033109318069897 Centerline is valid? [True, True] Translation: X:19.31, Y:0.35, Z:0.59 [[ 9.97839516e-01 -3.91098283e-02 -5.27894175e-02 1.93128691e+01] [ 3.91130534e-02 9.99234319e-01 -9.72398947e-04 3.48412917e-01] [ 5.27870280e-02 -1.09445721e-03 9.98605193e-01 5.90058661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.697105680999996 meters 0.01772015146202256 Centerline is valid? [True, True] Translation: X:19.34, Y:0.37, Z:0.59 [[ 9.98259597e-01 -2.61533628e-02 -5.28562136e-02 1.93441874e+01] [ 2.61385633e-02 9.99657857e-01 -9.71370820e-04 3.67309426e-01] [ 5.28635339e-02 -4.11905242e-04 9.98601661e-01 5.90130366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.727105680999998 meters 0.017203460858777487 Centerline is valid? [True, True] Translation: X:19.37, Y:0.38, Z:0.59 [[ 9.98494281e-01 -1.61455690e-02 -5.24260557e-02 1.93747907e+01] [ 1.61174450e-02 9.99869645e-01 -9.59211630e-04 3.84606175e-01] [ 5.24347088e-02 1.12793255e-04 9.98624348e-01 5.93759487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.757105681 meters 0.017392650114268045 Centerline is valid? [True, True] Translation: X:19.40, Y:0.39, Z:0.59 [[ 9.98528813e-01 -1.33627382e-02 -5.25513676e-02 1.94045949e+01] [ 1.33307510e-02 9.99910682e-01 -9.59169743e-04 3.91552368e-01] [ 5.25594910e-02 2.57209430e-04 9.98617762e-01 5.94745313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.787105680999996 meters 0.017547419494285912 Centerline is valid? [True, True] Translation: X:19.43, Y:0.40, Z:0.60 [[ 9.98591998e-01 -1.14404192e-02 -5.17990176e-02 1.94318570e+01] [ 1.14066345e-02 9.99934493e-01 -9.47814550e-04 3.96061485e-01] [ 5.18064678e-02 3.55627566e-04 9.98657080e-01 5.95270503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.817105680999997 meters 0.017386014933950335 Centerline is valid? [True, True] Translation: X:19.46, Y:0.40, Z:0.60 [[ 9.98639811e-01 -1.18542530e-02 -5.07740584e-02 1.94609599e+01] [ 1.18218557e-02 9.99929679e-01 -9.38347148e-04 3.96700160e-01] [ 5.07816113e-02 3.36827228e-04 9.98709725e-01 5.98049700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.847105681 meters 0.016945667114380666 Centerline is valid? [True, True] Translation: X:19.49, Y:0.39, Z:0.60 [[ 9.98697377e-01 -1.67898788e-02 -4.81834939e-02 1.94892323e+01] [ 1.67658321e-02 9.99859036e-01 -9.03201653e-04 3.93815997e-01] [ 4.81918664e-02 9.41887519e-05 9.98838093e-01 6.03571728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.877105680999996 meters 0.01729189707805816 Centerline is valid? [True, True] Translation: X:19.52, Y:0.39, Z:0.60 [[ 9.98438924e-01 -2.52013235e-02 -4.98458502e-02 1.95203171e+01] [ 2.51854985e-02 9.99682348e-01 -9.45640422e-04 3.86252800e-01] [ 4.98538480e-02 -3.11228379e-04 9.98756475e-01 6.04427082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.907105680999997 meters 0.019022508525222206 Centerline is valid? [True, True] Translation: X:19.55, Y:0.38, Z:0.60 [[ 9.98026774e-01 -3.48186634e-02 -5.22514967e-02 1.95516819e+01] [ 3.48145333e-02 9.99393301e-01 -9.89495473e-04 3.76672406e-01] [ 5.22542487e-02 -8.31568497e-04 9.98633467e-01 6.02581232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.937105681 meters 0.020284778258591967 Centerline is valid? [True, True] Translation: X:19.58, Y:0.37, Z:0.60 [[ 9.97789178e-01 -4.00625642e-02 -5.30259195e-02 1.95840775e+01] [ 4.00660135e-02 9.99196536e-01 -9.98393405e-04 3.71934613e-01] [ 5.30233133e-02 -1.12835107e-03 9.98592637e-01 6.02889815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.967105680999996 meters 0.023448264473851014 Centerline is valid? [True, True] Translation: X:19.61, Y:0.36, Z:0.60 [[ 9.97351366e-01 -4.88045030e-02 -5.39293333e-02 1.96146368e+01] [ 4.88210039e-02 9.98807031e-01 -1.01217274e-03 3.59719697e-01] [ 5.39143958e-02 -1.62339232e-03 9.98544242e-01 5.99532258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.997105680999997 meters 0.023448264473851014 Centerline is valid? [True, True] Translation: X:19.65, Y:0.36, Z:0.60 [[ 9.97357567e-01 -4.86775698e-02 -5.39293735e-02 1.96471944e+01] [ 4.86940018e-02 9.98813233e-01 -1.01001890e-03 3.60208139e-01] [ 5.39145372e-02 -1.61868702e-03 9.98544242e-01 6.00738373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.027105681 meters 0.026293648180556253 Centerline is valid? [True, True] Translation: X:19.68, Y:0.35, Z:0.60 [[ 9.97215111e-01 -5.15361326e-02 -5.39077848e-02 1.96790115e+01] [ 5.15571036e-02 9.98669545e-01 -1.00251285e-03 3.52743380e-01] [ 5.38877285e-02 -1.77960828e-03 9.98545415e-01 5.99584357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.057105680999996 meters 0.02524506048953556 Centerline is valid? [True, True] Translation: X:19.71, Y:0.35, Z:0.60 [[ 9.97206259e-01 -5.30546156e-02 -5.25821670e-02 1.97105582e+01] [ 5.30769920e-02 9.98589950e-01 -9.71761658e-04 3.52634435e-01] [ 5.25595799e-02 -1.82185645e-03 9.98616128e-01 6.04312284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.087105680999997 meters 0.025650129246739786 Centerline is valid? [True, True] Translation: X:19.74, Y:0.35, Z:0.61 [[ 9.97203639e-01 -5.26689923e-02 -5.30177317e-02 1.97428672e+01] [ 5.26914137e-02 9.98610366e-01 -9.75752943e-04 3.51902201e-01] [ 5.29954484e-02 -1.82055485e-03 9.98593094e-01 6.06009015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.117105680999998 meters 0.023664943693735643 Centerline is valid? [True, True] Translation: X:19.78, Y:0.35, Z:0.61 [[ 9.97213508e-01 -5.11103273e-02 -5.43410965e-02 1.97750140e+01] [ 5.11318765e-02 9.98691415e-01 -9.94589886e-04 3.54073882e-01] [ 5.43208203e-02 -1.78674377e-03 9.98521936e-01 6.07820786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.147105680999996 meters 0.023449528180423843 Centerline is valid? [True, True] Translation: X:19.81, Y:0.35, Z:0.61 [[ 9.97382581e-01 -4.89436607e-02 -5.32212800e-02 1.98067400e+01] [ 4.89614921e-02 9.98800196e-01 -9.69511330e-04 3.52621030e-01] [ 5.32048764e-02 -1.63881957e-03 9.98582273e-01 6.09666731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.177105680999997 meters 0.022768714652230872 Centerline is valid? [True, True] Translation: X:19.84, Y:0.35, Z:0.61 [[ 9.97501417e-01 -4.81632861e-02 -5.16838508e-02 1.98391977e+01] [ 4.81792798e-02 9.98838265e-01 -9.37106326e-04 3.52907770e-01] [ 5.16689420e-02 -1.55532582e-03 9.98663057e-01 6.12427576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.207105680999998 meters 0.02287973816732209 Centerline is valid? [True, True] Translation: X:19.87, Y:0.35, Z:0.62 [[ 9.97748333e-01 -4.61686949e-02 -4.86489080e-02 1.98703044e+01] [ 4.61806759e-02 9.98932717e-01 -8.78283848e-04 3.50647523e-01] [ 4.86375351e-02 -1.37033321e-03 9.98815555e-01 6.16304831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.237105680999996 meters 0.022220349858573178 Centerline is valid? [True, True] Translation: X:19.90, Y:0.35, Z:0.62 [[ 9.97919442e-01 -4.51162471e-02 -4.60576982e-02 1.99020088e+01] [ 4.51260021e-02 9.98980960e-01 -8.28460293e-04 3.49958081e-01] [ 4.60481405e-02 -1.25166315e-03 9.98938438e-01 6.20921419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.267105680999997 meters 0.022166479844281776 Centerline is valid? [True, True] Translation: X:19.93, Y:0.35, Z:0.62 [[ 9.98011893e-01 -4.47120363e-02 -4.44195426e-02 1.99343219e+01] [ 4.47208717e-02 9.98999205e-01 -7.95300459e-04 3.48141226e-01] [ 4.44106472e-02 -1.19276135e-03 9.99012648e-01 6.21798646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.297105680999998 meters 0.02212805559954002 Centerline is valid? [True, True] Translation: X:19.97, Y:0.35, Z:0.63 [[ 9.98186856e-01 -4.44451720e-02 -4.05909712e-02 1.99667522e+01] [ 4.44524549e-02 9.99011239e-01 -7.23563910e-04 3.45347336e-01] [ 4.05829953e-02 -1.08211633e-03 9.99175585e-01 6.27104831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.327105680999995 meters 0.02190480609912993 Centerline is valid? [True, True] Translation: X:20.00, Y:0.34, Z:0.63 [[ 9.98287581e-01 -4.36595978e-02 -3.89325647e-02 1.99993735e+01] [ 4.36658257e-02 9.99045954e-01 -6.90757609e-04 3.42679852e-01] [ 3.89255794e-02 -1.01044784e-03 9.99241602e-01 6.32235977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.357105680999997 meters 0.02099245841196999 Centerline is valid? [True, True] Translation: X:20.03, Y:0.34, Z:0.63 [[ 9.98305365e-01 -4.19086954e-02 -4.03740027e-02 2.00318149e+01] [ 4.19141413e-02 9.99120963e-01 -7.11941911e-04 3.43209575e-01] [ 4.03683490e-02 -9.81506228e-04 9.99184384e-01 6.32179592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.387105680999998 meters 0.019033775416894903 Centerline is valid? [True, True] Translation: X:20.06, Y:0.34, Z:0.63 [[ 9.98348427e-01 -3.32458155e-02 -4.68522672e-02 2.00639060e+01] [ 3.32438440e-02 9.99446933e-01 -8.21496141e-04 3.44804331e-01] [ 4.68536661e-02 -7.37410085e-04 9.98901492e-01 6.25213109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.417105681 meters 0.01775395773461474 Centerline is valid? [True, True] Translation: X:20.10, Y:0.35, Z:0.62 [[ 9.98548948e-01 -1.87321219e-02 -5.04886824e-02 2.00960995e+01] [ 1.87115369e-02 9.99824536e-01 -8.80388189e-04 3.52515194e-01] [ 5.04963150e-02 -6.56101437e-05 9.98724245e-01 6.22735662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.447105680999996 meters 0.018605883552343293 Centerline is valid? [True, True] Translation: X:20.13, Y:0.36, Z:0.62 [[ 9.98610747e-01 -1.06356134e-02 -5.16087139e-02 2.01258971e+01] [ 1.06034682e-02 9.99943380e-01 -8.96630676e-04 3.58792363e-01] [ 5.16153280e-02 3.48153673e-04 9.98666980e-01 6.21689606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.477105680999998 meters 0.02203009553787912 Centerline is valid? [True, True] Translation: X:20.16, Y:0.37, Z:0.62 [[ 9.98672470e-01 1.20234415e-03 -5.14961377e-02 2.01554582e+01] [-1.25010673e-03 9.99998818e-01 -8.95299127e-04 3.66433208e-01] [ 5.14950004e-02 9.58486258e-04 9.98672792e-01 6.23567289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.507105681 meters 0.022188032781312025 Centerline is valid? [True, True] Translation: X:20.18, Y:0.36, Z:0.63 [[ 9.98673548e-01 3.48169435e-03 -5.13714171e-02 2.01842691e+01] [-3.53255562e-03 9.99993356e-01 -8.99306182e-04 3.64477824e-01] [ 5.13679447e-02 1.07958568e-03 9.98679212e-01 6.25460930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.537105680999996 meters 0.022244817179944868 Centerline is valid? [True, True] Translation: X:20.21, Y:0.36, Z:0.62 [[ 9.98573176e-01 2.50588612e-03 -5.33416517e-02 2.02130603e+01] [-2.56007227e-03 9.99996274e-01 -9.47528179e-04 3.58044945e-01] [ 5.33390785e-02 1.08273471e-03 9.98575871e-01 6.23967684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.567105680999997 meters 0.0202415515287379 Centerline is valid? [True, True] Translation: X:20.24, Y:0.35, Z:0.62 [[ 9.98437769e-01 -4.59386133e-03 -5.56858917e-02 2.02423959e+01] [ 4.54554131e-03 9.99989175e-01 -9.94353647e-04 3.46762189e-01] [ 5.56898568e-02 7.39677715e-04 9.98447842e-01 6.22996116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.597105681 meters 0.019371893582158253 Centerline is valid? [True, True] Translation: X:20.27, Y:0.34, Z:0.62 [[ 9.98381047e-01 -8.74656624e-03 -5.62030418e-02 2.02713101e+01] [ 8.70362494e-03 9.99961614e-01 -1.00877654e-03 3.40477906e-01] [ 5.62097077e-02 5.17973185e-04 9.98418850e-01 6.22834815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.627105680999996 meters 0.018832824536997493 Centerline is valid? [True, True] Translation: X:20.30, Y:0.33, Z:0.62 [[ 9.98220784e-01 -1.68764609e-02 -5.71878695e-02 2.02990939e+01] [ 1.68450000e-02 9.99857580e-01 -1.03218093e-03 3.25805537e-01] [ 5.71971444e-02 6.70147987e-05 9.98362901e-01 6.18258005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.657105680999997 meters 0.018563638630988654 Centerline is valid? [True, True] Translation: X:20.33, Y:0.31, Z:0.62 [[ 9.98286883e-01 -2.43646092e-02 -5.31945916e-02 2.03283162e+01] [ 2.43475525e-02 9.99703085e-01 -9.68757091e-04 3.11415039e-01] [ 5.32024007e-02 -3.28060616e-04 9.98583696e-01 6.24379770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.687105681 meters 0.018869385497946995 Centerline is valid? [True, True] Translation: X:20.36, Y:0.31, Z:0.63 [[ 9.98309879e-01 -2.75048603e-02 -5.11944068e-02 2.03587202e+01] [ 2.74926505e-02 9.99621561e-01 -9.42814012e-04 3.06274477e-01] [ 5.12009648e-02 -4.66249393e-04 9.98688262e-01 6.29944989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.717105680999996 meters 0.020500544455049126 Centerline is valid? [True, True] Translation: X:20.39, Y:0.29, Z:0.64 [[ 9.98222208e-01 -3.48675633e-02 -4.83391909e-02 2.03890035e+01] [ 3.48653131e-02 9.99391624e-01 -8.89981052e-04 2.93344621e-01] [ 4.83408140e-02 -7.96962174e-04 9.98830582e-01 6.37667985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.747105680999997 meters 0.021625456948767892 Centerline is valid? [True, True] Translation: X:20.42, Y:0.29, Z:0.64 [[ 9.98170855e-01 -3.80330351e-02 -4.69939564e-02 2.04217410e+01] [ 3.80344903e-02 9.99276054e-01 -8.63547128e-04 2.85227246e-01] [ 4.69927786e-02 -9.25423606e-04 9.98894800e-01 6.38814850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.777105681 meters 0.0247201769228389 Centerline is valid? [True, True] Translation: X:20.45, Y:0.27, Z:0.64 [[ 9.97909483e-01 -4.55273283e-02 -4.58685699e-02 2.04523199e+01] [ 4.55367728e-02 9.98962310e-01 -8.39522294e-04 2.66873798e-01] [ 4.58591938e-02 -1.25093939e-03 9.98947130e-01 6.39759631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.807105680999996 meters 0.026328158506985444 Centerline is valid? [True, True] Translation: X:20.48, Y:0.26, Z:0.64 [[ 9.97731540e-01 -4.92761229e-02 -4.58654212e-02 2.04843665e+01] [ 4.92895927e-02 9.98784178e-01 -8.37900810e-04 2.60284538e-01] [ 4.58509455e-02 -1.42468786e-03 9.98947276e-01 6.42600873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.837105680999997 meters 0.029919768576909127 Centerline is valid? [True, True] Translation: X:20.52, Y:0.25, Z:0.64 [[ 9.97242522e-01 -5.61655237e-02 -4.85055222e-02 2.05156588e+01] [ 5.61889019e-02 9.98419766e-01 -8.82513857e-04 2.49960557e-01] [ 4.84784389e-02 -1.84539168e-03 9.98822525e-01 6.44417727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.867105680999998 meters 0.032850515569676705 Centerline is valid? [True, True] Translation: X:20.55, Y:0.24, Z:0.64 [[ 9.96816595e-01 -6.06123866e-02 -5.17958905e-02 2.05458080e+01] [ 6.06450850e-02 9.98158949e-01 -9.41560456e-04 2.39418632e-01] [ 5.17576018e-02 -2.20260309e-03 9.98657248e-01 6.40905590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.897105680999996 meters 0.0354729840720451 Centerline is valid? [True, True] Translation: X:20.58, Y:0.23, Z:0.64 [[ 9.96520531e-01 -6.39937899e-02 -5.34006183e-02 2.05761940e+01] [ 6.40334770e-02 9.97947280e-01 -9.69165886e-04 2.29700728e-01] [ 5.33530224e-02 -2.45363356e-03 9.98572699e-01 6.37148599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.927105680999997 meters 0.03599944049369784 Centerline is valid? [True, True] Translation: X:20.61, Y:0.23, Z:0.64 [[ 9.96474160e-01 -6.46349441e-02 -5.34936584e-02 2.06079369e+01] [ 6.46759353e-02 9.97905852e-01 -9.66294521e-04 2.27637063e-01] [ 5.34440911e-02 -2.49686487e-03 9.98567722e-01 6.37667280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.957105680999998 meters 0.034885408864025635 Centerline is valid? [True, True] Translation: X:20.64, Y:0.23, Z:0.64 [[ 9.96595007e-01 -6.14684113e-02 -5.49547676e-02 2.06377919e+01] [ 6.15070272e-02 9.98106159e-01 -9.89972584e-04 2.32141712e-01] [ 5.49115441e-02 -2.39350265e-03 9.98488354e-01 6.40297490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.987105680999996 meters 0.026823624970224613 Centerline is valid? [True, True] Translation: X:20.67, Y:0.25, Z:0.65 [[ 9.97334506e-01 -5.10010057e-02 -5.21802787e-02 2.06679445e+01] [ 5.10215588e-02 9.98697111e-01 -9.38973940e-04 2.50973825e-01] [ 5.21601822e-02 -1.72584805e-03 9.98637240e-01 6.48747132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.017105680999997 meters 0.024202173575847547 Centerline is valid? [True, True] Translation: X:20.70, Y:0.26, Z:0.65 [[ 9.97744839e-01 -4.41261771e-02 -5.05778216e-02 2.06971178e+01] [ 4.41367562e-02 9.99025086e-01 -9.08247715e-04 2.58953196e-01] [ 5.05685900e-02 -1.32614151e-03 9.98719710e-01 6.50865695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.047105680999998 meters 0.01992584763592426 Centerline is valid? [True, True] Translation: X:20.73, Y:0.27, Z:0.65 [[ 9.98161290e-01 -3.13859227e-02 -5.18552215e-02 2.07279915e+01] [ 3.13800500e-02 9.99507095e-01 -9.27604983e-04 2.74036038e-01] [ 5.18587755e-02 -7.01320060e-04 9.98654182e-01 6.47856065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.077105680999995 meters 0.018621837152792347 Centerline is valid? [True, True] Translation: X:20.76, Y:0.29, Z:0.65 [[ 9.98307305e-01 -2.29643301e-02 -5.34337307e-02 2.07596465e+01] [ 2.29461428e-02 9.99736248e-01 -9.53914491e-04 2.87697539e-01] [ 5.34415435e-02 -2.73798208e-04 9.98570942e-01 6.48614190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.107105680999997 meters 0.018330993086084962 Centerline is valid? [True, True] Translation: X:20.79, Y:0.29, Z:0.65 [[ 9.98438711e-01 -2.00659608e-02 -5.21296258e-02 2.07891885e+01] [ 2.00448120e-02 9.99798651e-01 -9.28537708e-04 2.93067857e-01] [ 5.21377615e-02 -1.17840556e-04 9.98639895e-01 6.50514608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.137105680999998 meters 0.018416706269555678 Centerline is valid? [True, True] Translation: X:20.82, Y:0.30, Z:0.65 [[ 9.98564093e-01 -1.68442418e-02 -5.08529662e-02 2.08178485e+01] [ 1.68198537e-02 9.99858124e-01 -9.07518020e-04 2.98284886e-01] [ 5.08610379e-02 5.08754537e-05 9.98705739e-01 6.52464392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.167105680999995 meters 0.01832827964791791 Centerline is valid? [True, True] Translation: X:20.85, Y:0.30, Z:0.65 [[ 9.98584196e-01 -1.65143901e-02 -5.05655886e-02 2.08466118e+01] [ 1.64895183e-02 9.99863625e-01 -9.09030398e-04 2.99711108e-01] [ 5.05737049e-02 7.39411923e-05 9.98720329e-01 6.53667396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.197105680999996 meters 0.01797418552091497 Centerline is valid? [True, True] Translation: X:20.88, Y:0.30, Z:0.66 [[ 9.98689227e-01 -1.82543550e-02 -4.78184774e-02 2.08754725e+01] [ 1.82334228e-02 9.99833375e-01 -8.73938989e-04 2.98104354e-01] [ 4.78264628e-02 8.98935804e-07 9.98855660e-01 6.57651688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.227105680999998 meters 0.01796331116796649 Centerline is valid? [True, True] Translation: X:20.91, Y:0.30, Z:0.66 [[ 9.98699499e-01 -1.99560278e-02 -4.69155414e-02 2.09050997e+01] [ 1.99371930e-02 9.99800856e-01 -8.69413781e-04 2.95231451e-01] [ 4.69235485e-02 -6.70810976e-05 9.98898481e-01 6.59121812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.257105681 meters 0.018048422416073483 Centerline is valid? [True, True] Translation: X:20.93, Y:0.29, Z:0.66 [[ 9.98632811e-01 -2.17155692e-02 -4.75493783e-02 2.09349697e+01] [ 2.16981192e-02 9.99764178e-01 -8.83176298e-04 2.94095318e-01] [ 4.75573437e-02 -1.49763247e-04 9.98868498e-01 6.60975890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.287105680999996 meters 0.018069203228232654 Centerline is valid? [True, True] Translation: X:20.97, Y:0.29, Z:0.66 [[ 9.98549911e-01 -2.21656412e-02 -4.90587358e-02 2.09651338e+01] [ 2.21475646e-02 9.99754297e-01 -9.12097924e-04 2.94538986e-01] [ 4.90668992e-02 -1.75756218e-04 9.98795479e-01 6.62092800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.317105680999997 meters 0.018507699380933385 Centerline is valid? [True, True] Translation: X:21.00, Y:0.29, Z:0.66 [[ 9.98347309e-01 -2.36055733e-02 -5.23968217e-02 2.09950860e+01] [ 2.35869153e-02 9.99721315e-01 -9.74512405e-04 2.92509724e-01] [ 5.24052234e-02 -2.62977555e-04 9.98625868e-01 6.57838152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.347105681 meters 0.018433853361644877 Centerline is valid? [True, True] Translation: X:21.03, Y:0.29, Z:0.66 [[ 9.98311937e-01 -2.41395358e-02 -5.28257381e-02 2.10259965e+01] [ 2.41212727e-02 9.99708556e-01 -9.83345189e-04 2.92084587e-01] [ 5.28340798e-02 -2.92538795e-04 9.98603262e-01 6.58853570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.377105680999996 meters 0.01872373455368223 Centerline is valid? [True, True] Translation: X:21.06, Y:0.29, Z:0.66 [[ 9.98277763e-01 -2.35315779e-02 -5.37380032e-02 2.10558031e+01] [ 2.35117776e-02 9.99723059e-01 -1.00071331e-03 2.91820472e-01] [ 5.37466693e-02 -2.64486133e-04 9.98554568e-01 6.57200025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.407105680999997 meters 0.018923337341250686 Centerline is valid? [True, True] Translation: X:21.09, Y:0.30, Z:0.66 [[ 9.98246320e-01 -1.97720831e-02 -5.57973980e-02 2.10853916e+01] [ 1.97448145e-02 9.99804511e-01 -1.04000261e-03 2.97342953e-01] [ 5.58070532e-02 -6.35304941e-05 9.98441570e-01 6.57707871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.437105681 meters 0.018724165865101314 Centerline is valid? [True, True] Translation: X:21.11, Y:0.30, Z:0.66 [[ 9.98289182e-01 -1.74028913e-02 -5.58197779e-02 2.11140858e+01] [ 1.73715553e-02 9.99848555e-01 -1.04658225e-03 3.01035682e-01] [ 5.58295378e-02 7.51153813e-05 9.98440312e-01 6.61168646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.467105680999996 meters 0.019507292942671152 Centerline is valid? [True, True] Translation: X:21.14, Y:0.31, Z:0.66 [[ 9.98497870e-01 -1.02281174e-02 -5.38274036e-02 2.11417074e+01] [ 1.01876015e-02 9.99947578e-01 -1.02703836e-03 3.06551460e-01] [ 5.38350865e-02 4.77123478e-04 9.98549726e-01 6.63769171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.497105680999997 meters 0.020979823081194143 Centerline is valid? [True, True] Translation: X:21.17, Y:0.31, Z:0.67 [[ 9.98583046e-01 -2.97846061e-03 -5.31321829e-02 2.11699199e+01] [ 2.92771198e-03 9.99995181e-01 -1.03294665e-03 3.10004103e-01] [ 5.31350035e-02 8.75927281e-04 9.98586954e-01 6.66804218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.527105681 meters 0.022556566579112623 Centerline is valid? [True, True] Translation: X:21.20, Y:0.31, Z:0.67 [[ 9.98669722e-01 3.44422671e-04 -5.15622784e-02 2.11980531e+01] [-3.97354560e-04 9.99999405e-01 -1.01631469e-03 3.13062183e-01] [ 5.15618977e-02 1.03545122e-03 9.98669264e-01 6.68161170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.557105680999996 meters 0.024324506102419888 Centerline is valid? [True, True] Translation: X:21.23, Y:0.31, Z:0.67 [[ 9.98779145e-01 3.86042225e-03 -4.92475129e-02 2.12251573e+01] [-3.91330029e-03 9.99991865e-01 -9.77346266e-04 3.13199266e-01] [ 4.92433393e-02 1.16887337e-03 9.98786127e-01 6.72003126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.587105680999997 meters 0.024755919225347024 Centerline is valid? [True, True] Translation: X:21.25, Y:0.31, Z:0.67 [[ 9.98803377e-01 4.04306141e-03 -4.87387709e-02 2.12534755e+01] [-4.09549628e-03 9.99991137e-01 -9.76018436e-04 3.10767637e-01] [ 4.87343928e-02 1.17445996e-03 9.98811083e-01 6.72444935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.617105680999998 meters 0.02256075631559957 Centerline is valid? [True, True] Translation: X:21.28, Y:0.30, Z:0.67 [[ 9.98853797e-01 2.84413519e-03 -4.77807771e-02 2.12826513e+01] [-2.89343317e-03 9.99995351e-01 -9.62620379e-04 2.97348299e-01] [ 4.77778172e-02 1.09976751e-03 9.98857383e-01 6.74098763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.647105680999996 meters 0.02317041158417182 Centerline is valid? [True, True] Translation: X:21.31, Y:0.29, Z:0.67 [[ 9.98809700e-01 -2.40023278e-04 -4.87762832e-02 2.13104327e+01] [ 1.92077721e-04 9.99999494e-01 -9.87653471e-04 2.89141079e-01] [ 4.87764955e-02 9.77109030e-04 9.98809240e-01 6.74646293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.677105680999997 meters 0.02269002172986266 Centerline is valid? [True, True] Translation: X:21.34, Y:0.28, Z:0.67 [[ 9.98725360e-01 -1.20336964e-03 -5.04599536e-02 2.13389213e+01] [ 1.15299551e-03 9.99998808e-01 -1.02739593e-03 2.82970081e-01] [ 5.04611298e-02 9.67906271e-04 9.98725557e-01 6.74934080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.707105680999998 meters 0.020882191973684273 Centerline is valid? [True, True] Translation: X:21.37, Y:0.27, Z:0.67 [[ 9.98703092e-01 -2.15211284e-03 -5.08675080e-02 2.13678236e+01] [ 2.10192025e-03 9.99997250e-01 -1.04020555e-03 2.65487137e-01] [ 5.08696067e-02 9.31937055e-04 9.98704869e-01 6.74944659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.737105680999996 meters 0.02058949751164934 Centerline is valid? [True, True] Translation: X:21.40, Y:0.25, Z:0.68 [[ 9.98731199e-01 -3.09097222e-03 -5.02636861e-02 2.13966289e+01] [ 3.04291735e-03 9.99994837e-01 -1.03255002e-03 2.53749278e-01] [ 5.02666181e-02 8.78291679e-04 9.98735448e-01 6.75858244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.767105680999997 meters 0.020351184283029723 Centerline is valid? [True, True] Translation: X:21.42, Y:0.25, Z:0.68 [[ 9.98751175e-01 -3.66539384e-03 -4.98262536e-02 2.14245051e+01] [ 3.61847175e-03 9.99992921e-01 -1.03188540e-03 2.49008100e-01] [ 4.98296832e-02 8.50301862e-04 9.98757368e-01 6.77346684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.797105680999998 meters 0.020587915081529722 Centerline is valid? [True, True] Translation: X:21.45, Y:0.24, Z:0.68 [[ 9.98769757e-01 -4.67868243e-03 -4.93668169e-02 2.14522068e+01] [ 4.63309859e-03 9.99988729e-01 -1.03776059e-03 2.40521077e-01] [ 4.93711158e-02 8.07762563e-04 9.98780176e-01 6.77148962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.827105680999995 meters 0.02028015850757143 Centerline is valid? [True, True] Translation: X:21.48, Y:0.24, Z:0.68 [[ 9.98758486e-01 -5.72456310e-03 -4.94845076e-02 2.14805508e+01] [ 5.67960080e-03 9.99983321e-01 -1.04917936e-03 2.36453466e-01] [ 4.94896883e-02 7.66824544e-04 9.98774340e-01 6.78026869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.857105680999997 meters 0.01958941720684259 Centerline is valid? [True, True] Translation: X:21.51, Y:0.23, Z:0.68 [[ 9.98769209e-01 -8.05665319e-03 -4.89403427e-02 2.15097953e+01] [ 8.01462460e-03 9.99967326e-01 -1.05495105e-03 2.28076887e-01] [ 4.89472430e-02 6.61414154e-04 9.98801146e-01 6.79095971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.887105680999998 meters 0.01958941720684259 Centerline is valid? [True, True] Translation: X:21.54, Y:0.23, Z:0.68 [[ 9.98766202e-01 -8.42328460e-03 -4.89399864e-02 2.15371496e+01] [ 8.38089684e-03 9.99964306e-01 -1.07125952e-03 2.28893502e-01] [ 4.89472631e-02 6.59776822e-04 9.98801146e-01 6.80113014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.917105680999995 meters 0.018677908990571992 Centerline is valid? [True, True] Translation: X:21.57, Y:0.22, Z:0.68 [[ 9.98852769e-01 -1.14244017e-02 -4.65040780e-02 2.15664392e+01] [ 1.13886484e-02 9.99934613e-01 -1.03371010e-03 2.18670750e-01] [ 4.65128468e-02 5.02905601e-04 9.98917565e-01 6.82949566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.947105680999996 meters 0.01811086135695651 Centerline is valid? [True, True] Translation: X:21.60, Y:0.21, Z:0.68 [[ 9.98838649e-01 -1.39507216e-02 -4.61164902e-02 2.15952298e+01] [ 1.39176019e-02 9.99902605e-01 -1.03919755e-03 2.14245982e-01] [ 4.61264963e-02 3.96159726e-04 9.98935528e-01 6.84940958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.977105680999998 meters 0.017461938757002082 Centerline is valid? [True, True] Translation: X:21.62, Y:0.20, Z:0.68 [[ 9.98658852e-01 -2.01110039e-02 -4.77079037e-02 2.16237353e+01] [ 2.00819164e-02 9.99797745e-01 -1.08897663e-03 2.04416037e-01] [ 4.77201549e-02 1.29450021e-04 9.98860736e-01 6.84170666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.007105680999995 meters 0.01758311202177968 Centerline is valid? [True, True] Translation: X:21.65, Y:0.19, Z:0.68 [[ 9.98415543e-01 -2.77112360e-02 -4.89743955e-02 2.16519540e+01] [ 2.76894338e-02 9.99615943e-01 -1.12369199e-03 1.91245946e-01] [ 4.89867254e-02 -2.34161740e-04 9.98799402e-01 6.82801973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.037105680999996 meters 0.01814982099303337 Centerline is valid? [True, True] Translation: X:21.68, Y:0.18, Z:0.69 [[ 9.98281831e-01 -3.30343560e-02 -4.83954207e-02 2.16807072e+01] [ 3.30189372e-02 9.99454101e-01 -1.11823493e-03 1.84084111e-01] [ 4.84059418e-02 -4.81651741e-04 9.98827629e-01 6.85320993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.067105680999997 meters 0.020093129689270284 Centerline is valid? [True, True] Translation: X:21.71, Y:0.17, Z:0.69 [[ 9.98162382e-01 -4.01813990e-02 -4.53576303e-02 2.17098232e+01] [ 4.01747022e-02 9.99192109e-01 -1.05958775e-03 1.71638586e-01] [ 4.53635620e-02 -7.64588661e-04 9.98970251e-01 6.90228197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.097105681 meters 0.02054085100357718 Centerline is valid? [True, True] Translation: X:21.74, Y:0.17, Z:0.69 [[ 9.98059514e-01 -4.18268954e-02 -4.61271879e-02 2.17406340e+01] [ 4.18216564e-02 9.99124509e-01 -1.07906517e-03 1.68793412e-01] [ 4.61319379e-02 -8.52144146e-04 9.98934992e-01 6.92516351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.127105680999996 meters 0.020308741066004336 Centerline is valid? [True, True] Translation: X:21.77, Y:0.17, Z:0.69 [[ 9.97995272e-01 -4.18486047e-02 -4.74776921e-02 2.17709604e+01] [ 4.18431213e-02 9.99123577e-01 -1.10979208e-03 1.69313173e-01] [ 4.74825248e-02 -8.79047575e-04 9.98871682e-01 6.92468812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.157105680999997 meters 0.02123394131625949 Centerline is valid? [True, True] Translation: X:21.80, Y:0.17, Z:0.69 [[ 9.97832565e-01 -4.29332584e-02 -4.98688982e-02 2.18004028e+01] [ 4.29285496e-02 9.99077465e-01 -1.16598166e-03 1.67135781e-01] [ 4.98729518e-02 -9.77344998e-04 9.98755092e-01 6.88757525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.187105681 meters 0.022587652328312037 Centerline is valid? [True, True] Translation: X:21.83, Y:0.17, Z:0.69 [[ 9.97568604e-01 -4.58155520e-02 -5.25149025e-02 2.18301686e+01] [ 4.58142393e-02 9.98949220e-01 -1.22942541e-03 1.67442912e-01] [ 5.25160477e-02 -1.17949412e-03 9.98619384e-01 6.86215637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.217105680999996 meters 0.023455477079834898 Centerline is valid? [True, True] Translation: X:21.86, Y:0.17, Z:0.69 [[ 9.97496026e-01 -4.80357697e-02 -5.19060914e-02 2.18595618e+01] [ 4.80373705e-02 9.98844797e-01 -1.21743779e-03 1.67415673e-01] [ 5.19046099e-02 -1.27904279e-03 9.98651228e-01 6.87410943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.247105680999997 meters 0.02587610107178625 Centerline is valid? [True, True] Translation: X:21.89, Y:0.17, Z:0.69 [[ 9.97383412e-01 -5.29920294e-02 -4.91749381e-02 2.18892071e+01] [ 5.29994646e-02 9.98593874e-01 -1.15361908e-03 1.66950337e-01] [ 4.91669246e-02 -1.45564486e-03 9.98789515e-01 6.91969110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.277105681 meters 0.025443177224104156 Centerline is valid? [True, True] Translation: X:21.92, Y:0.17, Z:0.69 [[ 9.97253474e-01 -5.47589369e-02 -4.98695061e-02 2.19207816e+01] [ 5.47690192e-02 9.98498371e-01 -1.16533421e-03 1.71198178e-01] [ 4.98584330e-02 -1.56917035e-03 9.98755062e-01 6.94019518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.307105680999996 meters 0.027224271193205366 Centerline is valid? [True, True] Translation: X:21.95, Y:0.18, Z:0.69 [[ 9.97188313e-01 -5.49405664e-02 -5.09607990e-02 2.19508410e+01] [ 5.49514376e-02 9.98488321e-01 -1.18880510e-03 1.77593182e-01] [ 5.09490762e-02 -1.61490662e-03 9.98699947e-01 6.93370207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.337105680999997 meters 0.02670218410580319 Centerline is valid? [True, True] Translation: X:21.98, Y:0.18, Z:0.69 [[ 9.97273523e-01 -5.33284313e-02 -5.10058686e-02 2.19807769e+01] [ 5.33372741e-02 9.98575847e-01 -1.18872877e-03 1.84513312e-01] [ 5.09966214e-02 -1.53502626e-03 9.98697646e-01 6.94563587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.367105680999998 meters 0.022252938121160422 Centerline is valid? [True, True] Translation: X:22.01, Y:0.20, Z:0.70 [[ 9.97584300e-01 -4.80584743e-02 -5.01592268e-02 2.20117161e+01] [ 4.80604397e-02 9.98843747e-01 -1.16761188e-03 2.04295610e-01] [ 5.01573437e-02 -1.24588321e-03 9.98740551e-01 6.99318714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.397105680999996 meters 0.021167294725640124 Centerline is valid? [True, True] Translation: X:22.04, Y:0.22, Z:0.70 [[ 9.98041408e-01 -4.08795938e-02 -4.73519368e-02 2.20415934e+01] [ 4.08733565e-02 9.99163729e-01 -1.10038003e-03 2.15267201e-01] [ 4.73573208e-02 -8.37207759e-04 9.98877662e-01 6.99550636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.427105680999997 meters 0.019286134464694012 Centerline is valid? [True, True] Translation: X:22.07, Y:0.22, Z:0.70 [[ 9.98255995e-01 -3.71713933e-02 -4.58612714e-02 2.20728641e+01] [ 3.71616877e-02 9.99308699e-01 -1.06449685e-03 2.24575097e-01] [ 4.58691363e-02 -6.41641881e-04 9.98947251e-01 7.02552992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.457105680999998 meters 0.01784703110772864 Centerline is valid? [True, True] Translation: X:22.10, Y:0.24, Z:0.70 [[ 9.98501644e-01 -2.93932633e-02 -4.61573637e-02 2.21037348e+01] [ 2.93752222e-02 9.99567883e-01 -1.06926280e-03 2.38864213e-01] [ 4.61688474e-02 -2.88222150e-04 9.98933609e-01 7.03230378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.487105680999996 meters 0.01762519906264105 Centerline is valid? [True, True] Translation: X:22.13, Y:0.25, Z:0.70 [[ 9.98568495e-01 -2.32285428e-02 -4.81808553e-02 2.21332615e+01] [ 2.32017867e-02 9.99730181e-01 -1.11459362e-03 2.49650185e-01] [ 4.81937456e-02 -4.88384957e-06 9.98838006e-01 7.00730927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.517105680999997 meters 0.017932868002414146 Centerline is valid? [True, True] Translation: X:22.16, Y:0.26, Z:0.70 [[ 9.98674754e-01 -1.77035030e-02 -4.83251639e-02 2.21628072e+01] [ 1.76700541e-02 9.99843246e-01 -1.11931121e-03 2.59187653e-01] [ 4.83374044e-02 2.63919587e-04 9.98831030e-01 7.02981800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.547105680999998 meters 0.01845670285303969 Centerline is valid? [True, True] Translation: X:22.19, Y:0.26, Z:0.71 [[ 9.98734793e-01 -1.46447090e-02 -4.81076489e-02 2.21914924e+01] [ 1.46077585e-02 9.99892674e-01 -1.11958618e-03 2.63976922e-01] [ 4.81188817e-02 4.15424755e-04 9.98841529e-01 7.05149028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.577105680999995 meters 0.020237859596462272 Centerline is valid? [True, True] Translation: X:22.22, Y:0.27, Z:0.71 [[ 9.98893216e-01 -6.86905499e-03 -4.65312790e-02 2.22194800e+01] [ 6.82545998e-03 9.99976106e-01 -1.09571867e-03 2.72497521e-01] [ 4.65376938e-02 7.76908560e-04 9.98916232e-01 7.06494940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.607105680999997 meters 0.020989910330854337 Centerline is valid? [True, True] Translation: X:22.25, Y:0.28, Z:0.71 [[ 9.98893125e-01 -3.61830268e-03 -4.68981178e-02 2.22476382e+01] [ 3.57017965e-03 9.99993011e-01 -1.10984177e-03 2.75715306e-01] [ 4.69018058e-02 9.41178612e-04 9.98899061e-01 7.07333330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.637105680999998 meters 0.022275467179890346 Centerline is valid? [True, True] Translation: X:22.28, Y:0.28, Z:0.70 [[ 9.98809172e-01 -1.20293597e-03 -4.87728579e-02 2.22764111e+01] [ 1.14759847e-03 9.99998666e-01 -1.16258282e-03 2.78806592e-01] [ 4.87741913e-02 1.10522672e-03 9.98809219e-01 7.04094191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.667105680999995 meters 0.020793759307893733 Centerline is valid? [True, True] Translation: X:22.31, Y:0.27, Z:0.70 [[ 9.98773035e-01 -4.63617684e-03 -4.93044761e-02 2.23052499e+01] [ 4.58314253e-03 9.99988791e-01 -1.18864862e-03 2.72553416e-01] [ 4.93094342e-02 9.61220746e-04 9.98783087e-01 7.03231072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.697105680999996 meters 0.020224507975147545 Centerline is valid? [True, True] Translation: X:22.33, Y:0.27, Z:0.71 [[ 9.98769589e-01 -7.09890436e-03 -4.90806886e-02 2.23335217e+01] [ 7.04909350e-03 9.99974449e-01 -1.18789614e-03 2.70543091e-01] [ 4.90878674e-02 8.40460172e-04 9.98794110e-01 7.05510972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.727105680999998 meters 0.01933276186594309 Centerline is valid? [True, True] Translation: X:22.36, Y:0.27, Z:0.71 [[ 9.98759406e-01 -1.04592300e-02 -4.86852479e-02 2.23622627e+01] [ 1.04138534e-02 9.99945071e-01 -1.18560528e-03 2.66691074e-01] [ 4.86949742e-02 6.77133392e-04 9.98813467e-01 7.08683287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.757105680999995 meters 0.01874957817614653 Centerline is valid? [True, True] Translation: X:22.39, Y:0.26, Z:0.71 [[ 9.98695477e-01 -1.31375973e-02 -4.93431685e-02 2.23913652e+01] [ 1.30934439e-02 9.99913535e-01 -1.21796230e-03 2.62174704e-01] [ 4.93549032e-02 5.70301433e-04 9.98781141e-01 7.08209332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.787105680999996 meters 0.018448917266688094 Centerline is valid? [True, True] Translation: X:22.42, Y:0.26, Z:0.71 [[ 9.98712001e-01 -1.47279060e-02 -4.85533527e-02 2.24200712e+01] [ 1.46862726e-02 9.99891414e-01 -1.21412956e-03 2.59830199e-01] [ 4.85659621e-02 4.99497993e-04 9.98819853e-01 7.09925523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.817105680999997 meters 0.017707177259514692 Centerline is valid? [True, True] Translation: X:22.45, Y:0.25, Z:0.71 [[ 9.98696695e-01 -1.94793994e-02 -4.71748225e-02 2.24477282e+01] [ 1.94447592e-02 9.99810221e-01 -1.19313164e-03 2.52936627e-01] [ 4.71891112e-02 2.74273557e-04 9.98885936e-01 7.13336240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.847105680999995 meters 0.017249209838881733 Centerline is valid? [True, True] Translation: X:22.48, Y:0.24, Z:0.71 [[ 9.98521299e-01 -2.73706914e-02 -4.69687141e-02 2.24755538e+01] [ 2.73447234e-02 9.99625348e-01 -1.19543702e-03 2.43331779e-01] [ 4.69838371e-02 -9.06771638e-05 9.98895646e-01 7.14383312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.877105680999996 meters 0.0176350929121838 Centerline is valid? [True, True] Translation: X:22.51, Y:0.23, Z:0.71 [[ 9.98351915e-01 -3.37825428e-02 -4.63917425e-02 2.25057343e+01] [ 3.37639140e-02 9.99429134e-01 -1.18532517e-03 2.34327984e-01] [ 4.64053023e-02 -3.82995150e-04 9.98922620e-01 7.14888176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.907105680999997 meters 0.018216620969443268 Centerline is valid? [True, True] Translation: X:22.54, Y:0.23, Z:0.71 [[ 9.98245004e-01 -3.60979738e-02 -4.69451605e-02 2.25351316e+01] [ 3.60813637e-02 9.99348133e-01 -1.20143682e-03 2.29133339e-01] [ 4.69579279e-02 -4.94517107e-04 9.98896746e-01 7.13318714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.937105681 meters 0.019328994713581786 Centerline is valid? [True, True] Translation: X:22.57, Y:0.22, Z:0.71 [[ 9.98107678e-01 -3.96075276e-02 -4.70351585e-02 2.25652334e+01] [ 3.95946967e-02 9.99215096e-01 -1.20481469e-03 2.20967166e-01] [ 4.70459601e-02 -6.59808043e-04 9.98892508e-01 7.14491379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.967105680999996 meters 0.019023620819005615 Centerline is valid? [True, True] Translation: X:22.60, Y:0.22, Z:0.72 [[ 9.98160884e-01 -4.03699084e-02 -4.52229961e-02 2.25966129e+01] [ 4.03588098e-02 9.99184579e-01 -1.15880490e-03 2.21611228e-01] [ 4.52329012e-02 -6.68472572e-04 9.98976245e-01 7.20586536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.997105680999997 meters 0.01809714542043137 Centerline is valid? [True, True] Translation: X:22.63, Y:0.23, Z:0.72 [[ 9.98318413e-01 -3.61485310e-02 -4.53169937e-02 2.26273196e+01] [ 3.61331339e-02 9.99346313e-01 -1.15913088e-03 2.26510696e-01] [ 4.53292715e-02 -4.80263300e-04 9.98971985e-01 7.24675603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.027105681 meters 0.017443896807714836 Centerline is valid? [True, True] Translation: X:22.66, Y:0.23, Z:0.72 [[ 9.98362064e-01 -3.18603863e-02 -4.75195255e-02 2.26586310e+01] [ 3.18387090e-02 9.99492283e-01 -1.21320618e-03 2.31977403e-01] [ 4.75340523e-02 -3.01741315e-04 9.98869572e-01 7.24123804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.057105680999996 meters 0.017405206515404826 Centerline is valid? [True, True] Translation: X:22.69, Y:0.24, Z:0.72 [[ 9.98484554e-01 -2.24492527e-02 -5.02456676e-02 2.26885122e+01] [ 2.24131801e-02 9.99747972e-01 -1.28131886e-03 2.41316676e-01] [ 5.02617690e-02 1.53211890e-04 9.98736067e-01 7.19945946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.087105680999997 meters 0.01790670783199351 Centerline is valid? [True, True] Translation: X:22.72, Y:0.25, Z:0.72 [[ 9.98580470e-01 -1.81871594e-02 -5.00626765e-02 2.27169144e+01] [ 1.81457477e-02 9.99834531e-01 -1.28160868e-03 2.45745485e-01] [ 5.00777015e-02 3.71364697e-04 9.98745256e-01 7.20781905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.117105680999998 meters 0.01910125827639608 Centerline is valid? [True, True] Translation: X:22.75, Y:0.25, Z:0.72 [[ 9.98756607e-01 -1.31456915e-02 -4.80877369e-02 2.27452618e+01] [ 1.31009378e-02 9.99913403e-01 -1.24574354e-03 2.52055332e-01] [ 4.80999488e-02 6.14200145e-04 9.98842339e-01 7.23339199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.147105680999996 meters 0.02065063368863492 Centerline is valid? [True, True] Translation: X:22.77, Y:0.26, Z:0.73 [[ 9.98892470e-01 -1.10660400e-02 -4.57315628e-02 2.27729866e+01] [ 1.10228400e-02 9.99938531e-01 -1.19671963e-03 2.58208761e-01] [ 4.57419947e-02 6.91302528e-04 9.98953048e-01 7.26357365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.177105680999997 meters 0.019576311667443277 Centerline is valid? [True, True] Translation: X:22.80, Y:0.26, Z:0.73 [[ 9.98951511e-01 -1.01627429e-02 -4.46385120e-02 2.28013501e+01] [ 1.01203925e-02 9.99948098e-01 -1.17463796e-03 2.56672201e-01] [ 4.46481327e-02 7.21647103e-04 9.99002514e-01 7.30546660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.207105680999998 meters 0.020269189514807676 Centerline is valid? [True, True] Translation: X:22.83, Y:0.26, Z:0.74 [[ 9.99100227e-01 -7.17711824e-03 -4.17998325e-02 2.28296291e+01] [ 7.13683311e-03 9.99973913e-01 -1.11290967e-03 2.58343841e-01] [ 4.18067296e-02 8.13589871e-04 9.99125385e-01 7.35192774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.237105680999996 meters 0.021540476235132246 Centerline is valid? [True, True] Translation: X:22.86, Y:0.26, Z:0.74 [[ 9.99108663e-01 -3.72680578e-03 -4.20474674e-02 2.28586578e+01] [ 3.68239224e-03 9.99992577e-01 -1.13367414e-03 2.60743171e-01] [ 4.20513802e-02 9.77828388e-04 9.99114971e-01 7.36453411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.267105680999997 meters 0.024627436475331728 Centerline is valid? [True, True] Translation: X:22.89, Y:0.27, Z:0.73 [[ 9.99023431e-01 -1.99371525e-03 -4.41385264e-02 2.28865448e+01] [ 1.94247268e-03 9.99997389e-01 -1.20380827e-03 2.65691532e-01] [ 4.41408112e-02 1.11689478e-03 9.99024695e-01 7.33608754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.297105680999998 meters 0.024339996458618833 Centerline is valid? [True, True] Translation: X:22.92, Y:0.26, Z:0.73 [[ 9.98867677e-01 -1.92480257e-04 -4.75744262e-02 2.29157002e+01] [ 1.30515999e-04 9.99999139e-01 -1.30557283e-03 2.61078139e-01] [ 4.75746365e-02 1.29788528e-03 9.98866843e-01 7.28988243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.327105680999995 meters 0.02374342788746337 Centerline is valid? [True, True] Translation: X:22.94, Y:0.26, Z:0.73 [[ 9.98847422e-01 -2.27363122e-04 -4.79976689e-02 2.29445475e+01] [ 1.63584326e-04 9.99999099e-01 -1.33271336e-03 2.59037160e-01] [ 4.79979286e-02 1.32332564e-03 9.98846559e-01 7.29825314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.357105680999997 meters 0.022858831967446695 Centerline is valid? [True, True] Translation: X:22.97, Y:0.26, Z:0.73 [[ 9.98934882e-01 -1.90035476e-03 -4.61030376e-02 2.29736238e+01] [ 1.84271201e-03 9.99997467e-01 -1.29277043e-03 2.56690834e-01] [ 4.61053776e-02 1.20643885e-03 9.98935853e-01 7.33560346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.387105680999998 meters 0.022512822014626274 Centerline is valid? [True, True] Translation: X:23.00, Y:0.25, Z:0.73 [[ 9.98891637e-01 -4.61036474e-03 -4.68427470e-02 2.30019593e+01] [ 4.55362045e-03 9.99988764e-01 -1.31801729e-03 2.53479648e-01] [ 4.68482972e-02 1.10325236e-03 9.98901406e-01 7.33601040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.417105680999995 meters 0.021776538563351527 Centerline is valid? [True, True] Translation: X:23.03, Y:0.25, Z:0.73 [[ 9.98839105e-01 -6.96869772e-03 -4.76642284e-02 2.30310426e+01] [ 6.91229406e-03 9.99975201e-01 -1.34808189e-03 2.49749222e-01] [ 4.76724407e-02 1.01704775e-03 9.98862505e-01 7.32567735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.447105680999996 meters 0.019179957633770343 Centerline is valid? [True, True] Translation: X:23.06, Y:0.24, Z:0.73 [[ 9.98851902e-01 -1.42279256e-02 -4.57432411e-02 2.30601158e+01] [ 1.41830288e-02 9.99898563e-01 -1.30592073e-03 2.37269121e-01] [ 4.57571816e-02 6.55643699e-04 9.98952376e-01 7.33772943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.477105680999998 meters 0.016907769685701814 Centerline is valid? [True, True] Translation: X:23.09, Y:0.23, Z:0.74 [[ 9.98779986e-01 -2.45135576e-02 -4.28675189e-02 2.30892072e+01] [ 2.44834420e-02 9.99699482e-01 -1.22747982e-03 2.26225949e-01] [ 4.28847263e-02 1.76437867e-04 9.99080011e-01 7.40750982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.507105680999995 meters 0.01671773627259005 Centerline is valid? [True, True] Translation: X:23.12, Y:0.22, Z:0.74 [[ 9.98680185e-01 -2.92721054e-02 -4.22022772e-02 2.31175045e+01] [ 2.92470059e-02 9.99571480e-01 -1.21217306e-03 2.22204704e-01] [ 4.22196755e-02 -2.37170334e-05 9.99108352e-01 7.43395110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.537105680999996 meters 0.017758756052799685 Centerline is valid? [True, True] Translation: X:23.15, Y:0.21, Z:0.74 [[ 9.98363643e-01 -3.83697596e-02 -4.24004486e-02 2.31471337e+01] [ 3.83525118e-02 9.99263526e-01 -1.22045498e-03 2.09987158e-01] [ 4.24160503e-02 -4.07705824e-04 9.99099951e-01 7.43748426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.567105680999997 meters 0.01893553416593252 Centerline is valid? [True, True] Translation: X:23.18, Y:0.20, Z:0.74 [[ 9.98153567e-01 -4.26359693e-02 -4.32623469e-02 2.31777614e+01] [ 4.26220068e-02 9.99090493e-01 -1.24550482e-03 2.04866928e-01] [ 4.32761028e-02 -6.00722959e-04 9.99062970e-01 7.43152171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.597105680999995 meters 0.02093981561901521 Centerline is valid? [True, True] Translation: X:23.21, Y:0.20, Z:0.74 [[ 9.97665376e-01 -5.11685219e-02 -4.52280908e-02 2.32088127e+01] [ 5.11620280e-02 9.98689517e-01 -1.30190349e-03 1.99629152e-01] [ 4.52354366e-02 -1.01509681e-03 9.98975838e-01 7.42481056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.627105680999996 meters 0.02294913844194066 Centerline is valid? [True, True] Translation: X:23.24, Y:0.20, Z:0.74 [[ 9.97429856e-01 -5.53373727e-02 -4.55132602e-02 2.32389856e+01] [ 5.53351944e-02 9.98466977e-01 -1.30872229e-03 1.95883010e-01] [ 4.55159086e-02 -1.21312641e-03 9.98962877e-01 7.42452738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.657105680999997 meters 0.02473870802378255 Centerline is valid? [True, True] Translation: X:23.27, Y:0.19, Z:0.74 [[ 9.97175327e-01 -6.03029860e-02 -4.47763069e-02 2.32702292e+01] [ 6.03059887e-02 9.98179110e-01 -1.28498697e-03 1.93126393e-01] [ 4.47722628e-02 -1.41892216e-03 9.98996212e-01 7.44129134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.687105681 meters 0.024543369758861504 Centerline is valid? [True, True] Translation: X:23.30, Y:0.20, Z:0.74 [[ 9.97133432e-01 -5.95271218e-02 -4.67058873e-02 2.33021875e+01] [ 5.95296679e-02 9.98225640e-01 -1.33767211e-03 1.97407899e-01] [ 4.67026420e-02 -1.44654837e-03 9.98907789e-01 7.44092861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.717105680999996 meters 0.02400117188552445 Centerline is valid? [True, True] Translation: X:23.33, Y:0.20, Z:0.75 [[ 9.97269826e-01 -5.72939627e-02 -4.65864417e-02 2.33320618e+01] [ 5.72942322e-02 9.98356450e-01 -1.33060593e-03 2.01564679e-01] [ 4.65861102e-02 -1.34216126e-03 9.98913376e-01 7.46287241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.747105680999997 meters 0.020530607367434107 Centerline is valid? [True, True] Translation: X:23.36, Y:0.22, Z:0.75 [[ 9.97893143e-01 -4.85049402e-02 -4.30876621e-02 2.33619281e+01] [ 4.84970123e-02 9.98822570e-01 -1.22988955e-03 2.15965185e-01] [ 4.30965852e-02 -8.62324528e-04 9.99070538e-01 7.54826854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.777105681 meters 0.019021822726188287 Centerline is valid? [True, True] Translation: X:23.39, Y:0.22, Z:0.76 [[ 9.98278479e-01 -4.13913113e-02 -4.15552352e-02 2.33922149e+01] [ 4.13777954e-02 9.99142869e-01 -1.18567224e-03 2.24576739e-01] [ 4.15686935e-02 -5.35832938e-04 9.99135505e-01 7.57517418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.807105680999996 meters 0.019021822726188287 Centerline is valid? [True, True] Translation: X:23.42, Y:0.23, Z:0.76 [[ 9.98280261e-01 -4.13482032e-02 -4.15553506e-02 2.34230308e+01] [ 4.13348188e-02 9.99144652e-01 -1.18161315e-03 2.25403710e-01] [ 4.15686640e-02 -5.38101806e-04 9.99135505e-01 7.58658417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.837105680999997 meters 0.01670028318554314 Centerline is valid? [True, True] Translation: X:23.45, Y:0.24, Z:0.76 [[ 9.98765743e-01 -2.76591400e-02 -4.12548538e-02 2.34543322e+01] [ 2.76343479e-02 9.99617412e-01 -1.17120502e-03 2.44175798e-01] [ 4.12714648e-02 2.97084624e-05 9.99147970e-01 7.59583150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.867105680999998 meters 0.01740917894410177 Centerline is valid? [True, True] Translation: X:23.48, Y:0.26, Z:0.75 [[ 9.98827038e-01 -1.98542175e-02 -4.41628516e-02 2.34835820e+01] [ 1.98182795e-02 9.99802815e-01 -1.25148520e-03 2.56077880e-01] [ 4.41789906e-02 3.74785524e-04 9.99023561e-01 7.53990330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.897105680999996 meters 0.01853477256435378 Centerline is valid? [True, True] Translation: X:23.51, Y:0.27, Z:0.75 [[ 9.98846372e-01 -1.54452013e-02 -4.54683403e-02 2.35119726e+01] [ 1.54024317e-02 9.99880542e-01 -1.29085793e-03 2.65300923e-01] [ 4.54828463e-02 5.89045755e-04 9.98964946e-01 7.51395000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.927105680999997 meters 0.018823257916853763 Centerline is valid? [True, True] Translation: X:23.54, Y:0.27, Z:0.75 [[ 9.98908903e-01 -1.35402485e-02 -4.46952413e-02 2.35406247e+01] [ 1.34967884e-02 9.99908103e-01 -1.27400651e-03 2.70257339e-01] [ 4.47083843e-02 6.69374235e-04 9.98999856e-01 7.53764179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.957105680999998 meters 0.01942428992778201 Centerline is valid? [True, True] Translation: X:23.57, Y:0.28, Z:0.75 [[ 9.98968437e-01 -1.18117564e-02 -4.38468318e-02 2.35682458e+01] [ 1.17677034e-02 9.99929961e-01 -1.26268857e-03 2.75550056e-01] [ 4.38586754e-02 7.45409520e-04 9.99037467e-01 7.54461396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.987105680999996 meters 0.019365979983053314 Centerline is valid? [True, True] Translation: X:23.60, Y:0.28, Z:0.75 [[ 9.98977092e-01 -1.19222569e-02 -4.36191351e-02 2.35960988e+01] [ 1.18784661e-02 9.99928651e-01 -1.26299653e-03 2.75590489e-01] [ 4.36310806e-02 7.43576188e-04 9.99047434e-01 7.54459490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.017105680999997 meters 0.018755577089565465 Centerline is valid? [True, True] Translation: X:23.62, Y:0.27, Z:0.75 [[ 9.98971787e-01 -1.43927279e-02 -4.29908981e-02 2.36244042e+01] [ 1.43518451e-02 9.99896214e-01 -1.25947044e-03 2.72642815e-01] [ 4.30045634e-02 6.41176723e-04 9.99074670e-01 7.54442863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.047105680999998 meters 0.01768036301092834 Centerline is valid? [True, True] Translation: X:23.65, Y:0.27, Z:0.76 [[ 9.98952959e-01 -1.89304833e-02 -4.16487946e-02 2.36527876e+01] [ 1.88958159e-02 9.99820707e-01 -1.22591844e-03 2.69970738e-01] [ 4.16645345e-02 4.37646902e-04 9.99131560e-01 7.58149247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.077105680999995 meters 0.016634685361944335 Centerline is valid? [True, True] Translation: X:23.68, Y:0.26, Z:0.76 [[ 9.98689488e-01 -3.07226928e-02 -4.09319265e-02 2.36815625e+01] [ 3.06985953e-02 9.99527946e-01 -1.21727934e-03 2.61657905e-01] [ 4.09500026e-02 -4.08685731e-05 9.99161196e-01 7.63938029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.107105680999997 meters 0.01787113169239861 Centerline is valid? [True, True] Translation: X:23.71, Y:0.25, Z:0.76 [[ 9.98319299e-01 -4.09839600e-02 -4.09742865e-02 2.37117830e+01] [ 4.09683056e-02 9.99159699e-01 -1.22201126e-03 2.51393887e-01] [ 4.09899387e-02 -4.58689663e-04 9.99159454e-01 7.63853032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.137105680999998 meters 0.01908878146532537 Centerline is valid? [True, True] Translation: X:23.74, Y:0.24, Z:0.76 [[ 9.98014672e-01 -4.59812478e-02 -4.30399696e-02 2.37437299e+01] [ 4.59686303e-02 9.98942059e-01 -1.28334053e-03 2.43922218e-01] [ 4.30534454e-02 -6.97695769e-04 9.99072527e-01 7.60095145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.167105680999995 meters 0.01883199600784767 Centerline is valid? [True, True] Translation: X:23.78, Y:0.24, Z:0.76 [[ 9.98044029e-01 -4.49030381e-02 -4.34952157e-02 2.37750951e+01] [ 4.48892169e-02 9.98991132e-01 -1.29490006e-03 2.44657863e-01] [ 4.35094797e-02 -6.60098902e-04 9.99052796e-01 7.60325508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.197105680999996 meters 0.017109429118345645 Centerline is valid? [True, True] Translation: X:23.81, Y:0.26, Z:0.76 [[ 9.98448532e-01 -3.54491547e-02 -4.29404973e-02 2.38056306e+01] [ 3.54270267e-02 9.99371451e-01 -1.27642531e-03 2.55972509e-01] [ 4.29587553e-02 -2.46809165e-04 9.99076816e-01 7.64693358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.227105680999998 meters 0.01679107316316982 Centerline is valid? [True, True] Translation: X:23.84, Y:0.26, Z:0.77 [[ 9.98683569e-01 -2.88574623e-02 -4.24072602e-02 2.38358322e+01] [ 2.88300191e-02 9.99583536e-01 -1.25869491e-03 2.64409371e-01] [ 4.24259218e-02 3.44358011e-05 9.99099615e-01 7.67503652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.257105680999995 meters 0.018220381174741288 Centerline is valid? [True, True] Translation: X:23.87, Y:0.28, Z:0.77 [[ 9.98887741e-01 -1.84740821e-02 -4.33818887e-02 2.38659163e+01] [ 1.84356116e-02 9.99829222e-01 -1.28672768e-03 2.75560924e-01] [ 4.33982512e-02 4.85524857e-04 9.99057734e-01 7.66525794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.287105680999996 meters 0.018394552005475618 Centerline is valid? [True, True] Translation: X:23.89, Y:0.27, Z:0.76 [[ 9.98821965e-01 -1.72039461e-02 -4.53729655e-02 2.38943663e+01] [ 1.71605062e-02 9.99851841e-01 -1.34676407e-03 2.74325617e-01] [ 4.53894127e-02 5.66554479e-04 9.98969209e-01 7.63308377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.317105680999997 meters 0.017785691764135966 Centerline is valid? [True, True] Translation: X:23.92, Y:0.27, Z:0.76 [[ 9.98622115e-01 -2.10323530e-02 -4.80781756e-02 2.39228004e+01] [ 2.09875862e-02 9.99778705e-01 -1.43580556e-03 2.70650774e-01] [ 4.80977345e-02 4.24782329e-04 9.98842544e-01 7.61524102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.347105680999995 meters 0.017725678449835403 Centerline is valid? [True, True] Translation: X:23.95, Y:0.27, Z:0.76 [[ 9.98504074e-01 -2.27364330e-02 -4.97259279e-02 2.39510509e+01] [ 2.26898655e-02 9.99741425e-01 -1.50084081e-03 2.70629768e-01] [ 4.97471938e-02 3.70321042e-04 9.98761773e-01 7.61377194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.377105680999996 meters 0.017447326946837354 Centerline is valid? [True, True] Translation: X:23.98, Y:0.27, Z:0.76 [[ 9.98339475e-01 -2.58185542e-02 -5.14946038e-02 2.39790174e+01] [ 2.57722047e-02 9.99666618e-01 -1.56399781e-03 2.69950221e-01] [ 5.15178166e-02 2.34271282e-04 9.98672048e-01 7.61773230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.407105680999997 meters 0.017118919380943034 Centerline is valid? [True, True] Translation: X:24.01, Y:0.27, Z:0.76 [[ 9.98305139e-01 -2.84748736e-02 -5.07546142e-02 2.40079191e+01] [ 2.84323619e-02 9.99594502e-01 -1.55954414e-03 2.67583543e-01] [ 5.07784411e-02 1.13827368e-04 9.98709936e-01 7.63940351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.437105680999995 meters 0.0171628629173472 Centerline is valid? [True, True] Translation: X:24.04, Y:0.26, Z:0.77 [[ 9.98217450e-01 -3.50434595e-02 -4.83102371e-02 2.40370196e+01] [ 3.50120276e-02 9.99385770e-01 -1.49694653e-03 2.59435818e-01] [ 4.83330216e-02 -1.97161205e-04 9.98831257e-01 7.66570870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.467105680999996 meters 0.018252971632062277 Centerline is valid? [True, True] Translation: X:24.07, Y:0.25, Z:0.77 [[ 9.98098886e-01 -4.21699982e-02 -4.49477937e-02 2.40678178e+01] [ 4.21499021e-02 9.99110324e-01 -1.39517896e-03 2.54347100e-01] [ 4.49666395e-02 -5.02018541e-04 9.98988363e-01 7.72723898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.497105680999997 meters 0.019272863157710138 Centerline is valid? [True, True] Translation: X:24.10, Y:0.25, Z:0.78 [[ 9.98015972e-01 -4.50877534e-02 -4.39455714e-02 2.40987996e+01] [ 4.50713839e-02 9.98982838e-01 -1.36375129e-03 2.54875937e-01] [ 4.39623601e-02 -6.19642150e-04 9.99032996e-01 7.75337559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.527105681 meters 0.019746391559193804 Centerline is valid? [True, True] Translation: X:24.13, Y:0.26, Z:0.78 [[ 9.97877857e-01 -4.82729356e-02 -4.36979049e-02 2.41300943e+01] [ 4.82598887e-02 9.98833895e-01 -1.35407059e-03 2.55598578e-01] [ 4.37123135e-02 -7.57658970e-04 9.99043873e-01 7.77742785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.557105680999996 meters 0.020265451615759378 Centerline is valid? [True, True] Translation: X:24.16, Y:0.26, Z:0.78 [[ 9.97763007e-01 -5.00724685e-02 -4.42914151e-02 2.41610440e+01] [ 5.00609277e-02 9.98745226e-01 -1.37040448e-03 2.56249769e-01] [ 4.43044589e-02 -8.49930433e-04 9.99017714e-01 7.77937474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.587105680999997 meters 0.021842022145727596 Centerline is valid? [True, True] Translation: X:24.19, Y:0.26, Z:0.78 [[ 9.97655575e-01 -5.33615962e-02 -4.28473221e-02 2.41924106e+01] [ 5.33539131e-02 9.98574788e-01 -1.32366953e-03 2.56137090e-01] [ 4.28568887e-02 -9.65506011e-04 9.99080755e-01 7.78776846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.617105680999998 meters 0.022857277141698634 Centerline is valid? [True, True] Translation: X:24.22, Y:0.26, Z:0.78 [[ 9.97635726e-01 -5.47736919e-02 -4.15066483e-02 2.42230307e+01] [ 5.47678173e-02 9.98498297e-01 -1.27947914e-03 2.58694374e-01] [ 4.15143994e-02 -9.96774427e-04 9.99137409e-01 7.82674219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.647105680999996 meters 0.02153560304781857 Centerline is valid? [True, True] Translation: X:24.26, Y:0.27, Z:0.78 [[ 9.97720176e-01 -5.32884523e-02 -4.14100295e-02 2.42551750e+01] [ 5.32814478e-02 9.98578723e-01 -1.27358420e-03 2.67521019e-01] [ 4.14190417e-02 -9.35705674e-04 9.99141425e-01 7.84117128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.677105680999997 meters 0.021869529214539832 Centerline is valid? [True, True] Translation: X:24.29, Y:0.27, Z:0.79 [[ 9.97867221e-01 -5.13573832e-02 -4.02917886e-02 2.42863603e+01] [ 5.13493366e-02 9.98679989e-01 -1.23526497e-03 2.69096130e-01] [ 4.03020430e-02 -8.36326195e-04 9.99187193e-01 7.86428599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.707105680999998 meters 0.02041332121287494 Centerline is valid? [True, True] Translation: X:24.32, Y:0.28, Z:0.79 [[ 9.98117240e-01 -4.70831253e-02 -3.93084587e-02 2.43167986e+01] [ 4.70723923e-02 9.98890761e-01 -1.19904382e-03 2.78288361e-01] [ 3.93213110e-02 -6.53556884e-04 9.99226404e-01 7.89494820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.737105680999996 meters 0.01920955166825177 Centerline is valid? [True, True] Translation: X:24.35, Y:0.29, Z:0.79 [[ 9.98166911e-01 -4.41740525e-02 -4.13699265e-02 2.43486260e+01] [ 4.41597530e-02 9.99023688e-01 -1.25986618e-03 2.88829042e-01] [ 4.13851900e-02 -5.69329001e-04 9.99143104e-01 7.88970709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.767105680999997 meters 0.019028099400380912 Centerline is valid? [True, True] Translation: X:24.38, Y:0.29, Z:0.79 [[ 9.98134861e-01 -4.26722520e-02 -4.36563735e-02 2.43800282e+01] [ 4.26550670e-02 9.99088979e-01 -1.32551900e-03 2.91359371e-01] [ 4.36731645e-02 -5.39118818e-04 9.99045727e-01 7.86263262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.797105680999998 meters 0.017698838982094924 Centerline is valid? [True, True] Translation: X:24.41, Y:0.30, Z:0.78 [[ 9.98182400e-01 -3.81525480e-02 -4.66506130e-02 2.44119037e+01] [ 3.81281576e-02 9.99271859e-01 -1.41287942e-03 2.98625245e-01] [ 4.66705497e-02 -3.68390557e-04 9.98910268e-01 7.82066916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.827105680999995 meters 0.017486044823147376 Centerline is valid? [True, True] Translation: X:24.44, Y:0.30, Z:0.78 [[ 9.98183736e-01 -3.53783455e-02 -4.87606587e-02 2.44429849e+01] [ 3.53485903e-02 9.99373958e-01 -1.47268740e-03 3.04305451e-01] [ 4.87822337e-02 -2.53607935e-04 9.98809406e-01 7.80745971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.857105680999997 meters 0.01760703751960993 Centerline is valid? [True, True] Translation: X:24.47, Y:0.32, Z:0.78 [[ 9.98227897e-01 -2.93470720e-02 -5.17669373e-02 2.44733773e+01] [ 2.93055219e-02 9.99569281e-01 -1.56165627e-03 3.17969237e-01] [ 5.17904704e-02 4.18317413e-05 9.98657972e-01 7.78193563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.887105680999998 meters 0.01821140090905189 Centerline is valid? [True, True] Translation: X:24.50, Y:0.33, Z:0.78 [[ 9.98470160e-01 -2.23784796e-02 -5.05622616e-02 2.45023132e+01] [ 2.23298796e-02 9.99749493e-01 -1.52594269e-03 3.29406297e-01] [ 5.05837437e-02 3.94559025e-04 9.98719745e-01 7.79552188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.917105680999995 meters 0.019381883742192397 Centerline is valid? [True, True] Translation: X:24.53, Y:0.34, Z:0.78 [[ 9.98508293e-01 -1.73304588e-02 -5.17768657e-02 2.45304798e+01] [ 1.72725318e-02 9.99849592e-01 -1.56606404e-03 3.36432152e-01] [ 5.17962186e-02 6.69410375e-04 9.98657451e-01 7.77619659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.947105680999996 meters 0.020084582261282846 Centerline is valid? [True, True] Translation: X:24.56, Y:0.34, Z:0.78 [[ 9.98487538e-01 -1.57354068e-02 -5.26785908e-02 2.45580272e+01] [ 1.56728992e-02 9.99875893e-01 -1.59949904e-03 3.40003988e-01] [ 5.26972218e-02 7.71453615e-04 9.98610238e-01 7.77092016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.977105680999998 meters 0.020785465814950898 Centerline is valid? [True, True] Translation: X:24.59, Y:0.34, Z:0.78 [[ 9.98576983e-01 -1.40979745e-02 -5.14320595e-02 2.45853940e+01] [ 1.40358870e-02 9.99900262e-01 -1.56818089e-03 3.44899145e-01] [ 5.14490380e-02 8.44054771e-04 9.98675265e-01 7.80357026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.007105680999995 meters 0.020301579696466853 Centerline is valid? [True, True] Translation: X:24.61, Y:0.34, Z:0.78 [[ 9.98640282e-01 -1.59686087e-02 -4.96245020e-02 2.46141371e+01] [ 1.59126323e-02 9.99872226e-01 -1.52289132e-03 3.44437750e-01] [ 4.96424798e-02 7.31164165e-04 9.98766784e-01 7.83674710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.037105680999996 meters 0.018257337501870887 Centerline is valid? [True, True] Translation: X:24.64, Y:0.34, Z:0.79 [[ 9.98704864e-01 -2.38084646e-02 -4.49639010e-02 2.46424196e+01] [ 2.37699540e-02 9.99716487e-01 -1.39102465e-03 3.35346981e-01] [ 4.49842713e-02 3.20433225e-04 9.98987644e-01 7.90724621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.067105680999997 meters 0.0175914061111363 Centerline is valid? [True, True] Translation: X:24.67, Y:0.32, Z:0.80 [[ 9.98511930e-01 -3.42955785e-02 -4.23997629e-02 2.46724394e+01] [ 3.42706442e-02 9.99411724e-01 -1.31501112e-03 3.23914401e-01] [ 4.24199192e-02 -1.40012896e-04 9.99099860e-01 7.96397069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.097105680999995 meters 0.018411170942677257 Centerline is valid? [True, True] Translation: X:24.70, Y:0.32, Z:0.80 [[ 9.98295246e-01 -3.96210750e-02 -4.28575697e-02 2.47038858e+01] [ 3.96004674e-02 9.99214709e-01 -1.33004552e-03 3.17905136e-01] [ 4.28766118e-02 -3.69401671e-04 9.99080307e-01 7.96454353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.127105680999996 meters 0.02122494128847817 Centerline is valid? [True, True] Translation: X:24.74, Y:0.30, Z:0.80 [[ 9.97782306e-01 -5.22623962e-02 -4.12202762e-02 2.47352432e+01] [ 5.22543130e-02 9.98632997e-01 -1.27423745e-03 3.02134457e-01] [ 4.12305227e-02 -8.82525629e-04 9.99149271e-01 7.97394370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.157105680999997 meters 0.025987048380596366 Centerline is valid? [True, True] Translation: X:24.77, Y:0.29, Z:0.80 [[ 9.97073309e-01 -6.54732339e-02 -3.94724123e-02 2.47657823e+01] [ 6.54761852e-02 9.97853387e-01 -1.21937252e-03 2.87665615e-01] [ 3.94675166e-02 -1.36869918e-03 9.99219917e-01 8.01935730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.187105680999995 meters 0.031049423473013343 Centerline is valid? [True, True] Translation: X:24.80, Y:0.28, Z:0.80 [[ 9.96696794e-01 -7.02740575e-02 -4.07069801e-02 2.47965315e+01] [ 7.02812037e-02 9.97526427e-01 -1.25725501e-03 2.79565927e-01] [ 4.06946408e-02 -1.60783352e-03 9.99170336e-01 8.03743737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.217105680999996 meters 0.030559005757052168 Centerline is valid? [True, True] Translation: X:24.83, Y:0.28, Z:0.80 [[ 9.96398616e-01 -7.35082623e-02 -4.22650323e-02 2.48288583e+01] [ 7.35189284e-02 9.97292969e-01 -1.30402550e-03 2.80097567e-01] [ 4.22464762e-02 -1.80795068e-03 9.99105583e-01 8.04580067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.247105680999997 meters 0.029407920423268737 Centerline is valid? [True, True] Translation: X:24.86, Y:0.28, Z:0.80 [[ 9.96473993e-01 -7.19886177e-02 -4.30954889e-02 2.48612128e+01] [ 7.19984607e-02 9.97403862e-01 -1.32569911e-03 2.81443907e-01] [ 4.30790423e-02 -1.78178418e-03 9.99070078e-01 8.03883635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.277105680999995 meters 0.027183974320016856 Centerline is valid? [True, True] Translation: X:24.89, Y:0.29, Z:0.80 [[ 9.96884752e-01 -6.50607696e-02 -4.45857392e-02 2.48906452e+01] [ 6.50645378e-02 9.97880120e-01 -1.36821541e-03 2.85926732e-01] [ 4.45802400e-02 -1.53699743e-03 9.99004625e-01 8.02395307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.307105680999996 meters 0.02348791064436079 Centerline is valid? [True, True] Translation: X:24.92, Y:0.30, Z:0.81 [[ 9.97374649e-01 -5.75574454e-02 -4.39425713e-02 2.49213640e+01] [ 5.75538002e-02 9.98341495e-01 -1.34914040e-03 2.96700182e-01] [ 4.39473454e-02 -1.18346354e-03 9.99033148e-01 8.05495233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.337105680999997 meters 0.02101252999098602 Centerline is valid? [True, True] Translation: X:24.95, Y:0.31, Z:0.81 [[ 9.97923882e-01 -4.97260353e-02 -4.09297741e-02 2.49529012e+01] [ 4.97163304e-02 9.98762589e-01 -1.25557389e-03 3.05659707e-01] [ 4.09415619e-02 -7.81910998e-04 9.99161237e-01 8.10546451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.367105680999998 meters 0.01996159927786594 Centerline is valid? [True, True] Translation: X:24.99, Y:0.31, Z:0.81 [[ 9.98088662e-01 -4.63361785e-02 -4.08898690e-02 2.49853246e+01] [ 4.63237687e-02 9.98925694e-01 -1.25143252e-03 3.10118661e-01] [ 4.09039274e-02 -6.45132226e-04 9.99162876e-01 8.11455786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.397105680999996 meters 0.018931130085538348 Centerline is valid? [True, True] Translation: X:25.02, Y:0.32, Z:0.81 [[ 9.98240014e-01 -4.09421921e-02 -4.29023478e-02 2.50160665e+01] [ 4.09237189e-02 9.99161416e-01 -1.30913409e-03 3.15623824e-01] [ 4.29199694e-02 -4.48893590e-04 9.99078413e-01 8.08208786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.427105680999997 meters 0.018078561125846503 Centerline is valid? [True, True] Translation: X:25.05, Y:0.33, Z:0.81 [[ 9.98479725e-01 -3.08780736e-02 -4.56594230e-02 2.50478919e+01] [ 3.08467484e-02 9.99523158e-01 -1.39066152e-03 3.28266369e-01] [ 4.56805916e-02 -1.98973979e-05 9.98956097e-01 8.07164451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.457105680999998 meters 0.02032129184990098 Centerline is valid? [True, True] Translation: X:25.08, Y:0.35, Z:0.81 [[ 9.98865135e-01 -1.58452478e-02 -4.49151492e-02 2.50770439e+01] [ 1.57998834e-02 9.99874243e-01 -1.36484968e-03 3.45727802e-01] [ 4.49311271e-02 6.53646633e-04 9.98989873e-01 8.08197912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.487105680999996 meters 0.021778863558982 Centerline is valid? [True, True] Translation: X:25.11, Y:0.35, Z:0.81 [[ 9.98967190e-01 -9.77911880e-03 -4.43725383e-02 2.51052788e+01] [ 9.72872098e-03 9.99951761e-01 -1.35160200e-03 3.51896273e-01] [ 4.43836153e-02 9.18518011e-04 9.99014140e-01 8.10075815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.517105680999997 meters 0.025382670792858487 Centerline is valid? [True, True] Translation: X:25.14, Y:0.36, Z:0.81 [[ 9.98972290e-01 -5.05905796e-04 -4.53222741e-02 2.51352684e+01] [ 4.43221602e-04 9.99998931e-01 -1.39311537e-03 3.61433737e-01] [ 4.53229305e-02 1.37159584e-03 9.98971446e-01 8.08825979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.547105680999998 meters 0.026876861710945228 Centerline is valid? [True, True] Translation: X:25.16, Y:0.37, Z:0.81 [[ 9.98946761e-01 1.84876758e-03 -4.58470469e-02 2.51628773e+01] [-1.91547732e-03 9.99997170e-01 -1.41115999e-03 3.65110576e-01] [ 4.58443083e-02 1.49749268e-03 9.98947475e-01 8.08230126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.577105680999995 meters 0.027152280987497317 Centerline is valid? [True, True] Translation: X:25.19, Y:0.36, Z:0.81 [[ 9.98917468e-01 2.05780537e-03 -4.64721067e-02 2.51921871e+01] [-2.12681955e-03 9.99996708e-01 -1.43566998e-03 3.64779807e-01] [ 4.64689994e-02 1.53295360e-03 9.98918556e-01 8.06594241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.607105680999997 meters 0.02523166737466033 Centerline is valid? [True, True] Translation: X:25.22, Y:0.36, Z:0.81 [[ 9.98853734e-01 -1.82238201e-03 -4.78319731e-02 2.52209016e+01] [ 1.75348840e-03 9.99997364e-01 -1.48224641e-03 3.57873694e-01] [ 4.78345483e-02 1.39667455e-03 9.98854296e-01 8.05607644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.637105680999998 meters 0.02461240912619785 Centerline is valid? [True, True] Translation: X:25.25, Y:0.35, Z:0.81 [[ 9.98832675e-01 -5.11067642e-03 -4.80329990e-02 2.52485315e+01] [ 5.04476785e-03 9.99986160e-01 -1.49328004e-03 3.54759102e-01] [ 4.80399659e-02 1.24922157e-03 9.98844633e-01 8.05857586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.667105680999995 meters 0.021600110322248237 Centerline is valid? [True, True] Translation: X:25.28, Y:0.34, Z:0.81 [[ 9.98836094e-01 -1.22234342e-02 -4.66588247e-02 2.52790670e+01] [ 1.21687920e-02 9.99924899e-01 -1.45497715e-03 3.44510302e-01] [ 4.66731054e-02 8.85502162e-04 9.98909824e-01 8.10073373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.697105680999996 meters 0.021600110322248237 Centerline is valid? [True, True] Translation: X:25.31, Y:0.35, Z:0.81 [[ 9.98831532e-01 -1.25911625e-02 -4.66586863e-02 2.53064116e+01] [ 1.25367150e-02 9.99920347e-01 -1.45939234e-03 3.45582886e-01] [ 4.66733453e-02 8.72740431e-04 9.98909824e-01 8.11087255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.727105680999998 meters 0.020374250867194053 Centerline is valid? [True, True] Translation: X:25.33, Y:0.34, Z:0.81 [[ 9.98782368e-01 -1.71191200e-02 -4.62678901e-02 2.53347889e+01] [ 1.70696721e-02 9.99853231e-01 -1.46364756e-03 3.39577090e-01] [ 4.62861558e-02 6.72087656e-04 9.98927995e-01 8.12290983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.757105680999995 meters 0.019967951117313937 Centerline is valid? [True, True] Translation: X:25.36, Y:0.34, Z:0.81 [[ 9.98709050e-01 -1.92511844e-02 -4.70066436e-02 2.53639047e+01] [ 1.92017901e-02 9.99814500e-01 -1.50216517e-03 3.37522355e-01] [ 4.70268424e-02 5.97614250e-04 9.98893447e-01 8.11890411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.787105680999996 meters 0.019195649140477306 Centerline is valid? [True, True] Translation: X:25.39, Y:0.33, Z:0.81 [[ 9.98621457e-01 -2.30994309e-02 -4.71338717e-02 2.53915177e+01] [ 2.30534184e-02 9.99733080e-01 -1.51964920e-03 3.33428750e-01] [ 4.71563937e-02 4.30957436e-04 9.98887425e-01 8.12936974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.817105680999997 meters 0.018795763828467107 Centerline is valid? [True, True] Translation: X:25.42, Y:0.33, Z:0.82 [[ 9.98585189e-01 -2.61855555e-02 -4.62810752e-02 2.54200865e+01] [ 2.61440872e-02 9.99657058e-01 -1.50120070e-03 3.31256117e-01] [ 4.63045132e-02 2.89100321e-04 9.98927329e-01 8.15869871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.847105680999995 meters 0.01835104459189768 Centerline is valid? [True, True] Translation: X:25.45, Y:0.33, Z:0.82 [[ 9.98665249e-01 -2.83201585e-02 -4.31936193e-02 2.54492114e+01] [ 2.82855472e-02 9.99598886e-01 -1.41238119e-03 3.28320869e-01] [ 4.32162926e-02 1.88740861e-04 9.99065722e-01 8.20418046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.877105680999996 meters 0.018517431535742226 Centerline is valid? [True, True] Translation: X:25.48, Y:0.33, Z:0.82 [[ 9.98544330e-01 -2.80027548e-02 -4.60984534e-02 2.54792041e+01] [ 2.79629070e-02 9.99607822e-01 -1.50917325e-03 3.28136284e-01] [ 4.61226356e-02 2.17929630e-04 9.98935761e-01 8.18829084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.907105680999997 meters 0.01865424096610172 Centerline is valid? [True, True] Translation: X:25.51, Y:0.33, Z:0.82 [[ 9.98362954e-01 -2.78141993e-02 -4.99778234e-02 2.55090009e+01] [ 2.77670853e-02 9.99613080e-01 -1.63688855e-03 3.26526130e-01] [ 5.00040147e-02 2.46470403e-04 9.98748986e-01 8.15894225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.937105680999995 meters 0.01860213816750045 Centerline is valid? [True, True] Translation: X:25.54, Y:0.33, Z:0.82 [[ 9.98337807e-01 -2.83978402e-02 -5.01516285e-02 2.55376384e+01] [ 2.83508320e-02 9.99596675e-01 -1.64858469e-03 3.25549549e-01] [ 5.01782173e-02 2.24004033e-04 9.98740255e-01 8.16939021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.967105680999996 meters 0.0185439758474337 Centerline is valid? [True, True] Translation: X:25.57, Y:0.32, Z:0.82 [[ 9.98435087e-01 -2.87342833e-02 -4.79762320e-02 2.55663541e+01] [ 2.86910629e-02 9.99587063e-01 -1.58941035e-03 3.23569815e-01] [ 4.80020914e-02 2.10433972e-04 9.98847213e-01 8.21584914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.997105680999997 meters 0.01864078143422911 Centerline is valid? [True, True] Translation: X:25.60, Y:0.32, Z:0.83 [[ 9.98570995e-01 -2.65188087e-02 -4.63974162e-02 2.55958493e+01] [ 2.64758615e-02 9.99648267e-01 -1.54003636e-03 3.23659053e-01] [ 4.64219367e-02 3.09424075e-04 9.98921873e-01 8.26413554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.027105680999995 meters 0.018955926583901647 Centerline is valid? [True, True] Translation: X:25.62, Y:0.32, Z:0.83 [[ 9.98615604e-01 -2.55646866e-02 -4.59708789e-02 2.56246832e+01] [ 2.55214069e-02 9.99673108e-01 -1.52823936e-03 3.24684929e-01] [ 4.59949203e-02 3.52882162e-04 9.98941611e-01 8.27608528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.057105680999996 meters 0.019277147273850763 Centerline is valid? [True, True] Translation: X:25.65, Y:0.33, Z:0.83 [[ 9.98759842e-01 -2.19721850e-02 -4.46766243e-02 2.56538971e+01] [ 2.19275887e-02 9.99758454e-01 -1.48808560e-03 3.26451390e-01] [ 4.46985294e-02 5.06589490e-04 9.99000393e-01 8.30930688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.087105680999997 meters 0.020315531022899774 Centerline is valid? [True, True] Translation: X:25.68, Y:0.33, Z:0.83 [[ 9.98799967e-01 -1.92668975e-02 -4.50267883e-02 2.56823117e+01] [ 1.92187475e-02 9.99814175e-01 -1.50205728e-03 3.30415542e-01] [ 4.50473611e-02 6.34896282e-04 9.98984651e-01 8.30617906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.117105680999995 meters 0.021954835750433853 Centerline is valid? [True, True] Translation: X:25.71, Y:0.33, Z:0.83 [[ 9.98920956e-01 -1.42632291e-02 -4.41982389e-02 2.57109872e+01] [ 1.42117294e-02 9.99897914e-01 -1.47921535e-03 3.33574195e-01] [ 4.42148253e-02 8.49485796e-04 9.99021685e-01 8.29466082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.147105680999996 meters 0.021930135884352907 Centerline is valid? [True, True] Translation: X:25.74, Y:0.33, Z:0.83 [[ 9.98899713e-01 -1.27836593e-02 -4.51214038e-02 2.57397918e+01] [ 1.27278169e-02 9.99917836e-01 -1.52469310e-03 3.31919411e-01] [ 4.51371876e-02 9.48718538e-04 9.98980347e-01 8.28793424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.177105680999997 meters 0.02226151618788816 Centerline is valid? [True, True] Translation: X:25.77, Y:0.33, Z:0.83 [[ 9.98862526e-01 -1.28148291e-02 -4.59285833e-02 2.57678888e+01] [ 1.27563805e-02 9.99917409e-01 -1.56548000e-03 3.32891042e-01] [ 4.59448513e-02 9.77816827e-04 9.98943499e-01 8.28847509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.207105680999998 meters 0.021617698331068545 Centerline is valid? [True, True] Translation: X:25.80, Y:0.33, Z:0.83 [[ 9.98837742e-01 -1.35680489e-02 -4.62501099e-02 2.57959295e+01] [ 1.35092170e-02 9.99907491e-01 -1.58438429e-03 3.30198245e-01] [ 4.62673283e-02 9.57740055e-04 9.98928635e-01 8.30067895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.237105680999996 meters 0.02118291685876118 Centerline is valid? [True, True] Translation: X:25.82, Y:0.33, Z:0.83 [[ 9.98872967e-01 -1.61259190e-02 -4.46402237e-02 2.58240516e+01] [ 1.60730106e-02 9.99869629e-01 -1.54391669e-03 3.25122110e-01] [ 4.46593010e-02 8.24673853e-04 9.99001935e-01 8.31721152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.267105680999997 meters 0.020073296757727826 Centerline is valid? [True, True] Translation: X:25.85, Y:0.32, Z:0.83 [[ 9.98817793e-01 -1.92483547e-02 -4.46376288e-02 2.58533750e+01] [ 1.91982580e-02 9.99814494e-01 -1.55076367e-03 3.17830825e-01] [ 4.46591979e-02 6.91965638e-04 9.99002041e-01 8.33893912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.297105680999998 meters 0.01962773225263477 Centerline is valid? [True, True] Translation: X:25.88, Y:0.32, Z:0.84 [[ 9.98779631e-01 -2.12790315e-02 -4.45696309e-02 2.58822807e+01] [ 2.12304484e-02 9.99773387e-01 -1.56317058e-03 3.15612266e-01] [ 4.45927935e-02 6.15029684e-04 9.99005057e-01 8.35046861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.327105680999995 meters 0.01932256060987735 Centerline is valid? [True, True] Translation: X:25.91, Y:0.31, Z:0.83 [[ 9.98649727e-01 -2.31924795e-02 -4.64847433e-02 2.59102197e+01] [ 2.31409376e-02 9.99730856e-01 -1.64670078e-03 3.10848976e-01] [ 4.65104233e-02 5.68776742e-04 9.98917643e-01 8.33661849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.357105680999997 meters 0.01971234620137951 Centerline is valid? [True, True] Translation: X:25.94, Y:0.31, Z:0.83 [[ 9.98566941e-01 -2.26675736e-02 -4.84793210e-02 2.59378194e+01] [ 2.26100830e-02 9.99742856e-01 -1.73400372e-03 3.10065940e-01] [ 4.85061604e-02 6.35397320e-04 9.98822681e-01 8.32154087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.387105680999998 meters 0.019799208110220422 Centerline is valid? [True, True] Translation: X:25.97, Y:0.31, Z:0.83 [[ 9.98481536e-01 -2.25379028e-02 -5.02659391e-02 2.59668213e+01] [ 2.24753662e-02 9.99745760e-01 -1.80907073e-03 3.06729425e-01] [ 5.02939322e-02 6.76578330e-04 9.98734230e-01 8.30262577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.417105680999995 meters 0.019664331895841883 Centerline is valid? [True, True] Translation: X:26.00, Y:0.30, Z:0.83 [[ 9.98547526e-01 -2.31395989e-02 -4.86559032e-02 2.59960684e+01] [ 2.30809601e-02 9.99732038e-01 -1.76674919e-03 3.03816369e-01] [ 4.86837472e-02 6.41158073e-04 9.98814038e-01 8.32905583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.447105680999996 meters 0.01924390562033624 Centerline is valid? [True, True] Translation: X:26.02, Y:0.30, Z:0.83 [[ 9.98498059e-01 -2.52479307e-02 -4.86227204e-02 2.60245912e+01] [ 2.51910966e-02 9.99681067e-01 -1.78141496e-03 3.01401439e-01] [ 4.86521901e-02 5.53879733e-04 9.98815627e-01 8.34256281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.477105680999998 meters 0.018049620157111593 Centerline is valid? [True, True] Translation: X:26.05, Y:0.29, Z:0.83 [[ 9.98292745e-01 -3.21365805e-02 -4.87733153e-02 2.60526509e+01] [ 3.20869181e-02 9.99483460e-01 -1.80104859e-03 2.91646702e-01] [ 4.88060014e-02 2.32988365e-04 9.98808250e-01 8.34421156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.507105680999995 meters 0.01814893979193966 Centerline is valid? [True, True] Translation: X:26.08, Y:0.28, Z:0.84 [[ 9.97890713e-01 -4.32729653e-02 -4.83898306e-02 2.60808458e+01] [ 4.32367896e-02 9.99063241e-01 -1.79455437e-03 2.79797986e-01] [ 4.84221567e-02 -3.01451783e-04 9.98826914e-01 8.35677837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.537105680999996 meters 0.019331263537782563 Centerline is valid? [True, True] Translation: X:26.11, Y:0.28, Z:0.84 [[ 9.97583331e-01 -4.96899081e-02 -4.85634774e-02 2.61109139e+01] [ 4.96608388e-02 9.98764507e-01 -1.80570957e-03 2.75034073e-01] [ 4.85932031e-02 -6.10357258e-04 9.98818466e-01 8.37110324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.567105680999997 meters 0.02319298195792665 Centerline is valid? [True, True] Translation: X:26.14, Y:0.26, Z:0.84 [[ 9.96886821e-01 -6.17803211e-02 -4.89883453e-02 2.61417886e+01] [ 6.17652331e-02 9.98089040e-01 -1.82317919e-03 2.64336955e-01] [ 4.90073671e-02 -1.20827326e-03 9.98797686e-01 8.37137214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.597105680999995 meters 0.024921641530150602 Centerline is valid? [True, True] Translation: X:26.17, Y:0.26, Z:0.84 [[ 9.96563017e-01 -6.71729127e-02 -4.84763047e-02 2.61718375e+01] [ 6.71644813e-02 9.97740285e-01 -1.80465170e-03 2.60526683e-01] [ 4.84879858e-02 -1.45743672e-03 9.98822703e-01 8.38713910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.627105680999996 meters 0.031371966645821314 Centerline is valid? [True, True] Translation: X:26.20, Y:0.25, Z:0.84 [[ 9.95900995e-01 -7.64499708e-02 -4.83384916e-02 2.62016451e+01] [ 7.64524041e-02 9.97071605e-01 -1.80125089e-03 2.49278552e-01] [ 4.83346430e-02 -1.90172634e-03 9.98829388e-01 8.38769041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.657105680999997 meters 0.03196361440203228 Centerline is valid? [True, True] Translation: X:26.23, Y:0.25, Z:0.84 [[ 9.95265520e-01 -8.40560406e-02 -4.87967851e-02 2.62318188e+01] [ 8.40676264e-02 9.96458392e-01 -1.81850362e-03 2.53642924e-01] [ 4.87768222e-02 -2.29233594e-03 9.98807072e-01 8.42382798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.687105680999995 meters 0.03613933480212248 Centerline is valid? [True, True] Translation: X:26.26, Y:0.25, Z:0.85 [[ 9.95318065e-01 -8.52832544e-02 -4.54831480e-02 2.62615268e+01] [ 8.52946243e-02 9.96354333e-01 -1.69424657e-03 2.54092705e-01] [ 4.54618224e-02 -2.19315380e-03 9.98963669e-01 8.47301558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.717105680999996 meters 0.03261722883311629 Centerline is valid? [True, True] Translation: X:26.29, Y:0.26, Z:0.85 [[ 9.95543509e-01 -8.48866194e-02 -4.10777856e-02 2.62926980e+01] [ 8.48957136e-02 9.96388674e-01 -1.52611827e-03 2.62668451e-01] [ 4.10589873e-02 -1.96801078e-03 9.99154786e-01 8.53347101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.747105680999997 meters 0.03202613362599911 Centerline is valid? [True, True] Translation: X:26.32, Y:0.27, Z:0.86 [[ 9.96294891e-01 -7.90789438e-02 -3.38084518e-02 2.63216186e+01] [ 7.90818076e-02 9.96867340e-01 -1.25458108e-03 2.70764109e-01] [ 3.38017523e-02 -1.42370076e-03 9.99427543e-01 8.62048087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.777105680999995 meters 0.026495388206961627 Centerline is valid? [True, True] Translation: X:26.35, Y:0.29, Z:0.87 [[ 9.96934252e-01 -7.20221191e-02 -3.05763295e-02 2.63517295e+01] [ 7.20211166e-02 9.97402461e-01 -1.13554905e-03 2.91135149e-01] [ 3.05786910e-02 -1.07007365e-03 9.99531790e-01 8.66778678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.807105680999996 meters 0.025832113263347015 Centerline is valid? [True, True] Translation: X:26.38, Y:0.30, Z:0.87 [[ 9.97143665e-01 -6.89155193e-02 -3.09057040e-02 2.63826840e+01] [ 6.89129971e-02 9.97622013e-01 -1.14802878e-03 2.98243450e-01] [ 3.09113277e-02 -9.85055063e-04 9.99521645e-01 8.66944575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.837105680999997 meters 0.02281761752240646 Centerline is valid? [True, True] Translation: X:26.41, Y:0.31, Z:0.86 [[ 9.97457926e-01 -6.16848849e-02 -3.56743812e-02 2.64128527e+01] [ 6.16771841e-02 9.98095281e-01 -1.31736928e-03 3.11424729e-01] [ 3.56876933e-02 -8.86274945e-04 9.99362598e-01 8.59580890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.867105680999995 meters 0.019999723549385156 Centerline is valid? [True, True] Translation: X:26.44, Y:0.33, Z:0.85 [[ 9.97778967e-01 -5.36159542e-02 -3.95280062e-02 2.64445069e+01] [ 5.36001794e-02 9.98561411e-01 -1.45950331e-03 3.26755418e-01] [ 3.95493943e-02 -6.62446519e-04 9.99217397e-01 8.53829230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.897105680999996 meters 0.01868141162551123 Centerline is valid? [True, True] Translation: X:26.48, Y:0.34, Z:0.85 [[ 9.97992012e-01 -4.91920247e-02 -3.99009780e-02 2.64758577e+01] [ 4.91725223e-02 9.98789217e-01 -1.47062621e-03 3.35296770e-01] [ 3.99250096e-02 -4.94358514e-04 9.99202557e-01 8.54657080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.927105680999997 meters 0.017165752917516843 Centerline is valid? [True, True] Translation: X:26.51, Y:0.35, Z:0.85 [[ 9.98299644e-01 -4.10912246e-02 -4.13440739e-02 2.65072846e+01] [ 4.10634230e-02 9.99155383e-01 -1.52180605e-03 3.49066159e-01] [ 4.13716868e-02 -1.78510761e-04 9.99143809e-01 8.53644572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.957105680999994 meters 0.016894570367442123 Centerline is valid? [True, True] Translation: X:26.54, Y:0.36, Z:0.85 [[ 9.98363328e-01 -3.74679219e-02 -4.32067126e-02 2.65372328e+01] [ 3.74342974e-02 9.99297830e-01 -1.58733030e-03 3.55458472e-01] [ 4.32358482e-02 -3.26805695e-05 9.99064893e-01 8.52908691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.987105680999996 meters 0.017440979915337756 Centerline is valid? [True, True] Translation: X:26.57, Y:0.37, Z:0.85 [[ 9.98595886e-01 -3.04687863e-02 -4.33348447e-02 2.65681871e+01] [ 3.04285036e-02 9.99535683e-01 -1.58903635e-03 3.67010291e-01] [ 4.33631396e-02 2.68190684e-04 9.99059341e-01 8.53705734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.017105680999997 meters 0.0191620043372738 Centerline is valid? [True, True] Translation: X:26.60, Y:0.38, Z:0.85 [[ 9.98818586e-01 -2.32309152e-02 -4.26820539e-02 2.65971910e+01] [ 2.31852946e-02 9.99729962e-01 -1.56362669e-03 3.76095591e-01] [ 4.27068526e-02 5.72183406e-04 9.99087482e-01 8.52523904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.047105680999998 meters 0.019788336416535286 Centerline is valid? [True, True] Translation: X:26.63, Y:0.38, Z:0.85 [[ 9.98963439e-01 -1.87966337e-02 -4.14576096e-02 2.66267757e+01] [ 1.87497374e-02 9.99823053e-01 -1.51975919e-03 3.78977661e-01] [ 4.14788401e-02 7.40864576e-04 9.99139108e-01 8.53720239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.077105680999995 meters 0.020668622099212445 Centerline is valid? [True, True] Translation: X:26.65, Y:0.38, Z:0.85 [[ 9.98948821e-01 -1.80787123e-02 -4.21237918e-02 2.66543385e+01] [ 1.80295591e-02 9.99836258e-01 -1.54652033e-03 3.82413432e-01] [ 4.21448535e-02 7.85421268e-04 9.99111202e-01 8.53649424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.107105680999997 meters 0.01969346702017667 Centerline is valid? [True, True] Translation: X:26.68, Y:0.38, Z:0.85 [[ 9.98859235e-01 -1.95648290e-02 -4.35596934e-02 2.66827552e+01] [ 1.95133751e-02 9.99808306e-01 -1.60615570e-03 3.79615053e-01] [ 4.35827674e-02 7.54326815e-04 9.99049535e-01 8.52863071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.137105680999998 meters 0.02016923578871581 Centerline is valid? [True, True] Translation: X:26.71, Y:0.38, Z:0.85 [[ 9.98823822e-01 -2.06140213e-02 -4.38866226e-02 2.67105876e+01] [ 2.05621239e-02 9.99787242e-01 -1.63367090e-03 3.79707365e-01] [ 4.39109619e-02 7.29347237e-04 9.99035182e-01 8.52372620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.167105680999995 meters 0.018629113655066972 Centerline is valid? [True, True] Translation: X:26.74, Y:0.37, Z:0.85 [[ 9.98771949e-01 -2.47120393e-02 -4.29407685e-02 2.67400842e+01] [ 2.46657818e-02 9.99694462e-01 -1.60681529e-03 3.70348877e-01] [ 4.29673561e-02 5.45674410e-04 9.99076328e-01 8.53886912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.197105680999996 meters 0.01662724968766149 Centerline is valid? [True, True] Translation: X:26.77, Y:0.36, Z:0.86 [[ 9.98528133e-01 -3.36918983e-02 -4.25020524e-02 2.67689383e+01] [ 3.36541830e-02 9.99432252e-01 -1.60277768e-03 3.57517810e-01] [ 4.25319226e-02 1.70046759e-04 9.99095094e-01 8.57260862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.227105680999998 meters 0.016376573092325715 Centerline is valid? [True, True] Translation: X:26.80, Y:0.35, Z:0.86 [[ 9.98367513e-01 -3.81502606e-02 -4.25072567e-02 2.67992404e+01] [ 3.81160579e-02 9.99272014e-01 -1.61510698e-03 3.52281116e-01] [ 4.25379287e-02 -7.73871881e-06 9.99094853e-01 8.58602034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.257105680999995 meters 0.017396024168073287 Centerline is valid? [True, True] Translation: X:26.83, Y:0.34, Z:0.86 [[ 9.97934435e-01 -4.64703862e-02 -4.43550102e-02 2.68296101e+01] [ 4.64414325e-02 9.98919596e-01 -1.68356967e-03 3.40371803e-01] [ 4.43853250e-02 -3.79818067e-04 9.99014414e-01 8.58508261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.287105680999996 meters 0.018435712320404196 Centerline is valid? [True, True] Translation: X:26.86, Y:0.34, Z:0.86 [[ 9.97685949e-01 -5.05458963e-02 -4.54737292e-02 2.68604949e+01] [ 5.05198914e-02 9.98721571e-01 -1.72167951e-03 3.35224506e-01] [ 4.55026181e-02 -5.79632402e-04 9.98964051e-01 8.58856129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.317105680999997 meters 0.01966255003831091 Centerline is valid? [True, True] Translation: X:26.89, Y:0.33, Z:0.86 [[ 9.97336606e-01 -5.62982311e-02 -4.63702883e-02 2.68916144e+01] [ 5.62774013e-02 9.98413628e-01 -1.75562411e-03 3.27416300e-01] [ 4.63955662e-02 -8.58651130e-04 9.98922777e-01 8.58990968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.347105680999995 meters 0.021302668115931848 Centerline is valid? [True, True] Translation: X:26.92, Y:0.32, Z:0.86 [[ 9.97229610e-01 -6.04710867e-02 -4.33168813e-02 2.69231073e+01] [ 6.04568533e-02 9.98169465e-01 -1.63972896e-03 3.20583113e-01] [ 4.33367445e-02 -9.83616071e-04 9.99060038e-01 8.63294236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.377105680999996 meters 0.02171462256011465 Centerline is valid? [True, True] Translation: X:26.95, Y:0.32, Z:0.87 [[ 9.97164537e-01 -6.16012948e-02 -4.32222947e-02 2.69545201e+01] [ 6.15882697e-02 9.98100303e-01 -1.63417019e-03 3.19759308e-01] [ 4.32408525e-02 -1.03244979e-03 9.99064143e-01 8.65764106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.407105680999997 meters 0.021456448744881618 Centerline is valid? [True, True] Translation: X:26.98, Y:0.32, Z:0.87 [[ 9.97185299e-01 -5.99605873e-02 -4.50134176e-02 2.69849149e+01] [ 5.99448794e-02 9.98200241e-01 -1.69994250e-03 3.23586193e-01] [ 4.50343338e-02 -1.00316621e-03 9.98984936e-01 8.67602266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.437105680999995 meters 0.02010580074796952 Centerline is valid? [True, True] Translation: X:27.01, Y:0.33, Z:0.87 [[ 9.97415680e-01 -5.56658247e-02 -4.54233093e-02 2.70147286e+01] [ 5.56454560e-02 9.98449121e-01 -1.71373297e-03 3.31163031e-01] [ 4.54482596e-02 -8.18296622e-04 9.98966359e-01 8.67665505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.467105680999996 meters 0.019664427725774175 Centerline is valid? [True, True] Translation: X:27.05, Y:0.33, Z:0.87 [[ 9.97462747e-01 -5.41106997e-02 -4.62612271e-02 2.70453659e+01] [ 5.40880855e-02 9.98534650e-01 -1.74137696e-03 3.33531138e-01] [ 4.62876653e-02 -7.65222555e-04 9.98927858e-01 8.65883923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.497105680999997 meters 0.01894521877293576 Centerline is valid? [True, True] Translation: X:27.08, Y:0.34, Z:0.86 [[ 9.97417119e-01 -5.26848969e-02 -4.88199907e-02 2.70764599e+01] [ 5.26580747e-02 9.98610913e-01 -1.83629300e-03 3.38832266e-01] [ 4.88489204e-02 -7.39216643e-04 9.98805905e-01 8.63858341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.527105680999995 meters 0.020366124968471514 Centerline is valid? [True, True] Translation: X:27.11, Y:0.34, Z:0.87 [[ 9.97324976e-01 -5.56813301e-02 -4.73548514e-02 2.71068665e+01] [ 5.56595567e-02 9.98448220e-01 -1.77930755e-03 3.41323561e-01] [ 4.73804413e-02 -8.61202177e-04 9.98876545e-01 8.68197966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.557105680999996 meters 0.021416638894233155 Centerline is valid? [True, True] Translation: X:27.14, Y:0.34, Z:0.87 [[ 9.97272921e-01 -5.82394666e-02 -4.53308436e-02 2.71384428e+01] [ 5.82222071e-02 9.98302197e-01 -1.70208568e-03 3.41741954e-01] [ 4.53530093e-02 -9.41817800e-04 9.98970579e-01 8.72688107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.587105680999997 meters 0.021916322051172436 Centerline is valid? [True, True] Translation: X:27.17, Y:0.35, Z:0.88 [[ 9.97221697e-01 -6.15265079e-02 -4.19925643e-02 2.71698643e+01] [ 6.15146896e-02 9.98104936e-01 -1.57475503e-03 3.45561632e-01] [ 4.20098749e-02 -1.01277968e-03 9.99116682e-01 8.80264181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.617105680999995 meters 0.021916322051172436 Centerline is valid? [True, True] Translation: X:27.20, Y:0.35, Z:0.88 [[ 9.97227408e-01 -6.14337847e-02 -4.19927110e-02 2.72015247e+01] [ 6.14220494e-02 9.98110647e-01 -1.57083322e-03 3.46653290e-01] [ 4.20098742e-02 -1.01280043e-03 9.99116682e-01 8.81436863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.647105680999996 meters 0.022556756735562195 Centerline is valid? [True, True] Translation: X:27.23, Y:0.35, Z:0.88 [[ 9.97267913e-01 -6.20427833e-02 -4.00924337e-02 2.72324429e+01] [ 6.20327274e-02 9.98072995e-01 -1.49599191e-03 3.49653697e-01] [ 4.01079909e-02 -9.95138280e-04 9.99194855e-01 8.84559597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.677105680999997 meters 0.022668739487395725 Centerline is valid? [True, True] Translation: X:27.26, Y:0.36, Z:0.88 [[ 9.97303727e-01 -6.22918147e-02 -3.87944053e-02 2.72643037e+01] [ 6.22828047e-02 9.98057500e-01 -1.44195054e-03 3.55251053e-01] [ 3.88088689e-02 -9.78161720e-04 9.99246173e-01 8.84945352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.707105680999994 meters 0.022983027401478614 Centerline is valid? [True, True] Translation: X:27.30, Y:0.36, Z:0.88 [[ 9.97280245e-01 -6.23396338e-02 -3.93177099e-02 2.72957016e+01] [ 6.23305574e-02 9.98054496e-01 -1.45782208e-03 3.58384432e-01] [ 3.93320972e-02 -9.96837611e-04 9.99225696e-01 8.83598557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.737105680999996 meters 0.02305422335576766 Centerline is valid? [True, True] Translation: X:27.33, Y:0.36, Z:0.88 [[ 9.97177850e-01 -6.39011345e-02 -3.94078858e-02 2.73274651e+01] [ 6.38933424e-02 9.97955667e-01 -1.45842758e-03 3.62152789e-01] [ 3.94205181e-02 -1.06358986e-03 9.99222143e-01 8.84871986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.767105680999997 meters 0.025027924174170813 Centerline is valid? [True, True] Translation: X:27.36, Y:0.37, Z:0.89 [[ 9.96860783e-01 -6.85036182e-02 -3.96967829e-02 2.73597722e+01] [ 6.84995012e-02 9.97650074e-01 -1.46544519e-03 3.66235762e-01] [ 3.97038867e-02 -1.25836499e-03 9.99210697e-01 8.87292792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.797105680999994 meters 0.02617355552466133 Centerline is valid? [True, True] Translation: X:27.39, Y:0.37, Z:0.89 [[ 9.96712175e-01 -7.03023805e-02 -4.02792279e-02 2.73904962e+01] [ 7.02997698e-02 9.97524808e-01 -1.48295126e-03 3.68321532e-01] [ 4.02837841e-02 -1.35354487e-03 9.99187362e-01 8.88063987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.827105680999995 meters 0.025759569515621052 Centerline is valid? [True, True] Translation: X:27.42, Y:0.37, Z:0.89 [[ 9.96743179e-01 -6.98771939e-02 -4.02518649e-02 2.74230164e+01] [ 6.98744902e-02 9.97554699e-01 -1.47574928e-03 3.71882936e-01] [ 4.02565582e-02 -1.34163551e-03 9.99188475e-01 8.88807280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.857105680999997 meters 0.024908140859205723 Centerline is valid? [True, True] Translation: X:27.45, Y:0.38, Z:0.89 [[ 9.97010156e-01 -6.50589031e-02 -4.16903872e-02 2.74529267e+01] [ 6.50519486e-02 9.97880714e-01 -1.52484104e-03 3.80212517e-01] [ 4.17012378e-02 -1.19175892e-03 9.99129414e-01 8.87235596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.887105680999998 meters 0.020920324843601224 Centerline is valid? [True, True] Translation: X:27.48, Y:0.40, Z:0.89 [[ 9.97516467e-01 -5.67458484e-02 -4.17229644e-02 2.74842492e+01] [ 5.67316649e-02 9.98388298e-01 -1.52484573e-03 3.96325071e-01] [ 4.17422481e-02 -8.45954507e-04 9.99128054e-01 8.87266552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.917105680999995 meters 0.018289921982734145 Centerline is valid? [True, True] Translation: X:27.51, Y:0.41, Z:0.89 [[ 9.98112674e-01 -4.57494322e-02 -4.09643673e-02 2.75148703e+01] [ 4.57266093e-02 9.98952874e-01 -1.49443147e-03 4.14133415e-01] [ 4.09898418e-02 -3.81550626e-04 9.99159490e-01 8.89853529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.947105680999996 meters 0.017646835742263774 Centerline is valid? [True, True] Translation: X:27.55, Y:0.42, Z:0.89 [[ 9.98265720e-01 -4.02560775e-02 -4.29534620e-02 2.75458650e+01] [ 4.02259953e-02 9.99189382e-01 -1.56478822e-03 4.23776983e-01] [ 4.29816353e-02 -1.65771321e-04 9.99075849e-01 8.88897072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.977105680999998 meters 0.01829336978501643 Centerline is valid? [True, True] Translation: X:27.58, Y:0.44, Z:0.88 [[ 9.98314561e-01 -3.00819091e-02 -4.96297863e-02 2.75765458e+01] [ 3.00293586e-02 9.99547389e-01 -1.80431433e-03 4.38352133e-01] [ 4.96616005e-02 3.10922620e-04 9.98766053e-01 8.79810299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.007105680999995 meters 0.01975736862428052 Centerline is valid? [True, True] Translation: X:27.61, Y:0.44, Z:0.87 [[ 9.98406293e-01 -2.42915745e-02 -5.09391079e-02 2.76052645e+01] [ 2.42287294e-02 9.99704728e-01 -1.85095389e-03 4.43539143e-01] [ 5.09690296e-02 6.13814149e-04 9.98700046e-01 8.74215120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.037105680999996 meters 0.019772149674148778 Centerline is valid? [True, True] Translation: X:27.63, Y:0.45, Z:0.88 [[ 9.98469497e-01 -2.35356824e-02 -5.00473213e-02 2.76330583e+01] [ 2.34736679e-02 9.99722787e-01 -1.82660332e-03 4.45821739e-01] [ 5.00764379e-02 6.49013502e-04 9.98745177e-01 8.76979427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.067105680999997 meters 0.01954382545016252 Centerline is valid? [True, True] Translation: X:27.66, Y:0.45, Z:0.88 [[ 9.98494790e-01 -2.36903990e-02 -4.94663444e-02 2.76620071e+01] [ 2.36291483e-02 9.99719131e-01 -1.82272810e-03 4.48246539e-01] [ 4.94956320e-02 6.51136929e-04 9.98774128e-01 8.81869611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.097105680999995 meters 0.019377727004880337 Centerline is valid? [True, True] Translation: X:27.69, Y:0.45, Z:0.88 [[ 9.98490558e-01 -2.54564183e-02 -4.86680235e-02 2.76902027e+01] [ 2.53984586e-02 9.99675770e-01 -1.80906013e-03 4.47649852e-01] [ 4.86982960e-02 5.70236674e-04 9.98813371e-01 8.83618636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.127105680999996 meters 0.01814845972886543 Centerline is valid? [True, True] Translation: X:27.72, Y:0.44, Z:0.89 [[ 9.98358401e-01 -3.20660888e-02 -4.74580823e-02 2.77193384e+01] [ 3.20177189e-02 9.99485718e-01 -1.77923696e-03 4.38423087e-01] [ 4.74907286e-02 2.56816622e-04 9.98871646e-01 8.86364914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.157105680999997 meters 0.017841205121094272 Centerline is valid? [True, True] Translation: X:27.75, Y:0.43, Z:0.89 [[ 9.98193569e-01 -3.83423278e-02 -4.62543581e-02 2.77492698e+01] [ 3.83025613e-02 9.99264662e-01 -1.74605995e-03 4.26446857e-01] [ 4.62872935e-02 -2.87545741e-05 9.98928168e-01 8.87652654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.187105680999995 meters 0.017826770535791077 Centerline is valid? [True, True] Translation: X:27.78, Y:0.42, Z:0.89 [[ 9.98199772e-01 -3.99232740e-02 -4.47587732e-02 2.77807725e+01] [ 3.98876064e-02 9.99202743e-01 -1.69006772e-03 4.23519874e-01] [ 4.47905620e-02 -9.82951171e-05 9.98996394e-01 8.90846511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.217105680999996 meters 0.01795553889644146 Centerline is valid? [True, True] Translation: X:27.81, Y:0.42, Z:0.90 [[ 9.98420619e-01 -4.00959446e-02 -3.93520489e-02 2.78111805e+01] [ 4.00685760e-02 9.99195830e-01 -1.48424843e-03 4.23206852e-01] [ 3.93799155e-02 -9.48763252e-05 9.99224306e-01 9.00941671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.247105680999997 meters 0.018009910107426596 Centerline is valid? [True, True] Translation: X:27.84, Y:0.42, Z:0.91 [[ 9.98524484e-01 -3.96130283e-02 -3.71438153e-02 2.78435915e+01] [ 3.95884183e-02 9.99215093e-01 -1.39809931e-03 4.24203613e-01] [ 3.71700438e-02 -7.44285091e-05 9.99308952e-01 9.05389251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.277105680999995 meters 0.017829143442155308 Centerline is valid? [True, True] Translation: X:27.88, Y:0.42, Z:0.90 [[ 9.98460543e-01 -3.96180040e-02 -3.88195454e-02 2.78751323e+01] [ 3.95912649e-02 9.99214895e-01 -1.45761116e-03 4.17841243e-01] [ 3.88468156e-02 -8.15476786e-05 9.99245174e-01 9.01789767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.307105680999996 meters 0.018009622020709336 Centerline is valid? [True, True] Translation: X:27.91, Y:0.42, Z:0.90 [[ 9.98278806e-01 -4.18964804e-02 -4.10379148e-02 2.79063996e+01] [ 4.18686344e-02 9.99121940e-01 -1.53814856e-03 4.15226603e-01] [ 4.10663240e-02 -1.82700339e-04 9.99156406e-01 9.00207379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.337105680999997 meters 0.018806437550608356 Centerline is valid? [True, True] Translation: X:27.94, Y:0.41, Z:0.90 [[ 9.98104042e-01 -4.62536648e-02 -4.06069031e-02 2.79384043e+01] [ 4.62300746e-02 9.98929662e-01 -1.52026901e-03 4.08824060e-01] [ 4.06337580e-02 -3.59873511e-04 9.99174043e-01 9.02387597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.367105680999995 meters 0.019119909737671845 Centerline is valid? [True, True] Translation: X:27.97, Y:0.41, Z:0.91 [[ 9.98122222e-01 -4.73409636e-02 -3.88698256e-02 2.79704560e+01] [ 4.73202378e-02 9.98878712e-01 -1.45356557e-03 4.06430448e-01] [ 3.88950545e-02 -3.88493293e-04 9.99243226e-01 9.06427222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.397105680999996 meters 0.019202096684057094 Centerline is valid? [True, True] Translation: X:28.00, Y:0.40, Z:0.91 [[ 9.98069011e-01 -4.98462782e-02 -3.70620855e-02 2.80029260e+01] [ 4.98292737e-02 9.98756793e-01 -1.38294955e-03 4.02136723e-01] [ 3.70849445e-02 -4.66497709e-04 9.99312008e-01 9.10808970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.427105680999997 meters 0.020509976474501444 Centerline is valid? [True, True] Translation: X:28.03, Y:0.39, Z:0.91 [[ 9.98028712e-01 -5.11981259e-02 -3.62965861e-02 2.80340923e+01] [ 5.11828326e-02 9.98688386e-01 -1.35101535e-03 3.94302220e-01] [ 3.63181484e-02 -5.09409975e-04 9.99340149e-01 9.13864433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.457105680999994 meters 0.01946007326835546 Centerline is valid? [True, True] Translation: X:28.07, Y:0.40, Z:0.92 [[ 9.98099321e-01 -4.99831768e-02 -3.60475774e-02 2.80666520e+01] [ 4.99673892e-02 9.98749952e-01 -1.33929094e-03 3.96877729e-01] [ 3.60694582e-02 -4.64457955e-04 9.99349177e-01 9.15772745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.487105680999996 meters 0.01836165891873215 Centerline is valid? [True, True] Translation: X:28.10, Y:0.40, Z:0.91 [[ 9.98300202e-01 -4.32943243e-02 -3.90167774e-02 2.80974863e+01] [ 4.32709101e-02 9.99062331e-01 -1.44477107e-03 4.01240623e-01] [ 3.90427430e-02 -2.45976216e-04 9.99237511e-01 9.14654974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.517105680999997 meters 0.017770298509258462 Centerline is valid? [True, True] Translation: X:28.13, Y:0.41, Z:0.91 [[ 9.98404244e-01 -3.76783511e-02 -4.20631265e-02 2.81283221e+01] [ 3.76462809e-02 9.99289918e-01 -1.55456134e-03 4.07572819e-01] [ 4.20918316e-02 -3.14396336e-05 9.99113746e-01 9.11737498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.547105680999994 meters 0.019318894965734343 Centerline is valid? [True, True] Translation: X:28.16, Y:0.42, Z:0.90 [[ 9.98561369e-01 -2.65555932e-02 -4.65831852e-02 2.81589409e+01] [ 2.65042656e-02 9.99647222e-01 -1.71927371e-03 4.16570860e-01] [ 4.66124080e-02 4.82147202e-04 9.98912935e-01 9.02931815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.577105680999995 meters 0.02048414960486167 Centerline is valid? [True, True] Translation: X:28.19, Y:0.42, Z:0.90 [[ 9.98692282e-01 -2.30731550e-02 -4.56218660e-02 2.81878000e+01] [ 2.30202501e-02 9.99733579e-01 -1.68475778e-03 4.17398296e-01] [ 4.56485841e-02 6.32327828e-04 9.98957360e-01 9.02345452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.607105680999997 meters 0.020098093504731556 Centerline is valid? [True, True] Translation: X:28.22, Y:0.42, Z:0.90 [[ 9.98651808e-01 -2.44686832e-02 -4.57804457e-02 2.82162264e+01] [ 2.44162330e-02 9.99700426e-01 -1.70460990e-03 4.16263749e-01] [ 4.58084406e-02 5.84525729e-04 9.98950071e-01 9.03536636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.637105680999994 meters 0.018675550279931143 Centerline is valid? [True, True] Translation: X:28.25, Y:0.41, Z:0.90 [[ 9.98448661e-01 -2.91639116e-02 -4.74313933e-02 2.82451395e+01] [ 2.91121843e-02 9.99574564e-01 -1.78115598e-03 4.10036516e-01] [ 4.74631597e-02 3.97561336e-04 9.98872910e-01 9.04796716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.667105680999995 meters 0.017909803014298623 Centerline is valid? [True, True] Translation: X:28.27, Y:0.40, Z:0.91 [[ 9.98190624e-01 -3.55483321e-02 -4.84952953e-02 2.82745506e+01] [ 3.55010038e-02 9.99367952e-01 -1.83718287e-03 4.03702748e-01] [ 4.85299527e-02 1.12227055e-04 9.98821721e-01 9.05952725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.697105680999996 meters 0.01784025043196627 Centerline is valid? [True, True] Translation: X:28.30, Y:0.40, Z:0.91 [[ 9.98090384e-01 -3.84254370e-02 -4.83639360e-02 2.83043298e+01] [ 3.83811385e-02 9.99261470e-01 -1.84462452e-03 4.01248428e-01] [ 4.83990983e-02 -1.51609300e-05 9.98828077e-01 9.07913656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.727105680999998 meters 0.01781464518925283 Centerline is valid? [True, True] Translation: X:28.33, Y:0.40, Z:0.91 [[ 9.98080606e-01 -4.23509442e-02 -4.51829707e-02 2.83335438e+01] [ 4.23162237e-02 9.99102778e-01 -1.72506889e-03 3.95193503e-01] [ 4.52154898e-02 -1.90214887e-04 9.98977239e-01 9.11921119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.757105680999995 meters 0.018115263576912198 Centerline is valid? [True, True] Translation: X:28.36, Y:0.39, Z:0.92 [[ 9.98044968e-01 -4.56304603e-02 -4.27095100e-02 2.83645433e+01] [ 4.56024056e-02 9.98958337e-01 -1.63142378e-03 3.89435688e-01] [ 4.27394637e-02 -3.19422101e-04 9.99086201e-01 9.16173328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.787105680999996 meters 0.018711291142833018 Centerline is valid? [True, True] Translation: X:28.40, Y:0.39, Z:0.92 [[ 9.97972933e-01 -4.78482754e-02 -4.19591180e-02 2.83952928e+01] [ 4.78231618e-02 9.98854532e-01 -1.60264847e-03 3.86905256e-01] [ 4.19877391e-02 -4.07217890e-04 9.99118043e-01 9.18092384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.817105680999997 meters 0.01961513284404909 Centerline is valid? [True, True] Translation: X:28.43, Y:0.38, Z:0.92 [[ 9.97799662e-01 -5.33912704e-02 -3.93091189e-02 2.84263364e+01] [ 5.33735620e-02 9.98573488e-01 -1.50054274e-03 3.83896272e-01] [ 3.93331599e-02 -6.00826660e-04 9.99225971e-01 9.23573812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.847105680999995 meters 0.020648723002656442 Centerline is valid? [True, True] Translation: X:28.46, Y:0.38, Z:0.93 [[ 9.97678260e-01 -5.69152715e-02 -3.73997435e-02 2.84580240e+01] [ 5.69017780e-02 9.98378763e-01 -1.42598654e-03 3.82075444e-01] [ 3.74202701e-02 -7.05436128e-04 9.99299367e-01 9.27183568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.877105680999996 meters 0.024589205219904882 Centerline is valid? [True, True] Translation: X:28.49, Y:0.37, Z:0.93 [[ 9.97406494e-01 -6.25993558e-02 -3.55190864e-02 2.84883088e+01] [ 6.25908422e-02 9.98038354e-01 -1.35266795e-03 3.74289565e-01] [ 3.55340867e-02 -8.74009732e-04 9.99368083e-01 9.30567174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.907105680999997 meters 0.02317298695474821 Centerline is valid? [True, True] Translation: X:28.52, Y:0.38, Z:0.93 [[ 9.97244144e-01 -6.42004721e-02 -3.71808709e-02 2.85206186e+01] [ 6.41922897e-02 9.97936545e-01 -1.41503914e-03 3.77421091e-01] [ 3.71949960e-02 -9.75585746e-04 9.99307551e-01 9.28785542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.937105680999995 meters 0.022228676517624987 Centerline is valid? [True, True] Translation: X:28.55, Y:0.38, Z:0.93 [[ 9.97459350e-01 -5.94165313e-02 -3.93003857e-02 2.85506979e+01] [ 5.94038250e-02 9.98232918e-01 -1.49201395e-03 3.83038057e-01] [ 3.93195890e-02 -8.46369972e-04 9.99226328e-01 9.29127698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.967105680999996 meters 0.020771429407358818 Centerline is valid? [True, True] Translation: X:28.58, Y:0.39, Z:0.93 [[ 9.97684300e-01 -5.52865531e-02 -3.96160965e-02 2.85819921e+01] [ 5.52704263e-02 9.98470290e-01 -1.50303036e-03 3.89042118e-01] [ 3.96385928e-02 -6.90048748e-04 9.99213844e-01 9.30405183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.997105680999997 meters 0.018303921999953596 Centerline is valid? [True, True] Translation: X:28.61, Y:0.40, Z:0.93 [[ 9.98017188e-01 -4.67035282e-02 -4.21956581e-02 2.86136123e+01] [ 4.66776531e-02 9.98908725e-01 -1.59878394e-03 3.99695283e-01] [ 4.22242799e-02 -3.73980433e-04 9.99108087e-01 9.29351255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.027105680999995 meters 0.017686843959590307 Centerline is valid? [True, True] Translation: X:28.65, Y:0.40, Z:0.93 [[ 9.98158826e-01 -4.18687765e-02 -4.38857931e-02 2.86450281e+01] [ 4.18362481e-02 9.99123102e-01 -1.65979755e-03 4.04949800e-01] [ 4.39168034e-02 -1.79275358e-04 9.99035176e-01 9.28407369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.057105680999996 meters 0.01798933762248902 Centerline is valid? [True, True] Translation: X:28.68, Y:0.41, Z:0.93 [[ 9.98393210e-01 -3.27374732e-02 -4.62520911e-02 2.86751439e+01] [ 3.26916596e-02 9.99463958e-01 -1.74680888e-03 4.13946326e-01] [ 4.62844841e-02 2.31944507e-04 9.98928272e-01 9.25793241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.087105680999997 meters 0.019332648936225296 Centerline is valid? [True, True] Translation: X:28.70, Y:0.42, Z:0.92 [[ 9.98570171e-01 -2.58973832e-02 -4.67647241e-02 2.87034629e+01] [ 2.58431465e-02 9.99664454e-01 -1.76411261e-03 4.20321247e-01] [ 4.67947183e-02 5.53042618e-04 9.98904374e-01 9.24761912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.117105680999995 meters 0.02120746729460837 Centerline is valid? [True, True] Translation: X:28.73, Y:0.43, Z:0.93 [[ 9.98706066e-01 -1.89935827e-02 -4.71745425e-02 2.87323026e+01] [ 1.89305434e-02 9.99819212e-01 -1.78274675e-03 4.26309789e-01] [ 4.71998746e-02 8.87400269e-04 9.98885071e-01 9.25388722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.147105680999996 meters 0.021782189045673816 Centerline is valid? [True, True] Translation: X:28.76, Y:0.43, Z:0.93 [[ 9.98769921e-01 -1.71932424e-02 -4.65084722e-02 2.87605693e+01] [ 1.71298534e-02 9.99851722e-01 -1.76119974e-03 4.27617384e-01] [ 4.65318568e-02 9.62350013e-04 9.98916343e-01 9.26420643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.177105680999997 meters 0.020864278719029582 Centerline is valid? [True, True] Translation: X:28.79, Y:0.42, Z:0.93 [[ 9.98751234e-01 -1.95496178e-02 -4.59759192e-02 2.87892174e+01] [ 1.94898367e-02 9.99808527e-01 -1.74822227e-03 4.23360405e-01] [ 4.60012931e-02 8.49975998e-04 9.98941019e-01 9.27952315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.207105680999994 meters 0.020156268020743988 Centerline is valid? [True, True] Translation: X:28.82, Y:0.42, Z:0.93 [[ 9.98677164e-01 -2.29574793e-02 -4.60095226e-02 2.88175762e+01] [ 2.29005325e-02 9.99736191e-01 -1.76450605e-03 4.21382340e-01] [ 4.60378935e-02 7.08529330e-04 9.98939443e-01 9.29067190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.237105680999996 meters 0.017905621889494693 Centerline is valid? [True, True] Translation: X:28.85, Y:0.41, Z:0.93 [[ 9.98357547e-01 -3.25433739e-02 -4.71501552e-02 2.88466103e+01] [ 3.24935145e-02 9.99470282e-01 -1.82374118e-03 4.12826765e-01] [ 4.71845296e-02 2.88671516e-04 9.98886148e-01 9.29428403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.267105680999997 meters 0.017442930904824495 Centerline is valid? [True, True] Translation: X:28.88, Y:0.40, Z:0.93 [[ 9.97900869e-01 -4.35409585e-02 -4.79378920e-02 2.88753728e+01] [ 4.35013452e-02 9.99051619e-01 -1.86981399e-03 4.01386330e-01] [ 4.79738421e-02 -2.19473784e-04 9.98848568e-01 9.30269689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.297105680999994 meters 0.01805023906273813 Centerline is valid? [True, True] Translation: X:28.91, Y:0.40, Z:0.93 [[ 9.97628292e-01 -4.84787183e-02 -4.88631330e-02 2.89050947e+01] [ 4.84428619e-02 9.98824113e-01 -1.91848512e-03 3.96943386e-01] [ 4.88986812e-02 -4.53134976e-04 9.98803641e-01 9.30711358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.327105680999995 meters 0.020514267996340596 Centerline is valid? [True, True] Translation: X:28.93, Y:0.39, Z:0.93 [[ 9.97118597e-01 -5.73019532e-02 -4.97090601e-02 2.89347577e+01] [ 5.72756932e-02 9.98356488e-01 -1.95372785e-03 3.88722321e-01] [ 4.97393151e-02 -8.99022506e-04 9.98761830e-01 9.29882135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.357105680999997 meters 0.02140443532984174 Centerline is valid? [True, True] Translation: X:28.96, Y:0.39, Z:0.93 [[ 9.96905874e-01 -6.08236982e-02 -4.97911263e-02 2.89644587e+01] [ 6.08016670e-02 9.98147946e-01 -1.95839041e-03 3.87374143e-01] [ 4.98180270e-02 -1.07505257e-03 9.98757733e-01 9.31692847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.387105680999994 meters 0.023728263043254625 Centerline is valid? [True, True] Translation: X:29.00, Y:0.39, Z:0.94 [[ 9.96539211e-01 -6.69223581e-02 -4.93051544e-02 2.89951677e+01] [ 6.69081236e-02 9.97757253e-01 -1.94096343e-03 3.86102997e-01] [ 4.93244693e-02 -1.36466920e-03 9.98781875e-01 9.35858217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.417105680999995 meters 0.026433445091893007 Centerline is valid? [True, True] Translation: X:29.02, Y:0.38, Z:0.94 [[ 9.96268893e-01 -7.23475619e-02 -4.70544716e-02 2.90245268e+01] [ 7.23406246e-02 9.97378264e-01 -1.85257093e-03 3.83871241e-01] [ 4.70651362e-02 -1.55829107e-03 9.98890607e-01 9.40316997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.447105680999996 meters 0.030582781293540324 Centerline is valid? [True, True] Translation: X:29.05, Y:0.38, Z:0.94 [[ 9.96001506e-01 -7.80021054e-02 -4.35507950e-02 2.90548193e+01] [ 7.80015273e-02 9.96951764e-01 -1.71519107e-03 3.77595271e-01] [ 4.35518304e-02 -1.68869564e-03 9.99049742e-01 9.44347299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.477105680999994 meters 0.03244189094966801 Centerline is valid? [True, True] Translation: X:29.09, Y:0.38, Z:0.95 [[ 9.95826585e-01 -8.06168838e-02 -4.27823529e-02 2.90850448e+01] [ 8.06187724e-02 9.96743587e-01 -1.68399172e-03 3.76385548e-01] [ 4.27787941e-02 -1.77209705e-03 9.99082997e-01 9.46180842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.507105680999995 meters 0.03244189094966801 Centerline is valid? [True, True] Translation: X:29.12, Y:0.38, Z:0.95 [[ 9.95829991e-01 -8.05747801e-02 -4.27823934e-02 2.91158715e+01] [ 8.05766740e-02 9.96746993e-01 -1.68296263e-03 3.77550236e-01] [ 4.27788263e-02 -1.77131830e-03 9.99082997e-01 9.47323382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.537105680999996 meters 0.034280514548256986 Centerline is valid? [True, True] Translation: X:29.15, Y:0.38, Z:0.95 [[ 9.95370694e-01 -8.60809932e-02 -4.27462794e-02 2.91466936e+01] [ 8.60880190e-02 9.96286119e-01 -1.67985213e-03 3.80730232e-01] [ 4.27321281e-02 -2.00786693e-03 9.99084548e-01 9.49165744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.567105680999997 meters 0.03751550847619653 Centerline is valid? [True, True] Translation: X:29.18, Y:0.38, Z:0.95 [[ 9.94810031e-01 -9.08095791e-02 -4.58979489e-02 2.91762153e+01] [ 9.08227627e-02 9.95865441e-01 -1.80239311e-03 3.83592552e-01] [ 4.58718557e-02 -2.37553978e-03 9.98944508e-01 9.47238035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.597105680999995 meters 0.036540111800700346 Centerline is valid? [True, True] Translation: X:29.21, Y:0.39, Z:0.95 [[ 9.94620753e-01 -9.21238704e-02 -4.73576925e-02 2.92071784e+01] [ 9.21395081e-02 9.95744376e-01 -1.85733143e-03 3.89169488e-01] [ 4.73272605e-02 -2.51617410e-03 9.98876268e-01 9.46696914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.627105680999996 meters 0.034253444720478664 Centerline is valid? [True, True] Translation: X:29.24, Y:0.40, Z:0.94 [[ 9.94630690e-01 -9.06296511e-02 -4.99605530e-02 2.92383099e+01] [ 9.06453017e-02 9.95881318e-01 -1.95709217e-03 3.99280725e-01] [ 4.99321520e-02 -2.58210547e-03 9.98749274e-01 9.43999882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.657105680999997 meters 0.034897052479243164 Centerline is valid? [True, True] Translation: X:29.27, Y:0.40, Z:0.94 [[ 9.94689010e-01 -8.91075208e-02 -5.15133251e-02 2.92691450e+01] [ 8.91222547e-02 9.96018655e-01 -2.01551240e-03 4.02566835e-01] [ 5.14878301e-02 -2.58617564e-03 9.98670273e-01 9.42311460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.687105680999995 meters 0.03210268704316971 Centerline is valid? [True, True] Translation: X:29.30, Y:0.41, Z:0.94 [[ 9.94897572e-01 -8.57260733e-02 -5.31964344e-02 2.92998158e+01] [ 8.57371044e-02 9.96315626e-01 -2.07888706e-03 4.14365537e-01] [ 5.31786537e-02 -2.49262856e-03 9.98581903e-01 9.43567929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.717105680999996 meters 0.0324814266812999 Centerline is valid? [True, True] Translation: X:29.33, Y:0.43, Z:0.95 [[ 9.95583841e-01 -7.88646805e-02 -5.09232473e-02 2.93288900e+01] [ 7.88658937e-02 9.96883251e-01 -1.98867276e-03 4.26275822e-01] [ 5.09213683e-02 -2.03621694e-03 9.98700590e-01 9.47846937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.747105680999997 meters 0.029544063453007932 Centerline is valid? [True, True] Translation: X:29.36, Y:0.44, Z:0.95 [[ 9.95864904e-01 -7.56218155e-02 -5.03431634e-02 2.93597864e+01] [ 7.56188604e-02 9.97134857e-01 -1.96608652e-03 4.37258203e-01] [ 5.03476020e-02 -1.84893607e-03 9.98730044e-01 9.50839774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.777105680999995 meters 0.023884787305832763 Centerline is valid? [True, True] Translation: X:29.39, Y:0.45, Z:0.95 [[ 9.96406161e-01 -6.80538649e-02 -5.04324629e-02 2.93897632e+01] [ 6.80413130e-02 9.97680564e-01 -1.96767897e-03 4.54876889e-01] [ 5.04493962e-02 -1.47088355e-03 9.98725535e-01 9.51844613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.807105680999996 meters 0.020738502748180152 Centerline is valid? [True, True] Translation: X:29.42, Y:0.47, Z:0.95 [[ 9.97053995e-01 -5.84283481e-02 -4.96936536e-02 2.94192277e+01] [ 5.84042538e-02 9.98291133e-01 -1.93801879e-03 4.70865891e-01] [ 4.97219690e-02 -9.70011382e-04 9.98762627e-01 9.51631051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.837105680999997 meters 0.019133250562327977 Centerline is valid? [True, True] Translation: X:29.45, Y:0.48, Z:0.95 [[ 9.97293893e-01 -5.39634464e-02 -4.99283266e-02 2.94508247e+01] [ 5.39335933e-02 9.98542628e-01 -1.94595869e-03 4.79111637e-01] [ 4.99605731e-02 -7.52121344e-04 9.98750908e-01 9.52211863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.867105680999995 meters 0.01772857019423501 Centerline is valid? [True, True] Translation: X:29.48, Y:0.49, Z:0.95 [[ 9.97680388e-01 -4.66576783e-02 -4.95671787e-02 2.94816139e+01] [ 4.66194423e-02 9.98910862e-01 -1.92785694e-03 4.90009746e-01] [ 4.96031426e-02 -3.87409165e-04 9.98768931e-01 9.52892133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.897105680999996 meters 0.017280553332605274 Centerline is valid? [True, True] Translation: X:29.51, Y:0.50, Z:0.96 [[ 9.98007517e-01 -4.27995838e-02 -4.63593819e-02 2.95126866e+01] [ 4.27620724e-02 9.99083661e-01 -1.80104021e-03 5.00108442e-01] [ 4.63939848e-02 -1.84971576e-04 9.98923202e-01 9.60014936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.927105680999997 meters 0.017184252147061485 Centerline is valid? [True, True] Translation: X:29.54, Y:0.50, Z:0.96 [[ 9.98114847e-01 -4.16780856e-02 -4.50520687e-02 2.95444171e+01] [ 4.16416289e-02 9.99131082e-01 -1.74781643e-03 5.04516146e-01] [ 4.50857678e-02 -1.31519993e-04 9.98983111e-01 9.63761101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.957105680999994 meters 0.017141423499002634 Centerline is valid? [True, True] Translation: X:29.58, Y:0.51, Z:0.97 [[ 9.98426068e-01 -3.61943883e-02 -4.28410257e-02 2.95758223e+01] [ 3.61565409e-02 9.99344763e-01 -1.65821189e-03 5.09438158e-01] [ 4.28729727e-02 1.06618679e-04 9.99080526e-01 9.67091258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.987105680999996 meters 0.01744065901975995 Centerline is valid? [True, True] Translation: X:29.61, Y:0.51, Z:0.97 [[ 9.98546920e-01 -3.29899402e-02 -4.26111789e-02 2.96056366e+01] [ 3.29497316e-02 9.99455655e-01 -1.64579368e-03 5.11875794e-01] [ 4.26422783e-02 2.39375302e-04 9.99090376e-01 9.67069275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.017105680999997 meters 0.018302988396629118 Centerline is valid? [True, True] Translation: X:29.64, Y:0.51, Z:0.97 [[ 9.98714866e-01 -2.65183212e-02 -4.31902100e-02 2.96363446e+01] [ 2.64710059e-02 9.99648191e-01 -1.66715418e-03 5.14849216e-01] [ 4.32192255e-02 5.21723362e-04 9.99065477e-01 9.67982187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.047105680999994 meters 0.020322949649437417 Centerline is valid? [True, True] Translation: X:29.67, Y:0.52, Z:0.97 [[ 9.98855955e-01 -2.00705607e-02 -4.34045377e-02 2.96652780e+01] [ 2.00167218e-02 9.99798243e-01 -1.67469882e-03 5.20308909e-01] [ 4.34293926e-02 8.03966333e-04 9.99056175e-01 9.70392716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.077105680999995 meters 0.020830615452089373 Centerline is valid? [True, True] Translation: X:29.69, Y:0.52, Z:0.97 [[ 9.98785840e-01 -1.79355689e-02 -4.58820423e-02 2.96945350e+01] [ 1.78730809e-02 9.99838694e-01 -1.77184033e-03 5.20317861e-01] [ 4.59064202e-02 9.49635577e-04 9.98945293e-01 9.69400592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.107105680999997 meters 0.022759447844367776 Centerline is valid? [True, True] Translation: X:29.72, Y:0.52, Z:0.96 [[ 9.98513803e-01 -1.68319274e-02 -5.18350472e-02 2.97232602e+01] [ 1.67504228e-02 9.99857689e-01 -2.00643632e-03 5.15633509e-01] [ 5.18614427e-02 1.13519540e-03 9.98653645e-01 9.59739775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.137105680999994 meters 0.02161771796436757 Centerline is valid? [True, True] Translation: X:29.75, Y:0.51, Z:0.96 [[ 9.98421385e-01 -1.81156942e-02 -5.31653931e-02 2.97515191e+01] [ 1.80312035e-02 9.99835285e-01 -2.06847062e-03 5.09682813e-01] [ 5.31941077e-02 1.10656928e-03 9.98583578e-01 9.58836659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.167105680999995 meters 0.019205676461274274 Centerline is valid? [True, True] Translation: X:29.78, Y:0.49, Z:0.96 [[ 9.98303821e-01 -2.56204205e-02 -5.22788198e-02 2.97801806e+01] [ 2.55481954e-02 9.99671491e-01 -2.04945032e-03 4.91609816e-01] [ 5.23141535e-02 7.10344577e-04 9.98630425e-01 9.60489579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.197105680999996 meters 0.01814595599691507 Centerline is valid? [True, True] Translation: X:29.81, Y:0.49, Z:0.96 [[ 9.98277359e-01 -2.98893061e-02 -5.04870702e-02 2.98093511e+01] [ 2.98269787e-02 9.99553100e-01 -1.98765862e-03 4.85704849e-01] [ 5.05239172e-02 4.78357831e-04 9.98722737e-01 9.64698261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.227105680999994 meters 0.017426705121579268 Centerline is valid? [True, True] Translation: X:29.84, Y:0.48, Z:0.97 [[ 9.98190850e-01 -3.41131404e-02 -4.95108109e-02 2.98379180e+01] [ 3.40576229e-02 9.99417940e-01 -1.96476017e-03 4.80039386e-01] [ 4.95490167e-02 2.74985101e-04 9.98771655e-01 9.68150503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.257105680999995 meters 0.016942828136514706 Centerline is valid? [True, True] Translation: X:29.87, Y:0.47, Z:0.97 [[ 9.97849307e-01 -4.18470076e-02 -5.04538157e-02 2.98667460e+01] [ 4.17984141e-02 9.99124026e-01 -2.01832397e-03 4.67651038e-01] [ 5.04940803e-02 -9.49063042e-05 9.98724356e-01 9.68018728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.287105680999996 meters 0.01774892501581542 Centerline is valid? [True, True] Translation: X:29.90, Y:0.45, Z:0.97 [[ 9.97568032e-01 -4.90355909e-02 -4.95331476e-02 2.98965531e+01] [ 4.89970292e-02 9.98796936e-01 -1.99317027e-03 4.53613089e-01] [ 4.95712923e-02 -4.38654135e-04 9.98770491e-01 9.67590930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.317105680999994 meters 0.01863366405671826 Centerline is valid? [True, True] Translation: X:29.93, Y:0.45, Z:0.97 [[ 9.97417480e-01 -5.24740015e-02 -4.90392666e-02 2.99263377e+01] [ 5.24403046e-02 9.98622109e-01 -1.97436841e-03 4.48313345e-01] [ 4.90752989e-02 -6.02364514e-04 9.98794900e-01 9.69344484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.347105680999995 meters 0.020922684260209233 Centerline is valid? [True, True] Translation: X:29.96, Y:0.44, Z:0.97 [[ 9.97005654e-01 -5.95385035e-02 -4.93446281e-02 2.99570524e+01] [ 5.95129870e-02 9.98225553e-01 -1.98747125e-03 4.40468954e-01] [ 4.93753997e-02 -9.55126140e-04 9.98779834e-01 9.72152365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.377105680999996 meters 0.02283595430116011 Centerline is valid? [True, True] Translation: X:29.99, Y:0.43, Z:0.97 [[ 9.96869664e-01 -6.26738057e-02 -4.81961409e-02 2.99878379e+01] [ 6.26531343e-02 9.98033475e-01 -1.94097017e-03 4.34150505e-01] [ 4.82230100e-02 -1.08474500e-03 9.98836005e-01 9.73683043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.407105680999997 meters 0.021728371919759463 Centerline is valid? [True, True] Translation: X:30.02, Y:0.44, Z:0.98 [[ 9.96878775e-01 -6.25956354e-02 -4.81091924e-02 3.00179158e+01] [ 6.25749860e-02 9.98038386e-01 -1.93666832e-03 4.35132219e-01] [ 4.81360478e-02 -1.07980850e-03 9.98840205e-01 9.75326888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.437105680999995 meters 0.020350913144228197 Centerline is valid? [True, True] Translation: X:30.05, Y:0.44, Z:0.98 [[ 9.97015420e-01 -5.91719983e-02 -4.95875751e-02 3.00487871e+01] [ 5.91458450e-02 9.98247357e-01 -1.99589172e-03 4.37086948e-01] [ 4.96187666e-02 -9.42964202e-04 9.98767785e-01 9.76037211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.467105680999996 meters 0.01963964539782318 Centerline is valid? [True, True] Translation: X:30.08, Y:0.44, Z:0.98 [[ 9.97184391e-01 -5.59449657e-02 -4.99344747e-02 3.00781132e+01] [ 5.59144529e-02 9.98433542e-01 -2.00884516e-03 4.40566485e-01] [ 4.99686392e-02 -7.88869800e-04 9.98750476e-01 9.76880271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.497105680999997 meters 0.017905281312503598 Centerline is valid? [True, True] Translation: X:30.11, Y:0.45, Z:0.98 [[ 9.97653195e-01 -4.76404876e-02 -4.91781176e-02 3.01075553e+01] [ 4.76008136e-02 9.98864480e-01 -1.97825992e-03 4.47630463e-01] [ 4.92165202e-02 -3.67301085e-04 9.98788065e-01 9.77635112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.527105680999995 meters 0.01708051974019068 Centerline is valid? [True, True] Translation: X:30.14, Y:0.46, Z:0.98 [[ 9.97958023e-01 -4.02971320e-02 -4.95573032e-02 3.01379925e+01] [ 4.02477509e-02 9.99187741e-01 -1.99434469e-03 4.55406371e-01] [ 4.95974162e-02 -4.29771206e-06 9.98769291e-01 9.79692870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.557105680999996 meters 0.01741921865789589 Centerline is valid? [True, True] Translation: X:30.17, Y:0.46, Z:0.98 [[ 9.98107306e-01 -3.53934262e-02 -5.02902620e-02 3.01666007e+01] [ 3.53361328e-02 9.99373426e-01 -2.02817210e-03 4.61214311e-01] [ 5.03305354e-02 2.47270018e-04 9.98732585e-01 9.79735694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.587105680999997 meters 0.017634084283505214 Centerline is valid? [True, True] Translation: X:30.20, Y:0.46, Z:0.98 [[ 9.98193999e-01 -3.35265753e-02 -4.98468468e-02 3.01956399e+01] [ 3.34671540e-02 9.99437763e-01 -2.02646990e-03 4.63491395e-01] [ 4.98867617e-02 3.54577998e-04 9.98754817e-01 9.81241338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.617105680999995 meters 0.019883728366317844 Centerline is valid? [True, True] Translation: X:30.22, Y:0.47, Z:0.98 [[ 9.98381857e-01 -2.86190859e-02 -4.91387396e-02 3.02241353e+01] [ 2.85547520e-02 9.99590207e-01 -2.01086960e-03 4.71260229e-01] [ 4.91761522e-02 6.04471203e-04 9.98789938e-01 9.79571743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.647105680999996 meters 0.020023706885001987 Centerline is valid? [True, True] Translation: X:30.25, Y:0.47, Z:0.98 [[ 9.98408250e-01 -2.52849950e-02 -5.04146310e-02 3.02525012e+01] [ 2.52126288e-02 9.99679966e-01 -2.07095249e-03 4.73257827e-01] [ 5.04508606e-02 7.96570669e-04 9.98726227e-01 9.79490961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.677105680999997 meters 0.020367837215202324 Centerline is valid? [True, True] Translation: X:30.28, Y:0.48, Z:0.98 [[ 9.98427835e-01 -2.39861343e-02 -5.06608736e-02 3.02813350e+01] [ 2.39105542e-02 9.99711901e-01 -2.09749927e-03 4.75229824e-01] [ 5.06965892e-02 8.82872092e-04 9.98713711e-01 9.80304079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.707105680999994 meters 0.021365237481787785 Centerline is valid? [True, True] Translation: X:30.31, Y:0.48, Z:0.98 [[ 9.98587036e-01 -2.12151110e-02 -4.87221763e-02 3.03093519e+01] [ 2.11411553e-02 9.99774434e-01 -2.03279122e-03 4.79792862e-01] [ 4.87543122e-02 9.99875861e-04 9.98810301e-01 9.84137674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.737105680999996 meters 0.021437621867981694 Centerline is valid? [True, True] Translation: X:30.34, Y:0.48, Z:0.99 [[ 9.98649096e-01 -2.11780956e-02 -4.74496627e-02 3.03374398e+01] [ 2.11071662e-02 9.99775228e-01 -1.99543959e-03 4.80960180e-01] [ 4.74812570e-02 9.91216029e-04 9.98871637e-01 9.86604650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.767105680999997 meters 0.019899398235726812 Centerline is valid? [True, True] Translation: X:30.37, Y:0.48, Z:0.99 [[ 9.98679336e-01 -2.58924348e-02 -4.43752856e-02 3.03652208e+01] [ 2.58344382e-02 9.99664467e-01 -1.88004205e-03 4.75522377e-01] [ 4.44090751e-02 7.31148569e-04 9.99013163e-01 9.90052441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.797105680999994 meters 0.017298411894497125 Centerline is valid? [True, True] Translation: X:30.39, Y:0.47, Z:0.99 [[ 9.98450925e-01 -3.51871070e-02 -4.31000952e-02 3.03946326e+01] [ 3.51408452e-02 9.99380693e-01 -1.83076243e-03 4.65815486e-01] [ 4.31378223e-02 3.13352666e-04 9.99069082e-01 9.93746312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.827105680999995 meters 0.01668063275748454 Centerline is valid? [True, True] Translation: X:30.42, Y:0.46, Z:0.99 [[ 9.98202709e-01 -4.08093785e-02 -4.38856074e-02 3.04243719e+01] [ 4.07666745e-02 9.99166947e-01 -1.86797469e-03 4.60975894e-01] [ 4.39252793e-02 7.55471218e-05 9.99034816e-01 9.94111032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.857105680999997 meters 0.017342211322913147 Centerline is valid? [True, True] Translation: X:30.45, Y:0.45, Z:0.99 [[ 9.97609289e-01 -5.15218772e-02 -4.60565241e-02 3.04545082e+01] [ 5.14861430e-02 9.98671781e-01 -1.96259653e-03 4.48147980e-01] [ 4.60964676e-02 -4.13368251e-04 9.98936907e-01 9.90761772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.887105680999994 meters 0.019777492244980027 Centerline is valid? [True, True] Translation: X:30.49, Y:0.44, Z:0.99 [[ 9.97060154e-01 -6.09313775e-02 -4.64587723e-02 3.04851789e+01] [ 6.09051270e-02 9.98141592e-01 -1.98168943e-03 4.37564792e-01] [ 4.64931801e-02 -8.53713862e-04 9.98918243e-01 9.91323484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.917105680999995 meters 0.021123358505622386 Centerline is valid? [True, True] Translation: X:30.51, Y:0.43, Z:0.99 [[ 9.96939942e-01 -6.36844764e-02 -4.53325459e-02 3.05148327e+01] [ 6.36622797e-02 9.97969624e-01 -1.93467186e-03 4.34487557e-01] [ 4.53637124e-02 -9.57221573e-04 9.98970078e-01 9.94885692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.947105680999996 meters 0.020403206589099488 Centerline is valid? [True, True] Translation: X:30.54, Y:0.44, Z:1.00 [[ 9.97093853e-01 -6.27405057e-02 -4.32143242e-02 3.05449930e+01] [ 6.27194135e-02 9.98029494e-01 -1.84507073e-03 4.36107012e-01] [ 4.32449308e-02 -8.70668389e-04 9.99064121e-01 1.00175598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.977105680999994 meters 0.01887874556691682 Centerline is valid? [True, True] Translation: X:30.57, Y:0.44, Z:1.00 [[ 9.97444639e-01 -5.80564013e-02 -4.16370826e-02 3.05739506e+01] [ 5.80327366e-02 9.98313098e-01 -1.77783443e-03 4.38578302e-01] [ 4.16700596e-02 -6.43022426e-04 9.99131219e-01 1.00467011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.007105680999995 meters 0.01718545357734811 Centerline is valid? [True, True] Translation: X:30.60, Y:0.45, Z:1.01 [[ 9.97835810e-01 -5.11477588e-02 -4.13231619e-02 3.06033239e+01] [ 5.11184881e-02 9.98691035e-01 -1.76535830e-03 4.45227981e-01] [ 4.13593654e-02 -3.50839831e-04 9.99144274e-01 1.00534501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.037105680999996 meters 0.016726118016797267 Centerline is valid? [True, True] Translation: X:30.63, Y:0.45, Z:1.01 [[ 9.97999887e-01 -4.73808680e-02 -4.18482869e-02 3.06338003e+01] [ 4.73475026e-02 9.98876877e-01 -1.78863254e-03 4.50420523e-01] [ 4.18860330e-02 -1.96356798e-04 9.99122376e-01 1.00559825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.067105680999994 meters 0.01682924136796547 Centerline is valid? [True, True] Translation: X:30.66, Y:0.46, Z:1.00 [[ 9.98289770e-01 -3.92312938e-02 -4.33409883e-02 3.06638083e+01] [ 3.91878254e-02 9.99230145e-01 -1.85243191e-03 4.60415292e-01] [ 4.33802953e-02 1.50824744e-04 9.99058621e-01 1.00498964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.097105680999995 meters 0.018192140734403485 Centerline is valid? [True, True] Translation: X:30.69, Y:0.47, Z:1.00 [[ 9.98342412e-01 -3.18801278e-02 -4.79174908e-02 3.06921791e+01] [ 3.18184256e-02 9.99491563e-01 -2.05008644e-03 4.69610897e-01] [ 4.79584848e-02 5.22029124e-04 9.98849193e-01 9.99118326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.127105680999996 meters 0.01954755070653548 Centerline is valid? [True, True] Translation: X:30.72, Y:0.48, Z:1.00 [[ 9.98302361e-01 -2.96619312e-02 -5.01255015e-02 3.07196160e+01] [ 2.95911265e-02 9.99559765e-01 -2.15422462e-03 4.75628912e-01] [ 5.01673330e-02 6.67297473e-04 9.98740604e-01 9.95468748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.157105680999997 meters 0.020057625547891134 Centerline is valid? [True, True] Translation: X:30.75, Y:0.48, Z:1.00 [[ 9.98286078e-01 -2.76644574e-02 -5.15711598e-02 3.07481700e+01] [ 2.75862361e-02 9.99616944e-01 -2.22808529e-03 4.80473433e-01] [ 5.16130439e-02 8.01612334e-04 9.98666837e-01 9.95088490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.187105680999995 meters 0.02094789095286763 Centerline is valid? [True, True] Translation: X:30.78, Y:0.48, Z:1.00 [[ 9.98370475e-01 -2.58415705e-02 -5.08783678e-02 3.07757855e+01] [ 2.57623892e-02 9.99665648e-01 -2.21157902e-03 4.84764019e-01] [ 5.09185072e-02 8.97226878e-04 9.98702408e-01 9.95880929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.217105680999996 meters 0.021640327626188997 Centerline is valid? [True, True] Translation: X:30.80, Y:0.49, Z:0.99 [[ 9.98334108e-01 -2.60601831e-02 -5.14769462e-02 3.08034471e+01] [ 2.59791117e-02 9.99659968e-01 -2.24350015e-03 4.87773768e-01] [ 5.15179084e-02 9.02437388e-04 9.98671663e-01 9.94905886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.247105680999997 meters 0.019528126555262013 Centerline is valid? [True, True] Translation: X:30.83, Y:0.48, Z:1.00 [[ 9.98198245e-01 -2.89588503e-02 -5.25513853e-02 3.08326231e+01] [ 2.88778741e-02 9.99580302e-01 -2.29971361e-03 4.84749616e-01] [ 5.25959266e-02 7.77997808e-04 9.98615573e-01 9.95899117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.277105680999995 meters 0.01810168490071525 Centerline is valid? [True, True] Translation: X:30.86, Y:0.48, Z:1.00 [[ 9.98127515e-01 -3.52672496e-02 -4.99768537e-02 3.08608317e+01] [ 3.52012591e-02 9.99377822e-01 -2.20025324e-03 4.79220970e-01] [ 5.00233561e-02 4.36885122e-04 9.98747953e-01 9.98675926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.307105680999996 meters 0.01703801192245383 Centerline is valid? [True, True] Translation: X:30.89, Y:0.47, Z:1.00 [[ 9.98070847e-01 -4.02883002e-02 -4.72381000e-02 3.08895511e+01] [ 4.02346172e-02 9.99188080e-01 -2.08710318e-03 4.74761041e-01] [ 4.72838323e-02 1.82469962e-04 9.98881477e-01 1.00428155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.337105680999997 meters 0.01701804925279422 Centerline is valid? [True, True] Translation: X:30.92, Y:0.46, Z:1.01 [[ 9.97678193e-01 -5.19414406e-02 -4.40489602e-02 3.09190633e+01] [ 5.19055147e-02 9.98650077e-01 -1.95971870e-03 4.63372087e-01] [ 4.40912882e-02 -3.31215342e-04 9.99027451e-01 1.01047958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.367105680999995 meters 0.01986248052753113 Centerline is valid? [True, True] Translation: X:30.95, Y:0.45, Z:1.01 [[ 9.97042843e-01 -6.32983880e-02 -4.35761773e-02 3.09493869e+01] [ 6.32735308e-02 9.97994316e-01 -1.95084555e-03 4.51140071e-01] [ 4.36122626e-02 -8.12142004e-04 9.99048203e-01 1.01072196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.397105680999996 meters 0.021215275341198638 Centerline is valid? [True, True] Translation: X:30.98, Y:0.45, Z:1.01 [[ 9.96744819e-01 -6.78683443e-02 -4.35161310e-02 3.09804758e+01] [ 6.78478751e-02 9.97693775e-01 -1.94885502e-03 4.48676502e-01] [ 4.35480385e-02 -1.00996588e-03 9.99050824e-01 1.01230436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.427105680999997 meters 0.021215275341198638 Centerline is valid? [True, True] Translation: X:31.01, Y:0.45, Z:1.01 [[ 9.96744819e-01 -6.78683125e-02 -4.35161695e-02 3.10104339e+01] [ 6.78478808e-02 9.97693776e-01 -1.94799449e-03 4.50017437e-01] [ 4.35480186e-02 -1.01082646e-03 9.99050824e-01 1.01341502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.457105680999994 meters 0.024070782260457682 Centerline is valid? [True, True] Translation: X:31.04, Y:0.45, Z:1.01 [[ 9.96213746e-01 -7.48573778e-02 -4.42102349e-02 3.10406680e+01] [ 7.48431519e-02 9.97193354e-01 -1.97924625e-03 4.46903150e-01] [ 4.42343136e-02 -1.33708101e-03 9.99020289e-01 1.01393282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.487105680999996 meters 0.02594871670285835 Centerline is valid? [True, True] Translation: X:31.07, Y:0.45, Z:1.02 [[ 9.95950012e-01 -7.83018334e-02 -4.41859237e-02 3.10705598e+01] [ 7.82909585e-02 9.96928587e-01 -1.97925237e-03 4.45758654e-01] [ 4.42051896e-02 -1.48812190e-03 9.99021364e-01 1.01537377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.517105680999997 meters 0.02621922057450996 Centerline is valid? [True, True] Translation: X:31.10, Y:0.45, Z:1.02 [[ 9.95917093e-01 -7.92676092e-02 -4.31947955e-02 3.11006298e+01] [ 7.92580867e-02 9.96852250e-01 -1.93568010e-03 4.47581820e-01] [ 4.32122658e-02 -1.49575994e-03 9.99064794e-01 1.01790514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.547105680999994 meters 0.026284343122725193 Centerline is valid? [True, True] Translation: X:31.13, Y:0.45, Z:1.02 [[ 9.96228635e-01 -7.69776907e-02 -4.00367646e-02 3.11305913e+01] [ 7.69676626e-02 9.97031975e-01 -1.79409093e-03 4.52711806e-01] [ 4.00560395e-02 -1.29421144e-03 9.99196597e-01 1.02491906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.577105680999995 meters 0.023390101058304826 Centerline is valid? [True, True] Translation: X:31.16, Y:0.47, Z:1.03 [[ 9.96703077e-01 -7.21917519e-02 -3.70314440e-02 3.11617669e+01] [ 7.21798991e-02 9.97390250e-01 -1.65864455e-03 4.66450648e-01] [ 3.70545417e-02 -1.01974977e-03 9.99312724e-01 1.03135212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.607105680999997 meters 0.022791233339205935 Centerline is valid? [True, True] Translation: X:31.19, Y:0.47, Z:1.03 [[ 9.96907911e-01 -6.97718209e-02 -3.61456816e-02 3.11929630e+01] [ 6.97590265e-02 9.97562562e-01 -1.61654393e-03 4.72310191e-01] [ 3.61703680e-02 -9.09942126e-04 9.99345224e-01 1.03399254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.637105680999994 meters 0.020602330609458663 Centerline is valid? [True, True] Translation: X:31.22, Y:0.48, Z:1.03 [[ 9.97205754e-01 -6.47173620e-02 -3.73141604e-02 3.12236759e+01] [ 6.47002888e-02 9.97903350e-01 -1.66617915e-03 4.83379875e-01] [ 3.73437564e-02 -7.52713522e-04 9.99302195e-01 1.03304720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.667105680999995 meters 0.01968309190000633 Centerline is valid? [True, True] Translation: X:31.25, Y:0.49, Z:1.03 [[ 9.97379002e-01 -6.02755460e-02 -4.00248008e-02 3.12549715e+01] [ 6.02524236e-02 9.98181577e-01 -1.78482801e-03 4.89179469e-01] [ 4.00596002e-02 -6.31441266e-04 9.99197093e-01 1.02933712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.697105680999996 meters 0.01706700527066074 Centerline is valid? [True, True] Translation: X:31.29, Y:0.51, Z:1.02 [[ 9.97772725e-01 -4.75844635e-02 -4.67472884e-02 3.12857852e+01] [ 4.75393669e-02 9.98867207e-01 -2.07662382e-03 5.06284376e-01] [ 4.67931484e-02 -1.50337891e-04 9.98904589e-01 1.02108206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.727105680999994 meters 0.018594588095195458 Centerline is valid? [True, True] Translation: X:31.32, Y:0.53, Z:1.02 [[ 9.98211428e-01 -3.35064562e-02 -4.95102173e-02 3.13156413e+01] [ 3.34386433e-02 9.99438356e-01 -2.19755944e-03 5.25941945e-01] [ 4.95560426e-02 5.38074454e-04 9.98771200e-01 1.01903886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.757105680999995 meters 0.02051038110828457 Centerline is valid? [True, True] Translation: X:31.34, Y:0.54, Z:1.02 [[ 9.98389466e-01 -2.74852364e-02 -4.96289802e-02 3.13436578e+01] [ 2.74096197e-02 9.99621857e-01 -2.20370263e-03 5.35122798e-01] [ 4.96707826e-02 8.39842021e-04 9.98765292e-01 1.01896414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.787105680999996 meters 0.023391003586435297 Centerline is valid? [True, True] Translation: X:31.37, Y:0.54, Z:1.02 [[ 9.98496864e-01 -2.08836268e-02 -5.06743188e-02 3.13730992e+01] [ 2.07961303e-02 9.99781198e-01 -2.25334132e-03 5.42530452e-01] [ 5.07102890e-02 1.19612451e-03 9.98712689e-01 1.01668377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.817105680999994 meters 0.022203703626249256 Centerline is valid? [True, True] Translation: X:31.40, Y:0.54, Z:1.02 [[ 9.98483108e-01 -2.27440693e-02 -5.01417008e-02 3.14016926e+01] [ 2.26604490e-02 9.99740719e-01 -2.23559699e-03 5.40580950e-01] [ 5.01795466e-02 1.09597238e-03 9.98739612e-01 1.01811817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.847105680999995 meters 0.02102887610904714 Centerline is valid? [True, True] Translation: X:31.43, Y:0.54, Z:1.02 [[ 9.98427374e-01 -2.56632830e-02 -4.98415049e-02 3.14310011e+01] [ 2.55835025e-02 9.99670183e-01 -2.23808713e-03 5.39002587e-01] [ 4.98825030e-02 9.59447190e-04 9.98754632e-01 1.01999051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.877105680999996 meters 0.019970437986464785 Centerline is valid? [True, True] Translation: X:31.46, Y:0.53, Z:1.02 [[ 9.98143235e-01 -3.19830635e-02 -5.18378748e-02 3.14605062e+01] [ 3.19044057e-02 9.99488175e-01 -2.34436767e-03 5.33319094e-01] [ 5.18863230e-02 6.86158141e-04 9.98652762e-01 1.01657918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.907105680999994 meters 0.01780829593045024 Centerline is valid? [True, True] Translation: X:31.49, Y:0.53, Z:1.02 [[ 9.97877102e-01 -3.90154313e-02 -5.21448418e-02 3.14896930e+01] [ 3.89445253e-02 9.99238550e-01 -2.37555452e-03 5.26036015e-01] [ 5.21978194e-02 3.39755346e-04 9.98636707e-01 1.01840163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.937105680999995 meters 0.017298262151295977 Centerline is valid? [True, True] Translation: X:31.52, Y:0.52, Z:1.02 [[ 9.97818638e-01 -4.21985043e-02 -5.07666437e-02 3.15185246e+01] [ 4.21345840e-02 9.99109229e-01 -2.32912554e-03 5.23688599e-01] [ 5.08197078e-02 1.85013463e-04 9.98707827e-01 1.02146474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.967105680999996 meters 0.017028678604104508 Centerline is valid? [True, True] Translation: X:31.55, Y:0.52, Z:1.03 [[ 9.97722094e-01 -4.63129368e-02 -4.90482835e-02 3.15482329e+01] [ 4.62576389e-02 9.98926980e-01 -2.26254073e-03 5.21543136e-01] [ 4.91004386e-02 -1.14709090e-05 9.98793846e-01 1.02583465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.997105680999997 meters 0.017010755410104526 Centerline is valid? [True, True] Translation: X:31.58, Y:0.52, Z:1.03 [[ 9.97689761e-01 -4.74038723e-02 -4.86622405e-02 3.15774833e+01] [ 4.73506295e-02 9.98875803e-01 -2.24697323e-03 5.22102902e-01] [ 4.87140498e-02 -6.24055365e-05 9.98812764e-01 1.02797938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.027105680999995 meters 0.01702672751430789 Centerline is valid? [True, True] Translation: X:31.61, Y:0.52, Z:1.03 [[ 9.97688989e-01 -4.54539946e-02 -5.05036284e-02 3.16069679e+01] [ 4.53940245e-02 9.98966432e-01 -2.33441407e-03 5.24875699e-01] [ 5.05575379e-02 3.64562625e-05 9.98721149e-01 1.02670351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.05710568099999 meters 0.017204479461096815 Centerline is valid? [True, True] Translation: X:31.64, Y:0.53, Z:1.03 [[ 9.97650694e-01 -4.47506266e-02 -5.18697851e-02 3.16353787e+01] [ 4.46862697e-02 9.98998186e-01 -2.40037427e-03 5.26077715e-01] [ 5.19252395e-02 7.68678551e-05 9.98650972e-01 1.02501065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.08710568099999 meters 0.017486981857955372 Centerline is valid? [True, True] Translation: X:31.66, Y:0.53, Z:1.02 [[ 9.97488393e-01 -4.58784335e-02 -5.39636487e-02 3.16645041e+01] [ 4.58102134e-02 9.98947030e-01 -2.50110487e-03 5.25882510e-01] [ 5.40215734e-02 2.27368132e-05 9.98539768e-01 1.02221648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.11710568099999 meters 0.017447838886079006 Centerline is valid? [True, True] Translation: X:31.69, Y:0.53, Z:1.03 [[ 9.97366524e-01 -4.77231400e-02 -5.46124346e-02 3.16930826e+01] [ 4.76555762e-02 9.98860599e-01 -2.53949232e-03 5.26646276e-01] [ 5.46714017e-02 -6.97824057e-05 9.98504398e-01 1.02530059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.14710568099999 meters 0.017496633749791338 Centerline is valid? [True, True] Translation: X:31.72, Y:0.53, Z:1.03 [[ 9.97242807e-01 -5.01560915e-02 -5.46914166e-02 3.17219367e+01] [ 5.00912547e-02 9.98741373e-01 -2.55653174e-03 5.26596941e-01] [ 5.47508061e-02 -1.90078790e-04 9.98500032e-01 1.02780278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.17710568099999 meters 0.01745471016591079 Centerline is valid? [True, True] Translation: X:31.75, Y:0.52, Z:1.03 [[ 9.97263092e-01 -5.21113753e-02 -5.24474102e-02 3.17519274e+01] [ 5.20542868e-02 9.98641239e-01 -2.45482812e-03 5.23769832e-01] [ 5.25040712e-02 -2.82003055e-04 9.98620670e-01 1.03185855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.207105680999994 meters 0.01752801570151339 Centerline is valid? [True, True] Translation: X:31.78, Y:0.52, Z:1.03 [[ 9.97182071e-01 -5.32676260e-02 -5.28249625e-02 3.17817112e+01] [ 5.32112032e-02 9.98580213e-01 -2.47495808e-03 5.22856923e-01] [ 5.28817975e-02 -3.42895989e-04 9.98600720e-01 1.03344420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.23710568099999 meters 0.017725819269782322 Centerline is valid? [True, True] Translation: X:31.81, Y:0.52, Z:1.04 [[ 9.97158785e-01 -5.47018953e-02 -5.17886042e-02 3.18097919e+01] [ 5.46494597e-02 9.98502647e-01 -2.42907452e-03 5.22924562e-01] [ 5.18439334e-02 -4.08046246e-04 9.98655116e-01 1.03701609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.26710568099999 meters 0.01754124707408805 Centerline is valid? [True, True] Translation: X:31.84, Y:0.53, Z:1.04 [[ 9.97275150e-01 -5.46756031e-02 -4.95263015e-02 3.18395507e+01] [ 5.46274984e-02 9.98504096e-01 -2.32537149e-03 5.28721513e-01] [ 4.95793559e-02 -3.86462756e-04 9.98770113e-01 1.04255336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.29710568099999 meters 0.017594045742106098 Centerline is valid? [True, True] Translation: X:31.87, Y:0.53, Z:1.04 [[ 9.97293742e-01 -5.47203813e-02 -4.91006387e-02 3.18696812e+01] [ 5.46731544e-02 9.98501643e-01 -2.30538566e-03 5.31922275e-01] [ 4.91532200e-02 -3.85340109e-04 9.98791176e-01 1.04324349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.32710568099999 meters 0.017828196217954572 Centerline is valid? [True, True] Translation: X:31.90, Y:0.53, Z:1.04 [[ 9.97122972e-01 -5.60521525e-02 -5.10287609e-02 3.18997115e+01] [ 5.60029642e-02 9.98427732e-01 -2.39436298e-03 5.33272037e-01] [ 5.10827392e-02 -4.70287538e-04 9.98694314e-01 1.03973789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.35710568099999 meters 0.01893842589113192 Centerline is valid? [True, True] Translation: X:31.93, Y:0.54, Z:1.04 [[ 9.96756254e-01 -6.16864301e-02 -5.16890229e-02 3.19304631e+01] [ 6.16437414e-02 9.98095279e-01 -2.42120798e-03 5.35219675e-01] [ 5.17399255e-02 -7.72950572e-04 9.98660294e-01 1.03979306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.387105680999994 meters 0.01978845163940433 Centerline is valid? [True, True] Translation: X:31.96, Y:0.54, Z:1.04 [[ 9.96568171e-01 -6.53006920e-02 -5.08694443e-02 3.19611820e+01] [ 6.52640660e-02 9.97865184e-01 -2.38249467e-03 5.37274161e-01] [ 5.09164260e-02 -9.45628416e-04 9.98702470e-01 1.04236906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.417105680999995 meters 0.022400207451308055 Centerline is valid? [True, True] Translation: X:31.99, Y:0.54, Z:1.04 [[ 9.96039874e-01 -7.19372887e-02 -5.22455388e-02 3.19911576e+01] [ 7.19078158e-02 9.97408283e-01 -2.44606285e-03 5.38225839e-01] [ 5.22860963e-02 -1.32048645e-03 9.98631274e-01 1.04175510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.44710568099999 meters 0.02531494645005088 Centerline is valid? [True, True] Translation: X:32.02, Y:0.54, Z:1.04 [[ 9.95607512e-01 -7.77506197e-02 -5.21586367e-02 3.20208927e+01] [ 7.77292069e-02 9.96971518e-01 -2.44199421e-03 5.38639045e-01] [ 5.21905417e-02 -1.62298168e-03 9.98635826e-01 1.04187582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.47710568099999 meters 0.02664221349143164 Centerline is valid? [True, True] Translation: X:32.05, Y:0.54, Z:1.04 [[ 9.95512638e-01 -7.99114631e-02 -5.06828021e-02 3.20505990e+01] [ 7.98940378e-02 9.96800538e-01 -2.37289771e-03 5.39847901e-01] [ 5.07102661e-02 -1.68700405e-03 9.98711982e-01 1.04424713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.50710568099999 meters 0.0266937649071984 Centerline is valid? [True, True] Translation: X:32.08, Y:0.54, Z:1.05 [[ 9.95605970e-01 -8.08951195e-02 -4.71670682e-02 3.20814593e+01] [ 8.08811460e-02 9.96721308e-01 -2.20784243e-03 5.44346760e-01] [ 4.71910256e-02 -1.61678543e-03 9.98884574e-01 1.04930117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.53710568099999 meters 0.02430968630686323 Centerline is valid? [True, True] Translation: X:32.11, Y:0.56, Z:1.05 [[ 9.96059048e-01 -7.56992959e-02 -4.62167651e-02 3.21119244e+01] [ 7.56803855e-02 9.97129785e-01 -2.16133477e-03 5.55470332e-01] [ 4.62477245e-02 -1.34488555e-03 9.98929096e-01 1.05297339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.567105680999994 meters 0.022716611881712555 Centerline is valid? [True, True] Translation: X:32.14, Y:0.56, Z:1.05 [[ 9.96421260e-01 -7.08226392e-02 -4.61392087e-02 3.21425329e+01] [ 7.07986637e-02 9.97488297e-01 -2.15565305e-03 5.63603201e-01] [ 4.61759897e-02 -1.11865579e-03 9.98932694e-01 1.05480358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.597105680999995 meters 0.017862084782911916 Centerline is valid? [True, True] Translation: X:32.17, Y:0.59, Z:1.06 [[ 9.97387637e-01 -5.79519456e-02 -4.31216045e-02 3.21718106e+01] [ 5.79190388e-02 9.98319254e-01 -2.01313955e-03 5.86073219e-01] [ 4.31657934e-02 -4.89681388e-04 9.99067803e-01 1.06053963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.62710568099999 meters 0.016825588652781977 Centerline is valid? [True, True] Translation: X:32.20, Y:0.61, Z:1.06 [[ 9.98179566e-01 -4.30574231e-02 -4.22328375e-02 3.22025817e+01] [ 4.30125449e-02 9.99072588e-01 -1.97116232e-03 6.07123763e-01] [ 4.22785434e-02 1.51032128e-04 9.99105851e-01 1.06120072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.65710568099999 meters 0.017639710538332146 Centerline is valid? [True, True] Translation: X:32.23, Y:0.62, Z:1.06 [[ 9.98404633e-01 -3.64868398e-02 -4.30917458e-02 3.22341080e+01] [ 3.64341808e-02 9.99334039e-01 -2.00702048e-03 6.15487604e-01] [ 4.31362782e-02 4.33806085e-04 9.99069103e-01 1.06081997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.68710568099999 meters 0.020714036775716878 Centerline is valid? [True, True] Translation: X:32.26, Y:0.63, Z:1.06 [[ 9.98482100e-01 -2.76048656e-02 -4.76599120e-02 3.22642952e+01] [ 2.75305944e-02 9.99618509e-01 -2.21420713e-03 6.28695933e-01] [ 4.77028531e-02 8.98740474e-04 9.98861167e-01 1.05504432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.71710568099999 meters 0.02329615087989607 Centerline is valid? [True, True] Translation: X:32.29, Y:0.64, Z:1.05 [[ 9.98366856e-01 -2.26650574e-02 -5.24396418e-02 3.22930035e+01] [ 2.25683754e-02 9.99742336e-01 -2.43516937e-03 6.36918044e-01] [ 5.24813232e-02 1.24771486e-03 9.98621126e-01 1.04967470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.747105680999994 meters 0.023182976704471368 Centerline is valid? [True, True] Translation: X:32.32, Y:0.64, Z:1.05 [[ 9.98310122e-01 -2.11619742e-02 -5.41209015e-02 3.23216123e+01] [ 2.10563303e-02 9.99775111e-01 -2.52153041e-03 6.38762454e-01] [ 5.41620909e-02 1.37768176e-03 9.98531206e-01 1.05015281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.777105680999995 meters 0.024971958052179388 Centerline is valid? [True, True] Translation: X:32.35, Y:0.64, Z:1.05 [[ 9.98301773e-01 -1.81329793e-02 -5.53603130e-02 3.23504998e+01] [ 1.80167481e-02 9.99834310e-01 -2.59794763e-03 6.42753510e-01] [ 5.53982489e-02 1.59612291e-03 9.98463062e-01 1.04810629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.80710568099999 meters 0.026550384351404555 Centerline is valid? [True, True] Translation: X:32.38, Y:0.65, Z:1.05 [[ 9.98361352e-01 -1.58574335e-02 -5.49832014e-02 3.23775495e+01] [ 1.57384635e-02 9.99872772e-01 -2.59610784e-03 6.45313770e-01] [ 5.50173737e-02 1.72650262e-03 9.98483905e-01 1.05012267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.83710568099999 meters 0.02648925157061654 Centerline is valid? [True, True] Translation: X:32.41, Y:0.64, Z:1.05 [[ 9.98379962e-01 -1.65441291e-02 -5.44402731e-02 3.24059757e+01] [ 1.64277996e-02 9.99861716e-01 -2.58366356e-03 6.44470966e-01] [ 5.44754894e-02 1.68514403e-03 9.98513686e-01 1.05106978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.86710568099999 meters 0.025610671545709344 Centerline is valid? [True, True] Translation: X:32.43, Y:0.64, Z:1.05 [[ 9.98425111e-01 -1.85477826e-02 -5.29459833e-02 3.24347880e+01] [ 1.84396783e-02 9.99826775e-01 -2.52959404e-03 6.36282429e-01] [ 5.29837301e-02 1.54930331e-03 9.98594174e-01 1.05246207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.89710568099999 meters 0.022382515005298673 Centerline is valid? [True, True] Translation: X:32.47, Y:0.63, Z:1.06 [[ 9.98443436e-01 -2.40779694e-02 -5.03086208e-02 3.24652952e+01] [ 2.39868000e-02 9.99709358e-01 -2.41525803e-03 6.27551531e-01] [ 5.03521534e-02 1.20475570e-03 9.98730799e-01 1.05864247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.92710568099999 meters 0.021932965285670906 Centerline is valid? [True, True] Translation: X:32.49, Y:0.63, Z:1.06 [[ 9.98407976e-01 -2.78942068e-02 -4.90247660e-02 3.24935914e+01] [ 2.78119949e-02 9.99610389e-01 -2.35842896e-03 6.26560485e-01] [ 4.90714519e-02 9.91197740e-04 9.98794779e-01 1.06044894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.957105680999994 meters 0.01949327912907316 Centerline is valid? [True, True] Translation: X:32.52, Y:0.62, Z:1.06 [[ 9.98189058e-01 -3.47840754e-02 -4.90782257e-02 3.25231376e+01] [ 3.47093529e-02 9.99394629e-01 -2.37420615e-03 6.16516267e-01] [ 4.91310997e-02 6.66433142e-04 9.98792116e-01 1.06040513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.98710568099999 meters 0.01798154175802428 Centerline is valid? [True, True] Translation: X:32.55, Y:0.60, Z:1.06 [[ 9.97840913e-01 -4.04023714e-02 -5.17799319e-02 3.25525579e+01] [ 4.03263132e-02 9.99183403e-01 -2.51320782e-03 6.03190960e-01] [ 5.18391881e-02 4.19687839e-04 9.98655357e-01 1.05649524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.01710568099999 meters 0.017641486334735 Centerline is valid? [True, True] Translation: X:32.58, Y:0.60, Z:1.06 [[ 9.97570626e-01 -4.30865061e-02 -5.47393673e-02 3.25825436e+01] [ 4.30047842e-02 9.99071297e-01 -2.67050916e-03 5.99105619e-01] [ 5.48035936e-02 3.09966823e-04 9.98497106e-01 1.05543748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.04710568099999 meters 0.01760053734569055 Centerline is valid? [True, True] Translation: X:32.61, Y:0.59, Z:1.06 [[ 9.97388862e-01 -4.52622040e-02 -5.62742447e-02 3.26127255e+01] [ 4.51791374e-02 9.98975122e-01 -2.74810166e-03 5.94661319e-01] [ 5.63409556e-02 1.98504159e-04 9.98411567e-01 1.05662552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.07710568099999 meters 0.017377035471493874 Centerline is valid? [True, True] Translation: X:32.64, Y:0.59, Z:1.06 [[ 9.97535637e-01 -4.56064024e-02 -5.33170564e-02 3.26425399e+01] [ 4.55322049e-02 9.98959472e-01 -2.60612122e-03 5.94267616e-01] [ 5.33804343e-02 1.72055658e-04 9.98574233e-01 1.06192356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.10710568099999 meters 0.017181151268474693 Centerline is valid? [True, True] Translation: X:32.67, Y:0.59, Z:1.07 [[ 9.97793566e-01 -4.52166835e-02 -4.86153431e-02 3.26719007e+01] [ 4.51544495e-02 9.98977187e-01 -2.37818160e-03 5.91609600e-01] [ 4.86731522e-02 1.77735239e-04 9.98814744e-01 1.07055968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.137105680999994 meters 0.017583989977570536 Centerline is valid? [True, True] Translation: X:32.70, Y:0.59, Z:1.07 [[ 9.97881306e-01 -4.20337867e-02 -4.96594393e-02 3.27029098e+01] [ 4.19648655e-02 9.99116132e-01 -2.43014446e-03 5.91113004e-01] [ 4.97176951e-02 3.41044033e-04 9.98763252e-01 1.07156641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.16710568099999 meters 0.018099750267854948 Centerline is valid? [True, True] Translation: X:32.73, Y:0.59, Z:1.07 [[ 9.97944171e-01 -3.95036887e-02 -5.04667268e-02 3.27326354e+01] [ 3.94292415e-02 9.99219312e-01 -2.47027952e-03 5.91912147e-01] [ 5.05249131e-02 4.75336288e-04 9.98722688e-01 1.07153794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.19710568099999 meters 0.019203612951607687 Centerline is valid? [True, True] Translation: X:32.76, Y:0.59, Z:1.07 [[ 9.97953299e-01 -3.57470386e-02 -5.30222865e-02 3.27625039e+01] [ 3.56594188e-02 9.99360624e-01 -2.59793038e-03 5.91922844e-01] [ 5.30812537e-02 7.01869271e-04 9.98589950e-01 1.06960427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.22710568099999 meters 0.019046076558432407 Centerline is valid? [True, True] Translation: X:32.79, Y:0.59, Z:1.07 [[ 9.97978007e-01 -3.64347643e-02 -5.20807555e-02 3.27916371e+01] [ 3.63508175e-02 9.99335816e-01 -2.55849732e-03 5.91961166e-01] [ 5.21393825e-02 6.60146020e-04 9.98639599e-01 1.07129086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.25710568099999 meters 0.01837243514851162 Centerline is valid? [True, True] Translation: X:32.82, Y:0.59, Z:1.07 [[ 9.98049797e-01 -3.88213460e-02 -4.88825718e-02 3.28196628e+01] [ 3.87496300e-02 9.99246035e-01 -2.41426822e-03 5.88728081e-01] [ 4.89394412e-02 5.15378330e-04 9.98801615e-01 1.07367608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.28710568099999 meters 0.01791184157672832 Centerline is valid? [True, True] Translation: X:32.85, Y:0.59, Z:1.07 [[ 9.97980662e-01 -4.02993847e-02 -4.90974236e-02 3.28498664e+01] [ 4.02285828e-02 9.99187549e-01 -2.42977534e-03 5.86558470e-01] [ 4.91554527e-02 4.49749035e-04 9.98791039e-01 1.07434037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.317105680999994 meters 0.01791184157672832 Centerline is valid? [True, True] Translation: X:32.88, Y:0.59, Z:1.08 [[ 9.97978797e-01 -4.03456797e-02 -4.90973104e-02 3.28789662e+01] [ 4.02748214e-02 9.99185680e-01 -2.43205999e-03 5.88048333e-01] [ 4.91554526e-02 4.49758895e-04 9.98791039e-01 1.07542005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.347105680999995 meters 0.017318070085648327 Centerline is valid? [True, True] Translation: X:32.91, Y:0.58, Z:1.07 [[ 9.97689847e-01 -4.54285114e-02 -5.05096027e-02 3.29083424e+01] [ 4.53598855e-02 9.98967571e-01 -2.50471920e-03 5.82373792e-01] [ 5.05712408e-02 2.07823116e-04 9.98720435e-01 1.07289488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.37710568099999 meters 0.01715093173974033 Centerline is valid? [True, True] Translation: X:32.94, Y:0.58, Z:1.07 [[ 9.97172522e-01 -5.34171807e-02 -5.28542023e-02 3.29369821e+01] [ 5.33528202e-02 9.98572263e-01 -2.62890669e-03 5.77180820e-01] [ 5.29191692e-02 -1.98447234e-04 9.98598779e-01 1.07386421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.40710568099999 meters 0.017523898342196934 Centerline is valid? [True, True] Translation: X:32.97, Y:0.58, Z:1.07 [[ 9.96895333e-01 -5.66698130e-02 -5.46646729e-02 3.29652622e+01] [ 5.66050823e-02 9.98392906e-01 -2.73297110e-03 5.76687223e-01] [ 5.47316986e-02 -3.69812165e-04 9.98501029e-01 1.07317385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.43710568099999 meters 0.018612590404081586 Centerline is valid? [True, True] Translation: X:33.00, Y:0.57, Z:1.07 [[ 9.96587366e-01 -6.21702686e-02 -5.42999124e-02 3.29951653e+01] [ 6.21143557e-02 9.98065337e-01 -2.71838238e-03 5.74247921e-01] [ 5.43638630e-02 -6.63698542e-04 9.98520971e-01 1.07369821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.46710568099999 meters 0.020124565183973552 Centerline is valid? [True, True] Translation: X:33.02, Y:0.57, Z:1.08 [[ 9.96392918e-01 -6.74989845e-02 -5.14299511e-02 3.30238047e+01] [ 6.74557830e-02 9.97718936e-01 -2.57730274e-03 5.71089586e-01] [ 5.14866014e-02 -9.01241420e-04 9.98673279e-01 1.07848184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.497105680999994 meters 0.021182330443687794 Centerline is valid? [True, True] Translation: X:33.05, Y:0.57, Z:1.08 [[ 9.96306837e-01 -6.98928536e-02 -4.98765954e-02 3.30532033e+01] [ 6.98550817e-02 9.97554012e-01 -2.50219434e-03 5.70107319e-01] [ 4.99294834e-02 -9.91180324e-04 9.98752254e-01 1.08143028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.527105680999995 meters 0.021767556085045735 Centerline is valid? [True, True] Translation: X:33.08, Y:0.57, Z:1.09 [[ 9.96144841e-01 -7.33409486e-02 -4.81306749e-02 3.30837021e+01] [ 7.33097557e-02 9.97306295e-01 -2.41539940e-03 5.72482771e-01] [ 4.81781727e-02 -1.12236036e-03 9.98838127e-01 1.08674972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.55710568099999 meters 0.021873060796007423 Centerline is valid? [True, True] Translation: X:33.11, Y:0.58, Z:1.09 [[ 9.96163021e-01 -7.43091310e-02 -4.62318975e-02 3.31148218e+01] [ 7.42814113e-02 9.97234622e-01 -2.31967767e-03 5.79881442e-01] [ 4.62764220e-02 -1.12339347e-03 9.98928041e-01 1.08985590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.58710568099999 meters 0.02197625114430165 Centerline is valid? [True, True] Translation: X:33.15, Y:0.58, Z:1.09 [[ 9.96266714e-01 -7.41428559e-02 -4.42207186e-02 3.31457208e+01] [ 7.41174189e-02 9.97247058e-01 -2.21677910e-03 5.83943136e-01] [ 4.42633398e-02 -1.06902230e-03 9.99019326e-01 1.09236105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.61710568099999 meters 0.022915011065266985 Centerline is valid? [True, True] Translation: X:33.18, Y:0.59, Z:1.09 [[ 9.96208574e-01 -7.65857523e-02 -4.12686353e-02 3.31769735e+01] [ 7.65657645e-02 9.97062391e-01 -2.06699955e-03 5.86817958e-01] [ 4.13057069e-02 -1.10060194e-03 9.99145949e-01 1.09437491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.64710568099999 meters 0.02560191114855269 Centerline is valid? [True, True] Translation: X:33.21, Y:0.59, Z:1.09 [[ 9.95566854e-01 -8.27631933e-02 -4.46866067e-02 3.32081153e+01] [ 8.27460616e-02 9.96568156e-01 -2.23616526e-03 5.87738213e-01] [ 4.47183214e-02 -1.47138870e-03 9.98998552e-01 1.09276219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.67710568099999 meters 0.029375405715041606 Centerline is valid? [True, True] Translation: X:33.24, Y:0.59, Z:1.09 [[ 9.95163578e-01 -8.56277789e-02 -4.81387115e-02 3.32382233e+01] [ 8.56113522e-02 9.96325702e-01 -2.40673717e-03 5.85478096e-01] [ 4.81679191e-02 -1.72612301e-03 9.98837761e-01 1.08962783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.707105680999994 meters 0.029916456579904247 Centerline is valid? [True, True] Translation: X:33.27, Y:0.59, Z:1.08 [[ 9.94496048e-01 -9.03392452e-02 -5.30700518e-02 3.32694543e+01] [ 9.03262462e-02 9.95908709e-01 -2.64831154e-03 5.90286650e-01] [ 5.30921733e-02 -2.15988321e-03 9.98587280e-01 1.08467405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.73710568099999 meters 0.030008417920849923 Centerline is valid? [True, True] Translation: X:33.30, Y:0.60, Z:1.08 [[ 9.94273696e-01 -9.16164558e-02 -5.50113017e-02 3.33003446e+01] [ 9.16045369e-02 9.95791686e-01 -2.74350064e-03 5.96367089e-01] [ 5.50311467e-02 -2.31149429e-03 9.98481963e-01 1.08275581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.76710568099999 meters 0.028525414912134135 Centerline is valid? [True, True] Translation: X:33.33, Y:0.60, Z:1.08 [[ 9.94297589e-01 -9.08406293e-02 -5.58595039e-02 3.33314340e+01] [ 9.08272670e-02 9.95862772e-01 -2.78320194e-03 6.04432368e-01] [ 5.58812282e-02 -2.30623510e-03 9.98434760e-01 1.08490536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.79710568099999 meters 0.02691371016849942 Centerline is valid? [True, True] Translation: X:33.36, Y:0.62, Z:1.09 [[ 9.94753148e-01 -8.60981727e-02 -5.52564789e-02 3.33608341e+01] [ 8.60779118e-02 9.96284610e-01 -2.75100135e-03 6.19083276e-01] [ 5.52880357e-02 -2.01979506e-03 9.98468404e-01 1.08996323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.82710568099999 meters 0.023134423077336805 Centerline is valid? [True, True] Translation: X:33.39, Y:0.64, Z:1.09 [[ 9.95651020e-01 -7.71797504e-02 -5.21759669e-02 3.33901152e+01] [ 7.71494945e-02 9.97016155e-01 -2.59669421e-03 6.36417304e-01] [ 5.22206941e-02 -1.43994823e-03 9.98634531e-01 1.09405358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.85710568099999 meters 0.022313208555210687 Centerline is valid? [True, True] Translation: X:33.42, Y:0.64, Z:1.09 [[ 9.95981140e-01 -7.23662316e-02 -5.27702344e-02 3.34202516e+01] [ 7.23285673e-02 9.97377403e-01 -2.62563353e-03 6.43287715e-01] [ 5.28218466e-02 -1.20171397e-03 9.98603229e-01 1.09218686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.887105680999994 meters 0.019165733589056405 Centerline is valid? [True, True] Translation: X:33.45, Y:0.66, Z:1.09 [[ 9.96491459e-01 -6.27311608e-02 -5.54037353e-02 3.34514488e+01] [ 6.26748812e-02 9.98030196e-01 -2.75448812e-03 6.62135275e-01] [ 5.54673930e-02 -7.27598645e-04 9.98460234e-01 1.08893829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.91710568099999 meters 0.018337077095405226 Centerline is valid? [True, True] Translation: X:33.48, Y:0.67, Z:1.09 [[ 9.96798084e-01 -5.80647148e-02 -5.49733445e-02 3.34820369e+01] [ 5.80024015e-02 9.98312712e-01 -2.72969080e-03 6.72076371e-01] [ 5.50390873e-02 -4.67635436e-04 9.98484091e-01 1.09038984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.94710568099999 meters 0.01772049170361241 Centerline is valid? [True, True] Translation: X:33.51, Y:0.69, Z:1.10 [[ 9.97296535e-01 -5.28170085e-02 -5.10880110e-02 3.35124559e+01] [ 5.27564297e-02 9.98604194e-01 -2.53448207e-03 6.87002716e-01] [ 5.11505658e-02 -1.67590876e-04 9.98690939e-01 1.09731381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.97710568099999 meters 0.01780899408228761 Centerline is valid? [True, True] Translation: X:33.54, Y:0.70, Z:1.10 [[ 9.97329064e-01 -5.39701411e-02 -4.92134336e-02 3.35442061e+01] [ 5.39154710e-02 9.98542525e-01 -2.43865796e-03 6.95552756e-01] [ 4.92733209e-02 -2.21220986e-04 9.98785308e-01 1.10336972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.00710568099999 meters 0.01795037598474637 Centerline is valid? [True, True] Translation: X:33.58, Y:0.70, Z:1.10 [[ 9.97238711e-01 -5.55448137e-02 -4.92922568e-02 3.35758864e+01] [ 5.54921563e-02 9.98456149e-01 -2.43718352e-03 6.96894354e-01] [ 4.93515298e-02 -3.04879867e-04 9.98781424e-01 1.10347295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.03710568099999 meters 0.01861459336755424 Centerline is valid? [True, True] Translation: X:33.61, Y:0.69, Z:1.10 [[ 9.96905926e-01 -5.90960148e-02 -5.18289011e-02 3.36088376e+01] [ 5.90429724e-02 9.98252172e-01 -2.55525382e-03 6.94424847e-01] [ 5.18893184e-02 -5.12784705e-04 9.98652710e-01 1.09830104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.067105680999994 meters 0.01901913504791981 Centerline is valid? [True, True] Translation: X:33.64, Y:0.69, Z:1.10 [[ 9.96767065e-01 -6.16767947e-02 -5.14916696e-02 3.36411564e+01] [ 6.16281254e-02 9.98095964e-01 -2.53389074e-03 6.93201639e-01] [ 5.15499099e-02 -6.47636231e-04 9.98670210e-01 1.09905742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.097105680999995 meters 0.019324691084657588 Centerline is valid? [True, True] Translation: X:33.67, Y:0.69, Z:1.10 [[ 9.96689620e-01 -6.30142705e-02 -5.13712363e-02 3.36732673e+01] [ 6.29678498e-02 9.98012366e-01 -2.52318189e-03 6.93272197e-01] [ 5.14281256e-02 -7.19907095e-04 9.98676439e-01 1.10150276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.12710568099999 meters 0.0204523544339287 Centerline is valid? [True, True] Translation: X:33.70, Y:0.69, Z:1.10 [[ 9.96322893e-01 -6.62836002e-02 -5.42879037e-02 3.37044692e+01] [ 6.62368689e-02 9.97800377e-01 -2.66159510e-03 6.91646677e-01] [ 5.43449109e-02 -9.44052634e-04 9.98521777e-01 1.10159134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.15710568099999 meters 0.020905542754390043 Centerline is valid? [True, True] Translation: X:33.74, Y:0.69, Z:1.10 [[ 9.96141270e-01 -6.75915645e-02 -5.59816982e-02 3.37361695e+01] [ 6.75441572e-02 9.97712521e-01 -2.74067548e-03 6.91754873e-01] [ 5.60388878e-02 -1.05113667e-03 9.98428034e-01 1.10164649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.18710568099999 meters 0.02006775420644232 Centerline is valid? [True, True] Translation: X:33.77, Y:0.70, Z:1.10 [[ 9.96608706e-01 -6.22688881e-02 -5.37928623e-02 3.37661865e+01] [ 6.22175204e-02 9.98059146e-01 -2.63066256e-03 6.96105452e-01] [ 5.38522667e-02 -7.25117293e-04 9.98548651e-01 1.10288005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.21710568099999 meters 0.01887635673721481 Centerline is valid? [True, True] Translation: X:33.80, Y:0.70, Z:1.10 [[ 9.96931193e-01 -5.76535624e-02 -5.29552926e-02 3.37978170e+01] [ 5.75973923e-02 9.98336539e-01 -2.58748370e-03 7.02423886e-01] [ 5.30163811e-02 -4.70543542e-04 9.98593532e-01 1.10476682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.247105680999994 meters 0.01797844715552985 Centerline is valid? [True, True] Translation: X:33.83, Y:0.71, Z:1.11 [[ 9.97508805e-01 -4.82244042e-02 -5.14838983e-02 3.38298159e+01] [ 4.81589851e-02 9.98836526e-01 -2.51116747e-03 7.12481686e-01] [ 5.15450977e-02 2.54993730e-05 9.98670668e-01 1.10624337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.277105680999995 meters 0.018760422136658496 Centerline is valid? [True, True] Translation: X:33.86, Y:0.72, Z:1.10 [[ 9.97630482e-01 -4.34932269e-02 -5.33081709e-02 3.38600959e+01] [ 4.34165762e-02 9.99053684e-01 -2.59563733e-03 7.19112777e-01] [ 5.33706172e-02 2.75028652e-04 9.98574735e-01 1.10444926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.30710568099999 meters 0.01909924841927289 Centerline is valid? [True, True] Translation: X:33.89, Y:0.72, Z:1.10 [[ 9.97599315e-01 -4.24279321e-02 -5.47309551e-02 3.38902152e+01] [ 4.23456883e-02 9.99099473e-01 -2.66202190e-03 7.21929877e-01] [ 5.47946125e-02 3.38011256e-04 9.98497589e-01 1.10359582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.33710568099999 meters 0.01919160514868678 Centerline is valid? [True, True] Translation: X:33.92, Y:0.72, Z:1.10 [[ 9.97594015e-01 -4.26416380e-02 -5.46614316e-02 3.39198920e+01] [ 4.25599467e-02 9.99090379e-01 -2.65822125e-03 7.20832361e-01] [ 5.47250613e-02 3.25437994e-04 9.98501408e-01 1.10442334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.36710568099999 meters 0.01901976523209087 Centerline is valid? [True, True] Translation: X:33.95, Y:0.72, Z:1.11 [[ 9.97610695e-01 -4.31401948e-02 -5.39613288e-02 3.39503064e+01] [ 4.30612707e-02 9.99068985e-01 -2.62496229e-03 7.19695335e-01] [ 5.40243314e-02 2.95047069e-04 9.98539576e-01 1.10706862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.39710568099999 meters 0.018562453826811525 Centerline is valid? [True, True] Translation: X:33.98, Y:0.71, Z:1.11 [[ 9.97588585e-01 -4.50306228e-02 -5.28134210e-02 3.39809573e+01] [ 4.49576707e-02 9.98985589e-01 -2.56912203e-03 7.13949120e-01] [ 5.28755356e-02 1.88558422e-04 9.98601093e-01 1.10956545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.42710568099999 meters 0.018168410381555554 Centerline is valid? [True, True] Translation: X:34.01, Y:0.71, Z:1.11 [[ 9.97550548e-01 -4.74996007e-02 -5.13487349e-02 3.40128595e+01] [ 4.74339448e-02 9.98871255e-01 -2.49720091e-03 7.05525233e-01] [ 5.14093913e-02 5.54110807e-05 9.98677661e-01 1.11373527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.457105680999994 meters 0.018255603791815643 Centerline is valid? [True, True] Translation: X:34.04, Y:0.70, Z:1.11 [[ 9.97489484e-01 -4.82231845e-02 -5.18580102e-02 3.40436949e+01] [ 4.81573452e-02 9.98836585e-01 -2.51909945e-03 7.03187755e-01] [ 5.19191568e-02 1.54311103e-05 9.98651291e-01 1.11385933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.48710568099999 meters 0.018284801451121508 Centerline is valid? [True, True] Translation: X:34.08, Y:0.70, Z:1.11 [[ 9.97413797e-01 -4.84999402e-02 -5.30421827e-02 3.40755515e+01] [ 4.84316401e-02 9.98823185e-01 -2.57302180e-03 7.01396461e-01] [ 5.31045532e-02 -2.55245320e-06 9.98588958e-01 1.11489946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.51710568099999 meters 0.018239003259798915 Centerline is valid? [True, True] Translation: X:34.11, Y:0.70, Z:1.12 [[ 9.97415528e-01 -4.87286413e-02 -5.27994780e-02 3.41073614e+01] [ 4.86614148e-02 9.98812054e-01 -2.55880663e-03 7.00713806e-01] [ 5.28614422e-02 -1.71038338e-05 9.98601856e-01 1.11759812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.54710568099999 meters 0.018397957920847988 Centerline is valid? [True, True] Translation: X:34.14, Y:0.69, Z:1.11 [[ 9.97115612e-01 -5.24260511e-02 -5.48813675e-02 3.41380420e+01] [ 5.23591323e-02 9.98624784e-01 -2.65747176e-03 6.94076044e-01] [ 5.49452145e-02 -2.23734202e-04 9.98489346e-01 1.11438088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.57710568099999 meters 0.018831720748208054 Centerline is valid? [True, True] Translation: X:34.17, Y:0.69, Z:1.11 [[ 9.96853137e-01 -5.56852605e-02 -5.64178586e-02 3.41681564e+01] [ 5.56199292e-02 9.98448285e-01 -2.72878025e-03 6.90205892e-01] [ 5.64822670e-02 -4.17764148e-04 9.98403515e-01 1.11314367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.60710568099999 meters 0.02075151241673637 Centerline is valid? [True, True] Translation: X:34.20, Y:0.68, Z:1.11 [[ 9.96151469e-01 -6.53173874e-02 -5.84456216e-02 3.41989983e+01] [ 6.52640788e-02 9.97864036e-01 -2.82251947e-03 6.82570893e-01] [ 5.85051434e-02 -1.00274273e-03 9.98286603e-01 1.11457666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.637105680999994 meters 0.02379745234454625 Centerline is valid? [True, True] Translation: X:34.23, Y:0.68, Z:1.12 [[ 9.95592543e-01 -7.56351597e-02 -5.54509749e-02 3.42302473e+01] [ 7.56031922e-02 9.97134390e-01 -2.67703779e-03 6.78054350e-01] [ 5.54945522e-02 -1.52703186e-03 9.98457822e-01 1.12213276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.66710568099999 meters 0.02575799590276791 Centerline is valid? [True, True] Translation: X:34.26, Y:0.68, Z:1.13 [[ 9.95348964e-01 -8.03255788e-02 -5.31812152e-02 3.42620408e+01] [ 8.03030554e-02 9.96767198e-01 -2.56367108e-03 6.76673777e-01] [ 5.32152192e-02 -1.71886671e-03 9.98581587e-01 1.12653573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.69710568099999 meters 0.030840083509868815 Centerline is valid? [True, True] Translation: X:34.29, Y:0.67, Z:1.13 [[ 9.94704470e-01 -8.86864054e-02 -5.19397623e-02 3.42921256e+01] [ 8.86765876e-02 9.96057339e-01 -2.49802760e-03 6.71663611e-01] [ 5.19565225e-02 -2.12104166e-03 9.98647095e-01 1.12786512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.72710568099999 meters 0.03262715757154393 Centerline is valid? [True, True] Translation: X:34.32, Y:0.67, Z:1.13 [[ 9.94341735e-01 -9.20067862e-02 -5.30967476e-02 3.43228612e+01] [ 9.20014081e-02 9.95755610e-01 -2.55069651e-03 6.72532380e-01] [ 5.31060657e-02 -2.34871156e-03 9.98586115e-01 1.12733539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.75710568099999 meters 0.030979853079308495 Centerline is valid? [True, True] Translation: X:34.35, Y:0.68, Z:1.13 [[ 9.94344421e-01 -9.18014450e-02 -5.34010107e-02 3.43548387e+01] [ 9.17958347e-02 9.95774551e-01 -2.56299561e-03 6.79728107e-01] [ 5.34106542e-02 -2.35348997e-03 9.98569859e-01 1.13016014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.78710568099999 meters 0.0298597571706534 Centerline is valid? [True, True] Translation: X:34.38, Y:0.69, Z:1.13 [[ 9.94747584e-01 -8.81065236e-02 -5.21007243e-02 3.43849251e+01] [ 8.80963300e-02 9.96108831e-01 -2.49660397e-03 6.89972195e-01] [ 5.21179587e-02 -2.10639184e-03 9.98638714e-01 1.13383624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.817105680999994 meters 0.02914486131820526 Centerline is valid? [True, True] Translation: X:34.41, Y:0.70, Z:1.14 [[ 9.95102115e-01 -8.55400219e-02 -4.95447845e-02 3.44144377e+01] [ 8.55277855e-02 9.96332965e-01 -2.37085370e-03 6.98660936e-01] [ 4.95659049e-02 -1.87821417e-03 9.98769089e-01 1.13900306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.84710568099999 meters 0.02769458031020437 Centerline is valid? [True, True] Translation: X:34.45, Y:0.71, Z:1.14 [[ 9.95223512e-01 -8.48452536e-02 -4.82850215e-02 3.44465020e+01] [ 8.48330965e-02 9.96392510e-01 -2.30470968e-03 7.05863283e-01] [ 4.83063774e-02 -1.80246662e-03 9.98830939e-01 1.14287725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.87710568099999 meters 0.029658601373541153 Centerline is valid? [True, True] Translation: X:34.48, Y:0.71, Z:1.15 [[ 9.95302407e-01 -8.51162495e-02 -4.61339550e-02 3.44780305e+01] [ 8.51056834e-02 9.96369508e-01 -2.19673556e-03 7.09500653e-01] [ 4.61534440e-02 -1.73984558e-03 9.98932847e-01 1.14724376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.90710568099999 meters 0.027617016543273934 Centerline is valid? [True, True] Translation: X:34.51, Y:0.72, Z:1.15 [[ 9.95418568e-01 -8.44792078e-02 -4.47787653e-02 3.45097501e+01] [ 8.44689955e-02 9.96423845e-01 -2.12356162e-03 7.17000487e-01] [ 4.47980263e-02 -1.66858466e-03 9.98994671e-01 1.15130802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.93710568099999 meters 0.023373580010861403 Centerline is valid? [True, True] Translation: X:34.54, Y:0.74, Z:1.15 [[ 9.96372294e-01 -7.29679116e-02 -4.37942412e-02 3.45384799e+01] [ 7.29471690e-02 9.97333650e-01 -2.07368675e-03 7.37343326e-01] [ 4.38287830e-02 -1.12850189e-03 9.99038420e-01 1.15434319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.96710568099999 meters 0.021324249279520882 Centerline is valid? [True, True] Translation: X:34.57, Y:0.75, Z:1.15 [[ 9.96651401e-01 -6.72323725e-02 -4.65380841e-02 3.45694813e+01] [ 6.72026844e-02 9.97736910e-01 -2.20400137e-03 7.47882766e-01] [ 4.65809445e-02 -9.30863128e-04 9.98914085e-01 1.15247047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.997105680999994 meters 0.019583003511428634 Centerline is valid? [True, True] Translation: X:34.60, Y:0.76, Z:1.15 [[ 9.96974675e-01 -6.04974595e-02 -4.88011855e-02 3.46019201e+01] [ 6.04569213e-02 9.98168140e-01 -2.30767241e-03 7.58053666e-01] [ 4.88513969e-02 -6.49678480e-04 9.98805846e-01 1.15050798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.027105680999995 meters 0.018509660025956557 Centerline is valid? [True, True] Translation: X:34.63, Y:0.77, Z:1.14 [[ 9.97348445e-01 -4.93921788e-02 -5.34461583e-02 3.46329425e+01] [ 4.93279897e-02 9.98779454e-01 -2.52028436e-03 7.73057927e-01] [ 5.35054071e-02 -1.22789857e-04 9.98567552e-01 1.14405966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.05710568099999 meters 0.018923186031371712 Centerline is valid? [True, True] Translation: X:34.66, Y:0.78, Z:1.14 [[ 9.97477011e-01 -4.39424478e-02 -5.57554819e-02 3.46648433e+01] [ 4.38643274e-02 9.99034049e-01 -2.62473557e-03 7.84453051e-01] [ 5.58169622e-02 1.72436683e-04 9.98441003e-01 1.14214768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.08710568099999 meters 0.018904364582783356 Centerline is valid? [True, True] Translation: X:34.70, Y:0.79, Z:1.14 [[ 9.97534973e-01 -4.36913837e-02 -5.49093894e-02 3.46971514e+01] [ 4.36155168e-02 9.99045060e-01 -2.57984306e-03 7.89974857e-01] [ 5.49696711e-02 1.78582285e-04 9.98488009e-01 1.14418892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.11710568099999 meters 0.018948585451640926 Centerline is valid? [True, True] Translation: X:34.73, Y:0.79, Z:1.14 [[ 9.97464299e-01 -4.46091147e-02 -5.54526757e-02 3.47281470e+01] [ 4.45333976e-02 9.99004510e-01 -2.60100371e-03 7.91816472e-01] [ 5.55135016e-02 1.24912284e-04 9.98457929e-01 1.14469983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.14710568099999 meters 0.018786049560635367 Centerline is valid? [True, True] Translation: X:34.76, Y:0.79, Z:1.14 [[ 9.97255245e-01 -4.77497538e-02 -5.65856648e-02 3.47600365e+01] [ 4.76761377e-02 9.98859328e-01 -2.65100114e-03 7.89948733e-01] [ 5.66477038e-02 -5.40611562e-05 9.98394228e-01 1.14270511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.17710568099999 meters 0.018883670607800468 Centerline is valid? [True, True] Translation: X:34.79, Y:0.79, Z:1.14 [[ 9.97164868e-01 -4.94958937e-02 -5.66778776e-02 3.47916991e+01] [ 4.94251670e-02 9.98774314e-01 -2.64983722e-03 7.88582117e-01] [ 5.67395644e-02 -1.58988987e-04 9.98389001e-01 1.14233302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.207105680999994 meters 0.019208438115768958 Centerline is valid? [True, True] Translation: X:34.82, Y:0.79, Z:1.14 [[ 9.96884641e-01 -5.34910707e-02 -5.79630773e-02 3.48238098e+01] [ 5.34242776e-02 9.98568247e-01 -2.70245962e-03 7.86209572e-01] [ 5.80246459e-02 -4.02595046e-04 9.98315070e-01 1.14368310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.23710568099999 meters 0.019208438115768958 Centerline is valid? [True, True] Translation: X:34.86, Y:0.79, Z:1.14 [[ 9.96889656e-01 -5.33972425e-02 -5.79633310e-02 3.48554673e+01] [ 5.33306079e-02 9.98573268e-01 -2.69700893e-03 7.87590072e-01] [ 5.80246457e-02 -4.02599374e-04 9.98315070e-01 1.14485572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.26710568099999 meters 0.020131379193004416 Centerline is valid? [True, True] Translation: X:34.89, Y:0.78, Z:1.15 [[ 9.96491823e-01 -5.93084183e-02 -5.90470826e-02 3.48869848e+01] [ 5.92499326e-02 9.98239413e-01 -2.74234276e-03 7.82578960e-01] [ 5.91057690e-02 -7.65813530e-04 9.98251432e-01 1.14514353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.29710568099999 meters 0.02097952676180677 Centerline is valid? [True, True] Translation: X:34.92, Y:0.78, Z:1.15 [[ 9.96236075e-01 -6.32963700e-02 -5.92220539e-02 3.49192092e+01] [ 6.32448515e-02 9.97994263e-01 -2.74579402e-03 7.79018867e-01] [ 5.92770688e-02 -1.01003095e-03 9.98241058e-01 1.14618458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.32710568099999 meters 0.023885918494489167 Centerline is valid? [True, True] Translation: X:34.95, Y:0.77, Z:1.15 [[ 9.95654487e-01 -7.22282783e-02 -5.87811067e-02 3.49495787e+01] [ 7.21932612e-02 9.97386948e-01 -2.72192356e-03 7.69144123e-01] [ 5.88241084e-02 -1.53350438e-03 9.98267185e-01 1.14734410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.35710568099999 meters 0.02669053402822222 Centerline is valid? [True, True] Translation: X:34.98, Y:0.76, Z:1.15 [[ 9.95251864e-01 -7.88254525e-02 -5.70988127e-02 3.49801577e+01] [ 7.88033178e-02 9.96886680e-01 -2.64269437e-03 7.63189536e-01] [ 5.71293574e-02 -1.86942938e-03 9.98365034e-01 1.15172768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.387105680999994 meters 0.02718117677619611 Centerline is valid? [True, True] Translation: X:35.01, Y:0.76, Z:1.16 [[ 9.95248545e-01 -7.99945934e-02 -5.55085507e-02 3.50119330e+01] [ 7.99757104e-02 9.96793512e-01 -2.56505244e-03 7.63316292e-01] [ 5.55357536e-02 -1.88647107e-03 9.98454917e-01 1.15542948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.41710568099999 meters 0.02525475253288167 Centerline is valid? [True, True] Translation: X:35.04, Y:0.77, Z:1.16 [[ 9.95785061e-01 -7.49648250e-02 -5.28430497e-02 3.50409171e+01] [ 7.49407824e-02 9.97185003e-01 -2.43906555e-03 7.68204330e-01] [ 5.28771408e-02 -1.53131445e-03 9.98599851e-01 1.16126235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.44710568099999 meters 0.02075094813461413 Centerline is valid? [True, True] Translation: X:35.07, Y:0.78, Z:1.16 [[ 9.96656576e-01 -6.14505947e-02 -5.38469479e-02 3.50697671e+01] [ 6.14058692e-02 9.98109782e-01 -2.48623887e-03 7.82906962e-01] [ 5.38979463e-02 -8.28592317e-04 9.98546106e-01 1.16265427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.47710568099999 meters 0.019385877734024757 Centerline is valid? [True, True] Translation: X:35.10, Y:0.79, Z:1.16 [[ 9.97102235e-01 -5.32804862e-02 -5.42984522e-02 3.51003415e+01] [ 5.32230587e-02 9.98579509e-01 -2.50413985e-03 7.93199684e-01] [ 5.43547435e-02 -3.93046271e-04 9.98521611e-01 1.16270286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.50710568099999 meters 0.019514813790295397 Centerline is valid? [True, True] Translation: X:35.13, Y:0.81, Z:1.16 [[ 9.97749904e-01 -3.96559099e-02 -5.40604969e-02 3.51320047e+01] [ 3.95794087e-02 9.99213337e-01 -2.48541605e-03 8.09546342e-01] [ 5.41165309e-02 3.40141124e-04 9.98534569e-01 1.16356594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.53710568099999 meters 0.020394855026903035 Centerline is valid? [True, True] Translation: X:35.16, Y:0.82, Z:1.17 [[ 9.97890935e-01 -3.47498815e-02 -5.48281729e-02 3.51627922e+01] [ 3.46640151e-02 9.99395854e-01 -2.51660866e-03 8.15553807e-01] [ 5.48825005e-02 6.10736350e-04 9.98492633e-01 1.16553771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.567105680999994 meters 0.02021985050213292 Centerline is valid? [True, True] Translation: X:35.19, Y:0.82, Z:1.16 [[ 9.97797770e-01 -3.53855247e-02 -5.61023562e-02 3.51935538e+01] [ 3.52967191e-02 9.99373564e-01 -2.57333815e-03 8.15536899e-01] [ 5.61582705e-02 5.87441960e-04 9.98421706e-01 1.16480334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.59710568099999 meters 0.019591412990095987 Centerline is valid? [True, True] Translation: X:35.22, Y:0.81, Z:1.16 [[ 9.97488893e-01 -4.07694880e-02 -5.79116299e-02 3.52241048e+01] [ 4.06839472e-02 9.99168536e-01 -2.65584323e-03 8.10300086e-01] [ 5.79717558e-02 2.93100434e-04 9.98318181e-01 1.16268129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.62710568099999 meters 0.019467897875266968 Centerline is valid? [True, True] Translation: X:35.26, Y:0.81, Z:1.16 [[ 9.97351461e-01 -4.35232911e-02 -5.82733802e-02 3.52557364e+01] [ 4.34414802e-02 9.99052404e-01 -2.67059953e-03 8.08738241e-01] [ 5.83343938e-02 1.32044450e-04 9.98297091e-01 1.16339025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.65710568099999 meters 0.01918919913891393 Centerline is valid? [True, True] Translation: X:35.29, Y:0.81, Z:1.17 [[ 9.97258863e-01 -4.78438200e-02 -5.64422635e-02 3.52860895e+01] [ 4.77741048e-02 9.98854822e-01 -2.58460437e-03 8.05874343e-01] [ 5.65012844e-02 -1.18958990e-04 9.98402519e-01 1.16680209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.68710568099999 meters 0.01900699149303358 Centerline is valid? [True, True] Translation: X:35.32, Y:0.80, Z:1.17 [[ 9.97130796e-01 -5.11939876e-02 -5.57615632e-02 3.53181160e+01] [ 5.11313194e-02 9.98688681e-01 -2.55090960e-03 8.01861705e-01] [ 5.58190333e-02 -3.07571781e-04 9.98440855e-01 1.16814824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.71710568099999 meters 0.019264212145378913 Centerline is valid? [True, True] Translation: X:35.35, Y:0.80, Z:1.17 [[ 9.96952439e-01 -5.37992847e-02 -5.64931077e-02 3.53504560e+01] [ 5.37394371e-02 9.98551662e-01 -2.57911441e-03 8.01396783e-01] [ 5.65500411e-02 -4.64653411e-04 9.98399658e-01 1.17047345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.747105680999994 meters 0.02032186985744051 Centerline is valid? [True, True] Translation: X:35.38, Y:0.80, Z:1.17 [[ 9.96528203e-01 -6.04342926e-02 -5.72646287e-02 3.53818585e+01] [ 6.03841007e-02 9.98171808e-01 -2.60802852e-03 7.96265497e-01] [ 5.73175524e-02 -8.58899132e-04 9.98355628e-01 1.17025417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.777105680999995 meters 0.023769203535487927 Centerline is valid? [True, True] Translation: X:35.41, Y:0.79, Z:1.17 [[ 9.96008219e-01 -6.86178093e-02 -5.70896100e-02 3.54128181e+01] [ 6.85816519e-02 9.97642133e-01 -2.59466785e-03 7.85847263e-01] [ 5.71330407e-02 -1.33098926e-03 9.98365687e-01 1.16759483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.80710568099999 meters 0.025343834164657835 Centerline is valid? [True, True] Translation: X:35.44, Y:0.78, Z:1.17 [[ 9.95397058e-01 -7.62588743e-02 -5.80455074e-02 3.54436145e+01] [ 7.62345397e-02 9.97086427e-01 -2.63675713e-03 7.82195703e-01] [ 5.80774637e-02 -1.80045225e-03 9.98310456e-01 1.17041190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.83710568099999 meters 0.026452200608681347 Centerline is valid? [True, True] Translation: X:35.48, Y:0.78, Z:1.17 [[ 9.95070106e-01 -7.96302861e-02 -5.91143043e-02 3.54759952e+01] [ 7.96111596e-02 9.96822385e-01 -2.68237455e-03 7.80784697e-01] [ 5.91400601e-02 -2.03700758e-03 9.98247617e-01 1.17099021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.86710568099999 meters 0.0322646242032568 Centerline is valid? [True, True] Translation: X:35.51, Y:0.77, Z:1.17 [[ 9.94487061e-01 -8.65115435e-02 -5.92557026e-02 3.55061221e+01] [ 8.65048188e-02 9.96247818e-01 -2.68351280e-03 7.70921187e-01] [ 5.92655193e-02 -2.45718506e-03 9.98239230e-01 1.16949548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.89710568099999 meters 0.0360671741209848 Centerline is valid? [True, True] Translation: X:35.54, Y:0.77, Z:1.17 [[ 9.94196131e-01 -9.00849543e-02 -5.88111659e-02 3.55366945e+01] [ 9.00847653e-02 9.95930550e-01 -2.65991835e-03 7.65573425e-01] [ 5.88114555e-02 -2.65350955e-03 9.98265582e-01 1.17000017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.92710568099999 meters 0.03453078415205105 Centerline is valid? [True, True] Translation: X:35.57, Y:0.77, Z:1.18 [[ 9.93638878e-01 -9.60028914e-02 -5.88661581e-02 3.55669541e+01] [ 9.60131229e-02 9.95376511e-01 -2.66114449e-03 7.69462115e-01] [ 5.88494686e-02 -3.00770704e-03 9.98262337e-01 1.17645221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.957105680999994 meters 0.03696607872079441 Centerline is valid? [True, True] Translation: X:35.60, Y:0.77, Z:1.18 [[ 9.93145178e-01 -1.00524957e-01 -5.96438443e-02 3.55983216e+01] [ 1.00543665e-01 9.94928997e-01 -2.69497559e-03 7.66664702e-01] [ 5.96123025e-02 -3.32030867e-03 9.98216083e-01 1.17582747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.98710568099999 meters 0.038270963618894704 Centerline is valid? [True, True] Translation: X:35.63, Y:0.77, Z:1.18 [[ 9.93027545e-01 -1.02081678e-01 -5.89544434e-02 3.56291172e+01] [ 1.02102934e-01 9.94770284e-01 -2.65956865e-03 7.65739933e-01] [ 5.89176216e-02 -3.37839674e-03 9.98257131e-01 1.17686281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.01710568099999 meters 0.03980542208763936 Centerline is valid? [True, True] Translation: X:35.66, Y:0.77, Z:1.18 [[ 9.93050352e-01 -1.03012135e-01 -5.69165986e-02 3.56599406e+01] [ 1.03033849e-01 9.94674554e-01 -2.56074122e-03 7.70665622e-01] [ 5.68772798e-02 -3.32139128e-03 9.98375652e-01 1.18229100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.04710568099999 meters 0.03841725232541079 Centerline is valid? [True, True] Translation: X:35.69, Y:0.78, Z:1.19 [[ 9.93454854e-01 -1.00265795e-01 -5.47195033e-02 3.56896753e+01] [ 1.00281831e-01 9.94956032e-01 -2.45954026e-03 7.82998963e-01] [ 5.46901076e-02 -3.04392979e-03 9.98498736e-01 1.18616293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.07710568099999 meters 0.0362891599533965 Centerline is valid? [True, True] Translation: X:35.72, Y:0.79, Z:1.19 [[ 9.93739323e-01 -9.74851700e-02 -5.45783790e-02 3.57208709e+01] [ 9.74969869e-02 9.95232799e-01 -2.45241491e-03 7.90556244e-01] [ 5.45572670e-02 -2.88416637e-03 9.98506478e-01 1.18593705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.10710568099999 meters 0.033475338679206997 Centerline is valid? [True, True] Translation: X:35.75, Y:0.80, Z:1.18 [[ 9.94431975e-01 -8.95485548e-02 -5.55527006e-02 3.57497006e+01] [ 8.95485189e-02 9.95979336e-01 -2.49492230e-03 8.03036550e-01] [ 5.55527586e-02 -2.49363154e-03 9.98452639e-01 1.18144557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.137105680999994 meters 0.030095761778304274 Centerline is valid? [True, True] Translation: X:35.78, Y:0.81, Z:1.18 [[ 9.94751126e-01 -8.59804033e-02 -5.54758281e-02 3.57810671e+01] [ 8.59748568e-02 9.96294193e-01 -2.49101213e-03 8.14716246e-01] [ 5.54844236e-02 -2.29158925e-03 9.98456923e-01 1.18401054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.16710568099999 meters 0.025445563789358718 Centerline is valid? [True, True] Translation: X:35.81, Y:0.84, Z:1.19 [[ 9.95604400e-01 -7.59411908e-02 -5.48161874e-02 3.58100943e+01] [ 7.59207131e-02 9.97110826e-01 -2.45889908e-03 8.41214247e-01] [ 5.48445456e-02 -1.71359330e-03 9.98493435e-01 1.18982765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.19710568099999 meters 0.024557319799533166 Centerline is valid? [True, True] Translation: X:35.84, Y:0.85, Z:1.19 [[ 9.95866441e-01 -7.23539172e-02 -5.49084884e-02 3.58408544e+01] [ 7.23279957e-02 9.97377863e-01 -2.46176303e-03 8.49553163e-01] [ 5.49426290e-02 -1.51983372e-03 9.98488356e-01 1.19125163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.22710568099999 meters 0.02343672672559061 Centerline is valid? [True, True] Translation: X:35.87, Y:0.86, Z:1.19 [[ 9.96071198e-01 -6.94090885e-02 -5.49958739e-02 3.58728188e+01] [ 6.93788317e-02 9.97587349e-01 -2.46150388e-03 8.56866215e-01] [ 5.50340388e-02 -1.36371636e-03 9.98483548e-01 1.19146061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.25710568099999 meters 0.02201348730570043 Centerline is valid? [True, True] Translation: X:35.90, Y:0.86, Z:1.19 [[ 9.96421737e-01 -6.37018392e-02 -5.55499543e-02 3.59031103e+01] [ 6.36623220e-02 9.97968409e-01 -2.48247982e-03 8.64559413e-01] [ 5.55952380e-02 -1.06284222e-03 9.98452823e-01 1.18590662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.28710568099999 meters 0.020976567156833163 Centerline is valid? [True, True] Translation: X:35.93, Y:0.87, Z:1.19 [[ 9.96819001e-01 -5.90476589e-02 -5.35280639e-02 3.59327839e+01] [ 5.90043220e-02 9.98254864e-01 -2.39095746e-03 8.73853984e-01] [ 5.35758306e-02 -7.75035295e-04 9.98563483e-01 1.18709147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.317105680999994 meters 0.019667227949061984 Centerline is valid? [True, True] Translation: X:35.96, Y:0.89, Z:1.19 [[ 9.97178847e-01 -5.31668465e-02 -5.29871095e-02 3.59647847e+01] [ 5.31162227e-02 9.98585538e-01 -2.36416811e-03 8.85669597e-01] [ 5.30378566e-02 -4.56976672e-04 9.98592398e-01 1.19130764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.34710568099999 meters 0.019083717717063003 Centerline is valid? [True, True] Translation: X:36.00, Y:0.89, Z:1.19 [[ 9.97406835e-01 -4.96847657e-02 -5.20675446e-02 3.59972178e+01] [ 4.96314519e-02 9.98764912e-01 -2.31720721e-03 8.90973995e-01] [ 5.21183665e-02 -2.72989521e-04 9.98640877e-01 1.19345209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.37710568099999 meters 0.018973191359593265 Centerline is valid? [True, True] Translation: X:36.03, Y:0.90, Z:1.19 [[ 9.97804115e-01 -4.26099798e-02 -5.07083558e-02 3.60278361e+01] [ 4.25505476e-02 9.99091778e-01 -2.25148243e-03 8.97261500e-01] [ 5.07582370e-02 8.88701287e-05 9.98710966e-01 1.19173824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.40710568099999 meters 0.019650223349149218 Centerline is valid? [True, True] Translation: X:36.06, Y:0.90, Z:1.19 [[ 9.97777061e-01 -3.88080498e-02 -5.41744530e-02 3.60601966e+01] [ 3.87348456e-02 9.99246640e-01 -2.40100099e-03 8.98354530e-01] [ 5.42268183e-02 2.97224636e-04 9.98528599e-01 1.18716641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.43710568099999 meters 0.019824279629587223 Centerline is valid? [True, True] Translation: X:36.09, Y:0.90, Z:1.19 [[ 9.97787489e-01 -3.85277446e-02 -5.41824735e-02 3.60919739e+01] [ 3.84544275e-02 9.99257484e-01 -2.39543216e-03 8.97714948e-01] [ 5.42345328e-02 3.06576240e-04 9.98528178e-01 1.18664365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.46710568099999 meters 0.019537495362368804 Centerline is valid? [True, True] Translation: X:36.12, Y:0.89, Z:1.19 [[ 9.97666070e-01 -4.10253482e-02 -5.45832711e-02 3.61248361e+01] [ 4.09550640e-02 9.99158092e-01 -2.40606451e-03 8.92011274e-01] [ 5.46360266e-02 1.64987559e-04 9.98506323e-01 1.18892360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.497105680999994 meters 0.019725732452599492 Centerline is valid? [True, True] Translation: X:36.16, Y:0.88, Z:1.19 [[ 9.97318736e-01 -4.59063011e-02 -5.69907915e-02 3.61565243e+01] [ 4.58378948e-02 9.98945744e-01 -2.50764643e-03 8.84165166e-01] [ 5.70458254e-02 -1.11415141e-04 9.98371555e-01 1.18799619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.52710568099999 meters 0.019782276298383864 Centerline is valid? [True, True] Translation: X:36.19, Y:0.88, Z:1.19 [[ 9.97276253e-01 -4.73149701e-02 -5.65806326e-02 3.61891665e+01] [ 4.72500097e-02 9.98880001e-01 -2.48609293e-03 8.80577448e-01] [ 5.66348917e-02 -1.94113999e-04 9.98394938e-01 1.18874566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.55710568099999 meters 0.0199246172153835 Centerline is valid? [True, True] Translation: X:36.22, Y:0.87, Z:1.19 [[ 9.97236491e-01 -5.04751799e-02 -5.45127207e-02 3.62221685e+01] [ 5.04198920e-02 9.98725249e-01 -2.38990959e-03 8.73007449e-01] [ 5.45638617e-02 -3.65220438e-04 9.98510216e-01 1.19089257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.58710568099999 meters 0.01998036185823519 Centerline is valid? [True, True] Translation: X:36.25, Y:0.87, Z:1.19 [[ 9.97207773e-01 -5.13767305e-02 -5.41949228e-02 3.62533034e+01] [ 5.13237124e-02 9.98679256e-01 -2.37051895e-03 8.67378876e-01] [ 5.42451347e-02 -4.17584709e-04 9.98527561e-01 1.19126901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.61710568099999 meters 0.020034075637412087 Centerline is valid? [True, True] Translation: X:36.29, Y:0.87, Z:1.19 [[ 9.97211030e-01 -5.22210213e-02 -5.33209783e-02 3.62855715e+01] [ 5.21711216e-02 9.98635446e-01 -2.32825913e-03 8.65510562e-01] [ 5.33698030e-02 -4.60049561e-04 9.98574711e-01 1.19318293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.64710568099999 meters 0.0206691458432518 Centerline is valid? [True, True] Translation: X:36.32, Y:0.86, Z:1.20 [[ 9.97121830e-01 -5.58913520e-02 -5.12270765e-02 3.63178324e+01] [ 5.58503722e-02 9.98436655e-01 -2.23220168e-03 8.59110018e-01] [ 5.12717517e-02 -6.35274271e-04 9.98684537e-01 1.19698028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.67710568099999 meters 0.022228726646412518 Centerline is valid? [True, True] Translation: X:36.35, Y:0.85, Z:1.20 [[ 9.96883987e-01 -6.31483806e-02 -4.72715334e-02 3.63496969e+01] [ 6.31218179e-02 9.98003712e-01 -2.05596763e-03 8.49067121e-01] [ 4.73069968e-02 -9.34303913e-04 9.98879960e-01 1.20222922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.707105680999994 meters 0.023956242591067663 Centerline is valid? [True, True] Translation: X:36.38, Y:0.84, Z:1.20 [[ 9.96588761e-01 -6.82481922e-02 -4.64007165e-02 3.63820177e+01] [ 6.82282749e-02 9.97667702e-01 -2.01473521e-03 8.43360196e-01] [ 4.64299982e-02 -1.15797838e-03 9.98920875e-01 1.20444815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.73710568099999 meters 0.030568421972494948 Centerline is valid? [True, True] Translation: X:36.41, Y:0.82, Z:1.20 [[ 9.95531449e-01 -8.21859126e-02 -4.65038749e-02 3.64130160e+01] [ 8.21812518e-02 9.96615362e-01 -2.01536883e-03 8.24260373e-01] [ 4.65121110e-02 -1.81538359e-03 9.98916077e-01 1.20362551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.76710568099999 meters 0.03720887559966903 Centerline is valid? [True, True] Translation: X:36.44, Y:0.81, Z:1.20 [[ 9.94194560e-01 -9.57344703e-02 -4.91130204e-02 3.64441338e+01] [ 9.57458454e-02 9.95403542e-01 -2.12636602e-03 8.09840852e-01] [ 4.90908410e-02 -2.58834613e-03 9.98790964e-01 1.20276630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.79710568099999 meters 0.04005577874309969 Centerline is valid? [True, True] Translation: X:36.48, Y:0.80, Z:1.20 [[ 9.93306524e-01 -1.03818818e-01 -5.06340003e-02 3.64759146e+01] [ 1.03841413e-01 9.94591453e-01 -2.19134362e-03 8.03388387e-01] [ 5.05876467e-02 -3.08123022e-03 9.98714872e-01 1.20259744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.82710568099999 meters 0.043877345267475235 Centerline is valid? [True, True] Translation: X:36.51, Y:0.80, Z:1.20 [[ 9.93253695e-01 -1.04828537e-01 -4.95789797e-02 3.65071326e+01] [ 1.04851611e-01 9.94485570e-01 -2.14238567e-03 7.96439896e-01] [ 4.95301630e-02 -3.07050342e-03 9.98767908e-01 1.20302580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.85710568099999 meters 0.04124280862257689 Centerline is valid? [True, True] Translation: X:36.54, Y:0.80, Z:1.20 [[ 9.93339793e-01 -1.03518038e-01 -5.05971583e-02 3.65396569e+01] [ 1.03540738e-01 9.94622826e-01 -2.17933082e-03 7.99170157e-01] [ 5.05506886e-02 -3.07405110e-03 9.98716766e-01 1.20486789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.887105680999994 meters 0.043282055623102104 Centerline is valid? [True, True] Translation: X:36.57, Y:0.80, Z:1.20 [[ 9.93382561e-01 -1.02152833e-01 -5.24965396e-02 3.65714785e+01] [ 1.02175673e-01 9.94763813e-01 -2.25558017e-03 7.98251898e-01] [ 5.24520718e-02 -3.12321526e-03 9.98618559e-01 1.20445828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.91710568099999 meters 0.04051866611343056 Centerline is valid? [True, True] Translation: X:36.60, Y:0.81, Z:1.21 [[ 9.93680603e-01 -9.87274517e-02 -5.34017762e-02 3.66024151e+01] [ 9.87463750e-02 9.95109997e-01 -2.29050013e-03 8.08520638e-01] [ 5.33667766e-02 -2.99720626e-03 9.98570480e-01 1.20731246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.94710568099999 meters 0.034305605024167955 Centerline is valid? [True, True] Translation: X:36.63, Y:0.83, Z:1.21 [[ 9.94545643e-01 -9.22456446e-02 -4.86796247e-02 3.66324930e+01] [ 9.22536801e-02 9.95733350e-01 -2.08648418e-03 8.25127758e-01] [ 4.86643949e-02 -2.41577078e-03 9.98812265e-01 1.21421347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.97710568099999 meters 0.03424192019600482 Centerline is valid? [True, True] Translation: X:36.66, Y:0.83, Z:1.22 [[ 9.95165757e-01 -8.65425429e-02 -4.64274203e-02 3.66619526e+01] [ 8.65436569e-02 9.96246072e-01 -1.98987168e-03 8.30028442e-01] [ 4.64253436e-02 -2.03774658e-03 9.98919684e-01 1.21613173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.00710568099999 meters 0.02668850519500892 Centerline is valid? [True, True] Translation: X:36.69, Y:0.85, Z:1.22 [[ 9.96383948e-01 -7.21190409e-02 -4.49207341e-02 3.66918054e+01] [ 7.21054401e-02 9.97395157e-01 -1.92514622e-03 8.53551921e-01] [ 4.49425624e-02 -1.32084451e-03 9.98988699e-01 1.21758982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.03710568099999 meters 0.02427580422962239 Centerline is valid? [True, True] Translation: X:36.72, Y:0.86, Z:1.22 [[ 9.96843173e-01 -6.49129250e-02 -4.57165232e-02 3.67221200e+01] [ 6.48913169e-02 9.97890416e-01 -1.95814195e-03 8.64475460e-01] [ 4.57471891e-02 -1.01464496e-03 9.98952534e-01 1.21683895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.067105680999994 meters 0.019936994983094213 Centerline is valid? [True, True] Translation: X:36.75, Y:0.89, Z:1.22 [[ 9.97531969e-01 -5.01802304e-02 -4.91112568e-02 3.67532253e+01] [ 5.01375671e-02 9.98740111e-01 -2.10100234e-03 8.88791336e-01] [ 4.91548109e-02 -3.66501936e-04 9.98791104e-01 1.21567160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.09710568099999 meters 0.01969623000699859 Centerline is valid? [True, True] Translation: X:36.79, Y:0.90, Z:1.22 [[ 9.97914979e-01 -4.18061356e-02 -4.91725778e-02 3.67852659e+01] [ 4.17533836e-02 9.99125740e-01 -2.09993547e-03 9.00795674e-01] [ 4.92173784e-02 4.24355606e-05 9.98788090e-01 1.21592333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.12710568099999 meters 0.01969623000699859 Centerline is valid? [True, True] Translation: X:36.82, Y:0.90, Z:1.22 [[ 9.97918945e-01 -4.17111156e-02 -4.91727759e-02 3.68169266e+01] [ 4.16584774e-02 9.99129712e-01 -2.09528623e-03 9.02052930e-01] [ 4.92173782e-02 4.24628471e-05 9.98788090e-01 1.21709576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.15710568099999 meters 0.0198170638364094 Centerline is valid? [True, True] Translation: X:36.85, Y:0.90, Z:1.22 [[ 9.97990444e-01 -4.03747211e-02 -4.88360128e-02 3.68481272e+01] [ 4.03214151e-02 9.99184603e-01 -2.07659724e-03 9.02516106e-01] [ 4.88800341e-02 1.03287059e-04 9.98804651e-01 1.21633946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.18710568099999 meters 0.019771637389936834 Centerline is valid? [True, True] Translation: X:36.88, Y:0.90, Z:1.22 [[ 9.97874167e-01 -4.17550657e-02 -5.00365914e-02 3.68809000e+01] [ 4.17010360e-02 9.99127876e-01 -2.12371628e-03 8.99849457e-01] [ 5.00816292e-02 3.26239180e-05 9.98745127e-01 1.21603287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.21710568099999 meters 0.019788186587499017 Centerline is valid? [True, True] Translation: X:36.91, Y:0.89, Z:1.22 [[ 9.97568629e-01 -4.75923289e-02 -5.09097237e-02 3.69125852e+01] [ 4.75442241e-02 9.98866807e-01 -2.15619277e-03 8.91851846e-01] [ 5.09546514e-02 -2.69513050e-04 9.98700932e-01 1.21584915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.247105680999994 meters 0.020981655834791658 Centerline is valid? [True, True] Translation: X:36.94, Y:0.88, Z:1.21 [[ 9.97126230e-01 -5.35288844e-02 -5.36091429e-02 3.69437325e+01] [ 5.34843005e-02 9.98566117e-01 -2.26698981e-03 8.84872105e-01] [ 5.36536232e-02 -6.06772503e-04 9.98559423e-01 1.21340510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.27710568099999 meters 0.020747073831421572 Centerline is valid? [True, True] Translation: X:36.98, Y:0.88, Z:1.21 [[ 9.97029938e-01 -5.44469758e-02 -5.44686032e-02 3.69764012e+01] [ 5.44025040e-02 9.98516438e-01 -2.29995105e-03 8.84542333e-01] [ 5.45130211e-02 -6.70108353e-04 9.98512835e-01 1.21445779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.30710568099999 meters 0.02120527856105779 Centerline is valid? [True, True] Translation: X:37.01, Y:0.88, Z:1.21 [[ 9.96958715e-01 -5.58566860e-02 -5.43447512e-02 3.70076464e+01] [ 5.58148427e-02 9.98438514e-01 -2.28858753e-03 8.81418616e-01] [ 5.43877255e-02 -7.51616456e-04 9.98519609e-01 1.21259058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.33710568099999 meters 0.021335947400374974 Centerline is valid? [True, True] Translation: X:37.04, Y:0.88, Z:1.21 [[ 9.96874240e-01 -5.62071026e-02 -5.55203719e-02 3.70394564e+01] [ 5.61643900e-02 9.98418815e-01 -2.33058873e-03 8.82159009e-01] [ 5.55635795e-02 -7.94963948e-04 9.98454835e-01 1.21265529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.36710568099999 meters 0.021363888957809243 Centerline is valid? [True, True] Translation: X:37.07, Y:0.88, Z:1.21 [[ 9.96855252e-01 -5.66681974e-02 -5.53924321e-02 3.70714087e+01] [ 5.66266799e-02 9.98392727e-01 -2.32004396e-03 8.83451804e-01] [ 5.54348740e-02 -8.23941516e-04 9.98461965e-01 1.21423539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.39710568099999 meters 0.021571185158474775 Centerline is valid? [True, True] Translation: X:37.10, Y:0.88, Z:1.22 [[ 9.96718469e-01 -5.84710443e-02 -5.59770559e-02 3.71037198e+01] [ 5.84317844e-02 9.98288663e-01 -2.33920933e-03 8.84035019e-01] [ 5.60180363e-02 -9.39306114e-04 9.98429315e-01 1.21506058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.42710568099999 meters 0.022184434808034968 Centerline is valid? [True, True] Translation: X:37.14, Y:0.88, Z:1.21 [[ 9.96431469e-01 -5.97474999e-02 -5.96201593e-02 3.71353809e+01] [ 5.97055638e-02 9.98212936e-01 -2.48615017e-03 8.83980920e-01] [ 5.96621555e-02 -1.08237695e-03 9.98218040e-01 1.21206769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.457105680999994 meters 0.022848233513970223 Centerline is valid? [True, True] Translation: X:37.17, Y:0.88, Z:1.21 [[ 9.96308260e-01 -6.11534937e-02 -6.02503255e-02 3.71668960e+01] [ 6.11134890e-02 9.98127672e-01 -2.50821047e-03 8.82027088e-01] [ 6.02909030e-02 -1.18315680e-03 9.98180148e-01 1.21063730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.48710568099999 meters 0.022972475393538444 Centerline is valid? [True, True] Translation: X:37.20, Y:0.88, Z:1.21 [[ 9.96261307e-01 -6.31502066e-02 -5.89530223e-02 3.71993336e+01] [ 6.31156639e-02 9.98003212e-01 -2.44966558e-03 8.78600719e-01] [ 5.89900025e-02 -1.28035211e-03 9.98257752e-01 1.21408835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.51710568099999 meters 0.024654240302692303 Centerline is valid? [True, True] Translation: X:37.23, Y:0.88, Z:1.22 [[ 9.96161703e-01 -6.49863477e-02 -5.86398854e-02 3.72309168e+01] [ 6.49556362e-02 9.97885190e-01 -2.43173690e-03 8.75749577e-01] [ 5.86739029e-02 -1.38658789e-03 9.98276240e-01 1.21662666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.54710568099999 meters 0.024607550939074487 Centerline is valid? [True, True] Translation: X:37.26, Y:0.88, Z:1.22 [[ 9.96101203e-01 -6.59674505e-02 -5.85720803e-02 3.72625947e+01] [ 6.59387662e-02 9.97820726e-01 -2.42444868e-03 8.76647072e-01] [ 5.86043703e-02 -1.44717446e-03 9.98280238e-01 1.21974176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57710568099999 meters 0.024338254960242008 Centerline is valid? [True, True] Translation: X:37.29, Y:0.87, Z:1.22 [[ 9.95982520e-01 -6.82711062e-02 -5.79471768e-02 3.72946522e+01] [ 6.82472257e-02 9.97665569e-01 -2.39335511e-03 8.73976796e-01] [ 5.79753001e-02 -1.57099420e-03 9.98316782e-01 1.22297372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.60710568099999 meters 0.02454251327834551 Centerline is valid? [True, True] Translation: X:37.33, Y:0.87, Z:1.23 [[ 9.95987182e-01 -6.96580604e-02 -5.61897419e-02 3.73266626e+01] [ 6.96380974e-02 9.97569633e-01 -2.31560673e-03 8.73310069e-01] [ 5.62144809e-02 -1.60663209e-03 9.98417423e-01 1.22672457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.637105680999994 meters 0.024372140553567116 Centerline is valid? [True, True] Translation: X:37.36, Y:0.87, Z:1.23 [[ 9.96068842e-01 -6.90425975e-02 -5.54975908e-02 3.73591132e+01] [ 6.90224548e-02 9.97612497e-01 -2.28192816e-03 8.74761370e-01] [ 5.55226404e-02 -1.55762242e-03 9.98456213e-01 1.22859380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.66710568099999 meters 0.02339063230399894 Centerline is valid? [True, True] Translation: X:37.39, Y:0.88, Z:1.23 [[ 9.96333023e-01 -6.54434411e-02 -5.51150074e-02 3.73908715e+01] [ 6.54183560e-02 9.97855363e-01 -2.26109561e-03 8.77205647e-01] [ 5.51447796e-02 -1.35272895e-03 9.98477453e-01 1.22806739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.69710568099999 meters 0.02262144719251965 Centerline is valid? [True, True] Translation: X:37.42, Y:0.88, Z:1.23 [[ 9.96467544e-01 -6.27253452e-02 -5.58387375e-02 3.74222365e+01] [ 6.26956006e-02 9.98030078e-01 -2.28604642e-03 8.81307790e-01] [ 5.58721326e-02 -1.22287213e-03 9.98437183e-01 1.22876855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.72710568099999 meters 0.021147207457576103 Centerline is valid? [True, True] Translation: X:37.45, Y:0.89, Z:1.23 [[ 9.96903383e-01 -5.58607740e-02 -5.53463593e-02 3.74521972e+01] [ 5.58211411e-02 9.98438220e-01 -2.26297412e-03 8.93925850e-01] [ 5.53863320e-02 -8.33530372e-04 9.98464651e-01 1.23242445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.75710568099999 meters 0.019524584701272732 Centerline is valid? [True, True] Translation: X:37.48, Y:0.90, Z:1.24 [[ 9.97366849e-01 -4.96074225e-02 -5.29005814e-02 3.74835095e+01] [ 4.95625242e-02 9.98768685e-01 -2.16106370e-03 9.04336615e-01] [ 5.29426490e-02 -4.66513049e-04 9.98597446e-01 1.23680407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.78710568099999 meters 0.01923065325575338 Centerline is valid? [True, True] Translation: X:37.51, Y:0.91, Z:1.24 [[ 9.97601647e-01 -4.67030016e-02 -5.10860333e-02 3.75145412e+01] [ 4.66575029e-02 9.98908773e-01 -2.08347100e-03 9.07238649e-01] [ 5.11275912e-02 -3.05072641e-04 9.98692083e-01 1.23741972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.817105680999994 meters 0.0184197232459962 Centerline is valid? [True, True] Translation: X:37.55, Y:0.91, Z:1.24 [[ 9.97964306e-01 -4.20876367e-02 -4.79152802e-02 3.75466354e+01] [ 4.20424588e-02 9.99113921e-01 -1.95074413e-03 9.12513618e-01] [ 4.79549257e-02 -6.77031834e-05 9.98849498e-01 1.24266277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.84710568099999 meters 0.018844571895385163 Centerline is valid? [True, True] Translation: X:37.58, Y:0.92, Z:1.24 [[ 9.98122538e-01 -3.72304283e-02 -4.86342830e-02 3.75780353e+01] [ 3.71783288e-02 9.99306694e-01 -1.97573208e-03 9.17162250e-01] [ 4.86741219e-02 1.63881351e-04 9.98814699e-01 1.24258706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.87710568099999 meters 0.019138785958159564 Centerline is valid? [True, True] Translation: X:37.61, Y:0.92, Z:1.24 [[ 9.98136879e-01 -3.41193485e-02 -5.05830101e-02 3.76092046e+01] [ 3.40591613e-02 9.99417713e-01 -2.05160446e-03 9.18881401e-01] [ 5.06235557e-02 3.24967178e-04 9.98717753e-01 1.24242798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.90710568099999 meters 0.020054935393178326 Centerline is valid? [True, True] Translation: X:37.64, Y:0.92, Z:1.24 [[ 9.98207713e-01 -2.85303175e-02 -5.26059147e-02 3.76400375e+01] [ 2.84575527e-02 9.99592728e-01 -2.13187732e-03 9.18354666e-01] [ 5.26453129e-02 6.31020797e-04 9.98613075e-01 1.24094954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.93710568099999 meters 0.021469456371655204 Centerline is valid? [True, True] Translation: X:37.67, Y:0.92, Z:1.24 [[ 9.98278045e-01 -2.51621800e-02 -5.29887729e-02 3.76688207e+01] [ 2.50835493e-02 9.99683049e-01 -2.14853623e-03 9.16750552e-01] [ 5.30260399e-02 8.15690052e-04 9.98592797e-01 1.23950307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.96710568099999 meters 0.021067231609422008 Centerline is valid? [True, True] Translation: X:37.70, Y:0.91, Z:1.24 [[ 9.98204657e-01 -2.45850994e-02 -5.46171688e-02 3.76979398e+01] [ 2.45002248e-02 9.99697353e-01 -2.22311515e-03 9.12334092e-01] [ 5.46552945e-02 8.80990989e-04 9.98504894e-01 1.23867063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.997105680999994 meters 0.021584518355835955 Centerline is valid? [True, True] Translation: X:37.73, Y:0.90, Z:1.23 [[ 9.97949401e-01 -2.48037979e-02 -5.90064871e-02 3.77262632e+01] [ 2.47041622e-02 9.99691882e-01 -2.41755576e-03 9.04581103e-01] [ 5.90482708e-02 9.54892489e-04 9.98254672e-01 1.23273937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.02710568099999 meters 0.0203019797317433 Centerline is valid? [True, True] Translation: X:37.76, Y:0.90, Z:1.24 [[ 9.97777108e-01 -2.94618604e-02 -5.97732541e-02 3.77552515e+01] [ 2.93672502e-02 9.99565660e-01 -2.46086565e-03 8.95263815e-01] [ 5.98197939e-02 7.00019298e-04 9.98208947e-01 1.23500570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.05710568099999 meters 0.01912867904984274 Centerline is valid? [True, True] Translation: X:37.78, Y:0.89, Z:1.24 [[ 9.97693035e-01 -3.35736785e-02 -5.90035244e-02 3.77843684e+01] [ 3.34875287e-02 9.99436136e-01 -2.44855461e-03 8.88756479e-01] [ 5.90524615e-02 4.67023664e-04 9.98254771e-01 1.23796395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.08710568099999 meters 0.017847063434998194 Centerline is valid? [True, True] Translation: X:37.81, Y:0.87, Z:1.24 [[ 9.97568749e-01 -4.07793181e-02 -5.65122786e-02 3.78128502e+01] [ 4.07110479e-02 9.99168176e-01 -2.35926985e-03 8.73057283e-01] [ 5.65614798e-02 5.28597886e-05 9.98399117e-01 1.23853325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.11710568099999 meters 0.017664802922529928 Centerline is valid? [True, True] Translation: X:37.84, Y:0.86, Z:1.24 [[ 9.97346794e-01 -4.57638568e-02 -5.66130974e-02 3.78426323e+01] [ 4.57030652e-02 9.98952261e-01 -2.36875554e-03 8.62789091e-01] [ 5.66621850e-02 -2.24921343e-04 9.98393382e-01 1.24042968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.14710568099999 meters 0.017882091217158086 Centerline is valid? [True, True] Translation: X:37.87, Y:0.86, Z:1.24 [[ 9.97141956e-01 -4.72814726e-02 -5.89269151e-02 3.78728027e+01] [ 4.72180855e-02 9.98881554e-01 -2.46842505e-03 8.60538183e-01] [ 5.89777193e-02 -3.21045933e-04 9.98259248e-01 1.24140488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.17710568099999 meters 0.017811456130793185 Centerline is valid? [True, True] Translation: X:37.90, Y:0.86, Z:1.24 [[ 9.97155548e-01 -4.64863313e-02 -5.93281854e-02 3.79022807e+01] [ 4.64205035e-02 9.98918889e-01 -2.48805470e-03 8.61329454e-01] [ 5.93797056e-02 -2.73066689e-04 9.98235431e-01 1.24253633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.20710568099999 meters 0.01767232544231006 Centerline is valid? [True, True] Translation: X:37.93, Y:0.86, Z:1.24 [[ 9.97306779e-01 -4.35015454e-02 -5.90491746e-02 3.79308767e+01] [ 4.34309113e-02 9.99053356e-01 -2.47967275e-03 8.61062806e-01] [ 5.91011456e-02 -9.15650264e-05 9.98251995e-01 1.24287647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.23710568099999 meters 0.01780948012824709 Centerline is valid? [True, True] Translation: X:37.96, Y:0.86, Z:1.24 [[ 9.97309394e-01 -4.28189679e-02 -5.95021664e-02 3.79597634e+01] [ 4.27457795e-02 9.99082846e-01 -2.50291567e-03 8.61516060e-01] [ 5.95547660e-02 -4.72851704e-05 9.98225039e-01 1.24326428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.26710568099999 meters 0.01752723462523196 Centerline is valid? [True, True] Translation: X:37.99, Y:0.86, Z:1.25 [[ 9.97263261e-01 -4.46044834e-02 -5.89612450e-02 3.79884858e+01] [ 4.45351541e-02 9.99004715e-01 -2.49004484e-03 8.59154580e-01] [ 5.90136289e-02 -1.42617891e-04 9.98257167e-01 1.24749423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.29710568099999 meters 0.017527988134142455 Centerline is valid? [True, True] Translation: X:38.02, Y:0.85, Z:1.25 [[ 9.97313114e-01 -4.88525898e-02 -5.45891578e-02 3.80168260e+01] [ 4.87988339e-02 9.98805937e-01 -2.31803795e-03 8.52495205e-01] [ 5.46372171e-02 -3.52077601e-04 9.98506210e-01 1.25357482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.32710568099999 meters 0.0174776907413515 Centerline is valid? [True, True] Translation: X:38.05, Y:0.85, Z:1.26 [[ 9.97317286e-01 -5.02416851e-02 -5.32353734e-02 3.80474029e+01] [ 5.01924051e-02 9.98737003e-01 -2.26309695e-03 8.50923315e-01] [ 5.32818390e-02 -4.14985721e-04 9.98579428e-01 1.25735579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.35710568099999 meters 0.01749781947545473 Centerline is valid? [True, True] Translation: X:38.08, Y:0.85, Z:1.26 [[ 9.97357323e-01 -5.01779462e-02 -5.25408867e-02 3.80776685e+01] [ 5.01298557e-02 9.98740211e-01 -2.23357352e-03 8.50402367e-01] [ 5.25867724e-02 -4.06196163e-04 9.98616276e-01 1.25929647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.387105680999994 meters 0.017035066823015334 Centerline is valid? [True, True] Translation: X:38.11, Y:0.85, Z:1.26 [[ 9.97573229e-01 -4.66907280e-02 -5.16490963e-02 3.81086502e+01] [ 4.66396028e-02 9.98909369e-01 -2.19532460e-03 8.51563553e-01] [ 5.16952675e-02 -2.18896288e-04 9.98662882e-01 1.26086498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.41710568099999 meters 0.016911024117284054 Centerline is valid? [True, True] Translation: X:38.14, Y:0.85, Z:1.26 [[ 9.97633653e-01 -4.45168892e-02 -5.23960086e-02 3.81395007e+01] [ 4.44613229e-02 9.99008626e-01 -2.22620781e-03 8.53915998e-01] [ 5.24431684e-02 -1.08656022e-04 9.98623904e-01 1.26155969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.44710568099999 meters 0.01702089792906869 Centerline is valid? [True, True] Translation: X:38.17, Y:0.86, Z:1.26 [[ 9.97860666e-01 -3.95366660e-02 -5.20667136e-02 3.81698906e+01] [ 3.94750200e-02 9.99218109e-01 -2.21221669e-03 8.60345545e-01] [ 5.21134668e-02 1.52149458e-04 9.98641158e-01 1.26471123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.47710568099999 meters 0.017275439011728563 Centerline is valid? [True, True] Translation: X:38.20, Y:0.86, Z:1.27 [[ 9.98091861e-01 -3.67897889e-02 -4.95898077e-02 3.81985693e+01] [ 3.67304411e-02 9.99322987e-01 -2.10784181e-03 8.61988454e-01] [ 4.96337818e-02 2.82364247e-04 9.98767444e-01 1.26656895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.50710568099999 meters 0.017147439892153112 Centerline is valid? [True, True] Translation: X:38.23, Y:0.86, Z:1.27 [[ 9.98104700e-01 -3.53978286e-02 -5.03388582e-02 3.82278832e+01] [ 3.53347417e-02 9.99373236e-01 -2.14289055e-03 8.62082060e-01] [ 5.03831613e-02 3.60118572e-04 9.98729897e-01 1.26786005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.53710568099999 meters 0.018425273611262342 Centerline is valid? [True, True] Translation: X:38.26, Y:0.87, Z:1.27 [[ 9.98114474e-01 -3.17209544e-02 -5.25478603e-02 3.82564606e+01] [ 3.16469566e-02 9.99496600e-01 -2.23987602e-03 8.67045055e-01] [ 5.25924587e-02 5.72672826e-04 9.98615895e-01 1.26596926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.567105680999994 meters 0.01938754416438944 Centerline is valid? [True, True] Translation: X:38.28, Y:0.87, Z:1.27 [[ 9.98294316e-01 -2.67774690e-02 -5.18789586e-02 3.82844896e+01] [ 2.66984478e-02 9.99641077e-01 -2.21571924e-03 8.71841140e-01] [ 5.19196694e-02 8.26852257e-04 9.98650922e-01 1.26948556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.59710568099999 meters 0.020883090748068416 Centerline is valid? [True, True] Translation: X:38.31, Y:0.87, Z:1.27 [[ 9.98333465e-01 -2.35535920e-02 -5.26832148e-02 3.83127940e+01] [ 2.34671075e-02 9.99722056e-01 -2.25967021e-03 8.74654355e-01] [ 5.27217951e-02 1.01958172e-03 9.98608719e-01 1.26881120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.62710568099999 meters 0.02615491650342507 Centerline is valid? [True, True] Translation: X:38.34, Y:0.88, Z:1.26 [[ 9.98250137e-01 -1.58880984e-02 -5.69581544e-02 3.83434284e+01] [ 1.57737752e-02 9.99872569e-01 -2.45619840e-03 8.77061179e-01] [ 5.69899205e-02 1.55345527e-03 9.98373545e-01 1.26205150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.65710568099999 meters 0.024380022519963164 Centerline is valid? [True, True] Translation: X:38.37, Y:0.87, Z:1.27 [[ 9.98307481e-01 -1.48373746e-02 -5.62318867e-02 3.83717993e+01] [ 1.47239182e-02 9.99888641e-01 -2.43144294e-03 8.72917556e-01] [ 5.62617010e-02 1.59937397e-03 9.98414775e-01 1.26578263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.68710568099999 meters 0.023988162823217925 Centerline is valid? [True, True] Translation: X:38.40, Y:0.87, Z:1.27 [[ 9.98381841e-01 -1.57933559e-02 -5.46284630e-02 3.84008549e+01] [ 1.56867167e-02 9.99874123e-01 -2.38034862e-03 8.70966370e-01] [ 5.46591802e-02 1.51955561e-03 9.98503913e-01 1.26924761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.71710568099999 meters 0.022253101304001478 Centerline is valid? [True, True] Translation: X:38.43, Y:0.86, Z:1.27 [[ 9.98369661e-01 -2.03900056e-02 -5.33129157e-02 3.84287509e+01] [ 2.02941887e-02 9.99791318e-01 -2.33804982e-03 8.63688700e-01] [ 5.33494631e-02 1.25229564e-03 9.98575118e-01 1.27242464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.747105680999994 meters 0.019511947138962118 Centerline is valid? [True, True] Translation: X:38.46, Y:0.85, Z:1.27 [[ 9.98160738e-01 -2.83336332e-02 -5.35942821e-02 3.84575503e+01] [ 2.82478144e-02 9.99598169e-01 -2.35824766e-03 8.51571865e-01] [ 5.36395639e-02 8.39988888e-04 9.98560009e-01 1.27252291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.77710568099999 meters 0.018077759755366053 Centerline is valid? [True, True] Translation: X:38.49, Y:0.85, Z:1.27 [[ 9.98063176e-01 -3.31873011e-02 -5.26165352e-02 3.84861798e+01] [ 3.31108728e-02 9.99448983e-01 -2.32382177e-03 8.45107806e-01] [ 5.26646640e-02 5.77141533e-04 9.98612087e-01 1.27480003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.80710568099999 meters 0.016509014901571736 Centerline is valid? [True, True] Translation: X:38.51, Y:0.83, Z:1.28 [[ 9.97824267e-01 -4.15227449e-02 -5.12112725e-02 3.85148492e+01] [ 4.14604617e-02 9.99137548e-01 -2.27837990e-03 8.34873383e-01] [ 5.12617098e-02 1.50179753e-04 9.98685243e-01 1.27677752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.83710568099999 meters 0.0162948046434003 Centerline is valid? [True, True] Translation: X:38.54, Y:0.83, Z:1.28 [[ 9.97584534e-01 -4.60971961e-02 -5.19629270e-02 3.85434748e+01] [ 4.60383729e-02 9.98936957e-01 -2.32904401e-03 8.29093605e-01] [ 5.20150506e-02 -6.88703318e-05 9.98646299e-01 1.27643316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.86710568099999 meters 0.016525206862311983 Centerline is valid? [True, True] Translation: X:38.57, Y:0.83, Z:1.28 [[ 9.97401591e-01 -4.82488344e-02 -5.34987565e-02 3.85726469e+01] [ 4.81886064e-02 9.98835333e-01 -2.41590310e-03 8.27232724e-01] [ 5.35530128e-02 -1.68404932e-04 9.98564994e-01 1.27594777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.89710568099999 meters 0.017290840269766013 Centerline is valid? [True, True] Translation: X:38.60, Y:0.82, Z:1.28 [[ 9.97089798e-01 -5.25771255e-02 -5.52048896e-02 3.86003721e+01] [ 5.25188075e-02 9.98616787e-01 -2.50762144e-03 8.22120434e-01] [ 5.52603729e-02 -3.98971212e-04 9.98471898e-01 1.27589625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.92710568099999 meters 0.01738274697385169 Centerline is valid? [True, True] Translation: X:38.63, Y:0.82, Z:1.28 [[ 9.96987798e-01 -5.51179095e-02 -5.45650633e-02 3.86289019e+01] [ 5.50641917e-02 9.98479715e-01 -2.48854033e-03 8.18321388e-01] [ 5.46192720e-02 -5.23536765e-04 9.98507116e-01 1.27943670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.95710568099999 meters 0.01723735925367757 Centerline is valid? [True, True] Translation: X:38.66, Y:0.82, Z:1.28 [[ 9.97092909e-01 -5.40610078e-02 -5.36948674e-02 3.86576274e+01] [ 5.40065281e-02 9.98537537e-01 -2.46614593e-03 8.18745976e-01] [ 5.37496629e-02 -4.40896739e-04 9.98554345e-01 1.28131203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.98710568099999 meters 0.016855390009972635 Centerline is valid? [True, True] Translation: X:38.69, Y:0.83, Z:1.28 [[ 9.97338196e-01 -4.78534734e-02 -5.50142584e-02 3.86856620e+01] [ 4.77858412e-02 9.98854362e-01 -2.54490273e-03 8.25798846e-01] [ 5.50730144e-02 -9.07739189e-05 9.98482326e-01 1.28440029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.01710568099999 meters 0.01718231142167587 Centerline is valid? [True, True] Translation: X:38.71, Y:0.83, Z:1.29 [[ 9.97529968e-01 -4.39653494e-02 -5.47814843e-02 3.87145014e+01] [ 4.38914541e-02 9.99033047e-01 -2.55188706e-03 8.31528010e-01] [ 5.48407078e-02 1.41144811e-04 9.98495106e-01 1.28666069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.04710568099999 meters 0.01718231142167587 Centerline is valid? [True, True] Translation: X:38.74, Y:0.83, Z:1.29 [[ 9.97513574e-01 -4.43368316e-02 -5.47806129e-02 3.87418547e+01] [ 4.42624749e-02 9.99016629e-01 -2.57048070e-03 8.33033705e-01] [ 5.48407102e-02 1.39363881e-04 9.98495106e-01 1.28767783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.07710568099999 meters 0.018484630856709157 Centerline is valid? [True, True] Translation: X:38.77, Y:0.84, Z:1.29 [[ 9.97979685e-01 -3.68272804e-02 -5.17716083e-02 3.87695743e+01] [ 3.67500093e-02 9.99321502e-01 -2.44401284e-03 8.39772311e-01] [ 5.18264877e-02 5.36468072e-04 9.98655960e-01 1.29261316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.10710568099999 meters 0.019113636741286653 Centerline is valid? [True, True] Translation: X:38.80, Y:0.84, Z:1.29 [[ 9.98046641e-01 -3.38874060e-02 -5.24837776e-02 3.87985617e+01] [ 3.38034359e-02 9.99425406e-01 -2.48703342e-03 8.40061605e-01] [ 5.25378998e-02 7.08043342e-04 9.98618680e-01 1.29340445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.137105680999994 meters 0.019748637589823086 Centerline is valid? [True, True] Translation: X:38.83, Y:0.84, Z:1.29 [[ 9.97975733e-01 -3.38547233e-02 -5.38358058e-02 3.88266896e+01] [ 3.37655411e-02 9.99426489e-01 -2.56551535e-03 8.40964012e-01] [ 5.38917852e-02 7.42526946e-04 9.98546506e-01 1.29174009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.16710568099999 meters 0.018798504531793575 Centerline is valid? [True, True] Translation: X:38.86, Y:0.84, Z:1.29 [[ 9.97947715e-01 -3.57868687e-02 -5.31004613e-02 3.88552524e+01] [ 3.57023316e-02 9.99359241e-01 -2.54004697e-03 8.36740785e-01] [ 5.31573370e-02 6.39023793e-04 9.98585945e-01 1.29433390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.19710568099999 meters 0.018218024911959348 Centerline is valid? [True, True] Translation: X:38.88, Y:0.83, Z:1.30 [[ 9.97914317e-01 -3.80867437e-02 -5.21192405e-02 3.88844899e+01] [ 3.80075486e-02 9.99274299e-01 -2.51015267e-03 8.31746593e-01] [ 5.21770211e-02 5.23992717e-04 9.98637714e-01 1.29762319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.22710568099999 meters 0.018116885662107358 Centerline is valid? [True, True] Translation: X:38.91, Y:0.83, Z:1.30 [[ 9.97872219e-01 -3.97033625e-02 -5.17172777e-02 3.89128023e+01] [ 3.96266659e-02 9.99211408e-01 -2.50793723e-03 8.31093236e-01] [ 5.17760674e-02 4.53217603e-04 9.98658617e-01 1.29903444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.25710568099999 meters 0.0175521620117239 Centerline is valid? [True, True] Translation: X:38.94, Y:0.83, Z:1.30 [[ 9.97809462e-01 -4.23787240e-02 -5.07968699e-02 3.89412019e+01] [ 4.23075046e-02 9.99101566e-01 -2.47694713e-03 8.26220429e-01] [ 5.08562021e-02 3.22432476e-04 9.98705934e-01 1.30077213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.28710568099999 meters 0.017071471940236584 Centerline is valid? [True, True] Translation: X:38.97, Y:0.82, Z:1.30 [[ 9.97695898e-01 -4.59110367e-02 -4.99506919e-02 3.89700653e+01] [ 4.58461723e-02 9.98945521e-01 -2.44414053e-03 8.21559269e-01] [ 5.00102329e-02 1.48460957e-04 9.98748694e-01 1.30384589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.317105680999994 meters 0.016869778396362584 Centerline is valid? [True, True] Translation: X:39.00, Y:0.82, Z:1.31 [[ 9.97540518e-01 -4.85190141e-02 -5.05847914e-02 3.89989851e+01] [ 4.84549949e-02 9.98822259e-01 -2.49186687e-03 8.21383779e-01] [ 5.06461185e-02 3.46523589e-05 9.98716661e-01 1.30648209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.34710568099999 meters 0.018055105013332125 Centerline is valid? [True, True] Translation: X:39.03, Y:0.82, Z:1.30 [[ 9.97160734e-01 -5.40255645e-02 -5.24567311e-02 3.90276719e+01] [ 5.39633815e-02 9.98539525e-01 -2.60207631e-03 8.19082126e-01] [ 5.25206979e-02 -2.36054262e-04 9.98619808e-01 1.30447745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.37710568099999 meters 0.018017360106638604 Centerline is valid? [True, True] Translation: X:39.06, Y:0.81, Z:1.30 [[ 9.96719727e-01 -6.05271470e-02 -5.37238347e-02 3.90568416e+01] [ 6.04703792e-02 9.98166386e-01 -2.68304975e-03 8.12317231e-01] [ 5.37877232e-02 -5.74452037e-04 9.98552227e-01 1.30413699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.40710568099999 meters 0.01882746887506628 Centerline is valid? [True, True] Translation: X:39.08, Y:0.81, Z:1.31 [[ 9.96498435e-01 -6.41846616e-02 -5.35835704e-02 3.90842727e+01] [ 6.41326309e-02 9.97937754e-01 -2.69169637e-03 8.10731531e-01] [ 5.36458335e-02 -7.54184120e-04 9.98559741e-01 1.30519623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.43710568099999 meters 0.021939847350711125 Centerline is valid? [True, True] Translation: X:39.11, Y:0.81, Z:1.30 [[ 9.95961873e-01 -7.11498162e-02 -5.47508058e-02 3.91135790e+01] [ 7.11054717e-02 9.97464984e-01 -2.75998622e-03 8.08514907e-01] [ 5.48083842e-02 -1.14424083e-03 9.98496235e-01 1.30381316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.46710568099999 meters 0.02544626639578036 Centerline is valid? [True, True] Translation: X:39.14, Y:0.80, Z:1.31 [[ 9.95450392e-01 -7.77604937e-02 -5.50619909e-02 3.91423625e+01] [ 7.77254672e-02 9.96970922e-01 -2.78058185e-03 8.01279374e-01] [ 5.51114232e-02 -1.51178767e-03 9.98479066e-01 1.30634680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.497105680999994 meters 0.025538968684249604 Centerline is valid? [True, True] Translation: X:39.17, Y:0.80, Z:1.31 [[ 9.95124322e-01 -8.31905281e-02 -5.29803782e-02 3.91713880e+01] [ 8.31655900e-02 9.96532141e-01 -2.67898822e-03 8.02410478e-01] [ 5.30195162e-02 -1.74021808e-03 9.98591960e-01 1.31382059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.52710568099999 meters 0.025596006292552733 Centerline is valid? [True, True] Translation: X:39.20, Y:0.81, Z:1.32 [[ 9.95088632e-01 -8.47748778e-02 -5.11061110e-02 3.92005491e+01] [ 8.47535942e-02 9.96398582e-01 -2.58735931e-03 8.05622590e-01] [ 5.11413996e-02 -1.75677476e-03 9.98689877e-01 1.31810892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.55710568099999 meters 0.024489967095948244 Centerline is valid? [True, True] Translation: X:39.23, Y:0.81, Z:1.32 [[ 9.95387707e-01 -8.20550906e-02 -4.97018563e-02 3.92300295e+01] [ 8.20314731e-02 9.96626558e-01 -2.51826630e-03 8.14554540e-01] [ 4.97408266e-02 -1.57046517e-03 9.98760924e-01 1.32176855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.58710568099999 meters 0.021613839840657824 Centerline is valid? [True, True] Translation: X:39.26, Y:0.83, Z:1.32 [[ 9.96011251e-01 -7.22842450e-02 -5.23122855e-02 3.92597104e+01] [ 7.22445699e-02 9.97383423e-01 -2.65144524e-03 8.26633427e-01] [ 5.23670640e-02 -1.13840927e-03 9.98627255e-01 1.31838409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.61710568099999 meters 0.01951161587834011 Centerline is valid? [True, True] Translation: X:39.29, Y:0.84, Z:1.32 [[ 9.96400713e-01 -6.58603453e-02 -5.33669691e-02 3.92892566e+01] [ 6.58098067e-02 9.97828517e-01 -2.70565045e-03 8.35991466e-01] [ 5.34292787e-02 -8.16157883e-04 9.98571302e-01 1.31811011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.64710568099999 meters 0.017234228681182847 Centerline is valid? [True, True] Translation: X:39.32, Y:0.86, Z:1.32 [[ 9.97237050e-01 -5.33039118e-02 -5.17393350e-02 3.93177976e+01] [ 5.32394079e-02 9.98578327e-01 -2.62510108e-03 8.55050354e-01] [ 5.18057067e-02 -1.36723498e-04 9.98657173e-01 1.32147517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.67710568099999 meters 0.017317199945819265 Centerline is valid? [True, True] Translation: X:39.35, Y:0.87, Z:1.33 [[ 9.97637105e-01 -4.76101866e-02 -4.95325832e-02 3.93475138e+01] [ 4.75440153e-02 9.98865980e-01 -2.51393820e-03 8.65095100e-01] [ 4.95961013e-02 1.53020130e-04 9.98769344e-01 1.32588746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.70710568099999 meters 0.018885602432777156 Centerline is valid? [True, True] Translation: X:39.38, Y:0.88, Z:1.33 [[ 9.98175450e-01 -3.82407632e-02 -4.67270247e-02 3.93759414e+01] [ 3.81716059e-02 9.99268384e-01 -2.37177059e-03 8.77062343e-01] [ 4.67835368e-02 5.83797605e-04 9.98904880e-01 1.32874379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.73710568099999 meters 0.02002922390314554 Centerline is valid? [True, True] Translation: X:39.41, Y:0.88, Z:1.33 [[ 9.98290917e-01 -3.45591633e-02 -4.71265335e-02 3.94054763e+01] [ 3.44846556e-02 9.99402362e-01 -2.39336564e-03 8.82543890e-01] [ 4.71810816e-02 7.64132900e-04 9.98886060e-01 1.32905214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.76710568099999 meters 0.020074063582703767 Centerline is valid? [True, True] Translation: X:39.44, Y:0.88, Z:1.33 [[ 9.98266172e-01 -3.47288950e-02 -4.75242490e-02 3.94354261e+01] [ 3.46532117e-02 9.99396477e-01 -2.41574170e-03 8.84623949e-01] [ 4.75794631e-02 7.64685362e-04 9.98867163e-01 1.32968165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.79710568099999 meters 0.019910910984906542 Centerline is valid? [True, True] Translation: X:39.46, Y:0.89, Z:1.33 [[ 9.98170641e-01 -3.60664954e-02 -4.85240017e-02 3.94644901e+01] [ 3.59890495e-02 9.99349134e-01 -2.46905281e-03 8.85085703e-01] [ 4.85814692e-02 7.18203331e-04 9.98818965e-01 1.32878520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.82710568099999 meters 0.019369556997291405 Centerline is valid? [True, True] Translation: X:39.49, Y:0.88, Z:1.33 [[ 9.97889177e-01 -3.88210259e-02 -5.20587994e-02 3.94940356e+01] [ 3.87352326e-02 9.99245979e-01 -2.65631667e-03 8.81919535e-01] [ 5.21226669e-02 6.34199956e-04 9.98640489e-01 1.32521528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.85710568099999 meters 0.01832258732848863 Centerline is valid? [True, True] Translation: X:39.52, Y:0.87, Z:1.32 [[ 9.97631829e-01 -4.25158865e-02 -5.40660160e-02 3.95220144e+01] [ 4.24277604e-02 9.99095677e-01 -2.77723803e-03 8.74123041e-01] [ 5.41351996e-02 4.76761083e-04 9.98533501e-01 1.32362902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.887105680999994 meters 0.018355121439247283 Centerline is valid? [True, True] Translation: X:39.55, Y:0.87, Z:1.32 [[ 9.97549778e-01 -4.41151130e-02 -5.42982196e-02 3.95495764e+01] [ 4.40277195e-02 9.99026371e-01 -2.80523829e-03 8.72533368e-01] [ 5.43691067e-02 4.07738053e-04 9.98520823e-01 1.32234161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.91710568099999 meters 0.018132028119304252 Centerline is valid? [True, True] Translation: X:39.58, Y:0.87, Z:1.33 [[ 9.97446886e-01 -4.60146402e-02 -5.46110177e-02 3.95774387e+01] [ 4.59285048e-02 9.98940715e-01 -2.83191048e-03 8.72345783e-01] [ 5.46834785e-02 3.16477900e-04 9.98503689e-01 1.32559840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.94710568099999 meters 0.017929067928195243 Centerline is valid? [True, True] Translation: X:39.61, Y:0.87, Z:1.33 [[ 9.97449807e-01 -4.62660021e-02 -5.43446366e-02 3.96057868e+01] [ 4.61800630e-02 9.98929104e-01 -2.83673114e-03 8.73904121e-01] [ 5.44176834e-02 3.19858183e-04 9.98518209e-01 1.32942330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.97710568099999 meters 0.017969049838390625 Centerline is valid? [True, True] Translation: X:39.63, Y:0.87, Z:1.33 [[ 9.97558440e-01 -4.50678441e-02 -5.33483736e-02 3.96338211e+01] [ 4.49825748e-02 9.98983852e-01 -2.79861221e-03 8.74950757e-01] [ 5.34202912e-02 3.92032028e-04 9.98572040e-01 1.33085736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.00710568099999 meters 0.017492207748554683 Centerline is valid? [True, True] Translation: X:39.66, Y:0.87, Z:1.33 [[ 9.97456190e-01 -4.81117997e-02 -5.25966188e-02 3.96616441e+01] [ 4.80327870e-02 9.98841930e-01 -2.76599866e-03 8.69330937e-01] [ 5.26687854e-02 2.32600297e-04 9.98612009e-01 1.33237387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.03710568099999 meters 0.0175049610169835 Centerline is valid? [True, True] Translation: X:39.69, Y:0.87, Z:1.33 [[ 9.97191776e-01 -5.26986703e-02 -5.32110172e-02 3.96893089e+01] [ 5.26238496e-02 9.98610460e-01 -2.80718835e-03 8.65998101e-01] [ 5.32850135e-02 -8.63432296e-07 9.98579345e-01 1.33072191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.067105680999994 meters 0.018552779763739202 Centerline is valid? [True, True] Translation: X:39.72, Y:0.86, Z:1.33 [[ 9.96358895e-01 -6.51271567e-02 -5.50218756e-02 3.97184330e+01] [ 6.50654032e-02 9.97876744e-01 -2.91487409e-03 8.56335021e-01] [ 5.50948875e-02 -6.75759791e-04 9.98480895e-01 1.33297911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.09710568099999 meters 0.020720346362937847 Centerline is valid? [True, True] Translation: X:39.75, Y:0.85, Z:1.33 [[ 9.95955238e-01 -7.15217319e-02 -5.43857107e-02 3.97461398e+01] [ 7.14701405e-02 9.97438537e-01 -2.89544398e-03 8.50325379e-01] [ 5.44534909e-02 -1.00322179e-03 9.98515804e-01 1.33344712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.12710568099999 meters 0.0243922301740026 Centerline is valid? [True, True] Translation: X:39.77, Y:0.84, Z:1.34 [[ 9.95423942e-01 -7.96001310e-02 -5.28677074e-02 3.97748181e+01] [ 7.95624152e-02 9.96825895e-01 -2.82098113e-03 8.41963029e-01] [ 5.29244502e-02 -1.39821033e-03 9.98597540e-01 1.33652735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.15710568099999 meters 0.026892298636464633 Centerline is valid? [True, True] Translation: X:39.80, Y:0.84, Z:1.34 [[ 9.95025027e-01 -8.43015135e-02 -5.30890776e-02 3.98048340e+01] [ 8.42699499e-02 9.96438924e-01 -2.83674446e-03 8.38632196e-01] [ 5.31391652e-02 -1.65118218e-03 9.98585751e-01 1.33867473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.18710568099999 meters 0.024905251623258604 Centerline is valid? [True, True] Translation: X:39.83, Y:0.85, Z:1.34 [[ 9.94876073e-01 -8.53175774e-02 -5.42449142e-02 3.98339551e+01] [ 8.52860025e-02 9.96352288e-01 -2.90092182e-03 8.45241462e-01] [ 5.42945440e-02 -1.74027419e-03 9.98523447e-01 1.34139195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.21710568099999 meters 0.026050599715494296 Centerline is valid? [True, True] Translation: X:39.86, Y:0.85, Z:1.34 [[ 9.94873866e-01 -8.53213490e-02 -5.42794408e-02 3.98629569e+01] [ 8.52895635e-02 9.96351969e-01 -2.90600431e-03 8.47084804e-01] [ 5.43293719e-02 -1.73836207e-03 9.98521556e-01 1.34257362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.247105680999994 meters 0.024301822855154014 Centerline is valid? [True, True] Translation: X:39.89, Y:0.86, Z:1.35 [[ 9.95012736e-01 -8.40196991e-02 -5.37619347e-02 3.98919102e+01] [ 8.39864042e-02 9.96462732e-01 -2.88228255e-03 8.55100035e-01] [ 5.38139328e-02 -1.64736374e-03 9.98549622e-01 1.34623190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.27710568099999 meters 0.023444681025744003 Centerline is valid? [True, True] Translation: X:39.92, Y:0.86, Z:1.35 [[ 9.95232672e-01 -8.23441928e-02 -5.22624373e-02 3.99212628e+01] [ 8.23102947e-02 9.96602805e-01 -2.80429054e-03 8.61005432e-01] [ 5.23158086e-02 -1.51081505e-03 9.98629448e-01 1.34865315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.30710568099999 meters 0.0217514918369566 Centerline is valid? [True, True] Translation: X:39.95, Y:0.87, Z:1.36 [[ 9.95848064e-01 -7.78438564e-02 -4.71907513e-02 3.99511220e+01] [ 7.78110905e-02 9.96964901e-01 -2.53373329e-03 8.72129588e-01] [ 4.72447583e-02 -1.14875042e-03 9.98882682e-01 1.35567029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.33710568099999 meters 0.020690212629638764 Centerline is valid? [True, True] Translation: X:39.98, Y:0.88, Z:1.36 [[ 9.96130193e-01 -7.47122652e-02 -4.62894769e-02 3.99825717e+01] [ 7.46773908e-02 9.97204650e-01 -2.48468128e-03 8.80159275e-01] [ 4.63457178e-02 -9.81711309e-04 9.98924978e-01 1.35846694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.36710568099999 meters 0.01851721632683884 Centerline is valid? [True, True] Translation: X:40.01, Y:0.90, Z:1.36 [[ 9.96706969e-01 -6.65471134e-02 -4.63324851e-02 4.00123253e+01] [ 6.65035257e-02 9.97783100e-01 -2.48330303e-03 8.96371530e-01] [ 4.63950272e-02 -6.06148172e-04 9.98922987e-01 1.35919761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.39710568099999 meters 0.017724076231230727 Centerline is valid? [True, True] Translation: X:40.04, Y:0.91, Z:1.36 [[ 9.97028556e-01 -6.18285959e-02 -4.59486949e-02 4.00417836e+01] [ 6.17809195e-02 9.98086707e-01 -2.45836572e-03 9.06655801e-01] [ 4.60127789e-02 -3.87691801e-04 9.98940776e-01 1.36030437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.42710568099999 meters 0.017050066724098065 Centerline is valid? [True, True] Translation: X:40.07, Y:0.92, Z:1.36 [[ 9.97511457e-01 -5.40365676e-02 -4.52873309e-02 4.00727105e+01] [ 5.39822891e-02 9.98538957e-01 -2.42155978e-03 9.23551008e-01] [ 4.53520169e-02 -2.91801622e-05 9.98971068e-01 1.36166020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.45710568099999 meters 0.017235769503154086 Centerline is valid? [True, True] Translation: X:40.10, Y:0.93, Z:1.36 [[ 9.97670287e-01 -5.04680655e-02 -4.59017730e-02 4.01045759e+01] [ 5.04086877e-02 9.98725667e-01 -2.45093933e-03 9.30916875e-01] [ 4.59669730e-02 1.31381208e-04 9.98942951e-01 1.36076654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.48710568099999 meters 0.01817981234140998 Centerline is valid? [True, True] Translation: X:40.13, Y:0.94, Z:1.36 [[ 9.97760833e-01 -4.44679323e-02 -4.99592095e-02 4.01342227e+01] [ 4.43902574e-02 9.99010715e-01 -2.66378564e-03 9.40653851e-01] [ 5.00282387e-02 4.40118808e-04 9.98747707e-01 1.35571213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.51710568099999 meters 0.01931874218442763 Centerline is valid? [True, True] Translation: X:40.16, Y:0.95, Z:1.35 [[ 9.97698237e-01 -4.09433018e-02 -5.40543697e-02 4.01648257e+01] [ 4.08471891e-02 9.99161248e-01 -2.88213635e-03 9.48978140e-01] [ 5.41270357e-02 6.67533294e-04 9.98533834e-01 1.35235545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.54710568099999 meters 0.020038602338172947 Centerline is valid? [True, True] Translation: X:40.19, Y:0.95, Z:1.35 [[ 9.97666953e-01 -3.90088230e-02 -5.60264371e-02 4.01938605e+01] [ 3.89024645e-02 9.99238545e-01 -2.98816563e-03 9.54196008e-01] [ 5.61003403e-02 8.01627617e-04 9.98424814e-01 1.35256464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.57710568099999 meters 0.020145249380234508 Centerline is valid? [True, True] Translation: X:40.22, Y:0.96, Z:1.35 [[ 9.97631429e-01 -3.90717505e-02 -5.66121001e-02 4.02230993e+01] [ 3.89631063e-02 9.99236080e-01 -3.02202865e-03 9.55185658e-01] [ 5.66869289e-02 8.09087489e-04 9.98391675e-01 1.35351568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.60710568099999 meters 0.019615387085006646 Centerline is valid? [True, True] Translation: X:40.25, Y:0.95, Z:1.36 [[ 9.97602506e-01 -4.06435316e-02 -5.60119942e-02 4.02518643e+01] [ 4.05392110e-02 9.99173451e-01 -2.99791650e-03 9.54236531e-01] [ 5.60875435e-02 7.20046966e-04 9.98425595e-01 1.35544625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.63710568099999 meters 0.018910839540856275 Centerline is valid? [True, True] Translation: X:40.28, Y:0.95, Z:1.36 [[ 9.97470131e-01 -4.28538591e-02 -5.67175786e-02 4.02814008e+01] [ 4.27497090e-02 9.99081161e-01 -3.04888571e-03 9.50711959e-01] [ 5.67961208e-02 6.16512448e-04 9.98385607e-01 1.35820333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.66710568099999 meters 0.018651453574854412 Centerline is valid? [True, True] Translation: X:40.31, Y:0.94, Z:1.36 [[ 9.97352619e-01 -4.64173643e-02 -5.59748238e-02 4.03105840e+01] [ 4.63213597e-02 9.98922049e-01 -3.01205369e-03 9.44599091e-01] [ 5.60542973e-02 4.11249685e-04 9.98427637e-01 1.35764080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.69710568099999 meters 0.01773542688856713 Centerline is valid? [True, True] Translation: X:40.34, Y:0.94, Z:1.37 [[ 9.97428084e-01 -4.95788401e-02 -5.17605629e-02 4.03407739e+01] [ 4.95008696e-02 9.98770189e-01 -2.78803076e-03 9.38165285e-01] [ 5.18351345e-02 2.18667312e-04 9.98655632e-01 1.36545549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.72710568099999 meters 0.017376483378845547 Centerline is valid? [True, True] Translation: X:40.37, Y:0.94, Z:1.37 [[ 9.97470109e-01 -5.09072986e-02 -4.96168158e-02 4.03711488e+01] [ 5.08372612e-02 9.98703372e-01 -2.67333475e-03 9.37983887e-01] [ 4.96885735e-02 1.44188483e-04 9.98764750e-01 1.37205867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.75710568099999 meters 0.0173051378391539 Centerline is valid? [True, True] Translation: X:40.40, Y:0.94, Z:1.37 [[ 9.97391429e-01 -5.34699320e-02 -4.84902533e-02 4.04012518e+01] [ 5.34060802e-02 9.98569460e-01 -2.61237053e-03 9.37881667e-01] [ 4.85605694e-02 1.58816161e-05 9.98820240e-01 1.37486774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.78710568099999 meters 0.01715324698858504 Centerline is valid? [True, True] Translation: X:40.43, Y:0.94, Z:1.37 [[ 9.97283211e-01 -5.45558377e-02 -4.94960319e-02 4.04322011e+01] [ 5.44907168e-02 9.98510721e-01 -2.66509966e-03 9.37746194e-01] [ 4.95677152e-02 -3.92151064e-05 9.98770765e-01 1.37493681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.817105680999994 meters 0.017682806276227002 Centerline is valid? [True, True] Translation: X:40.46, Y:0.94, Z:1.37 [[ 9.96936279e-01 -5.55306447e-02 -5.50854234e-02 4.04625414e+01] [ 5.54515675e-02 9.98456978e-01 -2.96413057e-03 9.35017227e-01] [ 5.51650255e-02 -9.95237748e-05 9.98477246e-01 1.36562981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.84710568099999 meters 0.017948644682329724 Centerline is valid? [True, True] Translation: X:40.49, Y:0.93, Z:1.36 [[ 9.96706672e-01 -5.65240236e-02 -5.81450381e-02 4.04924795e+01] [ 5.64375448e-02 9.98401226e-01 -3.12970782e-03 9.34701664e-01] [ 5.82289810e-02 -1.62162529e-04 9.98303240e-01 1.36243212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.87710568099999 meters 0.018858046082480463 Centerline is valid? [True, True] Translation: X:40.52, Y:0.93, Z:1.36 [[ 9.96392855e-01 -6.10012371e-02 -5.89926088e-02 4.05201898e+01] [ 6.09198129e-02 9.98137600e-01 -3.17941709e-03 9.30907512e-01] [ 5.90766893e-02 -4.25870214e-04 9.98253356e-01 1.36167563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.90710568099999 meters 0.019556239489998375 Centerline is valid? [True, True] Translation: X:40.55, Y:0.93, Z:1.37 [[ 9.95951041e-01 -6.83368408e-02 -5.84089059e-02 4.05499296e+01] [ 6.82693228e-02 9.97661946e-01 -3.15298720e-03 9.28292808e-01] [ 5.84878079e-02 -8.47315569e-04 9.98287763e-01 1.37115047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.93710568099999 meters 0.019556239489998375 Centerline is valid? [True, True] Translation: X:40.58, Y:0.93, Z:1.37 [[ 9.95951042e-01 -6.83369047e-02 -5.84088128e-02 4.05798754e+01] [ 6.82692856e-02 9.97661943e-01 -3.15471154e-03 9.29910478e-01] [ 5.84878329e-02 -8.45589678e-04 9.98287763e-01 1.37226167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.96710568099999 meters 0.020785274338995356 Centerline is valid? [True, True] Translation: X:40.61, Y:0.93, Z:1.38 [[ 9.95708238e-01 -7.29799823e-02 -5.69124418e-02 4.06104199e+01] [ 7.29233579e-02 9.97332811e-01 -3.07389122e-03 9.26325957e-01] [ 5.69849781e-02 -1.08954755e-03 9.98374441e-01 1.37577394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.997105680999994 meters 0.02362478247559613 Centerline is valid? [True, True] Translation: X:40.64, Y:0.92, Z:1.38 [[ 9.95295964e-01 -8.09235186e-02 -5.32665726e-02 4.06412556e+01] [ 8.08852708e-02 9.96719266e-01 -2.87697461e-03 9.17513956e-01] [ 5.33246341e-02 -1.44503993e-03 9.98576184e-01 1.38068971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.02710568099999 meters 0.024851730463162757 Centerline is valid? [True, True] Translation: X:40.67, Y:0.92, Z:1.38 [[ 9.95058824e-01 -8.44478480e-02 -5.22158822e-02 4.06717557e+01] [ 8.44159366e-02 9.96426613e-01 -2.82022589e-03 9.15717850e-01] [ 5.22674567e-02 -1.60156194e-03 9.98631838e-01 1.38315850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.05710568099999 meters 0.02583875318486414 Centerline is valid? [True, True] Translation: X:40.70, Y:0.92, Z:1.38 [[ 9.95119865e-01 -8.38624738e-02 -5.19955794e-02 4.07021382e+01] [ 8.38300511e-02 9.96476110e-01 -2.80798133e-03 9.15319832e-01] [ 5.20478370e-02 -1.56451408e-03 9.98643367e-01 1.38288177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.08710568099999 meters 0.022944949608951156 Centerline is valid? [True, True] Translation: X:40.73, Y:0.92, Z:1.38 [[ 9.95508849e-01 -7.88587183e-02 -5.23778016e-02 4.07327516e+01] [ 7.88189624e-02 9.96884937e-01 -2.82741678e-03 9.22194533e-01] [ 5.24376079e-02 -1.31364555e-03 9.98623338e-01 1.38430263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.11710568099999 meters 0.02142740324065329 Centerline is valid? [True, True] Translation: X:40.76, Y:0.93, Z:1.39 [[ 9.95769677e-01 -7.53025759e-02 -5.26523674e-02 4.07640200e+01] [ 7.52575189e-02 9.97160086e-01 -2.84066384e-03 9.28606277e-01] [ 5.27167485e-02 -1.13383962e-03 9.98608862e-01 1.38574914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.14710568099999 meters 0.018987704321588677 Centerline is valid? [True, True] Translation: X:40.79, Y:0.94, Z:1.39 [[ 9.96498591e-01 -6.66658317e-02 -5.04601304e-02 4.07944492e+01] [ 6.66134923e-02 9.97775147e-01 -2.72014302e-03 9.41984606e-01] [ 5.05292046e-02 -6.50706820e-04 9.98722372e-01 1.39063056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.17710568099999 meters 0.018180287729004277 Centerline is valid? [True, True] Translation: X:40.82, Y:0.95, Z:1.39 [[ 9.97091414e-01 -6.03064321e-02 -4.66030688e-02 4.08241714e+01] [ 6.02549264e-02 9.98179864e-01 -2.51048793e-03 9.52232127e-01] [ 4.66696435e-02 -3.04878520e-04 9.98910332e-01 1.39496720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.20710568099999 meters 0.01778366381171927 Centerline is valid? [True, True] Translation: X:40.86, Y:0.96, Z:1.40 [[ 9.97292822e-01 -5.75586686e-02 -4.57605385e-02 4.08550058e+01] [ 5.75061750e-02 9.98342110e-01 -2.46385048e-03 9.59074623e-01] [ 4.58264885e-02 -1.74333130e-04 9.98949399e-01 1.39688175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.23710568099999 meters 0.017894853573054505 Centerline is valid? [True, True] Translation: X:40.89, Y:0.97, Z:1.39 [[ 9.97266878e-01 -5.45405419e-02 -4.98407874e-02 4.08854019e+01] [ 5.44746051e-02 9.98511556e-01 -2.68137854e-03 9.65156845e-01] [ 4.99128460e-02 -4.10072092e-05 9.98753576e-01 1.39142022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.26710568099999 meters 0.01794097782464478 Centerline is valid? [True, True] Translation: X:40.92, Y:0.97, Z:1.39 [[ 9.97393149e-01 -5.12055315e-02 -5.08419034e-02 4.09166010e+01] [ 5.11326642e-02 9.98688128e-01 -2.73371771e-03 9.71051575e-01] [ 5.09151868e-02 1.26909344e-04 9.98702973e-01 1.39296101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.29710568099999 meters 0.019627387847528554 Centerline is valid? [True, True] Translation: X:40.95, Y:0.98, Z:1.39 [[ 9.97845208e-01 -4.13103952e-02 -5.09744177e-02 4.09461022e+01] [ 4.12243117e-02 9.99146161e-01 -2.73943115e-03 9.83732042e-01] [ 5.10440607e-02 6.32142967e-04 9.98696202e-01 1.39208540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.32710568099999 meters 0.0223376383162172 Centerline is valid? [True, True] Translation: X:40.98, Y:0.99, Z:1.39 [[ 9.98040710e-01 -3.55406196e-02 -5.14937353e-02 4.09755819e+01] [ 3.54450406e-02 9.99367793e-01 -2.76843429e-03 9.92154360e-01] [ 5.15595724e-02 9.37812586e-04 9.98669480e-01 1.39019099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.35710568099999 meters 0.025612952977962955 Centerline is valid? [True, True] Translation: X:41.01, Y:1.00, Z:1.39 [[ 9.98198945e-01 -2.58332786e-02 -5.41433929e-02 4.10058279e+01] [ 2.57133013e-02 9.99665119e-01 -2.91147810e-03 1.00121356e+00] [ 5.42004743e-02 1.51402900e-03 9.98528926e-01 1.38786704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.38710568099999 meters 0.02707969049905482 Centerline is valid? [True, True] Translation: X:41.03, Y:1.00, Z:1.39 [[ 9.98336341e-01 -2.34824300e-02 -5.26604709e-02 4.10332527e+01] [ 2.33655813e-02 9.99722972e-01 -2.83354440e-03 1.00208552e+00] [ 5.27124210e-02 1.59838783e-03 9.98608455e-01 1.38834910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.41710568099999 meters 0.026286897426848185 Centerline is valid? [True, True] Translation: X:41.06, Y:1.00, Z:1.39 [[ 9.98423396e-01 -2.53130900e-02 -5.00996029e-02 4.10617203e+01] [ 2.52092289e-02 9.99678540e-01 -2.70399133e-03 1.00128594e+00] [ 5.01519443e-02 1.43675585e-03 9.98740566e-01 1.39258525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.44710568099999 meters 0.023035813396774563 Centerline is valid? [True, True] Translation: X:41.09, Y:0.99, Z:1.40 [[ 9.98353794e-01 -3.18479423e-02 -4.77012540e-02 4.10918714e+01] [ 3.17606847e-02 9.99492156e-01 -2.58627196e-03 9.91955499e-01] [ 4.77593966e-02 1.06698994e-03 9.98858299e-01 1.39830392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.47710568099999 meters 0.01967634907403472 Centerline is valid? [True, True] Translation: X:41.12, Y:0.98, Z:1.40 [[ 9.97877334e-01 -4.24491168e-02 -4.93852076e-02 4.11227336e+01] [ 4.23684332e-02 9.99098461e-01 -2.67991272e-03 9.76898614e-01] [ 4.94544448e-02 5.81850287e-04 9.98776211e-01 1.39550493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.50710568099999 meters 0.01842343982408636 Centerline is valid? [True, True] Translation: X:41.15, Y:0.97, Z:1.40 [[ 9.97598084e-01 -4.83802626e-02 -4.95722957e-02 4.11527357e+01] [ 4.83061680e-02 9.98828947e-01 -2.69235210e-03 9.70234142e-01] [ 4.96445006e-02 2.91237654e-04 9.98766909e-01 1.39655801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.53710568099999 meters 0.018138432271946742 Centerline is valid? [True, True] Translation: X:41.18, Y:0.96, Z:1.40 [[ 9.97034655e-01 -5.78714423e-02 -5.07227046e-02 4.11829319e+01] [ 5.78060287e-02 9.98324027e-01 -2.75689968e-03 9.60479636e-01] [ 5.07972405e-02 -1.83353598e-04 9.98708970e-01 1.39711246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.567105680999994 meters 0.01899291025882045 Centerline is valid? [True, True] Translation: X:41.21, Y:0.95, Z:1.39 [[ 9.96484729e-01 -6.39054789e-02 -5.41689389e-02 4.12127448e+01] [ 6.38396619e-02 9.97955819e-01 -2.94626993e-03 9.53251510e-01] [ 5.42464906e-02 -5.22213747e-04 9.98527439e-01 1.39342221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.59710568099999 meters 0.01975440422208166 Centerline is valid? [True, True] Translation: X:41.24, Y:0.95, Z:1.39 [[ 9.96216019e-01 -6.58442174e-02 -5.67290313e-02 4.12415310e+01] [ 6.57749465e-02 9.97829701e-01 -3.08943101e-03 9.50521253e-01] [ 5.68093335e-02 -6.53608339e-04 9.98384832e-01 1.38976741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.62710568099999 meters 0.020810712135118384 Centerline is valid? [True, True] Translation: X:41.27, Y:0.95, Z:1.39 [[ 9.95763115e-01 -6.99263956e-02 -5.97169863e-02 4.12715118e+01] [ 6.98567480e-02 9.97551720e-01 -3.25574522e-03 9.45986952e-01] [ 5.97984449e-02 -9.29683467e-04 9.98210039e-01 1.38870736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.65710568099999 meters 0.02158311569686329 Centerline is valid? [True, True] Translation: X:41.30, Y:0.95, Z:1.39 [[ 9.95609695e-01 -7.20796667e-02 -5.97147927e-02 4.13005974e+01] [ 7.20133785e-02 9.97398325e-01 -3.26419948e-03 9.45368233e-01] [ 5.97947166e-02 -1.05039532e-03 9.98210142e-01 1.39102803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.68710568099999 meters 0.021063226850151853 Centerline is valid? [True, True] Translation: X:41.33, Y:0.95, Z:1.40 [[ 9.95673826e-01 -7.46649579e-02 -5.53062016e-02 4.13294430e+01] [ 7.46114522e-02 9.97208064e-01 -3.03452451e-03 9.47687229e-01] [ 5.53783629e-02 -1.10507938e-03 9.98464829e-01 1.40116467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.71710568099999 meters 0.020505586157213287 Centerline is valid? [True, True] Translation: X:41.36, Y:0.95, Z:1.41 [[ 9.96008736e-01 -7.25707656e-02 -5.19623073e-02 4.13596590e+01] [ 7.25206018e-02 9.97362835e-01 -2.85267480e-03 9.53400529e-01] [ 5.20322950e-02 -9.27048776e-04 9.98644972e-01 1.40710761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.747105680999994 meters 0.019586525617448818 Centerline is valid? [True, True] Translation: X:41.39, Y:0.96, Z:1.41 [[ 9.96376179e-01 -6.85315139e-02 -5.03779837e-02 4.13897531e+01] [ 6.84792026e-02 9.97648711e-01 -2.76569714e-03 9.60544595e-01] [ 5.04490679e-02 -6.94169407e-04 9.98726394e-01 1.40918934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.77710568099999 meters 0.019295731247064952 Centerline is valid? [True, True] Translation: X:41.42, Y:0.96, Z:1.41 [[ 9.96597178e-01 -6.73198299e-02 -4.75615854e-02 4.14189115e+01] [ 6.72718146e-02 9.97731268e-01 -2.61132242e-03 9.63750389e-01] [ 4.76294747e-02 -5.97117606e-04 9.98864894e-01 1.41316838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.80710568099999 meters 0.018764799486539533 Centerline is valid? [True, True] Translation: X:41.45, Y:0.97, Z:1.42 [[ 9.96883852e-01 -6.60558986e-02 -4.31184925e-02 4.14494375e+01] [ 6.60152343e-02 9.97815806e-01 -2.36786202e-03 9.71589415e-01] [ 4.31807246e-02 -4.85993978e-04 9.99067159e-01 1.41974068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.83710568099999 meters 0.018950097914581476 Centerline is valid? [True, True] Translation: X:41.48, Y:0.98, Z:1.42 [[ 9.96833998e-01 -6.68610045e-02 -4.30300759e-02 4.14809181e+01] [ 6.68213416e-02 9.97762163e-01 -2.36103237e-03 9.76393337e-01] [ 4.30916426e-02 -5.21770068e-04 9.99070988e-01 1.42078843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.86710568099999 meters 0.02014731930026394 Centerline is valid? [True, True] Translation: X:41.51, Y:0.98, Z:1.42 [[ 9.96451006e-01 -7.08222575e-02 -4.54928578e-02 4.15113194e+01] [ 7.07821541e-02 9.97488680e-01 -2.49383033e-03 9.81576242e-01] [ 4.55552294e-02 -7.35102727e-04 9.98961551e-01 1.41810654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.89710568099999 meters 0.02270344563725697 Centerline is valid? [True, True] Translation: X:41.54, Y:0.98, Z:1.41 [[ 9.95831416e-01 -7.72126932e-02 -4.85591426e-02 4.15414209e+01] [ 7.71747588e-02 9.97014037e-01 -2.65839889e-03 9.83467514e-01] [ 4.86194090e-02 -1.10022299e-03 9.98816771e-01 1.41428157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.92710568099999 meters 0.024086876770019236 Centerline is valid? [True, True] Translation: X:41.57, Y:0.98, Z:1.41 [[ 9.95397885e-01 -8.16404410e-02 -5.01785760e-02 4.15727074e+01] [ 8.16057539e-02 9.96660914e-01 -2.74303747e-03 9.84686011e-01] [ 5.02349682e-02 -1.36444682e-03 9.98736495e-01 1.41282918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.95710568099999 meters 0.027387229995244556 Centerline is valid? [True, True] Translation: X:41.60, Y:0.98, Z:1.41 [[ 9.94410784e-01 -9.11326671e-02 -5.33106880e-02 4.16030002e+01] [ 9.11072243e-02 9.95836830e-01 -2.91236015e-03 9.84441751e-01] [ 5.33541576e-02 -1.96090647e-03 9.98573727e-01 1.41025019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.98710568099999 meters 0.03210592777273093 Centerline is valid? [True, True] Translation: X:41.63, Y:0.98, Z:1.41 [[ 9.93460960e-01 -1.00893455e-01 -5.34399921e-02 4.16331277e+01] [ 1.00881978e-01 9.94894118e-01 -2.91912593e-03 9.84823563e-01] [ 5.34616545e-02 -2.49109445e-03 9.98566796e-01 1.41265795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.01710568099999 meters 0.03761326347861656 Centerline is valid? [True, True] Translation: X:41.66, Y:0.98, Z:1.41 [[ 9.93011072e-01 -1.05526655e-01 -5.28501349e-02 4.16638377e+01] [ 1.05521986e-01 9.94412781e-01 -2.88653519e-03 9.81648414e-01] [ 5.28594560e-02 -2.71048978e-03 9.98598283e-01 1.41423895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.04710568099999 meters 0.037841504571520614 Centerline is valid? [True, True] Translation: X:41.69, Y:0.99, Z:1.42 [[ 9.92454257e-01 -1.11422880e-01 -5.11809572e-02 4.16938910e+01] [ 1.11426350e-01 9.93768766e-01 -2.79443776e-03 9.90174653e-01] [ 5.11734009e-02 -2.92955560e-03 9.98685486e-01 1.41976260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.07710568099999 meters 0.03689570611084296 Centerline is valid? [True, True] Translation: X:41.72, Y:1.00, Z:1.42 [[ 9.92855750e-01 -1.09438010e-01 -4.75476745e-02 4.17247124e+01] [ 1.09438773e-01 9.93990151e-01 -2.59505357e-03 1.00218981e+00] [ 4.75459176e-02 -2.62704530e-03 9.98865599e-01 1.42464149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.10710568099999 meters 0.03399991543587391 Centerline is valid? [True, True] Translation: X:41.76, Y:1.01, Z:1.43 [[ 9.93294149e-01 -1.05833262e-01 -4.65408906e-02 4.17555918e+01] [ 1.05830189e-01 9.94380981e-01 -2.53700521e-03 1.01391679e+00] [ 4.65478760e-02 -2.40543884e-03 9.98913164e-01 1.42664528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.13710568099999 meters 0.028752760330147967 Centerline is valid? [True, True] Translation: X:41.79, Y:1.04, Z:1.43 [[ 9.94463599e-01 -9.40776905e-02 -4.68138800e-02 4.17854236e+01] [ 9.40617065e-02 9.95563106e-01 -2.54912730e-03 1.03632054e+00] [ 4.68459877e-02 -1.86837914e-03 9.98900377e-01 1.42631279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.16710568099999 meters 0.02762831326875215 Centerline is valid? [True, True] Translation: X:41.81, Y:1.05, Z:1.43 [[ 9.95061658e-01 -8.76016218e-02 -4.66717597e-02 4.18149910e+01] [ 8.75786555e-02 9.96154368e-01 -2.54063668e-03 1.04515133e+00] [ 4.67148412e-02 -1.55935982e-03 9.98907049e-01 1.42618539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.19710568099999 meters 0.021139473287584018 Centerline is valid? [True, True] Translation: X:41.84, Y:1.07, Z:1.43 [[ 9.96260410e-01 -7.47475268e-02 -4.33359355e-02 4.18443165e+01] [ 7.47155649e-02 9.97202096e-01 -2.35903757e-03 1.07114773e+00] [ 4.33910179e-02 -8.87653157e-04 9.99057772e-01 1.43137772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.22710568099999 meters 0.01786047331563904 Centerline is valid? [True, True] Translation: X:41.87, Y:1.10, Z:1.43 [[ 9.97202287e-01 -6.11431005e-02 -4.30014049e-02 4.18736459e+01] [ 6.10989924e-02 9.98128967e-01 -2.34050034e-03 1.09519125e+00] [ 4.30640533e-02 -2.93390223e-04 9.99072270e-01 1.43414987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.25710568099999 meters 0.01746866739834264 Centerline is valid? [True, True] Translation: X:41.91, Y:1.11, Z:1.43 [[ 9.97421291e-01 -5.59542657e-02 -4.49431683e-02 4.19057695e+01] [ 5.59009278e-02 9.98433330e-01 -2.44371462e-03 1.10532339e+00] [ 4.50094934e-02 -7.49518107e-05 9.98986556e-01 1.43306662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.28710568099999 meters 0.01776104957286735 Centerline is valid? [True, True] Translation: X:41.94, Y:1.12, Z:1.43 [[ 9.97357357e-01 -5.22346993e-02 -5.04959248e-02 4.19370411e+01] [ 5.21628308e-02 9.98634831e-01 -2.74095342e-03 1.11518425e+00] [ 5.05701622e-02 9.96996762e-05 9.98720506e-01 1.42661263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.31710568099999 meters 0.0178133125097658 Centerline is valid? [True, True] Translation: X:41.97, Y:1.11, Z:1.43 [[ 9.96970608e-01 -5.83211207e-02 -5.14611940e-02 4.19693887e+01] [ 5.82547742e-02 9.98297851e-01 -2.78951711e-03 1.11436789e+00] [ 5.15362871e-02 -2.16793662e-04 9.98671099e-01 1.42512567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.34710568099999 meters 0.01864145552490873 Centerline is valid? [True, True] Translation: X:42.00, Y:1.11, Z:1.43 [[ 9.96656084e-01 -6.43599333e-02 -5.03433157e-02 4.20004980e+01] [ 6.43043415e-02 9.97926614e-01 -2.72483283e-03 1.11177990e+00] [ 5.04143047e-02 -5.21572546e-04 9.98728254e-01 1.42692985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.37710568099999 meters 0.023325679730959264 Centerline is valid? [True, True] Translation: X:42.03, Y:1.10, Z:1.43 [[ 9.95641491e-01 -7.85660289e-02 -5.02533598e-02 4.20324179e+01] [ 7.85288459e-02 9.96908139e-01 -2.71696258e-03 1.10270377e+00] [ 5.03114444e-02 -1.24121767e-03 9.98732806e-01 1.42790860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.40710568099999 meters 0.028359813527832407 Centerline is valid? [True, True] Translation: X:42.06, Y:1.10, Z:1.43 [[ 9.94825616e-01 -8.77046801e-02 -5.12823846e-02 4.20625803e+01] [ 8.76781851e-02 9.96145000e-01 -2.77042431e-03 1.09663988e+00] [ 5.13276702e-02 -1.74025734e-03 9.98680350e-01 1.42674362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.43710568099999 meters 0.025850360040856116 Centerline is valid? [True, True] Translation: X:42.09, Y:1.11, Z:1.43 [[ 9.95062431e-01 -8.56747305e-02 -5.01058819e-02 4.20943811e+01] [ 8.56469933e-02 9.96321875e-01 -2.70432776e-03 1.10766123e+00] [ 5.01532788e-02 -1.60044318e-03 9.98740250e-01 1.43046162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.46710568099999 meters 0.023775532336725066 Centerline is valid? [True, True] Translation: X:42.13, Y:1.12, Z:1.43 [[ 9.95481042e-01 -8.12077245e-02 -4.92219533e-02 4.21254652e+01] [ 8.11756875e-02 9.96696278e-01 -2.65285584e-03 1.11659595e+00] [ 4.92747701e-02 -1.35475821e-03 9.98784342e-01 1.43235789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.497105680999994 meters 0.023769759122315347 Centerline is valid? [True, True] Translation: X:42.16, Y:1.12, Z:1.43 [[ 9.95823551e-01 -7.70440320e-02 -4.89864491e-02 4.21561101e+01] [ 7.70073742e-02 9.97027033e-01 -2.63799194e-03 1.12234159e+00] [ 4.90440556e-02 -1.14534332e-03 9.98795960e-01 1.43207339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.52710568099999 meters 0.020555642993452652 Centerline is valid? [True, True] Translation: X:42.19, Y:1.13, Z:1.43 [[ 9.96280799e-01 -7.20080480e-02 -4.73224205e-02 4.21874258e+01] [ 7.19682674e-02 9.97403672e-01 -2.54612169e-03 1.13434427e+00] [ 4.73828973e-02 -8.69060463e-04 9.98876422e-01 1.43376295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.55710568099999 meters 0.02133440492335011 Centerline is valid? [True, True] Translation: X:42.22, Y:1.13, Z:1.43 [[ 9.96022300e-01 -7.50338815e-02 -4.80571958e-02 4.22193062e+01] [ 7.49965297e-02 9.97180451e-01 -2.58241863e-03 1.13402775e+00] [ 4.81154651e-02 -1.03197637e-03 9.98841247e-01 1.43299352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.58710568099999 meters 0.022692127103337716 Centerline is valid? [True, True] Translation: X:42.25, Y:1.13, Z:1.43 [[ 9.95646303e-01 -7.90287567e-02 -4.94256411e-02 4.22516297e+01] [ 7.89943464e-02 9.96871536e-01 -2.65224906e-03 1.13210532e+00] [ 4.94806187e-02 -1.26364424e-03 9.98774285e-01 1.43308405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.61710568099999 meters 0.02531633735446117 Centerline is valid? [True, True] Translation: X:42.28, Y:1.13, Z:1.44 [[ 9.95033982e-01 -8.69898087e-02 -4.83750820e-02 4.22825210e+01] [ 8.69664041e-02 9.96207872e-01 -2.59234457e-03 1.12679291e+00] [ 4.84171450e-02 -1.62753599e-03 9.98825876e-01 1.43708009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.64710568099999 meters 0.02753171511428606 Centerline is valid? [True, True] Translation: X:42.31, Y:1.12, Z:1.44 [[ 9.94688175e-01 -9.15993625e-02 -4.69573318e-02 4.23135250e+01] [ 9.15824821e-02 9.95794317e-01 -2.51531856e-03 1.12247841e+00] [ 4.69902457e-02 -1.79851136e-03 9.98893729e-01 1.44087487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.67710568099999 meters 0.026767901048227724 Centerline is valid? [True, True] Translation: X:42.35, Y:1.12, Z:1.44 [[ 9.94801338e-01 -9.06146514e-02 -4.64680764e-02 4.23462065e+01] [ 9.05971374e-02 9.95884518e-01 -2.48718878e-03 1.12315197e+00] [ 4.65022136e-02 -1.73561598e-03 9.98916679e-01 1.44326853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.70710568099999 meters 0.023348417005024536 Centerline is valid? [True, True] Translation: X:42.38, Y:1.13, Z:1.44 [[ 9.95676136e-01 -8.08542172e-02 -4.57343255e-02 4.23754812e+01] [ 8.08271471e-02 9.96725138e-01 -2.44388202e-03 1.12794268e+00] [ 4.57821500e-02 -1.26326005e-03 9.98950649e-01 1.44464511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.73710568099999 meters 0.02097181912563211 Centerline is valid? [True, True] Translation: X:42.41, Y:1.13, Z:1.44 [[ 9.96229057e-01 -7.35819817e-02 -4.59712814e-02 4.24055064e+01] [ 7.35468756e-02 9.97288735e-01 -2.45690185e-03 1.13426591e+00] [ 4.60274248e-02 -9.33407099e-04 9.98939740e-01 1.44449894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.76710568099999 meters 0.017325168711029966 Centerline is valid? [True, True] Translation: X:42.44, Y:1.15, Z:1.44 [[ 9.97388752e-01 -5.44865689e-02 -4.74013822e-02 4.24360576e+01] [ 5.44277576e-02 9.98514502e-01 -2.53148673e-03 1.15415783e+00] [ 4.74688995e-02 -5.50745487e-05 9.98872715e-01 1.44439566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.79710568099999 meters 0.01980348691015011 Centerline is valid? [True, True] Translation: X:42.47, Y:1.17, Z:1.45 [[ 9.98168025e-01 -3.88461148e-02 -4.63850556e-02 4.24675088e+01] [ 3.87731088e-02 9.99244980e-01 -2.47294804e-03 1.17191971e+00] [ 4.64460984e-02 6.69924852e-04 9.98920573e-01 1.44760734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.82710568099999 meters 0.02182222799693459 Centerline is valid? [True, True] Translation: X:42.50, Y:1.18, Z:1.45 [[ 9.98394198e-01 -3.10733519e-02 -4.73653152e-02 4.24983948e+01] [ 3.09886653e-02 9.99516556e-01 -2.52138251e-03 1.17967530e+00] [ 4.74207646e-02 1.04954576e-03 9.98874451e-01 1.44779941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.85710568099999 meters 0.02182222799693459 Centerline is valid? [True, True] Translation: X:42.53, Y:1.18, Z:1.45 [[ 9.98395663e-01 -3.10260407e-02 -4.73654336e-02 4.25291935e+01] [ 3.09414064e-02 9.99518025e-01 -2.51915687e-03 1.18126580e+00] [ 4.74207642e-02 1.04956216e-03 9.98874451e-01 1.44894115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.88710568099999 meters 0.023632528585762695 Centerline is valid? [True, True] Translation: X:42.56, Y:1.19, Z:1.45 [[ 9.98416224e-01 -2.97964611e-02 -4.77201750e-02 4.25600658e+01] [ 2.97093113e-02 9.99555367e-01 -2.53465558e-03 1.18564522e+00] [ 4.77744809e-02 1.11290772e-03 9.98857528e-01 1.44714533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.91710568099999 meters 0.02196495384257489 Centerline is valid? [True, True] Translation: X:42.59, Y:1.18, Z:1.45 [[ 9.98439334e-01 -3.30320385e-02 -4.50308774e-02 4.25914152e+01] [ 3.29579798e-02 9.99453890e-01 -2.38627288e-03 1.17908727e+00] [ 4.50851090e-02 8.98421957e-04 9.98982745e-01 1.44872567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.94710568099999 meters 0.019518969503856495 Centerline is valid? [True, True] Translation: X:42.62, Y:1.17, Z:1.45 [[ 9.98345535e-01 -3.69358614e-02 -4.40673857e-02 4.26236418e+01] [ 3.68688314e-02 9.99317390e-01 -2.33314190e-03 1.17219228e+00] [ 4.41234814e-02 7.04568792e-04 9.99025836e-01 1.45257946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.97710568099999 meters 0.017783205124578847 Centerline is valid? [True, True] Translation: X:42.66, Y:1.16, Z:1.46 [[ 9.98008219e-01 -4.48141848e-02 -4.43991386e-02 4.26557173e+01] [ 4.47540766e-02 9.98995276e-01 -2.34740349e-03 1.16313955e+00] [ 4.44597267e-02 3.55685534e-04 9.99011114e-01 1.45638633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.00710568099999 meters 0.01710233073612721 Centerline is valid? [True, True] Translation: X:42.69, Y:1.15, Z:1.46 [[ 9.97706141e-01 -4.98368828e-02 -4.58120111e-02 4.26889890e+01] [ 4.97783760e-02 9.98757362e-01 -2.41775252e-03 1.15306178e+00] [ 4.58755766e-02 1.31759021e-04 9.98947153e-01 1.45551185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.03710568099999 meters 0.017069807178122575 Centerline is valid? [True, True] Translation: X:42.72, Y:1.14, Z:1.45 [[ 9.97489815e-01 -5.42911352e-02 -4.54592253e-02 4.27211819e+01] [ 5.42383326e-02 9.98525146e-01 -2.39509934e-03 1.14228079e+00] [ 4.55222123e-02 -7.65453863e-05 9.98963324e-01 1.45470614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.06710568099999 meters 0.017222919393235316 Centerline is valid? [True, True] Translation: X:42.75, Y:1.14, Z:1.46 [[ 9.97355894e-01 -5.79995221e-02 -4.37867096e-02 4.27529958e+01] [ 5.79542360e-02 9.98316582e-01 -2.30402778e-03 1.13637432e+00] [ 4.38466308e-02 -2.39689615e-04 9.99038245e-01 1.45644421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.09710568099999 meters 0.01907909339438448 Centerline is valid? [True, True] Translation: X:42.79, Y:1.12, Z:1.46 [[ 9.96787783e-01 -6.79351552e-02 -4.24138081e-02 4.27858687e+01] [ 6.79017749e-02 9.97689522e-01 -2.22882333e-03 1.12451086e+00] [ 4.24672274e-02 -6.58308986e-04 9.99097643e-01 1.45985880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.12710568099999 meters 0.020616867136177965 Centerline is valid? [True, True] Translation: X:42.82, Y:1.12, Z:1.46 [[ 9.96413222e-01 -7.29432428e-02 -4.28949291e-02 4.28168257e+01] [ 7.29138989e-02 9.97335700e-01 -2.25031907e-03 1.11856749e+00] [ 4.29447897e-02 -8.85388853e-04 9.99077055e-01 1.46032317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.15710568099999 meters 0.027549806529645223 Centerline is valid? [True, True] Translation: X:42.85, Y:1.10, Z:1.45 [[ 9.95492123e-01 -8.17675937e-02 -4.80571852e-02 4.28482632e+01] [ 8.17411182e-02 9.96650412e-01 -2.51921869e-03 1.09943670e+00] [ 4.81022039e-02 -1.42038570e-03 9.98841409e-01 1.45248051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.18710568099999 meters 0.02748278163637593 Centerline is valid? [True, True] Translation: X:42.88, Y:1.09, Z:1.45 [[ 9.94672836e-01 -8.97012376e-02 -5.07901212e-02 4.28792030e+01] [ 8.96819910e-02 9.95966893e-01 -2.66237944e-03 1.09374066e+00] [ 5.08240979e-02 -1.90676268e-03 9.98705800e-01 1.45085622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.21710568099999 meters 0.02960081652073829 Centerline is valid? [True, True] Translation: X:42.91, Y:1.09, Z:1.45 [[ 9.94398427e-01 -9.22773457e-02 -5.15427874e-02 4.29108832e+01] [ 9.22610440e-02 9.95731192e-01 -2.70056003e-03 1.08978235e+00] [ 5.15719617e-02 -2.06995873e-03 9.98667136e-01 1.45118234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.247105680999994 meters 0.028600128349598478 Centerline is valid? [True, True] Translation: X:42.94, Y:1.09, Z:1.46 [[ 9.94296049e-01 -9.26720861e-02 -5.27944219e-02 4.29428127e+01] [ 9.26557552e-02 9.95694372e-01 -2.76209606e-03 1.09403073e+00] [ 5.28230780e-02 -2.14536583e-03 9.98601582e-01 1.45510024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.27710568099999 meters 0.028244545536437907 Centerline is valid? [True, True] Translation: X:42.98, Y:1.10, Z:1.46 [[ 9.94396348e-01 -9.14840596e-02 -5.29770714e-02 4.29753158e+01] [ 9.14662280e-02 9.95804337e-01 -2.76610740e-03 1.09805124e+00] [ 5.30078522e-02 -2.09500580e-03 9.98591898e-01 1.45723535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.30710568099999 meters 0.026902033009976577 Centerline is valid? [True, True] Translation: X:43.01, Y:1.10, Z:1.46 [[ 9.94813853e-01 -8.77463146e-02 -5.14391098e-02 4.30066970e+01] [ 8.77248076e-02 9.96141142e-01 -2.68006675e-03 1.10498355e+00] [ 5.14757796e-02 -1.84631848e-03 9.98672537e-01 1.45913574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.33710568099999 meters 0.02621306654688359 Centerline is valid? [True, True] Translation: X:43.04, Y:1.11, Z:1.46 [[ 9.95014884e-01 -8.66985300e-02 -4.92822999e-02 4.30390349e+01] [ 8.66776922e-02 9.96233107e-01 -2.56384340e-03 1.11025702e+00] [ 4.93189402e-02 -1.72061368e-03 9.98781599e-01 1.46235887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.36710568099999 meters 0.02738215244930709 Centerline is valid? [True, True] Translation: X:43.07, Y:1.11, Z:1.47 [[ 9.94921950e-01 -8.80883311e-02 -4.86904414e-02 4.30695139e+01] [ 8.80698823e-02 9.96111090e-01 -2.52830699e-03 1.11232927e+00] [ 4.87238030e-02 -1.77269332e-03 9.98810717e-01 1.46531241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.39710568099999 meters 0.028161910885143287 Centerline is valid? [True, True] Translation: X:43.10, Y:1.12, Z:1.47 [[ 9.94590574e-01 -9.21089623e-02 -4.80159287e-02 4.31009759e+01] [ 9.20958238e-02 9.95747034e-01 -2.49058506e-03 1.12186285e+00] [ 4.80411238e-02 -1.94495408e-03 9.98843465e-01 1.47054006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.42710568099999 meters 0.029267943676487235 Centerline is valid? [True, True] Translation: X:43.13, Y:1.13, Z:1.47 [[ 9.94459884e-01 -9.37932795e-02 -4.74590338e-02 4.31332547e+01] [ 9.37825636e-02 9.95589671e-01 -2.45733962e-03 1.12582090e+00] [ 4.74802058e-02 -2.00710418e-03 9.98870163e-01 1.47320824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.45710568099999 meters 0.033454551029318436 Centerline is valid? [True, True] Translation: X:43.16, Y:1.13, Z:1.48 [[ 9.94162773e-01 -9.76983860e-02 -4.57756090e-02 4.31634244e+01] [ 9.76927185e-02 9.95213813e-01 -2.36630985e-03 1.12677762e+00] [ 4.57877030e-02 -2.11944652e-03 9.98948945e-01 1.47541796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.48710568099999 meters 0.03306622558904038 Centerline is valid? [True, True] Translation: X:43.20, Y:1.13, Z:1.48 [[ 9.93985655e-01 -1.00358123e-01 -4.38265365e-02 4.31953715e+01] [ 1.00355629e-01 9.94949058e-01 -2.26265251e-03 1.13440456e+00] [ 4.38322468e-02 -2.14919550e-03 9.99036593e-01 1.47787277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.51710568099999 meters 0.033267353440968504 Centerline is valid? [True, True] Translation: X:43.23, Y:1.14, Z:1.48 [[ 9.94049500e-01 -1.00282899e-01 -4.25315466e-02 4.32268652e+01] [ 1.00280639e-01 9.94956777e-01 -2.19203660e-03 1.13927052e+00] [ 4.25368744e-02 -2.08609780e-03 9.99092720e-01 1.48006243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.54710568099999 meters 0.02999209193108744 Centerline is valid? [True, True] Translation: X:43.26, Y:1.16, Z:1.48 [[ 9.94659051e-01 -9.34685975e-02 -4.37834852e-02 4.32566962e+01] [ 9.34597735e-02 9.95620507e-01 -2.25296935e-03 1.16143747e+00] [ 4.38023176e-02 -1.85105825e-03 9.99038503e-01 1.48442240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.57710568099999 meters 0.028263672343958574 Centerline is valid? [True, True] Translation: X:43.29, Y:1.17, Z:1.49 [[ 9.95042010e-01 -8.92840210e-02 -4.38150937e-02 4.32881210e+01] [ 8.92711900e-02 9.96004808e-01 -2.25333022e-03 1.17000254e+00] [ 4.38412304e-02 -1.66926733e-03 9.99037116e-01 1.48532531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.60710568099999 meters 0.026603183370138866 Centerline is valid? [True, True] Translation: X:43.32, Y:1.18, Z:1.49 [[ 9.95351441e-01 -8.56079391e-02 -4.41224424e-02 4.33191866e+01] [ 8.55914473e-02 9.96327741e-01 -2.26629009e-03 1.17791789e+00] [ 4.41544258e-02 -1.52074859e-03 9.99023560e-01 1.48596036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.63710568099999 meters 0.024302992958225907 Centerline is valid? [True, True] Translation: X:43.35, Y:1.19, Z:1.49 [[ 9.95961324e-01 -7.81319022e-02 -4.42317500e-02 4.33486210e+01] [ 7.81080375e-02 9.96942316e-01 -2.27020441e-03 1.19022839e+00] [ 4.42738787e-02 -1.19381940e-03 9.99018718e-01 1.48546084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.66710568099999 meters 0.020834736996904 Centerline is valid? [True, True] Translation: X:43.38, Y:1.21, Z:1.48 [[ 9.96473187e-01 -6.92263242e-02 -4.74226039e-02 4.33792144e+01] [ 6.91888374e-02 9.97600613e-01 -2.43348303e-03 1.20641385e+00] [ 4.74772798e-02 -8.56214244e-04 9.98871951e-01 1.48263890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.69710568099999 meters 0.019622103433488573 Centerline is valid? [True, True] Translation: X:43.41, Y:1.22, Z:1.47 [[ 9.96743358e-01 -6.16728295e-02 -5.19532445e-02 4.34106333e+01] [ 6.16177538e-02 9.98096269e-01 -2.66266706e-03 1.21776550e+00] [ 5.20185538e-02 -5.47246525e-04 9.98645969e-01 1.47487426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.72710568099999 meters 0.019620737489741972 Centerline is valid? [True, True] Translation: X:43.44, Y:1.22, Z:1.47 [[ 9.96782750e-01 -5.97132151e-02 -5.34647675e-02 4.34423054e+01] [ 5.96523582e-02 9.98215466e-01 -2.73475898e-03 1.22330088e+00] [ 5.35326591e-02 -4.63338880e-04 9.98565992e-01 1.47301359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.75710568099999 meters 0.019358258172949578 Centerline is valid? [True, True] Translation: X:43.47, Y:1.23, Z:1.47 [[ 9.96892615e-01 -5.75515546e-02 -5.37859972e-02 4.34729959e+01] [ 5.74871012e-02 9.98342473e-01 -2.74596831e-03 1.23158544e+00] [ 5.38548802e-02 -3.54565544e-04 9.98548710e-01 1.47276450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.78710568099999 meters 0.019417342945070547 Centerline is valid? [True, True] Translation: X:43.51, Y:1.23, Z:1.47 [[ 9.96905124e-01 -5.72296127e-02 -5.38975481e-02 4.35059760e+01] [ 5.71646731e-02 9.98360984e-01 -2.74700589e-03 1.23469907e+00] [ 5.39664193e-02 -3.42531473e-04 9.98542692e-01 1.47337394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.81710568099999 meters 0.02004671294872755 Centerline is valid? [True, True] Translation: X:43.54, Y:1.24, Z:1.47 [[ 9.96720345e-01 -5.81403146e-02 -5.62872728e-02 4.35378311e+01] [ 5.80713847e-02 9.98308334e-01 -2.86086002e-03 1.23599360e+00] [ 5.63583849e-02 -4.17202482e-04 9.98410516e-01 1.47085293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.84710568099999 meters 0.02008890215203124 Centerline is valid? [True, True] Translation: X:43.57, Y:1.24, Z:1.47 [[ 9.96538407e-01 -5.96837569e-02 -5.78710045e-02 4.35693811e+01] [ 5.96138980e-02 9.98217197e-01 -2.93434767e-03 1.23552734e+00] [ 5.79429648e-02 -5.25726008e-04 9.98319757e-01 1.46852906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.87710568099999 meters 0.020207894073144415 Centerline is valid? [True, True] Translation: X:43.60, Y:1.24, Z:1.47 [[ 9.96501921e-01 -6.21864988e-02 -5.58279566e-02 4.36016895e+01] [ 6.21256417e-02 9.98064334e-01 -2.82663458e-03 1.23631700e+00] [ 5.58956709e-02 -6.51600845e-04 9.98436402e-01 1.47469682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.90710568099999 meters 0.020955754667050245 Centerline is valid? [True, True] Translation: X:43.63, Y:1.23, Z:1.48 [[ 9.96390874e-01 -6.53257531e-02 -5.42012144e-02 4.36333137e+01] [ 6.52732679e-02 9.97863665e-01 -2.73991729e-03 1.23300183e+00] [ 5.42644096e-02 -8.07861810e-04 9.98526275e-01 1.47839351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.93710568099999 meters 0.023614100477181283 Centerline is valid? [True, True] Translation: X:43.67, Y:1.23, Z:1.48 [[ 9.96021609e-01 -7.23132185e-02 -5.20744975e-02 4.36659877e+01] [ 7.22744984e-02 9.97381315e-01 -2.62874843e-03 1.22541245e+00] [ 5.21282240e-02 -1.14536795e-03 9.98639743e-01 1.48187643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.96710568099999 meters 0.02421898225291891 Centerline is valid? [True, True] Translation: X:43.70, Y:1.22, Z:1.49 [[ 9.95719692e-01 -7.71427187e-02 -5.09047738e-02 4.36979267e+01] [ 7.71122428e-02 9.97019118e-01 -2.56531296e-03 1.22389923e+00] [ 5.09509279e-02 -1.37104865e-03 9.98700217e-01 1.48632008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99710568099999 meters 0.0293550420486928 Centerline is valid? [True, True] Translation: X:43.73, Y:1.21, Z:1.48 [[ 9.95012994e-01 -8.58717300e-02 -5.07463056e-02 4.37286333e+01] [ 8.58529915e-02 9.96304545e-01 -2.55294948e-03 1.21344428e+00] [ 5.07780011e-02 -1.81650424e-03 9.98708313e-01 1.48497714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.02710568099999 meters 0.031893225217732 Centerline is valid? [True, True] Translation: X:43.76, Y:1.21, Z:1.49 [[ 9.94430959e-01 -9.31543638e-02 -4.92882644e-02 4.37596475e+01] [ 9.31457523e-02 9.95649404e-01 -2.47659518e-03 1.20731106e+00] [ 4.93045367e-02 -2.12818955e-03 9.98781524e-01 1.48747548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.05710568099999 meters 0.035513032143457204 Centerline is valid? [True, True] Translation: X:43.79, Y:1.20, Z:1.49 [[ 9.94287747e-01 -9.56369369e-02 -4.73862130e-02 4.37913201e+01] [ 9.56318527e-02 9.95413927e-01 -2.37958755e-03 1.20334713e+00] [ 4.73964728e-02 -2.16563659e-03 9.98873808e-01 1.49124695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.08710568099999 meters 0.037505475421552456 Centerline is valid? [True, True] Translation: X:43.82, Y:1.20, Z:1.50 [[ 9.94110053e-01 -9.82447616e-02 -4.57511687e-02 4.38220595e+01] [ 9.82429330e-02 9.95159818e-01 -2.29396986e-03 1.20371061e+00] [ 4.57550953e-02 -2.21427050e-03 9.98950233e-01 1.49851922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.11710568099999 meters 0.038893278522062674 Centerline is valid? [True, True] Translation: X:43.85, Y:1.20, Z:1.50 [[ 9.93904440e-01 -9.92494396e-02 -4.79949350e-02 4.38528843e+01] [ 9.92488780e-02 9.95059745e-01 -2.40070319e-03 1.20376765e+00] [ 4.79960962e-02 -2.37737389e-03 9.98844694e-01 1.49694944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.14710568099999 meters 0.03370045821678535 Centerline is valid? [True, True] Translation: X:43.89, Y:1.21, Z:1.50 [[ 9.93889854e-01 -9.87433756e-02 -4.93224504e-02 4.38856729e+01] [ 9.87423229e-02 9.95109985e-01 -2.46391112e-03 1.21229404e+00] [ 4.93245578e-02 -2.42135706e-03 9.98779868e-01 1.49692177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.17710568099999 meters 0.032007759900967436 Centerline is valid? [True, True] Translation: X:43.92, Y:1.22, Z:1.50 [[ 9.94609071e-01 -9.23994174e-02 -4.70653218e-02 4.39152977e+01] [ 9.23915799e-02 9.95719985e-01 -2.34659481e-03 1.21830080e+00] [ 4.70807055e-02 -2.01449496e-03 9.98889057e-01 1.49877190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.20710568099999 meters 0.0239372297572973 Centerline is valid? [True, True] Translation: X:43.94, Y:1.24, Z:1.51 [[ 9.96028722e-01 -7.70942109e-02 -4.45338882e-02 4.39448334e+01] [ 7.70718806e-02 9.97023066e-01 -2.22077339e-03 1.24126773e+00] [ 4.45725225e-02 -1.22035643e-03 9.99005406e-01 1.50561526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.23710568099999 meters 0.02172403267909513 Centerline is valid? [True, True] Translation: X:43.97, Y:1.25, Z:1.50 [[ 9.96716150e-01 -6.67831404e-02 -4.57922331e-02 4.39737668e+01] [ 6.67486797e-02 9.97767208e-01 -2.28293112e-03 1.25181375e+00] [ 4.58424499e-02 -7.81136780e-04 9.98948377e-01 1.50480579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.26710568099999 meters 0.019125703581706437 Centerline is valid? [True, True] Translation: X:44.00, Y:1.28, Z:1.50 [[ 9.97748084e-01 -4.61332487e-02 -4.86876157e-02 4.40034630e+01] [ 4.60696770e-02 9.98935279e-01 -2.42767430e-03 1.27798598e+00] [ 4.87477735e-02 1.79184649e-04 9.98811104e-01 1.50244786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.29710568099999 meters 0.021760941175588203 Centerline is valid? [True, True] Translation: X:44.03, Y:1.29, Z:1.50 [[ 9.98221686e-01 -3.20131440e-02 -5.02854302e-02 4.40336689e+01] [ 3.19275132e-02 9.99487047e-01 -2.50543074e-03 1.29482208e+00] [ 5.03398428e-02 8.95486562e-04 9.98731745e-01 1.50219297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.32710568099999 meters 0.022567343708644303 Centerline is valid? [True, True] Translation: X:44.06, Y:1.30, Z:1.50 [[ 9.98271736e-01 -2.94262464e-02 -5.08688223e-02 4.40646353e+01] [ 2.93353369e-02 9.99566417e-01 -2.53298411e-03 1.29960820e+00] [ 5.09213027e-02 1.03635240e-03 9.98702131e-01 1.50089614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.35710568099999 meters 0.021941030549230908 Centerline is valid? [True, True] Translation: X:44.10, Y:1.30, Z:1.50 [[ 9.98165366e-01 -2.96174268e-02 -5.28082326e-02 4.40965510e+01] [ 2.95198471e-02 9.99560742e-01 -2.62701732e-03 1.29770930e+00] [ 5.28628416e-02 1.06330676e-03 9.98601216e-01 1.49773097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.38710568099999 meters 0.021004006899352237 Centerline is valid? [True, True] Translation: X:44.13, Y:1.29, Z:1.50 [[ 9.97865402e-01 -3.59565191e-02 -5.45139270e-02 4.41275947e+01] [ 3.58620960e-02 9.99353075e-01 -2.70963950e-03 1.29247387e+00] [ 5.45760897e-02 7.48871827e-04 9.98509334e-01 1.49526129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.41710568099999 meters 0.020363292700232204 Centerline is valid? [True, True] Translation: X:44.16, Y:1.29, Z:1.50 [[ 9.97687534e-01 -3.95478719e-02 -5.52770373e-02 4.41592080e+01] [ 3.94564116e-02 9.99217521e-01 -2.74538292e-03 1.28973958e+00] [ 5.53423582e-02 5.58000784e-04 9.98467281e-01 1.49514716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.44710568099999 meters 0.019585063429524555 Centerline is valid? [True, True] Translation: X:44.19, Y:1.28, Z:1.50 [[ 9.97287435e-01 -4.74221874e-02 -5.62930555e-02 4.41920086e+01] [ 4.73401138e-02 9.98874928e-01 -2.79134538e-03 1.27917539e+00] [ 5.63620935e-02 1.18854017e-04 9.98410387e-01 1.49526141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.47710568099999 meters 0.01944357766683306 Centerline is valid? [True, True] Translation: X:44.22, Y:1.27, Z:1.50 [[ 9.96949979e-01 -5.36403373e-02 -5.66873369e-02 4.42241603e+01] [ 5.35674545e-02 9.98560292e-01 -2.80553277e-03 1.27095142e+00] [ 5.67562134e-02 -2.39620509e-04 9.98388038e-01 1.49761164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.50710568099999 meters 0.019712126410634613 Centerline is valid? [True, True] Translation: X:44.26, Y:1.27, Z:1.50 [[ 9.96849933e-01 -5.52794953e-02 -5.68716889e-02 4.42565927e+01] [ 5.52091083e-02 9.98470862e-01 -2.80929753e-03 1.26960298e+00] [ 5.69400208e-02 -3.39387179e-04 9.98377543e-01 1.49936193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.53710568099999 meters 0.019660039012756307 Centerline is valid? [True, True] Translation: X:44.29, Y:1.27, Z:1.50 [[ 9.96942394e-01 -5.47496821e-02 -5.57524486e-02 4.42892354e+01] [ 5.46814989e-02 9.98500064e-01 -2.74887745e-03 1.26677593e+00] [ 5.58193237e-02 -3.08154992e-04 9.98440839e-01 1.50139882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.56710568099999 meters 0.01929095724997947 Centerline is valid? [True, True] Translation: X:44.32, Y:1.27, Z:1.51 [[ 9.97277285e-01 -5.20226754e-02 -5.22652730e-02 4.43218065e+01] [ 5.19592792e-02 9.98645892e-01 -2.57192292e-03 1.26601385e+00] [ 5.23282985e-02 -1.50745611e-04 9.98629925e-01 1.50658536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.59710568099999 meters 0.019333346213734236 Centerline is valid? [True, True] Translation: X:44.35, Y:1.27, Z:1.51 [[ 9.97321150e-01 -5.24375912e-02 -5.09982583e-02 4.43532062e+01] [ 5.23780419e-02 9.98624188e-01 -2.50435860e-03 1.26562539e+00] [ 5.10594168e-02 -1.73539105e-04 9.98695602e-01 1.50926960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.62710568099999 meters 0.020221723432661903 Centerline is valid? [True, True] Translation: X:44.38, Y:1.26, Z:1.51 [[ 9.96940819e-01 -5.96331356e-02 -5.05261616e-02 4.43842497e+01] [ 5.95841554e-02 9.98220214e-01 -2.47643405e-03 1.25770672e+00] [ 5.05839133e-02 -5.41700471e-04 9.98719668e-01 1.51194094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.65710568099999 meters 0.02134212739561757 Centerline is valid? [True, True] Translation: X:44.42, Y:1.25, Z:1.51 [[ 9.96542172e-01 -6.62361847e-02 -5.01643993e-02 4.44166186e+01] [ 6.61966162e-02 9.97803587e-01 -2.45159712e-03 1.25095318e+00] [ 5.02166020e-02 -8.77593577e-04 9.98737965e-01 1.51363765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.68710568099999 meters 0.027280244472237404 Centerline is valid? [True, True] Translation: X:44.45, Y:1.23, Z:1.51 [[ 9.95253214e-01 -8.28053564e-02 -5.11303522e-02 4.44474332e+01] [ 8.27862420e-02 9.96564204e-01 -2.49520440e-03 1.23165590e+00] [ 5.11612950e-02 -1.74952951e-03 9.98688871e-01 1.51375409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.71710568099999 meters 0.03332958186352311 Centerline is valid? [True, True] Translation: X:44.48, Y:1.22, Z:1.52 [[ 9.94101922e-01 -9.53534448e-02 -5.16632199e-02 4.44779128e+01] [ 9.53508324e-02 9.95440538e-01 -2.52091458e-03 1.21777818e+00] [ 5.16680412e-02 -2.42008498e-03 9.98661382e-01 1.51566681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.74710568099999 meters 0.03332958186352311 Centerline is valid? [True, True] Translation: X:44.51, Y:1.22, Z:1.52 [[ 9.94114627e-01 -9.52208527e-02 -5.16633037e-02 4.45104429e+01] [ 9.52181509e-02 9.95453242e-01 -2.51919388e-03 1.21922836e+00] [ 5.16682829e-02 -2.41491677e-03 9.98661382e-01 1.51687303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77710568099999 meters 0.035317793597056155 Centerline is valid? [True, True] Translation: X:44.54, Y:1.22, Z:1.52 [[ 9.93726374e-01 -9.89541073e-02 -5.21150567e-02 4.45413740e+01] [ 9.89567536e-02 9.95088504e-01 -2.53590210e-03 1.21613214e+00] [ 5.21100317e-02 -2.63714403e-03 9.98637867e-01 1.51825677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.80710568099999 meters 0.038045815851254605 Centerline is valid? [True, True] Translation: X:44.57, Y:1.21, Z:1.52 [[ 9.93370653e-01 -1.01966351e-01 -5.30811602e-02 4.45714732e+01] [ 1.01973518e-01 9.94783767e-01 -2.58039904e-03 1.21216955e+00] [ 5.30673904e-02 -2.84957999e-03 9.98586868e-01 1.51966531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.83710568099999 meters 0.03817568121649784 Centerline is valid? [True, True] Translation: X:44.60, Y:1.21, Z:1.52 [[ 9.93432549e-01 -1.00915527e-01 -5.39242764e-02 4.46030207e+01] [ 1.00921746e-01 9.94890931e-01 -2.61467496e-03 1.21401523e+00] [ 5.39126348e-02 -2.84462893e-03 9.98541604e-01 1.52034854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.86710568099999 meters 0.03744057333210229 Centerline is valid? [True, True] Translation: X:44.64, Y:1.22, Z:1.52 [[ 9.93651285e-01 -9.95829829e-02 -5.23483914e-02 4.46353543e+01] [ 9.95873903e-02 9.95025601e-01 -2.53072018e-03 1.21774057e+00] [ 5.23400063e-02 -2.69858633e-03 9.98625676e-01 1.52383797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.89710568099999 meters 0.036620407028843734 Centerline is valid? [True, True] Translation: X:44.66, Y:1.23, Z:1.53 [[ 9.94216800e-01 -9.54448946e-02 -4.92262774e-02 4.46648118e+01] [ 9.54439062e-02 9.95431974e-01 -2.37606633e-03 1.22513661e+00] [ 4.92281939e-02 -2.33602313e-03 9.98784826e-01 1.52878901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.92710568099999 meters 0.034155052999418546 Centerline is valid? [True, True] Translation: X:44.69, Y:1.24, Z:1.53 [[ 9.94815459e-01 -9.04609061e-02 -4.64653403e-02 4.46949733e+01] [ 9.04546027e-02 9.95898055e-01 -2.24260468e-03 1.23815862e+00] [ 4.64776100e-02 -1.97202609e-03 9.98917385e-01 1.53322621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.95710568099999 meters 0.0296231566078021 Centerline is valid? [True, True] Translation: X:44.73, Y:1.25, Z:1.54 [[ 9.95229418e-01 -8.68141170e-02 -4.45164588e-02 4.47259630e+01] [ 8.68047414e-02 9.96223030e-01 -2.14730687e-03 1.25094678e+00] [ 4.45347380e-02 -1.72717672e-03 9.99006343e-01 1.53762006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.98710568099999 meters 0.0253016972184663 Centerline is valid? [True, True] Translation: X:44.76, Y:1.27, Z:1.54 [[ 9.96174728e-01 -7.66442201e-02 -4.19711149e-02 4.47552847e+01] [ 7.66269618e-02 9.97057781e-01 -2.02218194e-03 1.26942485e+00] [ 4.20026152e-02 -1.20167247e-03 9.99116778e-01 1.54063907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.01710568099999 meters 0.02165809271420162 Centerline is valid? [True, True] Translation: X:44.79, Y:1.29, Z:1.54 [[ 9.96973509e-01 -6.52852211e-02 -4.22097346e-02 4.47852099e+01] [ 6.52575963e-02 9.97866379e-01 -2.03347327e-03 1.28768787e+00] [ 4.22524308e-02 -7.27186843e-04 9.99106703e-01 1.54189620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.04710568099999 meters 0.019852037874411785 Centerline is valid? [True, True] Translation: X:44.82, Y:1.30, Z:1.54 [[ 9.97529744e-01 -5.45587626e-02 -4.42464885e-02 4.48155563e+01] [ 5.45179104e-02 9.98510520e-01 -2.13036714e-03 1.30226468e+00] [ 4.42968145e-02 -2.87121508e-04 9.99018373e-01 1.54000659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.07710568099999 meters 0.01975508141860253 Centerline is valid? [True, True] Translation: X:44.85, Y:1.31, Z:1.54 [[ 9.97655200e-01 -5.07835095e-02 -4.58817750e-02 4.48485569e+01] [ 5.07357278e-02 9.98709677e-01 -2.20609833e-03 1.30796012e+00] [ 4.59346061e-02 -1.26919774e-04 9.98944441e-01 1.53889392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.10710568099999 meters 0.019916062900454782 Centerline is valid? [True, True] Translation: X:44.88, Y:1.31, Z:1.53 [[ 9.97621373e-01 -4.74020221e-02 -5.00464139e-02 4.48804234e+01] [ 4.73412551e-02 9.98875892e-01 -2.39955614e-03 1.31150987e+00] [ 5.01039002e-02 2.45884378e-05 9.98744011e-01 1.53496794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.13710568099999 meters 0.020032961844575963 Centerline is valid? [True, True] Translation: X:44.91, Y:1.31, Z:1.53 [[ 9.97465198e-01 -4.81567296e-02 -5.23842452e-02 4.49123233e+01] [ 4.80914325e-02 9.98839791e-01 -2.50700427e-03 1.30841428e+00] [ 5.24441977e-02 -1.85838870e-05 9.98623856e-01 1.53087242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.16710568099999 meters 0.020282883509791585 Centerline is valid? [True, True] Translation: X:44.95, Y:1.30, Z:1.53 [[ 9.97047028e-01 -5.40072918e-02 -5.45933681e-02 4.49451055e+01] [ 5.39453617e-02 9.98540482e-01 -2.60845833e-03 1.30240794e+00] [ 5.46545638e-02 -3.44303365e-04 9.98505263e-01 1.52838952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.19710568099999 meters 0.02086983682869198 Centerline is valid? [True, True] Translation: X:44.98, Y:1.30, Z:1.53 [[ 9.96844707e-01 -5.73239210e-02 -5.49053651e-02 4.49776611e+01] [ 5.72665829e-02 9.98355489e-01 -2.61834417e-03 1.29938950e+00] [ 5.49651664e-02 -5.34160119e-04 9.98488130e-01 1.52852568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.22710568099999 meters 0.02194452712767425 Centerline is valid? [True, True] Translation: X:45.01, Y:1.29, Z:1.53 [[ 9.96443343e-01 -6.23946416e-02 -5.66354306e-02 4.50092728e+01] [ 6.23420833e-02 9.98051199e-01 -2.69606684e-03 1.29276528e+00] [ 5.66932795e-02 -8.44292878e-04 9.98391286e-01 1.52726767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.25710568099999 meters 0.022361884888380347 Centerline is valid? [True, True] Translation: X:45.04, Y:1.29, Z:1.53 [[ 9.96332793e-01 -6.33998159e-02 -5.74580678e-02 4.50405122e+01] [ 6.33476130e-02 9.97987785e-01 -2.73134210e-03 1.29164280e+00] [ 5.75156164e-02 -9.18505742e-04 9.98344184e-01 1.52669769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.28710568099999 meters 0.023186721155404166 Centerline is valid? [True, True] Translation: X:45.07, Y:1.29, Z:1.52 [[ 9.96065098e-01 -6.53095087e-02 -5.99081703e-02 4.50730798e+01] [ 6.52564832e-02 9.97864473e-01 -2.84323876e-03 1.28872815e+00] [ 5.99659253e-02 -1.07734561e-03 9.98199843e-01 1.52217104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.31710568099999 meters 0.023582717895023152 Centerline is valid? [True, True] Translation: X:45.10, Y:1.29, Z:1.52 [[ 9.95880363e-01 -6.56444908e-02 -6.25548055e-02 4.51046384e+01] [ 6.55877412e-02 9.97842409e-01 -2.96241400e-03 1.28801043e+00] [ 6.26143040e-02 -1.15261847e-03 9.98037134e-01 1.51879693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.34710568099999 meters 0.024125476027002105 Centerline is valid? [True, True] Translation: X:45.14, Y:1.29, Z:1.52 [[ 9.95661242e-01 -6.57077151e-02 -6.58876902e-02 4.51363781e+01] [ 6.56453285e-02 9.97838161e-01 -3.11372591e-03 1.28863517e+00] [ 6.59498475e-02 -1.22500287e-03 9.97822187e-01 1.51662125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.37710568099999 meters 0.02349708276178728 Centerline is valid? [True, True] Translation: X:45.17, Y:1.29, Z:1.52 [[ 9.95862571e-01 -6.53879985e-02 -6.31042737e-02 4.51678362e+01] [ 6.53304211e-02 9.97859244e-01 -2.97757329e-03 1.29188850e+00] [ 6.31638804e-02 -1.15737498e-03 9.98002497e-01 1.52474503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.40710568099999 meters 0.022298896927730908 Centerline is valid? [True, True] Translation: X:45.20, Y:1.29, Z:1.53 [[ 9.96099781e-01 -6.41546419e-02 -6.05756339e-02 4.51997270e+01] [ 6.40996333e-02 9.97939426e-01 -2.85289290e-03 1.29343385e+00] [ 6.06338397e-02 -1.04110993e-03 9.98159533e-01 1.53087624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.43710568099999 meters 0.022437730675222884 Centerline is valid? [True, True] Translation: X:45.23, Y:1.29, Z:1.53 [[ 9.96219978e-01 -6.40367514e-02 -5.86945471e-02 4.52312795e+01] [ 6.39851879e-02 9.97947033e-01 -2.75943285e-03 1.29181883e+00] [ 5.87507542e-02 -1.00657948e-03 9.98272175e-01 1.53226916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.46710568099999 meters 0.022632132642452146 Centerline is valid? [True, True] Translation: X:45.26, Y:1.29, Z:1.54 [[ 9.96295483e-01 -6.63517103e-02 -5.47061250e-02 4.52637099e+01] [ 6.63106233e-02 9.97795724e-01 -2.56787203e-03 1.28812390e+00] [ 5.47559203e-02 -1.06923794e-03 9.98499197e-01 1.53897412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.49710568099999 meters 0.02347030945373932 Centerline is valid? [True, True] Translation: X:45.30, Y:1.29, Z:1.54 [[ 9.96085675e-01 -7.01071242e-02 -5.38360488e-02 4.52962177e+01] [ 7.00730791e-02 9.97538672e-01 -2.52205259e-03 1.28579938e+00] [ 5.38803545e-02 -1.26027725e-03 9.98546603e-01 1.54388600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.52710568099999 meters 0.024545677353740372 Centerline is valid? [True, True] Translation: X:45.33, Y:1.28, Z:1.55 [[ 9.96003477e-01 -7.13818891e-02 -5.36814602e-02 4.53276175e+01] [ 7.13501389e-02 9.97448173e-01 -2.51014894e-03 1.28391558e+00] [ 5.37236535e-02 -1.33006256e-03 9.98554956e-01 1.54503549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.55710568099999 meters 0.024759570729849294 Centerline is valid? [True, True] Translation: X:45.36, Y:1.28, Z:1.55 [[ 9.95859120e-01 -7.31409968e-02 -5.39908055e-02 4.53595300e+01] [ 7.31116881e-02 9.97320575e-01 -2.52042043e-03 1.28277129e+00] [ 5.40304872e-02 -1.43737526e-03 9.98538252e-01 1.54614499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.58710568099999 meters 0.024954214728569454 Centerline is valid? [True, True] Translation: X:45.39, Y:1.28, Z:1.55 [[ 9.95860534e-01 -7.33955170e-02 -5.36180485e-02 4.53930572e+01] [ 7.33672868e-02 9.97301862e-01 -2.49730151e-03 1.28167964e+00] [ 5.36566703e-02 -1.44684673e-03 9.98558395e-01 1.54598871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.61710568099999 meters 0.024036464677822902 Centerline is valid? [True, True] Translation: X:45.43, Y:1.28, Z:1.55 [[ 9.96139315e-01 -6.97276762e-02 -5.33340057e-02 4.54253536e+01] [ 6.96948454e-02 9.97565281e-01 -2.47746890e-03 1.28325255e+00] [ 5.33769005e-02 -1.24920111e-03 9.98573656e-01 1.54558671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.64710568099999 meters 0.021698567411850788 Centerline is valid? [True, True] Translation: X:45.46, Y:1.30, Z:1.55 [[ 9.96753791e-01 -5.96421821e-02 -5.40804140e-02 4.54552034e+01] [ 5.95937954e-02 9.98219559e-01 -2.50832642e-03 1.29516411e+00] [ 5.41337291e-02 -7.22673260e-04 9.98533433e-01 1.54700847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.677105680999986 meters 0.02073855686159404 Centerline is valid? [True, True] Translation: X:45.49, Y:1.30, Z:1.55 [[ 9.97164458e-01 -5.28943808e-02 -5.35278172e-02 4.54871043e+01] [ 5.28373871e-02 9.98600049e-01 -2.48033137e-03 1.30428354e+00] [ 5.35840765e-02 -3.54971714e-04 9.98563278e-01 1.54945931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.70710568099999 meters 0.02163368116911645 Centerline is valid? [True, True] Translation: X:45.52, Y:1.32, Z:1.55 [[ 9.97968198e-01 -3.88510423e-02 -5.04982347e-02 4.55187905e+01] [ 3.87825680e-02 9.99244944e-01 -2.33548767e-03 1.31660712e+00] [ 5.05508419e-02 3.72291202e-04 9.98721420e-01 1.55030560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.73710568099999 meters 0.023176518827766397 Centerline is valid? [True, True] Translation: X:45.55, Y:1.32, Z:1.55 [[ 9.98290698e-01 -2.88497338e-02 -5.08269180e-02 4.55485947e+01] [ 2.87676567e-02 9.99583373e-01 -2.34580670e-03 1.32430321e+00] [ 5.08734181e-02 8.79625677e-04 9.98704722e-01 1.54799396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.76710568099999 meters 0.02482757799765481 Centerline is valid? [True, True] Translation: X:45.58, Y:1.33, Z:1.55 [[ 9.98322793e-01 -2.30156992e-02 -5.31213521e-02 4.55793191e+01] [ 2.29180002e-02 9.99734352e-01 -2.44766335e-03 1.32789100e+00] [ 5.31635752e-02 1.22612296e-03 9.98585064e-01 1.54606514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.79710568099999 meters 0.026109186740389465 Centerline is valid? [True, True] Translation: X:45.61, Y:1.33, Z:1.54 [[ 9.98273681e-01 -2.14112376e-02 -5.46920129e-02 4.56075555e+01] [ 2.13051735e-02 9.99769839e-01 -2.52167807e-03 1.32876992e+00] [ 5.47334171e-02 1.35210203e-03 9.98500088e-01 1.54348689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.82710568099999 meters 0.02629260011461459 Centerline is valid? [True, True] Translation: X:45.64, Y:1.32, Z:1.54 [[ 9.98251723e-01 -1.97502108e-02 -5.57084077e-02 4.56366368e+01] [ 1.96370364e-02 9.99803850e-01 -2.57827146e-03 1.32184859e+00] [ 5.57484019e-02 1.47981590e-03 9.98443752e-01 1.54303216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.85710568099999 meters 0.028030357103124858 Centerline is valid? [True, True] Translation: X:45.66, Y:1.32, Z:1.54 [[ 9.98256184e-01 -1.98462968e-02 -5.55942130e-02 4.56633359e+01] [ 1.97328807e-02 9.99801937e-01 -2.58832370e-03 1.31869996e+00] [ 5.56345705e-02 1.48677616e-03 9.98450091e-01 1.54265262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.88710568099999 meters 0.02548436133364077 Centerline is valid? [True, True] Translation: X:45.69, Y:1.31, Z:1.55 [[ 9.98227599e-01 -2.17724687e-02 -5.53861065e-02 4.56920733e+01] [ 2.16621839e-02 9.99761990e-01 -2.59084579e-03 1.31147717e+00] [ 5.54293331e-02 1.38646974e-03 9.98461650e-01 1.54569574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.91710568099999 meters 0.023676951802114016 Centerline is valid? [True, True] Translation: X:45.72, Y:1.30, Z:1.54 [[ 9.98090574e-01 -2.64567836e-02 -5.58143806e-02 4.57216946e+01] [ 2.63510449e-02 9.99649292e-01 -2.62970598e-03 1.29832985e+00] [ 5.58643796e-02 1.15391750e-03 9.98437699e-01 1.54435662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.94710568099999 meters 0.021441011806580434 Centerline is valid? [True, True] Translation: X:45.75, Y:1.28, Z:1.54 [[ 9.97760563e-01 -3.56346873e-02 -5.66041414e-02 4.57508198e+01] [ 3.55398576e-02 9.99364662e-01 -2.68140893e-03 1.28194018e+00] [ 5.66637298e-02 6.63700957e-04 9.98393100e-01 1.54257276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.97710568099999 meters 0.020475612809950187 Centerline is valid? [True, True] Translation: X:45.78, Y:1.27, Z:1.54 [[ 9.97522642e-01 -4.16828681e-02 -5.66667151e-02 4.57797217e+01] [ 4.15970088e-02 9.99130837e-01 -2.69436467e-03 1.27340570e+00] [ 5.67297714e-02 3.30523920e-04 9.98389515e-01 1.54351602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.00710568099999 meters 0.020187977202902677 Centerline is valid? [True, True] Translation: X:45.81, Y:1.26, Z:1.54 [[ 9.97030664e-01 -5.19073476e-02 -5.68813050e-02 4.58087004e+01] [ 5.18366785e-02 9.98651876e-01 -2.71815426e-03 1.25782815e+00] [ 5.69457142e-02 -2.38454769e-04 9.98377248e-01 1.54414217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.03710568099999 meters 0.0206215180016122 Centerline is valid? [True, True] Translation: X:45.84, Y:1.25, Z:1.55 [[ 9.96837475e-01 -5.60806252e-02 -5.63028528e-02 4.58388892e+01] [ 5.60180144e-02 9.98426132e-01 -2.69090505e-03 1.25095507e+00] [ 5.63651472e-02 -4.71579016e-04 9.98410110e-01 1.54644780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.06710568099999 meters 0.020344960920630813 Centerline is valid? [True, True] Translation: X:45.87, Y:1.25, Z:1.55 [[ 9.96827759e-01 -5.67152352e-02 -5.58372799e-02 4.58701931e+01] [ 5.66549281e-02 9.98390266e-01 -2.66369989e-03 1.25052067e+00] [ 5.58984692e-02 -5.08207089e-04 9.98436329e-01 1.54975415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.09710568099999 meters 0.020513672497338303 Centerline is valid? [True, True] Translation: X:45.90, Y:1.25, Z:1.55 [[ 9.96932325e-01 -5.55835236e-02 -5.51036462e-02 4.59010141e+01] [ 5.55231828e-02 9.98453944e-01 -2.62655308e-03 1.24508349e+00] [ 5.51644459e-02 -4.41034157e-04 9.98477185e-01 1.54674214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.12710568099999 meters 0.020272779088367908 Centerline is valid? [True, True] Translation: X:45.93, Y:1.25, Z:1.55 [[ 9.96927503e-01 -5.48581391e-02 -5.59118771e-02 4.59317080e+01] [ 5.47949237e-02 9.98494075e-01 -2.66419995e-03 1.24545593e+00] [ 5.59738311e-02 -4.07672838e-04 9.98432153e-01 1.54817096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.15710568099999 meters 0.02041056438016651 Centerline is valid? [True, True] Translation: X:45.96, Y:1.25, Z:1.55 [[ 9.96838664e-01 -5.48820234e-02 -5.74512087e-02 4.59609626e+01] [ 5.48152909e-02 9.98492758e-01 -2.73800226e-03 1.24552288e+00] [ 5.75148829e-02 -4.19858205e-04 9.98344561e-01 1.54926919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.18710568099999 meters 0.020791270469777287 Centerline is valid? [True, True] Translation: X:45.99, Y:1.24, Z:1.55 [[ 9.96738219e-01 -5.79464593e-02 -5.61705567e-02 4.59907474e+01] [ 5.78874911e-02 9.98319522e-01 -2.67768022e-03 1.24171584e+00] [ 5.62313254e-02 -5.82626386e-04 9.98417597e-01 1.55290127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.21710568099999 meters 0.021229724578458408 Centerline is valid? [True, True] Translation: X:46.02, Y:1.24, Z:1.56 [[ 9.96572763e-01 -6.17762252e-02 -5.50129539e-02 4.60215490e+01] [ 6.17255010e-02 9.98089718e-01 -2.62232991e-03 1.23544705e+00] [ 5.50698613e-02 -7.82359580e-04 9.98482197e-01 1.55563246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.24710568099999 meters 0.02238532267029555 Centerline is valid? [True, True] Translation: X:46.05, Y:1.23, Z:1.56 [[ 9.96509505e-01 -6.34979560e-02 -5.41924063e-02 4.60517606e+01] [ 6.34512983e-02 9.97981594e-01 -2.58282541e-03 1.23186818e+00] [ 5.42470281e-02 -8.64768468e-04 9.98527171e-01 1.55511510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.27710568099999 meters 0.023665025485841287 Centerline is valid? [True, True] Translation: X:46.08, Y:1.23, Z:1.56 [[ 9.96289883e-01 -6.73122757e-02 -5.36239295e-02 4.60810764e+01] [ 6.72721353e-02 9.97731392e-01 -2.55525282e-03 1.22874346e+00] [ 5.36742777e-02 -1.06162371e-03 9.98557933e-01 1.55800983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.30710568099999 meters 0.025866343409423974 Centerline is valid? [True, True] Translation: X:46.11, Y:1.22, Z:1.56 [[ 9.95981029e-01 -7.19999019e-02 -5.32710386e-02 4.61104981e+01] [ 7.19669231e-02 9.97403786e-01 -2.53955167e-03 1.22476266e+00] [ 5.33155830e-02 -1.30440745e-03 9.98576861e-01 1.55876332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.33710568099999 meters 0.02522429894808964 Centerline is valid? [True, True] Translation: X:46.14, Y:1.23, Z:1.56 [[ 9.95857966e-01 -7.46857518e-02 -5.18550886e-02 4.61411238e+01] [ 7.46581157e-02 9.97206123e-01 -2.47246360e-03 1.22719696e+00] [ 5.18948697e-02 -1.40918064e-03 9.98651559e-01 1.56280328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.36710568099999 meters 0.02667452806441451 Centerline is valid? [True, True] Translation: X:46.17, Y:1.23, Z:1.57 [[ 9.95703563e-01 -7.90808249e-02 -4.81730011e-02 4.61726636e+01] [ 7.90621671e-02 9.96867044e-01 -2.29561553e-03 1.22738413e+00] [ 4.82036164e-02 -1.52290931e-03 9.98836369e-01 1.56884412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.39710568099999 meters 0.028246604511701152 Centerline is valid? [True, True] Translation: X:46.20, Y:1.23, Z:1.57 [[ 9.95544438e-01 -8.10701640e-02 -4.81549567e-02 4.62040092e+01] [ 8.10539615e-02 9.96707079e-01 -2.29230316e-03 1.22641484e+00] [ 4.81822236e-02 -1.62106034e-03 9.98837247e-01 1.56987969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.427105680999986 meters 0.030161795108001134 Centerline is valid? [True, True] Translation: X:46.23, Y:1.22, Z:1.56 [[ 9.95093440e-01 -8.43803132e-02 -5.16624515e-02 4.62349880e+01] [ 8.43662787e-02 9.96431783e-01 -2.45624158e-03 1.22487500e+00] [ 5.16853671e-02 -1.91437890e-03 9.98661583e-01 1.56428485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45710568099999 meters 0.03122637237100394 Centerline is valid? [True, True] Translation: X:46.27, Y:1.22, Z:1.56 [[ 9.94714717e-01 -8.53453572e-02 -5.70859235e-02 4.62655988e+01] [ 8.53299227e-02 9.96349059e-01 -2.71234097e-03 1.22483971e+00] [ 5.71089918e-02 -2.17313196e-03 9.98365585e-01 1.55696426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.48710568099999 meters 0.03115516044637326 Centerline is valid? [True, True] Translation: X:46.30, Y:1.23, Z:1.56 [[ 9.94732779e-01 -8.51094235e-02 -5.71234137e-02 4.62954282e+01] [ 8.50936713e-02 9.96369263e-01 -2.71253961e-03 1.22847191e+00] [ 5.71468763e-02 -2.16258892e-03 9.98363440e-01 1.55867301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.51710568099999 meters 0.03189615972167152 Centerline is valid? [True, True] Translation: X:46.32, Y:1.23, Z:1.57 [[ 9.94893776e-01 -8.57468748e-02 -5.32338931e-02 4.63249861e+01] [ 8.57341135e-02 9.96314847e-01 -2.52749521e-03 1.23406326e+00] [ 5.32544429e-02 -2.04937138e-03 9.98578872e-01 1.56601306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.54710568099999 meters 0.03367032075589072 Centerline is valid? [True, True] Translation: X:46.36, Y:1.24, Z:1.57 [[ 9.94536773e-01 -9.11808309e-02 -5.08199190e-02 4.63559462e+01] [ 9.11763344e-02 9.95831843e-01 -2.41160461e-03 1.23535273e+00] [ 5.08279857e-02 -2.23514446e-03 9.98704921e-01 1.57085568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.57710568099999 meters 0.032372435264402546 Centerline is valid? [True, True] Translation: X:46.39, Y:1.24, Z:1.57 [[ 9.94212327e-01 -9.46460913e-02 -5.08327301e-02 4.63863347e+01] [ 9.46461954e-02 9.95508055e-01 -2.41049579e-03 1.24042577e+00] [ 5.08325363e-02 -2.41457987e-03 9.98704272e-01 1.57378124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.60710568099999 meters 0.03780540541803443 Centerline is valid? [True, True] Translation: X:46.42, Y:1.24, Z:1.57 [[ 9.93722692e-01 -1.00052860e-01 -5.00463456e-02 4.64169190e+01] [ 1.00059848e-01 9.94978593e-01 -2.37205357e-03 1.23822366e+00] [ 5.00323733e-02 -2.65046628e-03 9.98744080e-01 1.57405284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.63710568099999 meters 0.03604899264679751 Centerline is valid? [True, True] Translation: X:46.45, Y:1.25, Z:1.58 [[ 9.93633341e-01 -1.01066284e-01 -4.97834233e-02 4.64488218e+01] [ 1.01074565e-01 9.94876060e-01 -2.35757049e-03 1.24539863e+00] [ 4.97666069e-02 -2.68927723e-03 9.98757254e-01 1.57512239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.66710568099999 meters 0.03604899264679751 Centerline is valid? [True, True] Translation: X:46.48, Y:1.25, Z:1.58 [[ 9.93642485e-01 -1.00976242e-01 -4.97836373e-02 4.64805093e+01] [ 1.00984637e-01 9.94885203e-01 -2.35304338e-03 1.24680689e+00] [ 4.97666056e-02 -2.68929869e-03 9.98757254e-01 1.57629653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.69710568099999 meters 0.03626108295080041 Centerline is valid? [True, True] Translation: X:46.51, Y:1.26, Z:1.58 [[ 9.93459541e-01 -1.02302169e-01 -5.07189042e-02 4.65118198e+01] [ 1.02312829e-01 9.94749395e-01 -2.39288532e-03 1.25511392e+00] [ 5.06973966e-02 -2.81195981e-03 9.98710102e-01 1.57567975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.72710568099999 meters 0.03829042252799406 Centerline is valid? [True, True] Translation: X:46.54, Y:1.26, Z:1.58 [[ 9.93263692e-01 -1.03246383e-01 -5.26062913e-02 4.65423010e+01] [ 1.03259449e-01 9.94651372e-01 -2.47680673e-03 1.26379228e+00] [ 5.25806412e-02 -2.97197444e-03 9.98612259e-01 1.57538572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.75710568099999 meters 0.037979256815635416 Centerline is valid? [True, True] Translation: X:46.57, Y:1.28, Z:1.57 [[ 9.93074985e-01 -1.03247153e-01 -5.60544408e-02 4.65742433e+01] [ 1.03262455e-01 9.94650664e-01 -2.63116308e-03 1.27515306e+00] [ 5.60262468e-02 -3.17537691e-03 9.98424247e-01 1.57339836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.78710568099999 meters 0.03954063252022511 Centerline is valid? [True, True] Translation: X:46.61, Y:1.28, Z:1.57 [[ 9.93011071e-01 -1.03464479e-01 -5.67812816e-02 4.66054924e+01] [ 1.03480808e-01 9.94627892e-01 -2.66053343e-03 1.27819740e+00] [ 5.67515171e-02 -3.23383374e-03 9.98383097e-01 1.57215508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.81710568099999 meters 0.042374833867218846 Centerline is valid? [True, True] Translation: X:46.64, Y:1.28, Z:1.57 [[ 9.92731831e-01 -1.06489029e-01 -5.60678034e-02 4.66351723e+01] [ 1.06510001e-01 9.94308172e-01 -2.62260267e-03 1.28406496e+00] [ 5.60279535e-02 -3.36824062e-03 9.98423519e-01 1.57288315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.84710568099999 meters 0.04187055161866684 Centerline is valid? [True, True] Translation: X:46.67, Y:1.30, Z:1.58 [[ 9.92296199e-01 -1.10556079e-01 -5.59071323e-02 4.66652266e+01] [ 1.10583595e-01 9.93863397e-01 -2.61074451e-03 1.29588813e+00] [ 5.58526862e-02 -3.59177981e-03 9.98432560e-01 1.57513333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.87710568099999 meters 0.04794012152491982 Centerline is valid? [True, True] Translation: X:46.70, Y:1.29, Z:1.57 [[ 9.92087847e-01 -1.12126230e-01 -5.64748795e-02 4.66965140e+01] [ 1.12156963e-01 9.93687009e-01 -2.63511495e-03 1.29204134e+00] [ 5.64138196e-02 -3.71978546e-03 9.98400543e-01 1.57246401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.90710568099999 meters 0.04217757533605722 Centerline is valid? [True, True] Translation: X:46.73, Y:1.31, Z:1.57 [[ 9.91731212e-01 -1.14002958e-01 -5.89281631e-02 4.67270164e+01] [ 1.14039944e-01 9.93472370e-01 -2.74600746e-03 1.30843050e+00] [ 5.88565548e-02 -3.99686308e-03 9.98258449e-01 1.57419248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.93710568099999 meters 0.04232642760905266 Centerline is valid? [True, True] Translation: X:46.76, Y:1.31, Z:1.58 [[ 9.91765756e-01 -1.13392009e-01 -5.95225745e-02 4.67588880e+01] [ 1.13428879e-01 9.93542257e-01 -2.76996006e-03 1.31388049e+00] [ 5.94522843e-02 -4.00442734e-03 9.98223117e-01 1.57563249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.96710568099999 meters 0.04096942631182658 Centerline is valid? [True, True] Translation: X:46.79, Y:1.33, Z:1.58 [[ 9.92463798e-01 -1.06956928e-01 -5.97982071e-02 4.67881660e+01] [ 1.06982712e-01 9.94256996e-01 -2.77942495e-03 1.32915984e+00] [ 5.97520645e-02 -3.63889573e-03 9.98206617e-01 1.57880682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99710568099999 meters 0.03660510693380719 Centerline is valid? [True, True] Translation: X:46.82, Y:1.35, Z:1.58 [[ 9.93804776e-01 -9.46223354e-02 -5.82982076e-02 4.68167885e+01] [ 9.46256635e-02 9.95509237e-01 -2.70973377e-03 1.34665382e+00] [ 5.82928055e-02 -2.82356021e-03 9.98295536e-01 1.57990240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.02710568099999 meters 0.033067603834599696 Centerline is valid? [True, True] Translation: X:46.85, Y:1.36, Z:1.58 [[ 9.94456616e-01 -8.77530184e-02 -5.79262207e-02 4.68470642e+01] [ 8.77446789e-02 9.96139359e-01 -2.69237298e-03 1.35696360e+00] [ 5.79388522e-02 -2.40526951e-03 9.98317236e-01 1.57991400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.05710568099999 meters 0.024360755654151595 Centerline is valid? [True, True] Translation: X:46.88, Y:1.38, Z:1.59 [[ 9.95876943e-01 -7.13997198e-02 -5.59570717e-02 4.68763629e+01] [ 7.13661642e-02 9.97446795e-01 -2.60028388e-03 1.38339428e+00] [ 5.59998614e-02 -1.40387880e-03 9.98429790e-01 1.58654636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.08710568099999 meters 0.019908415605886513 Centerline is valid? [True, True] Translation: X:46.91, Y:1.41, Z:1.59 [[ 9.97046331e-01 -5.31049153e-02 -5.54840684e-02 4.69057500e+01] [ 5.30436596e-02 9.98588869e-01 -2.57715575e-03 1.40931976e+00] [ 5.55426328e-02 -3.73534353e-04 9.98456247e-01 1.59071183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.11710568099999 meters 0.02026288312189281 Centerline is valid? [True, True] Translation: X:46.94, Y:1.43, Z:1.59 [[ 9.97785778e-01 -3.81478200e-02 -5.44819710e-02 4.69359649e+01] [ 3.80665732e-02 9.99272006e-01 -2.52860288e-03 1.42748041e+00] [ 5.45387692e-02 4.49062049e-04 9.98511553e-01 1.59214888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.14710568099999 meters 0.021078584741233437 Centerline is valid? [True, True] Translation: X:46.97, Y:1.43, Z:1.59 [[ 9.97923230e-01 -3.41417613e-02 -5.46220328e-02 4.69683391e+01] [ 3.40543261e-02 9.99416778e-01 -2.53095534e-03 1.43249946e+00] [ 5.46765873e-02 6.65582611e-04 9.98503895e-01 1.59294336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.177105680999986 meters 0.021429929090458398 Centerline is valid? [True, True] Translation: X:47.00, Y:1.43, Z:1.59 [[ 9.97807388e-01 -3.32316276e-02 -5.72370116e-02 4.69997641e+01] [ 3.31343708e-02 9.99447399e-01 -2.64765308e-03 1.43196893e+00] [ 5.72933682e-02 7.45335430e-04 9.98357108e-01 1.58931957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.20710568099999 meters 0.020514196980034764 Centerline is valid? [True, True] Translation: X:47.03, Y:1.43, Z:1.59 [[ 9.97732428e-01 -3.71098814e-02 -5.61503250e-02 4.70309017e+01] [ 3.70225144e-02 9.99311060e-01 -2.59574120e-03 1.42531059e+00] [ 5.62079685e-02 5.11028950e-04 9.98418952e-01 1.59012897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.23710568099999 meters 0.020217873017212652 Centerline is valid? [True, True] Translation: X:47.06, Y:1.42, Z:1.59 [[ 9.97754788e-01 -3.94296199e-02 -5.41358389e-02 4.70621753e+01] [ 3.93518688e-02 9.99222283e-01 -2.50184089e-03 1.42182348e+00] [ 5.41923832e-02 3.65877291e-04 9.98530446e-01 1.59307489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.26710568099999 meters 0.01940801295519744 Centerline is valid? [True, True] Translation: X:47.09, Y:1.41, Z:1.60 [[ 9.97553705e-01 -4.65850067e-02 -5.21195131e-02 4.70940229e+01] [ 4.65228220e-02 9.98914329e-01 -2.40633972e-03 1.40947799e+00] [ 5.21750278e-02 -2.42937239e-05 9.98637955e-01 1.59730523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.29710568099999 meters 0.01999819676888237 Centerline is valid? [True, True] Translation: X:47.13, Y:1.39, Z:1.60 [[ 9.97118982e-01 -5.49769526e-02 -5.22615502e-02 4.71270754e+01] [ 5.49261091e-02 9.98487514e-01 -2.40970029e-03 1.39338564e+00] [ 5.23149833e-02 -4.67765703e-04 9.98630524e-01 1.59578846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.32710568099999 meters 0.021494315652247735 Centerline is valid? [True, True] Translation: X:47.16, Y:1.38, Z:1.59 [[ 9.96829107e-01 -5.98162124e-02 -5.24762124e-02 4.71584406e+01] [ 5.97718910e-02 9.98209141e-01 -2.41498407e-03 1.38438447e+00] [ 5.25266901e-02 -7.29276038e-04 9.98619254e-01 1.59455026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.35710568099999 meters 0.023497627196778184 Centerline is valid? [True, True] Translation: X:47.19, Y:1.37, Z:1.60 [[ 9.96359611e-01 -6.85739864e-02 -5.06471602e-02 4.71910937e+01] [ 6.85441888e-02 9.97645367e-01 -2.32705273e-03 1.37158190e+00] [ 5.06874800e-02 -1.15298716e-03 9.98713898e-01 1.59936972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.38710568099999 meters 0.025412904509023778 Centerline is valid? [True, True] Translation: X:47.22, Y:1.36, Z:1.60 [[ 9.95853059e-01 -7.62162635e-02 -4.96766056e-02 4.72223328e+01] [ 7.61972652e-02 9.97090158e-01 -2.27887132e-03 1.35988400e+00] [ 4.97057416e-02 -1.51580051e-03 9.98762755e-01 1.60092058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.41710568099999 meters 0.02675364823218882 Centerline is valid? [True, True] Translation: X:47.25, Y:1.35, Z:1.60 [[ 9.95584576e-01 -7.90919491e-02 -5.05550762e-02 4.72537027e+01] [ 7.90760666e-02 9.96865891e-01 -2.31735596e-03 1.35423816e+00] [ 5.05799153e-02 -1.69057272e-03 9.98718586e-01 1.60018212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.44710568099999 meters 0.026818148950236452 Centerline is valid? [True, True] Translation: X:47.29, Y:1.35, Z:1.60 [[ 9.95429549e-01 -7.89224369e-02 -5.37704568e-02 4.72856909e+01] [ 7.89044388e-02 9.96879147e-01 -2.46086176e-03 1.35065455e+00] [ 5.37968644e-02 -1.79311321e-03 9.98550290e-01 1.59937476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.47710568099999 meters 0.025036567502520625 Centerline is valid? [True, True] Translation: X:47.32, Y:1.35, Z:1.60 [[ 9.95714112e-01 -7.45777224e-02 -5.46952461e-02 4.73170418e+01] [ 7.45527435e-02 9.97213939e-01 -2.49976911e-03 1.35456553e+00] [ 5.47292888e-02 -1.58862527e-03 9.98499966e-01 1.60065322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.50710568099999 meters 0.020908505282386733 Centerline is valid? [True, True] Translation: X:47.35, Y:1.36, Z:1.60 [[ 9.96568669e-01 -6.15032727e-02 -5.53916588e-02 4.73477199e+01] [ 6.14575958e-02 9.98106491e-01 -2.52928417e-03 1.36258273e+00] [ 5.54423334e-02 -8.83632816e-04 9.98461500e-01 1.60265137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.53710568099999 meters 0.019213864094120743 Centerline is valid? [True, True] Translation: X:47.38, Y:1.37, Z:1.60 [[ 9.97398514e-01 -4.67431624e-02 -5.48751392e-02 4.73793252e+01] [ 4.66761276e-02 9.98906939e-01 -2.50330089e-03 1.37022419e+00] [ 5.49321695e-02 -6.45704085e-05 9.98490086e-01 1.60427466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.56710568099999 meters 0.020347193532202427 Centerline is valid? [True, True] Translation: X:47.41, Y:1.38, Z:1.60 [[ 9.97840653e-01 -3.60594155e-02 -5.48976307e-02 4.74096499e+01] [ 3.59763289e-02 9.99349512e-01 -2.50130583e-03 1.37518289e+00] [ 5.49521161e-02 5.20889428e-04 9.98488855e-01 1.60412331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.59710568099999 meters 0.021008870444304995 Centerline is valid? [True, True] Translation: X:47.44, Y:1.38, Z:1.60 [[ 9.97951212e-01 -3.19880014e-02 -5.54088927e-02 4.74390755e+01] [ 3.18970874e-02 9.99487970e-01 -2.52460431e-03 1.37533141e+00] [ 5.54612787e-02 7.52049640e-04 9.98460556e-01 1.60331480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.62710568099999 meters 0.023864312839342833 Centerline is valid? [True, True] Translation: X:47.47, Y:1.37, Z:1.60 [[ 9.98095076e-01 -2.41544964e-02 -5.67695280e-02 4.74680849e+01] [ 2.40461761e-02 9.99707493e-01 -2.59049367e-03 1.37405198e+00] [ 5.68154945e-02 1.22046891e-03 9.98383949e-01 1.60060775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.65710568099999 meters 0.025903738081758082 Centerline is valid? [True, True] Translation: X:47.50, Y:1.37, Z:1.61 [[ 9.98334605e-01 -1.78240047e-02 -5.48663916e-02 4.74976298e+01] [ 1.77130311e-02 9.99839966e-01 -2.50828119e-03 1.37454936e+00] [ 5.49023188e-02 1.53225381e-03 9.98490555e-01 1.60801230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.68710568099999 meters 0.027363900702299035 Centerline is valid? [True, True] Translation: X:47.53, Y:1.37, Z:1.61 [[ 9.98429959e-01 -1.63586804e-02 -5.35724874e-02 4.75255903e+01] [ 1.62505842e-02 9.99864942e-01 -2.45277033e-03 1.37491681e+00] [ 5.36053760e-02 1.57833517e-03 9.98560951e-01 1.61088119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.71710568099999 meters 0.026513874680101458 Centerline is valid? [True, True] Translation: X:47.55, Y:1.36, Z:1.61 [[ 9.98487234e-01 -1.61191091e-02 -5.25682297e-02 4.75541557e+01] [ 1.60141667e-02 9.99868844e-01 -2.41693447e-03 1.36404285e+00] [ 5.26002939e-02 1.57144182e-03 9.98614410e-01 1.61369873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.74710568099999 meters 0.026135162947824843 Centerline is valid? [True, True] Translation: X:47.58, Y:1.36, Z:1.61 [[ 9.98496994e-01 -1.69954290e-02 -5.21047884e-02 4.75833390e+01] [ 1.68925347e-02 9.99854396e-01 -2.41454352e-03 1.35797756e+00] [ 5.21382379e-02 1.53073250e-03 9.98638704e-01 1.61425885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.77710568099999 meters 0.0276869014869653 Centerline is valid? [True, True] Translation: X:47.61, Y:1.35, Z:1.61 [[ 9.98559860e-01 -1.72281232e-02 -5.08074501e-02 4.76120539e+01] [ 1.71299002e-02 9.99850468e-01 -2.36808421e-03 1.34832990e+00] [ 5.08406504e-02 1.49434729e-03 9.98705660e-01 1.61346626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.80710568099999 meters 0.029656320097896493 Centerline is valid? [True, True] Translation: X:47.64, Y:1.34, Z:1.61 [[ 9.98578410e-01 -1.43902661e-02 -5.13232913e-02 4.76398593e+01] [ 1.42859857e-02 9.99895074e-01 -2.39811722e-03 1.34203844e+00] [ 5.13524157e-02 1.66150427e-03 9.98679212e-01 1.61447853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.83710568099999 meters 0.02826375022593325 Centerline is valid? [True, True] Translation: X:47.67, Y:1.34, Z:1.62 [[ 9.98554541e-01 -1.27720410e-02 -5.22082659e-02 4.76690845e+01] [ 1.26614368e-02 9.99916842e-01 -2.44872536e-03 1.33570536e+00] [ 5.22351996e-02 1.78415417e-03 9.98633216e-01 1.61667686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.86710568099999 meters 0.029763613310967316 Centerline is valid? [True, True] Translation: X:47.70, Y:1.33, Z:1.62 [[ 9.98527727e-01 -9.54855911e-03 -5.33966567e-02 4.76986289e+01] [ 9.42751364e-03 9.99952389e-01 -2.51833591e-03 1.32881513e+00] [ 5.34181609e-02 2.01123053e-03 9.98570205e-01 1.61797342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.89710568099999 meters 0.030619527465109788 Centerline is valid? [True, True] Translation: X:47.73, Y:1.33, Z:1.62 [[ 9.98523169e-01 -8.78277886e-03 -5.36129006e-02 4.77260671e+01] [ 8.65937592e-03 9.99959297e-01 -2.53360452e-03 1.32577310e+00] [ 5.36329704e-02 2.06560855e-03 9.98558580e-01 1.61897077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.927105680999986 meters 0.03161528878253361 Centerline is valid? [True, True] Translation: X:47.76, Y:1.31, Z:1.62 [[ 9.98625789e-01 -6.75624691e-03 -5.19700509e-02 4.77556022e+01] [ 6.63703350e-03 9.99974934e-01 -2.46612703e-03 1.31453836e+00] [ 5.19854100e-02 2.11781109e-03 9.98645599e-01 1.62024917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.95710568099999 meters 0.037763061289555915 Centerline is valid? [True, True] Translation: X:47.78, Y:1.31, Z:1.62 [[ 9.98565860e-01 -5.51232264e-03 -5.32525863e-02 4.77833811e+01] [ 5.38457999e-03 9.99982272e-01 -2.54198302e-03 1.31031730e+00] [ 5.32656545e-02 2.25159464e-03 9.98577839e-01 1.61638986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.98710568099999 meters 0.03263282343506471 Centerline is valid? [True, True] Translation: X:47.81, Y:1.30, Z:1.62 [[ 9.98546868e-01 -6.71713460e-03 -5.34699255e-02 4.78123383e+01] [ 6.58949469e-03 9.99975004e-01 -2.56307463e-03 1.29816570e+00] [ 5.34858055e-02 2.20701036e-03 9.98566171e-01 1.62062806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.01710568099999 meters 0.029741479196826466 Centerline is valid? [True, True] Translation: X:47.84, Y:1.28, Z:1.63 [[ 9.98583231e-01 -1.24609581e-02 -5.17325304e-02 4.78421716e+01] [ 1.23485329e-02 9.99920648e-01 -2.49227045e-03 1.28317605e+00] [ 5.17594814e-02 1.84991863e-03 9.98657866e-01 1.62604335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.04710568099999 meters 0.024613157850893262 Centerline is valid? [True, True] Translation: X:47.87, Y:1.26, Z:1.63 [[ 9.98467864e-01 -2.27325900e-02 -5.04495150e-02 4.78740191e+01] [ 2.26386788e-02 9.99740754e-01 -2.43220079e-03 1.26124989e+00] [ 5.04917264e-02 1.28636396e-03 9.98723651e-01 1.62891598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.07710568099999 meters 0.018824964392669445 Centerline is valid? [True, True] Translation: X:47.90, Y:1.24, Z:1.63 [[ 9.98189002e-01 -3.48990106e-02 -4.89977131e-02 4.79048122e+01] [ 3.48250277e-02 9.99390631e-01 -2.36306095e-03 1.23723535e+00] [ 4.90503239e-02 6.52434741e-04 9.98796095e-01 1.63481487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.107105680999986 meters 0.017518262262602852 Centerline is valid? [True, True] Translation: X:47.93, Y:1.23, Z:1.64 [[ 9.97952884e-01 -4.13494109e-02 -4.87879761e-02 4.79332188e+01] [ 4.12835903e-02 9.99144690e-01 -2.35644784e-03 1.22884211e+00] [ 4.88436850e-02 3.37481105e-04 9.98806378e-01 1.63640292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13710568099999 meters 0.01678110040800437 Centerline is valid? [True, True] Translation: X:47.96, Y:1.21, Z:1.64 [[ 9.97486596e-01 -5.06918105e-02 -4.95058720e-02 4.79621201e+01] [ 5.06352375e-02 9.98714337e-01 -2.39703379e-03 1.21325118e+00] [ 4.95637341e-02 -1.15732510e-04 9.98770956e-01 1.63676318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.16710568099999 meters 0.01700466376467833 Centerline is valid? [True, True] Translation: X:47.99, Y:1.21, Z:1.64 [[ 9.97222210e-01 -5.29722109e-02 -5.23622810e-02 4.79916790e+01] [ 5.29115597e-02 9.98595960e-01 -2.54483386e-03 1.20682242e+00] [ 5.24235677e-02 -2.32805114e-04 9.98624912e-01 1.63664548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.19710568099999 meters 0.016935705873753818 Centerline is valid? [True, True] Translation: X:48.02, Y:1.21, Z:1.64 [[ 9.97241412e-01 -5.10156122e-02 -5.39163608e-02 4.80205438e+01] [ 5.09474687e-02 9.98697849e-01 -2.63846803e-03 1.20870806e+00] [ 5.39807566e-02 -1.15712525e-04 9.98541969e-01 1.63680871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.22710568099999 meters 0.018218410433522146 Centerline is valid? [True, True] Translation: X:48.05, Y:1.22, Z:1.64 [[ 9.97650267e-01 -3.91141896e-02 -5.62496624e-02 4.80488954e+01] [ 3.90200146e-02 9.99234584e-01 -2.77198209e-03 1.21867158e+00] [ 5.63150319e-02 5.70606028e-04 9.98412886e-01 1.63851426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.25710568099999 meters 0.024655455453126723 Centerline is valid? [True, True] Translation: X:48.08, Y:1.24, Z:1.64 [[ 9.98248112e-01 -2.32353494e-02 -5.44134677e-02 4.80774829e+01] [ 2.31229646e-02 9.99728998e-01 -2.69412661e-03 1.23533775e+00] [ 5.44613206e-02 1.43120611e-03 9.98514855e-01 1.64351127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.28710568099999 meters 0.0274695898941313 Centerline is valid? [True, True] Translation: X:48.11, Y:1.24, Z:1.65 [[ 9.98476948e-01 -1.64433241e-02 -5.26630899e-02 4.81067481e+01] [ 1.63285318e-02 9.99863276e-01 -2.60928941e-03 1.24175026e+00] [ 5.26987950e-02 1.74540439e-03 9.98608928e-01 1.64773247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.31710568099999 meters 0.03180665180499924 Centerline is valid? [True, True] Translation: X:48.14, Y:1.25, Z:1.65 [[ 9.98815307e-01 -8.02775296e-03 -4.79951794e-02 4.81363530e+01] [ 7.92264190e-03 9.99965783e-01 -2.37986971e-03 1.24503595e+00] [ 4.80126422e-02 1.99680167e-03 9.98844732e-01 1.65258194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.34710568099999 meters 0.03491410075409899 Centerline is valid? [True, True] Translation: X:48.16, Y:1.24, Z:1.65 [[ 9.98987331e-01 -5.74331562e-03 -4.46242803e-02 4.81646449e+01] [ 5.65011365e-03 9.99981586e-01 -2.21444263e-03 1.24349840e+00] [ 4.46361768e-02 1.96006787e-03 9.99001386e-01 1.65374286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.37710568099999 meters 0.03273851036974765 Centerline is valid? [True, True] Translation: X:48.19, Y:1.24, Z:1.66 [[ 9.98929422e-01 -6.67262515e-03 -4.57764776e-02 4.81929923e+01] [ 6.57517757e-03 9.99975786e-01 -2.27901431e-03 1.24103941e+00] [ 4.57905762e-02 1.97558598e-03 9.98949108e-01 1.65702061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.40710568099999 meters 0.03464915639723069 Centerline is valid? [True, True] Translation: X:48.22, Y:1.24, Z:1.65 [[ 9.98793808e-01 -4.15130132e-03 -4.89254192e-02 4.82219616e+01] [ 4.03627173e-03 9.99988854e-01 -2.44968463e-03 1.23921997e+00] [ 4.89350432e-02 2.24925355e-03 9.98799431e-01 1.65317036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.43710568099999 meters 0.037990943646633704 Centerline is valid? [True, True] Translation: X:48.25, Y:1.24, Z:1.65 [[ 9.98669134e-01 -4.23096013e-04 -5.15730742e-02 4.82512205e+01] [ 2.90131083e-04 9.99996615e-01 -2.58564425e-03 1.23545770e+00] [ 5.15739936e-02 2.56724015e-03 9.98665876e-01 1.64909045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.46710568099999 meters 0.03689147553451293 Centerline is valid? [True, True] Translation: X:48.28, Y:1.23, Z:1.65 [[ 9.98613488e-01 6.90177772e-04 -5.26367381e-02 4.82799022e+01] [-8.30421823e-04 9.99996164e-01 -2.64255182e-03 1.23088531e+00] [ 5.26347123e-02 2.68259859e-03 9.98610230e-01 1.64918788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.49710568099999 meters 0.03612739475012291 Centerline is valid? [True, True] Translation: X:48.31, Y:1.23, Z:1.65 [[ 9.98565666e-01 1.13996341e-03 -5.35286081e-02 4.83090969e+01] [-1.28618877e-03 9.99995535e-01 -2.69735429e-03 1.22565599e+00] [ 5.35252942e-02 2.76233328e-03 9.98562673e-01 1.64977646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.52710568099999 meters 0.03458756010709944 Centerline is valid? [True, True] Translation: X:48.34, Y:1.22, Z:1.65 [[ 9.98548101e-01 -1.55790713e-03 -5.38448045e-02 4.83382612e+01] [ 1.41309146e-03 9.99995282e-01 -2.72746815e-03 1.21873187e+00] [ 5.38487996e-02 2.64742051e-03 9.98545591e-01 1.65047423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.55710568099999 meters 0.03458756010709944 Centerline is valid? [True, True] Translation: X:48.37, Y:1.22, Z:1.65 [[ 9.98547454e-01 -1.94252835e-03 -5.38442937e-02 4.83656748e+01] [ 1.79772972e-03 9.99994637e-01 -2.73751378e-03 1.22035869e+00] [ 5.38493226e-02 2.63673993e-03 9.98545591e-01 1.65149179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.58710568099999 meters 0.03476266783949293 Centerline is valid? [True, True] Translation: X:48.40, Y:1.22, Z:1.65 [[ 9.98549360e-01 -3.92373827e-03 -5.37008428e-02 4.83953165e+01] [ 3.78152155e-03 9.99989070e-01 -2.74966742e-03 1.21638496e+00] [ 5.37110448e-02 2.54260775e-03 9.98553283e-01 1.65029113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.61710568099999 meters 0.03099407932161295 Centerline is valid? [True, True] Translation: X:48.43, Y:1.20, Z:1.65 [[ 9.98564442e-01 -1.04063546e-02 -5.25429588e-02 4.84254411e+01] [ 1.02785315e-02 9.99943523e-01 -2.70237426e-03 1.20268557e+00] [ 5.25681132e-02 2.15843038e-03 9.98615008e-01 1.65444428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.64710568099999 meters 0.026156126703483492 Centerline is valid? [True, True] Translation: X:48.46, Y:1.19, Z:1.66 [[ 9.98490533e-01 -1.94535894e-02 -5.13635451e-02 4.84567115e+01] [ 1.93433023e-02 9.99809406e-01 -2.64345948e-03 1.18617799e+00] [ 5.14051803e-02 1.64592868e-03 9.98676523e-01 1.65636291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.677105680999986 meters 0.024103973718749172 Centerline is valid? [True, True] Translation: X:48.49, Y:1.18, Z:1.66 [[ 9.98402837e-01 -2.44371405e-02 -5.09372290e-02 4.84853193e+01] [ 2.43350783e-02 9.99700417e-01 -2.62300136e-03 1.18030692e+00] [ 5.09860678e-02 1.37925055e-03 9.98698412e-01 1.65747583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.70710568099999 meters 0.020390676604281753 Centerline is valid? [True, True] Translation: X:48.52, Y:1.17, Z:1.66 [[ 9.98172554e-01 -3.34018733e-02 -5.03574006e-02 4.85156158e+01] [ 3.33133114e-02 9.99441583e-01 -2.59719651e-03 1.16925789e+00] [ 5.04160314e-02 9.14878509e-04 9.98727884e-01 1.66009933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.73710568099999 meters 0.018405123175465905 Centerline is valid? [True, True] Translation: X:48.55, Y:1.16, Z:1.66 [[ 9.97829254e-01 -3.99310507e-02 -5.23668959e-02 4.85451165e+01] [ 3.98438963e-02 9.99202248e-01 -2.70763373e-03 1.16096794e+00] [ 5.24332388e-02 6.15254972e-04 9.98624242e-01 1.65827751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.76710568099999 meters 0.017935866350004125 Centerline is valid? [True, True] Translation: X:48.57, Y:1.16, Z:1.66 [[ 9.97657988e-01 -4.17506790e-02 -5.41795180e-02 4.85736346e+01] [ 4.16592738e-02 9.99127908e-01 -2.81584769e-03 1.15808547e+00] [ 5.42498320e-02 5.52173565e-04 9.98527241e-01 1.65831086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.79710568099999 meters 0.01788732537724107 Centerline is valid? [True, True] Translation: X:48.60, Y:1.15, Z:1.65 [[ 9.97333043e-01 -4.44923361e-02 -5.78552796e-02 4.86016146e+01] [ 4.43922880e-02 9.99009630e-01 -3.01401354e-03 1.15443486e+00] [ 5.79320820e-02 4.37647065e-04 9.98320431e-01 1.65486061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.82710568099999 meters 0.01781584581622858 Centerline is valid? [True, True] Translation: X:48.63, Y:1.16, Z:1.66 [[ 9.97224600e-01 -4.61951450e-02 -5.83875394e-02 4.86285039e+01] [ 4.60957073e-02 9.98932373e-01 -3.04949597e-03 1.15515292e+00] [ 5.84660752e-02 3.49617474e-04 9.98289335e-01 1.65575779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.857105680999986 meters 0.016686605441127562 Centerline is valid? [True, True] Translation: X:48.66, Y:1.15, Z:1.67 [[ 9.97051257e-01 -5.51655037e-02 -5.33437725e-02 4.86569647e+01] [ 5.50949728e-02 9.98477212e-01 -2.79294851e-03 1.15283899e+00] [ 5.34166157e-02 -1.54260869e-04 9.98572302e-01 1.66802086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.88710568099999 meters 0.01712142944216626 Centerline is valid? [True, True] Translation: X:48.68, Y:1.15, Z:1.67 [[ 9.96849263e-01 -5.96966216e-02 -5.22289150e-02 4.86849050e+01] [ 5.96347444e-02 9.98216494e-01 -2.74371687e-03 1.15199722e+00] [ 5.22995551e-02 -3.79585850e-04 9.98631370e-01 1.67118016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.91710568099999 meters 0.019553637789131263 Centerline is valid? [True, True] Translation: X:48.71, Y:1.15, Z:1.67 [[ 9.96363058e-01 -6.88418796e-02 -5.02140664e-02 4.87127497e+01] [ 6.87955381e-02 9.97627254e-01 -2.65269548e-03 1.14791042e+00] [ 5.02775377e-02 -8.11455938e-04 9.98734955e-01 1.67459973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.94710568099999 meters 0.021536293488079974 Centerline is valid? [True, True] Translation: X:48.74, Y:1.15, Z:1.68 [[ 9.96144120e-01 -7.30948601e-02 -4.85183769e-02 4.87407741e+01] [ 7.30563706e-02 9.97324506e-01 -2.56853385e-03 1.14780181e+00] [ 4.85763129e-02 -9.85946632e-04 9.98818987e-01 1.67720451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.97710568099999 meters 0.023034401491963584 Centerline is valid? [True, True] Translation: X:48.77, Y:1.16, Z:1.68 [[ 9.95787202e-01 -7.87956330e-02 -4.68945317e-02 4.87690082e+01] [ 7.87656463e-02 9.96890051e-01 -2.48984451e-03 1.15578005e+00] [ 4.69448810e-02 -1.21432280e-03 9.98896743e-01 1.68086100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.00710568099999 meters 0.022389546915676028 Centerline is valid? [True, True] Translation: X:48.80, Y:1.17, Z:1.68 [[ 9.95994308e-01 -7.72914708e-02 -4.49596224e-02 4.87957585e+01] [ 7.72618163e-02 9.97007951e-01 -2.39952393e-03 1.16774632e+00] [ 4.50105637e-02 -1.08374992e-03 9.98985923e-01 1.68347965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.03710568099999 meters 0.021803888557684663 Centerline is valid? [True, True] Translation: X:48.82, Y:1.17, Z:1.68 [[ 9.96080973e-01 -7.59928328e-02 -4.52524494e-02 4.88241790e+01] [ 7.59611412e-02 9.97107837e-01 -2.42200736e-03 1.17449258e+00] [ 4.53056272e-02 -1.02491225e-03 9.98972647e-01 1.68323374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.06710568099999 meters 0.021321669908135343 Centerline is valid? [True, True] Translation: X:48.85, Y:1.19, Z:1.68 [[ 9.95834505e-01 -7.59064290e-02 -5.05158656e-02 4.88530244e+01] [ 7.58659431e-02 9.97114313e-01 -2.72118490e-03 1.18637486e+00] [ 5.05766481e-02 -1.12258396e-03 9.98719551e-01 1.67848279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.09710568099999 meters 0.022400287250981466 Centerline is valid? [True, True] Translation: X:48.88, Y:1.20, Z:1.68 [[ 9.95502554e-01 -7.78589196e-02 -5.39690151e-02 4.88806311e+01] [ 7.78147163e-02 9.96963553e-01 -2.92309058e-03 1.19853174e+00] [ 5.40327297e-02 -1.28963946e-03 9.98538332e-01 1.67621666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.12710568099999 meters 0.023088622287364573 Centerline is valid? [True, True] Translation: X:48.91, Y:1.21, Z:1.68 [[ 9.95317957e-01 -7.96624112e-02 -5.47363133e-02 4.89091684e+01] [ 7.96189878e-02 9.96820924e-01 -2.97700035e-03 1.20572029e+00] [ 5.47994574e-02 -1.39498796e-03 9.98496406e-01 1.67681315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.15710568099999 meters 0.025076849709537222 Centerline is valid? [True, True] Translation: X:48.94, Y:1.21, Z:1.68 [[ 9.95037468e-01 -8.34350042e-02 -5.42128933e-02 4.89360167e+01] [ 8.33972271e-02 9.96511979e-01 -2.96268072e-03 1.21328711e+00] [ 5.42709889e-02 -1.57322666e-03 9.98525005e-01 1.67823957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.18710568099999 meters 0.025304427681596787 Centerline is valid? [True, True] Translation: X:48.96, Y:1.22, Z:1.68 [[ 9.94878468e-01 -8.53733698e-02 -5.41130463e-02 4.89646100e+01] [ 8.53380183e-02 9.96347637e-01 -2.96783054e-03 1.21825705e+00] [ 5.41687795e-02 -1.66526943e-03 9.98530405e-01 1.67907199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.21710568099999 meters 0.026703885930678566 Centerline is valid? [True, True] Translation: X:48.99, Y:1.23, Z:1.68 [[ 9.94712687e-01 -8.72651655e-02 -5.41429777e-02 4.89922500e+01] [ 8.72318139e-02 9.96183572e-01 -2.98344081e-03 1.22608478e+00] [ 5.41966954e-02 -1.75532373e-03 9.98528736e-01 1.67754715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.24710568099999 meters 0.026895304203864892 Centerline is valid? [True, True] Translation: X:49.02, Y:1.24, Z:1.68 [[ 9.94537272e-01 -8.91926218e-02 -5.42244524e-02 4.90201396e+01] [ 8.91614968e-02 9.96012671e-01 -2.99772027e-03 1.23878453e+00] [ 5.42756162e-02 -1.85338880e-03 9.98524272e-01 1.67883763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.27710568099999 meters 0.02692880479381461 Centerline is valid? [True, True] Translation: X:49.05, Y:1.25, Z:1.69 [[ 9.94642646e-01 -9.02643635e-02 -5.03820610e-02 4.90474814e+01] [ 9.02380818e-02 9.95916284e-01 -2.80070006e-03 1.25335736e+00] [ 5.04291183e-02 -1.76068482e-03 9.98726091e-01 1.68578366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.30710568099999 meters 0.027297374424225657 Centerline is valid? [True, True] Translation: X:49.07, Y:1.26, Z:1.69 [[ 9.94769268e-01 -8.99072120e-02 -4.84850111e-02 4.90744741e+01] [ 8.98818228e-02 9.95948756e-01 -2.70807035e-03 1.26017332e+00] [ 4.85320616e-02 -1.66401601e-03 9.98820239e-01 1.68858015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.33710568099999 meters 0.026871834482947887 Centerline is valid? [True, True] Translation: X:49.10, Y:1.27, Z:1.69 [[ 9.94858276e-01 -9.04958151e-02 -4.54699650e-02 4.91024149e+01] [ 9.04737921e-02 9.95895581e-01 -2.54633168e-03 1.27173402e+00] [ 4.55137695e-02 -1.58060101e-03 9.98962461e-01 1.69200033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.36710568099999 meters 0.028223101762026435 Centerline is valid? [True, True] Translation: X:49.13, Y:1.27, Z:1.69 [[ 9.94880743e-01 -9.07923059e-02 -4.43741382e-02 4.91300210e+01] [ 9.07710741e-02 9.95868654e-01 -2.49735150e-03 1.27496565e+00] [ 4.44175536e-02 -1.54332127e-03 9.99011861e-01 1.69303657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.39710568099999 meters 0.027229955703926525 Centerline is valid? [True, True] Translation: X:49.16, Y:1.29, Z:1.69 [[ 9.94870020e-01 -9.00212923e-02 -4.61498697e-02 4.91587670e+01] [ 8.99972818e-02 9.95938612e-01 -2.60202982e-03 1.29037763e+00] [ 4.61966753e-02 -1.56468137e-03 9.98931138e-01 1.69396226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.427105680999986 meters 0.027028542427065087 Centerline is valid? [True, True] Translation: X:49.19, Y:1.30, Z:1.69 [[ 9.94865947e-01 -8.90421649e-02 -4.80961614e-02 4.91880687e+01] [ 8.90148399e-02 9.96026602e-01 -2.71397885e-03 1.29927522e+00] [ 4.81467148e-02 -1.58122698e-03 9.98839023e-01 1.69251207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.45710568099999 meters 0.02597772253554839 Centerline is valid? [True, True] Translation: X:49.22, Y:1.31, Z:1.69 [[ 9.95007366e-01 -8.62447088e-02 -5.02214210e-02 4.92158696e+01] [ 8.62112294e-02 9.96272843e-01 -2.83649871e-03 1.31161431e+00] [ 5.02788709e-02 -1.50731333e-03 9.98734080e-01 1.68934511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.48710568099999 meters 0.02380026015360171 Centerline is valid? [True, True] Translation: X:49.24, Y:1.32, Z:1.69 [[ 9.95173788e-01 -8.39047047e-02 -5.08835132e-02 4.92445993e+01] [ 8.38671232e-02 9.96472794e-01 -2.87701816e-03 1.32315166e+00] [ 5.09454319e-02 -1.40432080e-03 9.98700451e-01 1.68957707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.51710568099999 meters 0.023702155459949113 Centerline is valid? [True, True] Translation: X:49.27, Y:1.33, Z:1.69 [[ 9.95259396e-01 -8.33691344e-02 -5.00831448e-02 4.92740166e+01] [ 8.33319326e-02 9.96517816e-01 -2.83406222e-03 1.32923503e+00] [ 5.01450193e-02 -1.35289819e-03 9.98741031e-01 1.69285586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.54710568099999 meters 0.022954249518110606 Centerline is valid? [True, True] Translation: X:49.30, Y:1.34, Z:1.70 [[ 9.95751527e-01 -7.96645274e-02 -4.61785525e-02 4.93029391e+01] [ 7.96288444e-02 9.96821153e-01 -2.61469148e-03 1.34187616e+00] [ 4.62400561e-02 -1.07356173e-03 9.98929780e-01 1.69971924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.57710568099999 meters 0.019937829762906152 Centerline is valid? [True, True] Translation: X:49.33, Y:1.36, Z:1.71 [[ 9.96617029e-01 -7.07251269e-02 -4.18623249e-02 4.93333116e+01] [ 7.06879301e-02 9.97495664e-01 -2.36997206e-03 1.36134894e+00] [ 4.19251042e-02 -5.97206583e-04 9.99120578e-01 1.70508157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.607105680999986 meters 0.01863870303570196 Centerline is valid? [True, True] Translation: X:49.36, Y:1.37, Z:1.71 [[ 9.97125600e-01 -6.35314388e-02 -4.12830893e-02 4.93636436e+01] [ 6.34892088e-02 9.97979795e-01 -2.33453504e-03 1.37330023e+00] [ 4.13480053e-02 -2.93206020e-04 9.99144763e-01 1.70645292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.63710568099999 meters 0.019375747779026148 Centerline is valid? [True, True] Translation: X:49.39, Y:1.40, Z:1.70 [[ 9.97964390e-01 -4.65112867e-02 -4.36322877e-02 4.93943724e+01] [ 4.64479455e-02 9.98917671e-01 -2.46493002e-03 1.39665909e+00] [ 4.36997102e-02 4.33282259e-04 9.99044617e-01 1.70114323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.66710568099999 meters 0.023615452515621336 Centerline is valid? [True, True] Translation: X:49.42, Y:1.41, Z:1.69 [[ 9.98346859e-01 -3.31903881e-02 -4.69249054e-02 4.94233933e+01] [ 3.31025860e-02 9.99448453e-01 -2.64719168e-03 1.41298694e+00] [ 4.69868854e-02 1.08947979e-03 9.98894912e-01 1.69459131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.69710568099999 meters 0.024987873538261828 Centerline is valid? [True, True] Translation: X:49.45, Y:1.42, Z:1.69 [[ 9.98362409e-01 -2.94530858e-02 -4.90409562e-02 4.94529402e+01] [ 2.93526466e-02 9.99565288e-01 -2.76714015e-03 1.41713063e+00] [ 4.91011383e-02 1.32312685e-03 9.98792935e-01 1.69275527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.72710568099999 meters 0.02603565032514686 Centerline is valid? [True, True] Translation: X:49.48, Y:1.42, Z:1.69 [[ 9.98204450e-01 -2.83632910e-02 -5.27579352e-02 4.94819837e+01] [ 2.82451330e-02 9.99596573e-01 -2.98402430e-03 1.42074812e+00] [ 5.28212879e-02 1.48851144e-03 9.98602872e-01 1.69012894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.75710568099999 meters 0.02561231373848619 Centerline is valid? [True, True] Translation: X:49.51, Y:1.42, Z:1.69 [[ 9.98030811e-01 -3.09283790e-02 -5.45704581e-02 4.95104285e+01] [ 3.08047666e-02 9.99520598e-01 -3.10507943e-03 1.41910970e+00] [ 5.46403319e-02 1.41793472e-03 9.98505094e-01 1.68834056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.787105680999986 meters 0.024865873499531444 Centerline is valid? [True, True] Translation: X:49.54, Y:1.42, Z:1.69 [[ 9.97997295e-01 -3.31149563e-02 -5.38961811e-02 4.95390770e+01] [ 3.29966180e-02 9.99450704e-01 -3.08427820e-03 1.41552554e+00] [ 5.39687119e-02 1.29970960e-03 9.98541781e-01 1.68863073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.81710568099999 meters 0.02248764131061246 Centerline is valid? [True, True] Translation: X:49.57, Y:1.40, Z:1.69 [[ 9.97831304e-01 -3.84588736e-02 -5.34191365e-02 4.95689463e+01] [ 3.83493619e-02 9.99259665e-01 -3.07394278e-03 1.40381394e+00] [ 5.34978088e-02 1.01868654e-03 9.98567447e-01 1.69133901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.84710568099999 meters 0.021833518883327043 Centerline is valid? [True, True] Translation: X:49.60, Y:1.40, Z:1.69 [[ 9.97703797e-01 -4.17035531e-02 -5.33661555e-02 4.95972620e+01] [ 4.15981914e-02 9.99129661e-01 -3.08404020e-03 1.39989548e+00] [ 5.34483243e-02 8.57023066e-04 9.98570249e-01 1.69275245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.87710568099999 meters 0.019973987359850037 Centerline is valid? [True, True] Translation: X:49.63, Y:1.39, Z:1.70 [[ 9.97534323e-01 -4.73172247e-02 -5.18300505e-02 4.96264773e+01] [ 4.72249434e-02 9.98879762e-01 -3.00436007e-03 1.38995692e+00] [ 5.19141465e-02 5.49281086e-04 9.98651400e-01 1.69870506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.90710568099999 meters 0.019229009224875533 Centerline is valid? [True, True] Translation: X:49.66, Y:1.38, Z:1.70 [[ 9.97468882e-01 -5.04538375e-02 -5.01022951e-02 4.96554728e+01] [ 5.03709122e-02 9.98726319e-01 -2.91719042e-03 1.38226597e+00] [ 5.01856643e-02 3.86108363e-04 9.98739831e-01 1.70197924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.93710568099999 meters 0.018362597442358266 Centerline is valid? [True, True] Translation: X:49.69, Y:1.37, Z:1.71 [[ 9.97434256e-01 -5.43667908e-02 -4.65742124e-02 4.96857394e+01] [ 5.42992462e-02 9.98521016e-01 -2.71512665e-03 1.37389374e+00] [ 4.66529427e-02 1.79215701e-04 9.98911143e-01 1.70764487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.96710568099999 meters 0.01818203552360247 Centerline is valid? [True, True] Translation: X:49.72, Y:1.37, Z:1.71 [[ 9.97379915e-01 -5.61065213e-02 -4.56657688e-02 4.97159397e+01] [ 5.60433150e-02 9.98424784e-01 -2.66423995e-03 1.37177874e+00] [ 4.57433166e-02 9.79983429e-05 9.98953222e-01 1.71084355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.99710568099999 meters 0.018048122059875934 Centerline is valid? [True, True] Translation: X:49.75, Y:1.37, Z:1.71 [[ 9.97323501e-01 -5.76680339e-02 -4.49469898e-02 4.97459088e+01] [ 5.76083043e-02 9.98335814e-01 -2.62415396e-03 1.36628808e+00] [ 4.50235194e-02 2.78105546e-05 9.98985927e-01 1.71276679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.02710568099999 meters 0.017928988866895108 Centerline is valid? [True, True] Translation: X:49.78, Y:1.37, Z:1.71 [[ 9.97392390e-01 -5.66694431e-02 -4.46877454e-02 4.97751239e+01] [ 5.66093538e-02 9.98392993e-01 -2.61002811e-03 1.36617193e+00] [ 4.47638408e-02 7.34777868e-05 9.98997594e-01 1.71402927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.05710568099999 meters 0.018730777176764538 Centerline is valid? [True, True] Translation: X:49.80, Y:1.37, Z:1.71 [[ 9.97685908e-01 -5.13330040e-02 -4.45842068e-02 4.98039120e+01] [ 5.12678514e-02 9.98681543e-01 -2.60430189e-03 1.37082400e+00] [ 4.46591111e-02 3.12538803e-04 9.99002235e-01 1.71466951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.08710568099999 meters 0.02008326119387101 Centerline is valid? [True, True] Translation: X:49.83, Y:1.37, Z:1.71 [[ 9.97878742e-01 -4.53845537e-02 -4.66718141e-02 4.98335138e+01] [ 4.53067471e-02 9.98969408e-01 -2.72414764e-03 1.37327001e+00] [ 4.67473487e-02 6.03820944e-04 9.98906563e-01 1.71293780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.11710568099999 meters 0.021293344660388847 Centerline is valid? [True, True] Translation: X:49.86, Y:1.37, Z:1.71 [[ 9.98046122e-01 -4.08582836e-02 -4.72709160e-02 4.98621270e+01] [ 4.07731477e-02 9.99164606e-01 -2.76425578e-03 1.37249753e+00] [ 4.73443689e-02 8.31470724e-04 9.98878281e-01 1.71333047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.14710568099999 meters 0.022400246312736873 Centerline is valid? [True, True] Translation: X:49.89, Y:1.37, Z:1.71 [[ 9.98091795e-01 -3.83399722e-02 -4.84026359e-02 4.98911664e+01] [ 3.82469601e-02 9.99264263e-01 -2.84668274e-03 1.37463756e+00] [ 4.84761660e-02 9.89996998e-04 9.98823849e-01 1.71370671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.177105680999986 meters 0.025687001855636323 Centerline is valid? [True, True] Translation: X:49.92, Y:1.38, Z:1.71 [[ 9.98263314e-01 -3.15746337e-02 -4.97332804e-02 4.99199519e+01] [ 3.14673765e-02 9.99500460e-01 -2.93834059e-03 1.37823409e+00] [ 4.98012137e-02 1.36826176e-03 9.98758212e-01 1.71258968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.20710568099999 meters 0.02770012382456549 Centerline is valid? [True, True] Translation: X:49.95, Y:1.38, Z:1.71 [[ 9.98458146e-01 -2.71830735e-02 -4.83984697e-02 4.99501153e+01] [ 2.70762018e-02 9.99629274e-01 -2.86252445e-03 1.37567442e+00] [ 4.84583393e-02 1.54766413e-03 9.98824006e-01 1.71296068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.23710568099999 meters 0.027959612386573456 Centerline is valid? [True, True] Translation: X:49.98, Y:1.37, Z:1.72 [[ 9.98506301e-01 -2.66126171e-02 -4.77172523e-02 4.99787469e+01] [ 2.65078361e-02 9.99644607e-01 -2.82744230e-03 1.37480144e+00] [ 4.77755395e-02 1.55833785e-03 9.98856881e-01 1.71506523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.26710568099999 meters 0.028232126626170903 Centerline is valid? [True, True] Translation: X:50.01, Y:1.37, Z:1.72 [[ 9.98471865e-01 -2.70313639e-02 -4.82000037e-02 5.00062982e+01] [ 2.69242584e-02 9.99633356e-01 -2.87009530e-03 1.37122753e+00] [ 4.82599140e-02 1.56796006e-03 9.98833581e-01 1.71590825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.29710568099999 meters 0.02793444670580958 Centerline is valid? [True, True] Translation: X:50.04, Y:1.37, Z:1.71 [[ 9.98347604e-01 -2.88835133e-02 -4.96770015e-02 5.00350136e+01] [ 2.87715160e-02 9.99581607e-01 -2.96826593e-03 1.36544591e+00] [ 4.97419509e-02 1.53407854e-03 9.98760925e-01 1.71414677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.32710568099999 meters 0.026982161501896033 Centerline is valid? [True, True] Translation: X:50.06, Y:1.36, Z:1.71 [[ 9.98223022e-01 -3.02579428e-02 -5.13347376e-02 5.00636411e+01] [ 3.01392546e-02 9.99540949e-01 -3.08475376e-03 1.36232303e+00] [ 5.14045107e-02 1.53208149e-03 9.98676739e-01 1.71254687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.357105680999986 meters 0.02582801314871558 Centerline is valid? [True, True] Translation: X:50.09, Y:1.35, Z:1.71 [[ 9.97995999e-01 -3.43660892e-02 -5.31315110e-02 5.00920803e+01] [ 3.42438960e-02 9.99408355e-01 -3.20874411e-03 1.35402908e+00] [ 5.32103480e-02 1.38288384e-03 9.98582368e-01 1.70984738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.38710568099999 meters 0.024436948914726322 Centerline is valid? [True, True] Translation: X:50.12, Y:1.35, Z:1.71 [[ 9.97886031e-01 -3.75467935e-02 -5.30443878e-02 5.01200435e+01] [ 3.74291704e-02 9.99294129e-01 -3.20946339e-03 1.34873952e+00] [ 5.31274504e-02 1.21727126e-03 9.98586998e-01 1.71034005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.41710568099999 meters 0.019626324010390033 Centerline is valid? [True, True] Translation: X:50.15, Y:1.33, Z:1.71 [[ 9.97451441e-01 -4.63859150e-02 -5.42122727e-02 5.01497727e+01] [ 4.62757704e-02 9.98923298e-01 -3.28592257e-03 1.33348895e+00] [ 5.43063228e-02 7.68833520e-04 9.98524027e-01 1.71356148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.44710568099999 meters 0.017454672421301422 Centerline is valid? [True, True] Translation: X:50.18, Y:1.32, Z:1.72 [[ 9.96907229e-01 -5.72511138e-02 -5.38357347e-02 5.01796266e+01] [ 5.71578428e-02 9.98359793e-01 -3.27186809e-03 1.32257626e+00] [ 5.39347510e-02 1.84614485e-04 9.98544445e-01 1.71515979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.47710568099999 meters 0.017454672421301422 Centerline is valid? [True, True] Translation: X:50.21, Y:1.32, Z:1.72 [[ 9.96885267e-01 -5.76332906e-02 -5.38346384e-02 5.02069915e+01] [ 5.75396068e-02 9.98337804e-01 -3.28982259e-03 1.32448283e+00] [ 5.39347580e-02 1.81951742e-04 9.98544445e-01 1.71617701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.50710568099999 meters 0.01731682967498997 Centerline is valid? [True, True] Translation: X:50.24, Y:1.32, Z:1.72 [[ 9.96629934e-01 -6.53426672e-02 -4.95894267e-02 5.02355865e+01] [ 6.52718589e-02 9.97862864e-01 -3.04767995e-03 1.31625605e+00] [ 4.96825909e-02 -1.99384994e-04 9.98765038e-01 1.72194486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.537105680999986 meters 0.018443755940182705 Centerline is valid? [True, True] Translation: X:50.26, Y:1.31, Z:1.72 [[ 9.96595017e-01 -6.77573810e-02 -4.69820201e-02 5.02642097e+01] [ 6.76958061e-02 9.97701786e-01 -2.90232468e-03 1.31451303e+00] [ 4.70706993e-02 -2.88043410e-04 9.98891519e-01 1.72464160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.56710568099999 meters 0.018177446578992645 Centerline is valid? [True, True] Translation: X:50.29, Y:1.31, Z:1.73 [[ 9.96298229e-01 -7.32117843e-02 -4.50541230e-02 5.02935976e+01] [ 7.31600931e-02 9.97316287e-01 -2.79738496e-03 1.30614901e+00] [ 4.51380121e-02 -5.09134150e-04 9.98980631e-01 1.73043111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.59710568099999 meters 0.019029342927859558 Centerline is valid? [True, True] Translation: X:50.32, Y:1.30, Z:1.73 [[ 9.96081699e-01 -7.67141574e-02 -4.40021309e-02 5.03230062e+01] [ 7.66676452e-02 9.97052923e-01 -2.74615362e-03 1.30339931e+00] [ 4.40831220e-02 -6.38146392e-04 9.99027663e-01 1.73245130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.62710568099999 meters 0.022854572858817316 Centerline is valid? [True, True] Translation: X:50.35, Y:1.30, Z:1.74 [[ 9.95332023e-01 -8.63116441e-02 -4.31794432e-02 5.03523313e+01] [ 8.62753446e-02 9.96267653e-01 -2.70697835e-03 1.29582265e+00] [ 4.32519263e-02 -1.03097910e-03 9.99063666e-01 1.73565315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.65710568099999 meters 0.025558989805870957 Centerline is valid? [True, True] Translation: X:50.38, Y:1.29, Z:1.74 [[ 9.94783096e-01 -9.21027125e-02 -4.38598117e-02 5.03816858e+01] [ 9.20707457e-02 9.95748663e-01 -2.75266556e-03 1.29298943e+00] [ 4.39268768e-02 -1.29990040e-03 9.99033903e-01 1.73700532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.68710568099999 meters 0.02945612345758146 Centerline is valid? [True, True] Translation: X:50.41, Y:1.29, Z:1.74 [[ 9.93750008e-01 -1.02717733e-01 -4.37034309e-02 5.04123023e+01] [ 1.02696121e-01 9.94708988e-01 -2.74535877e-03 1.28973245e+00] [ 4.37541925e-02 -1.75997251e-03 9.99040777e-01 1.73953790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.71710568099999 meters 0.03388664930778055 Centerline is valid? [True, True] Translation: X:50.44, Y:1.29, Z:1.74 [[ 9.92729178e-01 -1.11967658e-01 -4.41816907e-02 5.04432800e+01] [ 1.11954693e-01 9.93709436e-01 -2.77552099e-03 1.28690722e+00] [ 4.42145316e-02 -2.19100697e-03 9.99019657e-01 1.73962094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.74710568099999 meters 0.03698880376625511 Centerline is valid? [True, True] Translation: X:50.47, Y:1.29, Z:1.74 [[ 9.92300507e-01 -1.15342907e-01 -4.51189205e-02 5.04722592e+01] [ 1.15332828e-01 9.93322858e-01 -2.83522790e-03 1.28578258e+00] [ 4.51446785e-02 -2.39029459e-03 9.98977600e-01 1.73962643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.77710568099999 meters 0.037970126476354255 Centerline is valid? [True, True] Translation: X:50.50, Y:1.29, Z:1.74 [[ 9.91788060e-01 -1.20432548e-01 -4.30400467e-02 5.05024932e+01] [ 1.20427990e-01 9.92718371e-01 -2.70818093e-03 1.29191614e+00] [ 4.30527982e-02 -2.49728480e-03 9.99069677e-01 1.74139745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.80710568099999 meters 0.03914145052196592 Centerline is valid? [True, True] Translation: X:50.53, Y:1.30, Z:1.74 [[ 9.91580940e-01 -1.22404346e-01 -4.22423527e-02 5.05301795e+01] [ 1.22401697e-01 9.92477080e-01 -2.65890311e-03 1.30174650e+00] [ 4.22500281e-02 -2.53401802e-03 9.99103855e-01 1.74383133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.83710568099999 meters 0.039978523869323775 Centerline is valid? [True, True] Translation: X:50.56, Y:1.31, Z:1.74 [[ 9.91491045e-01 -1.23026055e-01 -4.25452461e-02 5.05575851e+01] [ 1.23023625e-01 9.92400109e-01 -2.68533566e-03 1.30846550e+00] [ 4.25522731e-02 -2.57158413e-03 9.99090932e-01 1.74393725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.86710568099999 meters 0.040841877461278 Centerline is valid? [True, True] Translation: X:50.59, Y:1.32, Z:1.74 [[ 9.91308385e-01 -1.24547303e-01 -4.23751799e-02 5.05853013e+01] [ 1.24545940e-01 9.92210216e-01 -2.68251855e-03 1.32227061e+00] [ 4.23791868e-02 -2.61845348e-03 9.99098167e-01 1.74394025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.89710568099999 meters 0.04157155646053423 Centerline is valid? [True, True] Translation: X:50.61, Y:1.34, Z:1.75 [[ 9.91351938e-01 -1.24563459e-01 -4.12950299e-02 5.06123989e+01] [ 1.24561686e-01 9.92208391e-01 -2.62600356e-03 1.33720662e+00] [ 4.13003793e-02 -2.54048483e-03 9.99143546e-01 1.74570874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.927105680999986 meters 0.041394633868334064 Centerline is valid? [True, True] Translation: X:50.64, Y:1.35, Z:1.75 [[ 9.91437404e-01 -1.23983768e-01 -4.09865696e-02 5.06409186e+01] [ 1.23981308e-01 9.92281116e-01 -2.61172237e-03 1.34693234e+00] [ 4.09940102e-02 -2.49220928e-03 9.99156284e-01 1.74712387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95710568099999 meters 0.03710231904876779 Centerline is valid? [True, True] Translation: X:50.67, Y:1.37, Z:1.75 [[ 9.91989364e-01 -1.19571863e-01 -4.07390698e-02 5.06699438e+01] [ 1.19565253e-01 9.92822920e-01 -2.60747498e-03 1.36959256e+00] [ 4.07584629e-02 -2.28438976e-03 9.99166417e-01 1.74823060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.98710568099999 meters 0.035679442524758964 Centerline is valid? [True, True] Translation: X:50.70, Y:1.38, Z:1.75 [[ 9.92437108e-01 -1.15983989e-01 -4.02032438e-02 5.06995684e+01] [ 1.15974538e-01 9.93248849e-01 -2.57511539e-03 1.38186336e+00] [ 4.02304978e-02 -2.10691257e-03 9.99188204e-01 1.74959690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.01710568099999 meters 0.03041450785287421 Centerline is valid? [True, True] Translation: X:50.73, Y:1.41, Z:1.75 [[ 9.93519176e-01 -1.06305072e-01 -4.02352967e-02 5.07288131e+01] [ 1.06287647e-01 9.94332082e-01 -2.57802957e-03 1.40884319e+00] [ 4.02813040e-02 -1.71519320e-03 9.99186907e-01 1.74931372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.04710568099999 meters 0.02599647905376236 Centerline is valid? [True, True] Translation: X:50.76, Y:1.43, Z:1.75 [[ 9.94526188e-01 -9.58199059e-02 -4.16678272e-02 5.07569151e+01] [ 9.57920071e-02 9.95397790e-01 -2.67023661e-03 1.43143501e+00] [ 4.17319249e-02 -1.33582456e-03 9.99127951e-01 1.74704056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.07710568099999 meters 0.02336553196894037 Centerline is valid? [True, True] Translation: X:50.79, Y:1.44, Z:1.75 [[ 9.95099762e-01 -8.97642803e-02 -4.14588757e-02 5.07877100e+01] [ 8.97313879e-02 9.95962457e-01 -2.65734432e-03 1.44475400e+00] [ 4.15300183e-02 -1.07583976e-03 9.99136677e-01 1.74837808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.107105680999986 meters 0.020236811571403016 Centerline is valid? [True, True] Translation: X:50.82, Y:1.47, Z:1.75 [[ 9.96205568e-01 -7.64582842e-02 -4.15763951e-02 5.08163472e+01] [ 7.64137218e-02 9.97072643e-01 -2.66228759e-03 1.46937307e+00] [ 4.16582401e-02 -5.24821372e-04 9.99131781e-01 1.74888694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.13710568099999 meters 0.01879267436459374 Centerline is valid? [True, True] Translation: X:50.85, Y:1.50, Z:1.75 [[ 9.96980825e-01 -6.25729772e-02 -4.59766947e-02 5.08466182e+01] [ 6.25037491e-02 9.98040389e-01 -2.94321054e-03 1.49580184e+00] [ 4.60707637e-02 6.06086799e-05 9.98938177e-01 1.74551789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.16710568099999 meters 0.020494643592008664 Centerline is valid? [True, True] Translation: X:50.88, Y:1.52, Z:1.74 [[ 9.97308841e-01 -5.28711511e-02 -5.07909168e-02 5.08769122e+01] [ 5.27743607e-02 9.98601187e-01 -3.24581151e-03 1.51545440e+00] [ 5.08914797e-02 5.56618349e-04 9.98704034e-01 1.73870406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.19710568099999 meters 0.02141936914329822 Centerline is valid? [True, True] Translation: X:50.91, Y:1.52, Z:1.73 [[ 9.97299549e-01 -5.13267110e-02 -5.25278823e-02 5.09074618e+01] [ 5.12213546e-02 9.98681703e-01 -3.35085559e-03 1.52279870e+00] [ 5.26306234e-02 6.51257485e-04 9.98613836e-01 1.73497737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.22710568099999 meters 0.0214298117089002 Centerline is valid? [True, True] Translation: X:50.94, Y:1.53, Z:1.73 [[ 9.97232069e-01 -5.19868034e-02 -5.31561088e-02 5.09376230e+01] [ 5.18799837e-02 9.98647579e-01 -3.38835741e-03 1.52615441e+00] [ 5.32603692e-02 6.21240617e-04 9.98580466e-01 1.73284148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.25710568099999 meters 0.020113196006057314 Centerline is valid? [True, True] Translation: X:50.97, Y:1.53, Z:1.73 [[ 9.96873660e-01 -5.83246472e-02 -5.33023504e-02 5.09678421e+01] [ 5.82262878e-02 9.98297629e-01 -3.39767937e-03 1.52515120e+00] [ 5.34097785e-02 2.83459070e-04 9.98572639e-01 1.73216212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.287105680999986 meters 0.01961692911285979 Centerline is valid? [True, True] Translation: X:51.00, Y:1.52, Z:1.74 [[ 9.96258474e-01 -6.77930272e-02 -5.36018571e-02 5.09988957e+01] [ 6.77072847e-02 9.97699381e-01 -3.41602258e-03 1.52154374e+00] [ 5.37101221e-02 -2.25994760e-04 9.98556544e-01 1.73546279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.31710568099999 meters 0.0203309030291162 Centerline is valid? [True, True] Translation: X:51.03, Y:1.52, Z:1.74 [[ 9.95906744e-01 -7.34483890e-02 -5.26791306e-02 5.10295157e+01] [ 7.33735820e-02 9.97298882e-01 -3.35523911e-03 1.52006693e+00] [ 5.27832749e-02 -5.23751250e-04 9.98605854e-01 1.73888040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.34710568099999 meters 0.020505952978016058 Centerline is valid? [True, True] Translation: X:51.06, Y:1.52, Z:1.74 [[ 9.95893543e-01 -7.37418758e-02 -5.25184502e-02 5.10617399e+01] [ 7.36680478e-02 9.97277215e-01 -3.34281515e-03 1.52280819e+00] [ 5.26219592e-02 -5.39843678e-04 9.98614359e-01 1.74113376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.37710568099999 meters 0.020055286938969304 Centerline is valid? [True, True] Translation: X:51.09, Y:1.53, Z:1.74 [[ 9.95955108e-01 -7.27408362e-02 -5.27465081e-02 5.10933143e+01] [ 7.26652143e-02 9.97350754e-01 -3.35257439e-03 1.52943795e+00] [ 5.28506387e-02 -4.93822727e-04 9.98602306e-01 1.74323765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.40710568099999 meters 0.01985037681237355 Centerline is valid? [True, True] Translation: X:51.13, Y:1.53, Z:1.74 [[ 9.96098802e-01 -7.20427654e-02 -5.09609288e-02 5.11254109e+01] [ 7.19715035e-02 9.97401444e-01 -3.23443583e-03 1.53372086e+00] [ 5.10615217e-02 -4.45917007e-04 9.98695410e-01 1.74450988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43710568099999 meters 0.019947250563621528 Centerline is valid? [True, True] Translation: X:51.16, Y:1.54, Z:1.75 [[ 9.96191624e-01 -7.17035817e-02 -4.96068992e-02 5.11568485e+01] [ 7.16358468e-02 9.97425896e-01 -3.14429530e-03 1.53655382e+00] [ 4.97046631e-02 -4.21311590e-04 9.98763870e-01 1.74635798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.467105680999985 meters 0.020094457366898712 Centerline is valid? [True, True] Translation: X:51.19, Y:1.54, Z:1.75 [[ 9.96173628e-01 -7.31590665e-02 -4.78106131e-02 5.11883491e+01] [ 7.30979889e-02 9.97320170e-01 -3.02702255e-03 1.54048305e+00] [ 4.79039429e-02 -4.79419635e-04 9.98851832e-01 1.75032577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.49710568099999 meters 0.020255238284251444 Centerline is valid? [True, True] Translation: X:51.22, Y:1.54, Z:1.75 [[ 9.95963113e-01 -7.66962920e-02 -4.66385731e-02 5.12210584e+01] [ 7.66422402e-02 9.97054297e-01 -2.94870498e-03 1.53948255e+00] [ 4.67273444e-02 -6.37683330e-04 9.98907478e-01 1.75271649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.52710568099999 meters 0.02065946452425275 Centerline is valid? [True, True] Translation: X:51.25, Y:1.54, Z:1.75 [[ 9.95832577e-01 -7.78559433e-02 -4.74966380e-02 5.12533232e+01] [ 7.78014186e-02 9.96964367e-01 -2.99840189e-03 1.54026490e+00] [ 4.75858991e-02 -7.09399542e-04 9.98866898e-01 1.75317180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.55710568099999 meters 0.020452922898198958 Centerline is valid? [True, True] Translation: X:51.29, Y:1.55, Z:1.75 [[ 9.95917543e-01 -7.55199343e-02 -4.94468175e-02 5.12851099e+01] [ 7.54581984e-02 9.97144095e-01 -3.11674202e-03 1.54609818e+00] [ 4.95409782e-02 -6.27149714e-04 9.98771895e-01 1.75478986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.58710568099999 meters 0.01976562252318309 Centerline is valid? [True, True] Translation: X:51.32, Y:1.55, Z:1.76 [[ 9.96219183e-01 -7.23400687e-02 -4.81066918e-02 5.13171462e+01] [ 7.22781421e-02 9.97379919e-01 -3.02785525e-03 1.55101450e+00] [ 4.81996836e-02 -4.60654817e-04 9.98837614e-01 1.75794719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.61710568099999 meters 0.019020058178826304 Centerline is valid? [True, True] Translation: X:51.35, Y:1.56, Z:1.76 [[ 9.96932771e-01 -6.23192062e-02 -4.73430828e-02 5.13492858e+01] [ 6.22481390e-02 9.98056269e-01 -2.97540348e-03 1.55884691e+00] [ 4.74364854e-02 1.92584336e-05 9.98874256e-01 1.75922369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.64710568099999 meters 0.020281271169223455 Centerline is valid? [True, True] Translation: X:51.38, Y:1.57, Z:1.76 [[ 9.97479120e-01 -5.14832355e-02 -4.88352575e-02 5.13795754e+01] [ 5.13948999e-02 9.98673710e-01 -3.06365241e-03 1.56759479e+00] [ 4.89282145e-02 5.46046134e-04 9.98802148e-01 1.75885276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.677105680999986 meters 0.023461494512738497 Centerline is valid? [True, True] Translation: X:51.41, Y:1.58, Z:1.76 [[ 9.97892972e-01 -4.07905339e-02 -5.04554049e-02 5.14097227e+01] [ 4.06829050e-02 9.99167115e-01 -3.15873235e-03 1.57739547e+00] [ 5.05422277e-02 1.09940437e-03 9.98721320e-01 1.75839808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.70710568099999 meters 0.02546902686341859 Centerline is valid? [True, True] Translation: X:51.44, Y:1.58, Z:1.76 [[ 9.98050870e-01 -3.56867350e-02 -5.11948943e-02 5.14404408e+01] [ 3.55692801e-02 9.99362077e-01 -3.20381021e-03 1.58263236e+00] [ 5.12765694e-02 1.37660004e-03 9.98683543e-01 1.75759360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.73710568099999 meters 0.02989961460469501 Centerline is valid? [True, True] Translation: X:51.47, Y:1.59, Z:1.75 [[ 9.98216304e-01 -2.68388616e-02 -5.33281020e-02 5.14690893e+01] [ 2.66988140e-02 9.99637954e-01 -3.33695206e-03 1.58696629e+00] [ 5.33983547e-02 1.90720288e-03 9.98571469e-01 1.75298890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.76710568099999 meters 0.0305482781791929 Centerline is valid? [True, True] Translation: X:51.50, Y:1.58, Z:1.75 [[ 9.98242112e-01 -2.39305260e-02 -5.42219105e-02 5.14989803e+01] [ 2.37813425e-02 9.99711419e-01 -3.39498302e-03 1.58401573e+00] [ 5.42875068e-02 2.09954519e-03 9.98523139e-01 1.75313001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.79710568099999 meters 0.03066261378860323 Centerline is valid? [True, True] Translation: X:51.53, Y:1.58, Z:1.75 [[ 9.98187944e-01 -2.53007702e-02 -5.45957769e-02 5.15270651e+01] [ 2.51513487e-02 9.99677797e-01 -3.42233769e-03 1.58115230e+00] [ 5.46647737e-02 2.04297880e-03 9.98502673e-01 1.75275653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.82710568099999 meters 0.028314494123544944 Centerline is valid? [True, True] Translation: X:51.56, Y:1.57, Z:1.75 [[ 9.97948702e-01 -3.08092219e-02 -5.61175634e-02 5.15568567e+01] [ 3.06594425e-02 9.99523662e-01 -3.52822499e-03 1.57022434e+00] [ 5.61995343e-02 1.80045434e-03 9.98417934e-01 1.75337296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.857105680999986 meters 0.02572922403120745 Centerline is valid? [True, True] Translation: X:51.59, Y:1.56, Z:1.75 [[ 9.97571990e-01 -3.79142592e-02 -5.84177486e-02 5.15855351e+01] [ 3.77632538e-02 9.99279912e-01 -3.68712124e-03 1.56107702e+00] [ 5.85154771e-02 1.47212461e-03 9.98285416e-01 1.75265497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.88710568099999 meters 0.02471498621111765 Centerline is valid? [True, True] Translation: X:51.61, Y:1.56, Z:1.75 [[ 9.97419573e-01 -4.21314362e-02 -5.81303448e-02 5.16138459e+01] [ 4.19886106e-02 9.99111324e-01 -3.67678838e-03 1.55628583e+00] [ 5.82335941e-02 1.22648828e-03 9.98302231e-01 1.75212920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.91710568099999 meters 0.021677014946723992 Centerline is valid? [True, True] Translation: X:51.64, Y:1.54, Z:1.75 [[ 9.97154337e-01 -5.09966331e-02 -5.55209042e-02 5.16435299e+01] [ 5.08796962e-02 9.98698591e-01 -3.51860127e-03 1.54043104e+00] [ 5.56280857e-02 6.83701782e-04 9.98451325e-01 1.75423328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.94710568099999 meters 0.019570168588767308 Centerline is valid? [True, True] Translation: X:51.67, Y:1.53, Z:1.76 [[ 9.96899820e-01 -5.63771137e-02 -5.48850528e-02 5.16729386e+01] [ 5.62705630e-02 9.98409471e-01 -3.48601371e-03 1.53256132e+00] [ 5.49942879e-02 3.86793619e-04 9.98486594e-01 1.75887111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.97710568099999 meters 0.01876620255188334 Centerline is valid? [True, True] Translation: X:51.70, Y:1.52, Z:1.76 [[ 9.96515665e-01 -6.44912800e-02 -5.28904941e-02 5.17018172e+01] [ 6.44030723e-02 9.97918270e-01 -3.37217711e-03 1.52165090e+00] [ 5.29978664e-02 -4.58829982e-05 9.98594624e-01 1.76218151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.00710568099999 meters 0.01906668868803337 Centerline is valid? [True, True] Translation: X:51.73, Y:1.51, Z:1.77 [[ 9.96228639e-01 -7.15229094e-02 -4.91220150e-02 5.17316056e+01] [ 7.14552239e-02 9.97438882e-01 -3.13485467e-03 1.51065224e+00] [ 4.92204217e-02 -3.86992583e-04 9.98787866e-01 1.76768569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.037105680999986 meters 0.0195989424019913 Centerline is valid? [True, True] Translation: X:51.76, Y:1.51, Z:1.77 [[ 9.96030943e-01 -7.50580512e-02 -4.78398257e-02 5.17623328e+01] [ 7.49978503e-02 9.97179017e-01 -3.05465362e-03 1.50579219e+00] [ 4.79341467e-02 -5.45354560e-04 9.98850349e-01 1.77091218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.06710568099999 meters 0.02106410297024995 Centerline is valid? [True, True] Translation: X:51.79, Y:1.50, Z:1.77 [[ 9.95489004e-01 -8.15671004e-02 -4.84608103e-02 5.17935227e+01] [ 8.15130282e-02 9.96667473e-01 -3.09430453e-03 1.49667907e+00] [ 4.85517067e-02 -8.69841252e-04 9.98820292e-01 1.77177707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.09710568099999 meters 0.02358154211084999 Centerline is valid? [True, True] Translation: X:51.82, Y:1.49, Z:1.77 [[ 9.94752582e-01 -8.86475372e-02 -5.10775297e-02 5.18246925e+01] [ 8.85967680e-02 9.96062234e-01 -3.26171099e-03 1.48553066e+00] [ 5.11655410e-02 -1.28070862e-03 9.98689365e-01 1.76945048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.12710568099999 meters 0.025961038711676813 Centerline is valid? [True, True] Translation: X:51.85, Y:1.48, Z:1.77 [[ 9.94361150e-01 -9.21471255e-02 -5.24862894e-02 5.18533900e+01] [ 9.20982643e-02 9.95744275e-01 -3.35395531e-03 1.47930425e+00] [ 5.25719795e-02 -1.49885329e-03 9.98616012e-01 1.76887017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.15710568099999 meters 0.02935461914394308 Centerline is valid? [True, True] Translation: X:51.88, Y:1.47, Z:1.77 [[ 9.93764300e-01 -9.81804658e-02 -5.28499083e-02 5.18822713e+01] [ 9.81391663e-02 9.95166953e-01 -3.38231701e-03 1.47078866e+00] [ 5.29265597e-02 -1.82542004e-03 9.98596739e-01 1.77117749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.18710568099999 meters 0.031739737509361245 Centerline is valid? [True, True] Translation: X:51.91, Y:1.47, Z:1.77 [[ 9.93523526e-01 -1.00726344e-01 -5.25852341e-02 5.19105611e+01] [ 1.00688714e-01 9.94912267e-01 -3.37108083e-03 1.46708929e+00] [ 5.26572511e-02 -1.94549148e-03 9.98610749e-01 1.77288255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.217105680999985 meters 0.031803027254709036 Centerline is valid? [True, True] Translation: X:51.94, Y:1.47, Z:1.77 [[ 9.93416567e-01 -1.01226722e-01 -5.36346436e-02 5.19387540e+01] [ 1.01187994e-01 9.94861361e-01 -3.44413125e-03 1.46981268e+00] [ 5.37076727e-02 -2.00572495e-03 9.98554687e-01 1.77319301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.24710568099999 meters 0.031152517871574893 Centerline is valid? [True, True] Translation: X:51.97, Y:1.48, Z:1.77 [[ 9.93202875e-01 -1.02648959e-01 -5.48747708e-02 5.19668101e+01] [ 1.02610260e-01 9.94715374e-01 -3.52971308e-03 1.47603490e+00] [ 5.49470995e-02 -2.12499334e-03 9.98487006e-01 1.77399341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.27710568099999 meters 0.031173099684876835 Centerline is valid? [True, True] Translation: X:52.00, Y:1.48, Z:1.78 [[ 9.93120890e-01 -1.04166471e-01 -5.34812476e-02 5.19954895e+01] [ 1.04131417e-01 9.94557566e-01 -3.44917558e-03 1.47924735e+00] [ 5.35494678e-02 -2.14362978e-03 9.98562897e-01 1.77617381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.30710568099999 meters 0.03410670605367134 Centerline is valid? [True, True] Translation: X:52.02, Y:1.48, Z:1.78 [[ 9.92798069e-01 -1.08127634e-01 -5.15791553e-02 5.20236322e+01] [ 1.08099708e-01 9.94134450e-01 -3.33903616e-03 1.47979395e+00] [ 5.16376572e-02 -2.26070300e-03 9.98663327e-01 1.77809788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.33710568099999 meters 0.03574203868268711 Centerline is valid? [True, True] Translation: X:52.05, Y:1.48, Z:1.78 [[ 9.92126872e-01 -1.13792399e-01 -5.23025774e-02 5.20533280e+01] [ 1.13771313e-01 9.93501181e-01 -3.38999024e-03 1.48476994e+00] [ 5.23484275e-02 -2.58723250e-03 9.98625530e-01 1.77873987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.36710568099999 meters 0.03574203868268711 Centerline is valid? [True, True] Translation: X:52.08, Y:1.49, Z:1.78 [[ 9.92091644e-01 -1.14099298e-01 -5.23021945e-02 5.20815510e+01] [ 1.14078328e-01 9.93465955e-01 -3.39588389e-03 1.48676448e+00] [ 5.23479176e-02 -2.59751886e-03 9.98625530e-01 1.77978804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.39710568099999 meters 0.04004160646681973 Centerline is valid? [True, True] Translation: X:52.11, Y:1.49, Z:1.78 [[ 9.91326636e-01 -1.19978630e-01 -5.36342208e-02 5.21108313e+01] [ 1.19964495e-01 9.92772032e-01 -3.49457667e-03 1.48925838e+00] [ 5.36658289e-02 -2.96993530e-03 9.98554534e-01 1.77760944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.427105680999986 meters 0.03828802976824675 Centerline is valid? [True, True] Translation: X:52.14, Y:1.50, Z:1.78 [[ 9.91133245e-01 -1.22088063e-01 -5.24346791e-02 5.21394631e+01] [ 1.22077383e-01 9.92514699e-01 -3.41844083e-03 1.49650075e+00] [ 5.24595406e-02 -3.01295803e-03 9.98618505e-01 1.78009319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.45710568099999 meters 0.043546899469473384 Centerline is valid? [True, True] Translation: X:52.17, Y:1.50, Z:1.79 [[ 9.90927948e-01 -1.25414208e-01 -4.83019429e-02 5.21680225e+01] [ 1.25408915e-01 9.92100130e-01 -3.15211516e-03 1.49677680e+00] [ 4.83156839e-02 -2.93397525e-03 9.98827806e-01 1.78533055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.48710568099999 meters 0.04415822473417069 Centerline is valid? [True, True] Translation: X:52.20, Y:1.51, Z:1.79 [[ 9.90625204e-01 -1.28102782e-01 -4.74487418e-02 5.21974547e+01] [ 1.28100613e-01 9.91756335e-01 -3.09912435e-03 1.50508682e+00] [ 4.74545967e-02 -3.00814223e-03 9.98868866e-01 1.78917055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.51710568099999 meters 0.04490312980038523 Centerline is valid? [True, True] Translation: X:52.23, Y:1.51, Z:1.79 [[ 9.90548133e-01 -1.28917929e-01 -4.68461807e-02 5.22272224e+01] [ 1.28916663e-01 9.91650707e-01 -3.06098656e-03 1.50996377e+00] [ 4.68496642e-02 -3.00719877e-03 9.98897425e-01 1.79021016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.54710568099999 meters 0.04131018778418124 Centerline is valid? [True, True] Translation: X:52.26, Y:1.52, Z:1.79 [[ 9.90675781e-01 -1.28834905e-01 -4.43064746e-02 5.22577338e+01] [ 1.28833631e-01 9.91661993e-01 -2.89620984e-03 1.52393623e+00] [ 4.43101799e-02 -2.83895905e-03 9.99013788e-01 1.79397634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.57710568099999 meters 0.045472004618365765 Centerline is valid? [True, True] Translation: X:52.29, Y:1.53, Z:1.79 [[ 9.90985141e-01 -1.26565032e-01 -4.39288426e-02 5.22886359e+01] [ 1.26561644e-01 9.91954594e-01 -2.86954528e-03 1.52721657e+00] [ 4.39386013e-02 -2.71602980e-03 9.99030541e-01 1.79301656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.607105680999986 meters 0.03935357727805056 Centerline is valid? [True, True] Translation: X:52.32, Y:1.54, Z:1.79 [[ 9.91184703e-01 -1.25073405e-01 -4.36981380e-02 5.23196636e+01] [ 1.25068699e-01 9.92143984e-01 -2.85241326e-03 1.54190926e+00] [ 4.37116057e-02 -2.63800088e-03 9.99040708e-01 1.79315222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.63710568099999 meters 0.04229045428242665 Centerline is valid? [True, True] Translation: X:52.35, Y:1.55, Z:1.79 [[ 9.91616111e-01 -1.20956662e-01 -4.54639826e-02 5.23495978e+01] [ 1.20947363e-01 9.92654493e-01 -2.96542504e-03 1.54563202e+00] [ 4.54887145e-02 -2.55818557e-03 9.98961577e-01 1.78999999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.66710568099999 meters 0.03625699702776043 Centerline is valid? [True, True] Translation: X:52.38, Y:1.56, Z:1.79 [[ 9.91874691e-01 -1.18128788e-01 -4.72248461e-02 5.23799359e+01] [ 1.18115587e-01 9.92995077e-01 -3.07980825e-03 1.56032415e+00] [ 4.72578537e-02 -2.52320654e-03 9.98879537e-01 1.79018336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.69710568099999 meters 0.032960935595298106 Centerline is valid? [True, True] Translation: X:52.41, Y:1.58, Z:1.79 [[ 9.92693910e-01 -1.09852605e-01 -4.99119756e-02 5.24082123e+01] [ 1.09827503e-01 9.93945338e-01 -3.25354794e-03 1.58004576e+00] [ 4.99671861e-02 -2.25193041e-03 9.98748321e-01 1.78890055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.72710568099999 meters 0.027753483103781243 Centerline is valid? [True, True] Translation: X:52.44, Y:1.60, Z:1.79 [[ 9.93895293e-01 -9.72211154e-02 -5.21555572e-02 5.24378003e+01] [ 9.71762985e-02 9.95261374e-01 -3.40050672e-03 1.60432003e+00] [ 5.22390126e-02 -1.68853638e-03 9.98633183e-01 1.78654387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.75710568099999 meters 0.024675409170175355 Centerline is valid? [True, True] Translation: X:52.47, Y:1.62, Z:1.79 [[ 9.94615663e-01 -8.95018264e-02 -5.22408365e-02 5.24665656e+01] [ 8.94462221e-02 9.95985829e-01 -3.40609574e-03 1.61686875e+00] [ 5.23359847e-02 -1.28498929e-03 9.98628707e-01 1.78569785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.787105680999986 meters 0.020067094303351442 Centerline is valid? [True, True] Translation: X:52.50, Y:1.64, Z:1.78 [[ 9.95961460e-01 -7.25496738e-02 -5.28896586e-02 5.24954732e+01] [ 7.24687246e-02 9.97364721e-01 -3.44922674e-03 1.64153346e+00] [ 5.30005199e-02 -3.97549208e-04 9.98594406e-01 1.78462861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.81710568099999 meters 0.019885218289543684 Centerline is valid? [True, True] Translation: X:52.53, Y:1.65, Z:1.78 [[ 9.96338004e-01 -6.62002877e-02 -5.41119506e-02 5.25271004e+01] [ 6.61062774e-02 9.97806353e-01 -3.52733702e-03 1.65325761e+00] [ 5.42267588e-02 -6.27196983e-05 9.98528645e-01 1.78455085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.84710568099999 meters 0.02080412711122428 Centerline is valid? [True, True] Translation: X:52.56, Y:1.67, Z:1.78 [[ 9.96659476e-01 -5.93042524e-02 -5.61506363e-02 5.25571089e+01] [ 5.91923559e-02 9.98239903e-01 -3.65532275e-03 1.67026276e+00] [ 5.62685819e-02 3.19423611e-04 9.98415617e-01 1.78475516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.87710568099999 meters 0.020462642568867147 Centerline is valid? [True, True] Translation: X:52.59, Y:1.67, Z:1.79 [[ 9.96710331e-01 -5.96331831e-02 -5.48853240e-02 5.25886344e+01] [ 5.95270071e-02 9.98220316e-01 -3.56874899e-03 1.67481881e+00] [ 5.50004613e-02 2.89849922e-04 9.98486287e-01 1.78822237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.90710568099999 meters 0.020126880639024937 Centerline is valid? [True, True] Translation: X:52.62, Y:1.67, Z:1.79 [[ 9.96666619e-01 -6.22450442e-02 -5.27371310e-02 5.26194993e+01] [ 6.21508738e-02 9.98060888e-01 -3.42534474e-03 1.67187858e+00] [ 5.28480785e-02 1.36267989e-04 9.98602555e-01 1.78758240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93710568099999 meters 0.019742225530212633 Centerline is valid? [True, True] Translation: X:52.65, Y:1.67, Z:1.79 [[ 9.96553024e-01 -6.45797115e-02 -5.20723731e-02 5.26519653e+01] [ 6.44912048e-02 9.97912552e-01 -3.37990238e-03 1.67019306e+00] [ 5.21819479e-02 1.00418578e-05 9.98637594e-01 1.79112174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.967105680999985 meters 0.01992824413709923 Centerline is valid? [True, True] Translation: X:52.68, Y:1.67, Z:1.79 [[ 9.96208189e-01 -6.87563305e-02 -5.33086350e-02 5.26844070e+01] [ 6.86698132e-02 9.97633459e-01 -3.45507992e-03 1.66733716e+00] [ 5.34200365e-02 -2.18715089e-04 9.98572106e-01 1.79224639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.99710568099999 meters 0.02028956946580569 Centerline is valid? [True, True] Translation: X:52.72, Y:1.67, Z:1.79 [[ 9.95987152e-01 -7.15654476e-02 -5.37399299e-02 5.27157906e+01] [ 7.14818590e-02 9.97435835e-01 -3.47839638e-03 1.66623340e+00] [ 5.38510648e-02 -3.76991983e-04 9.98548908e-01 1.79257546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.02710568099999 meters 0.020943751679191346 Centerline is valid? [True, True] Translation: X:52.75, Y:1.66, Z:1.79 [[ 9.95595680e-01 -7.67847664e-02 -5.37897853e-02 5.27481384e+01] [ 7.67088540e-02 9.97047471e-01 -3.47749110e-03 1.66097089e+00] [ 5.38979877e-02 -6.63977666e-04 9.98546226e-01 1.79390844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.05710568099999 meters 0.02294860695157892 Centerline is valid? [True, True] Translation: X:52.78, Y:1.65, Z:1.80 [[ 9.95006570e-01 -8.48283171e-02 -5.25935625e-02 5.27803111e+01] [ 8.47671974e-02 9.96394998e-01 -3.39570936e-03 1.65298243e+00] [ 5.26920149e-02 -1.07945577e-03 9.98610227e-01 1.79728296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.08710568099999 meters 0.024464534872883727 Centerline is valid? [True, True] Translation: X:52.81, Y:1.65, Z:1.80 [[ 9.94624154e-01 -8.94670900e-02 -5.21385783e-02 5.28129032e+01] [ 8.94135922e-02 9.95988907e-01 -3.36239856e-03 1.64942362e+00] [ 5.22302697e-02 -1.31757476e-03 9.98634199e-01 1.79912066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.11710568099999 meters 0.026608745541846994 Centerline is valid? [True, True] Translation: X:52.84, Y:1.64, Z:1.80 [[ 9.94032418e-01 -9.61634819e-02 -5.14988987e-02 5.28447848e+01] [ 9.61204648e-02 9.95364181e-01 -3.31710759e-03 1.64131679e+00] [ 5.15791437e-02 -1.65278560e-03 9.98667542e-01 1.80094536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.147105680999985 meters 0.029290805744856336 Centerline is valid? [True, True] Translation: X:52.88, Y:1.64, Z:1.80 [[ 9.93762636e-01 -9.95042302e-02 -5.03461248e-02 5.28764188e+01] [ 9.94675261e-02 9.95035533e-01 -3.24024731e-03 1.63635243e+00] [ 5.04186015e-02 -1.78776778e-03 9.98726573e-01 1.80389048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.177105680999986 meters 0.02868458581288839 Centerline is valid? [True, True] Translation: X:52.91, Y:1.64, Z:1.81 [[ 9.93661911e-01 -1.00567327e-01 -5.02216963e-02 5.29081031e+01] [ 1.00532349e-01 9.94928552e-01 -3.22846112e-03 1.63808205e+00] [ 5.02916773e-02 -1.84090625e-03 9.98732876e-01 1.80681344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.20710568099999 meters 0.0285365723760938 Centerline is valid? [True, True] Translation: X:52.94, Y:1.64, Z:1.81 [[ 9.93714031e-01 -1.00802809e-01 -4.86951575e-02 5.29407963e+01] [ 1.00770419e-01 9.94904795e-01 -3.12596608e-03 1.63658462e+00] [ 4.87621519e-02 -1.80071506e-03 9.98808796e-01 1.80858484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.23710568099999 meters 0.02890787752982874 Centerline is valid? [True, True] Translation: X:52.97, Y:1.64, Z:1.81 [[ 9.93747118e-01 -1.00317356e-01 -4.90213549e-02 5.29724062e+01] [ 1.00284149e-01 9.94953875e-01 -3.14266560e-03 1.63758410e+00] [ 4.90892509e-02 -1.79304999e-03 9.98792787e-01 1.80887160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.26710568099999 meters 0.030517547064795262 Centerline is valid? [True, True] Translation: X:53.00, Y:1.64, Z:1.81 [[ 9.93729496e-01 -1.00081870e-01 -4.98528612e-02 5.30033574e+01] [ 1.00047405e-01 9.94977550e-01 -3.19252995e-03 1.63796946e+00] [ 4.99219921e-02 -1.81513822e-03 9.98751471e-01 1.80852875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.29710568099999 meters 0.029843610851375425 Centerline is valid? [True, True] Translation: X:53.04, Y:1.64, Z:1.81 [[ 9.93587707e-01 -1.01489179e-01 -4.98338824e-02 5.30351408e+01] [ 1.01456689e-01 9.94834850e-01 -3.18765772e-03 1.64290396e+00] [ 4.98999957e-02 -1.88876321e-03 9.98752433e-01 1.81043040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.32710568099999 meters 0.030987459405341557 Centerline is valid? [True, True] Translation: X:53.07, Y:1.64, Z:1.81 [[ 9.93398023e-01 -1.03272840e-01 -4.99508518e-02 5.30670526e+01] [ 1.03242671e-01 9.94651080e-01 -3.19065920e-03 1.64278105e+00] [ 5.00131771e-02 -1.98746482e-03 9.98746581e-01 1.81073279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.357105680999986 meters 0.034158370498486024 Centerline is valid? [True, True] Translation: X:53.10, Y:1.64, Z:1.81 [[ 9.92796183e-01 -1.08751195e-01 -5.02883431e-02 5.30969862e+01] [ 1.08727847e-01 9.94066379e-01 -3.20780680e-03 1.63919409e+00] [ 5.03388039e-02 -2.28304494e-03 9.98729589e-01 1.80902967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.38710568099999 meters 0.039041856756830216 Centerline is valid? [True, True] Translation: X:53.13, Y:1.64, Z:1.81 [[ 9.91794220e-01 -1.17164954e-01 -5.11526926e-02 5.31277745e+01] [ 1.17152109e-01 9.93108633e-01 -3.25969956e-03 1.63651579e+00] [ 5.11821032e-02 -2.75969465e-03 9.98685524e-01 1.80953065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.41710568099999 meters 0.03854803070082258 Centerline is valid? [True, True] Translation: X:53.16, Y:1.64, Z:1.81 [[ 9.91175827e-01 -1.21823244e-01 -5.22453656e-02 5.31583619e+01] [ 1.21816329e-01 9.92547078e-01 -3.32859888e-03 1.64055159e+00] [ 5.22614856e-02 -3.06511189e-03 9.98628731e-01 1.81109644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.44710568099999 meters 0.043742191785081555 Centerline is valid? [True, True] Translation: X:53.19, Y:1.64, Z:1.81 [[ 9.89987069e-01 -1.30331298e-01 -5.42158248e-02 5.31884774e+01] [ 1.30336600e-01 9.91463790e-01 -3.45311544e-03 1.63814726e+00] [ 5.42030762e-02 -3.64776665e-03 9.98523270e-01 1.81035626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.47710568099999 meters 0.05004007937334657 Centerline is valid? [True, True] Translation: X:53.22, Y:1.63, Z:1.81 [[ 9.89494732e-01 -1.33717275e-01 -5.49533035e-02 5.32193166e+01] [ 1.33727958e-01 9.91011901e-01 -3.49936343e-03 1.63360369e+00] [ 5.49273031e-02 -3.88619136e-03 9.98482793e-01 1.80938774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.50710568099999 meters 0.05459919693266646 Centerline is valid? [True, True] Translation: X:53.25, Y:1.63, Z:1.81 [[ 9.88799069e-01 -1.38774233e-01 -5.49373579e-02 5.32492459e+01] [ 1.38792689e-01 9.90315280e-01 -3.49784005e-03 1.63456085e+00] [ 5.48907150e-02 -4.16624263e-03 9.98483676e-01 1.80907434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.537105680999986 meters 0.05655461919010543 Centerline is valid? [True, True] Translation: X:53.28, Y:1.64, Z:1.81 [[ 9.88208355e-01 -1.42918679e-01 -5.49408590e-02 5.32797149e+01] [ 1.42943464e-01 9.89724672e-01 -3.49862342e-03 1.64089937e+00] [ 5.48763423e-02 -4.39606779e-03 9.98483481e-01 1.81088787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.56710568099999 meters 0.05881386666238692 Centerline is valid? [True, True] Translation: X:53.31, Y:1.64, Z:1.81 [[ 9.87809044e-01 -1.45730279e-01 -5.47355354e-02 5.33106023e+01] [ 1.45759189e-01 9.89313961e-01 -3.48502727e-03 1.64328161e+00] [ 5.46585033e-02 -4.53566577e-03 9.98494805e-01 1.81237162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.59710568099999 meters 0.05679141684766848 Centerline is valid? [True, True] Translation: X:53.34, Y:1.66, Z:1.81 [[ 9.87162484e-01 -1.49658939e-01 -5.57891717e-02 5.33406788e+01] [ 1.49695248e-01 9.88725807e-01 -3.55126829e-03 1.65521094e+00] [ 5.56916728e-02 -4.84569506e-03 9.98436256e-01 1.81450158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.62710568099999 meters 0.05713642890856613 Centerline is valid? [True, True] Translation: X:53.37, Y:1.67, Z:1.82 [[ 9.87197476e-01 -1.50017825e-01 -5.41829897e-02 5.33716987e+01] [ 1.50052684e-01 9.88671992e-01 -3.44741329e-03 1.66701192e+00] [ 5.40863778e-02 -4.72702536e-03 9.98525072e-01 1.81800654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.65710568099999 meters 0.054801586997000926 Centerline is valid? [True, True] Translation: X:53.40, Y:1.68, Z:1.82 [[ 9.87514429e-01 -1.48612960e-01 -5.22440472e-02 5.34017966e+01] [ 1.48643599e-01 9.88885259e-01 -3.32030708e-03 1.68377272e+00] [ 5.21568088e-02 -4.48689204e-03 9.98628827e-01 1.82283741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.68710568099999 meters 0.05212585066605937 Centerline is valid? [True, True] Translation: X:53.43, Y:1.69, Z:1.82 [[ 9.87561810e-01 -1.48243265e-01 -5.23985363e-02 5.34332515e+01] [ 1.48273729e-01 9.88940762e-01 -3.32711392e-03 1.69496669e+00] [ 5.23122707e-02 -4.48359571e-03 9.98620711e-01 1.82425402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.717105680999985 meters 0.04999104718732256 Centerline is valid? [True, True] Translation: X:53.46, Y:1.71, Z:1.82 [[ 9.87790837e-01 -1.46305046e-01 -5.35172545e-02 5.34642105e+01] [ 1.46334276e-01 9.89229380e-01 -3.39317031e-03 1.71102897e+00] [ 5.34372784e-02 -4.47966615e-03 9.98561160e-01 1.82441776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.74710568099999 meters 0.056395128375693916 Centerline is valid? [True, True] Translation: X:53.49, Y:1.71, Z:1.82 [[ 9.88221796e-01 -1.43578054e-01 -5.29435913e-02 5.34937755e+01] [ 1.43602956e-01 9.89629702e-01 -3.35329590e-03 1.70863079e+00] [ 5.28760102e-02 -4.28905611e-03 9.98591874e-01 1.82352997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.77710568099999 meters 0.04395165490104398 Centerline is valid? [True, True] Translation: X:53.52, Y:1.74, Z:1.83 [[ 9.89853042e-01 -1.31782254e-01 -5.31450217e-02 5.35227858e+01] [ 1.31790443e-01 9.91271885e-01 -3.36574199e-03 1.73892511e+00] [ 5.31247110e-02 -3.67241600e-03 9.98581133e-01 1.82680272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.80710568099999 meters 0.041662094417287646 Centerline is valid? [True, True] Translation: X:53.55, Y:1.75, Z:1.83 [[ 9.91104485e-01 -1.22570800e-01 -5.18488028e-02 5.35522183e+01] [ 1.22566061e-01 9.92454927e-01 -3.28302868e-03 1.75042822e+00] [ 5.18600032e-02 -3.10107909e-03 9.98649550e-01 1.82852302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.83710568099999 meters 0.02911180872931664 Centerline is valid? [True, True] Translation: X:53.58, Y:1.79, Z:1.84 [[ 9.93274479e-01 -1.04759839e-01 -4.93070620e-02 5.35803091e+01] [ 1.04733615e-01 9.94495410e-01 -3.12230712e-03 1.78500387e+00] [ 4.93627393e-02 -2.06279887e-03 9.98778787e-01 1.83535064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.86710568099999 meters 0.026092063438500887 Centerline is valid? [True, True] Translation: X:53.61, Y:1.80, Z:1.84 [[ 9.94288114e-01 -9.43040548e-02 -4.99789112e-02 5.36084893e+01] [ 9.42638947e-02 9.95542214e-01 -3.16528306e-03 1.80192474e+00] [ 5.00546149e-02 -1.56400349e-03 9.98745258e-01 1.83565729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.897105680999985 meters 0.026031499009920963 Centerline is valid? [True, True] Translation: X:53.64, Y:1.81, Z:1.83 [[ 9.94496800e-01 -9.19248895e-02 -5.02586232e-02 5.36411145e+01] [ 9.18812952e-02 9.95764883e-01 -3.18199769e-03 1.80655944e+00] [ 5.03382769e-02 -1.45334087e-03 9.98731168e-01 1.83456150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.927105680999986 meters 0.02684233596105086 Centerline is valid? [True, True] Translation: X:53.67, Y:1.81, Z:1.83 [[ 9.94254067e-01 -9.42135042e-02 -5.08199319e-02 5.36730862e+01] [ 9.41722350e-02 9.95550741e-01 -3.21126305e-03 1.80906634e+00] [ 5.08963652e-02 -1.59301523e-03 9.98702670e-01 1.83214307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.95710568099999 meters 0.028276032487351086 Centerline is valid? [True, True] Translation: X:53.70, Y:1.81, Z:1.84 [[ 9.93200918e-01 -1.03926220e-01 -5.24526154e-02 5.37033278e+01] [ 1.03895948e-01 9.94582661e-01 -3.31090609e-03 1.81170242e+00] [ 5.25125517e-02 -2.16121923e-03 9.98617925e-01 1.83509390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.98710568099999 meters 0.03262530723997438 Centerline is valid? [True, True] Translation: X:53.73, Y:1.81, Z:1.84 [[ 9.92471233e-01 -1.09978575e-01 -5.39032950e-02 5.37337076e+01] [ 1.09955503e-01 9.93930687e-01 -3.40251274e-03 1.80756936e+00] [ 5.39503425e-02 -2.55006789e-03 9.98540364e-01 1.83528453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.01710568099999 meters 0.03920160010232606 Centerline is valid? [True, True] Translation: X:53.76, Y:1.80, Z:1.83 [[ 9.91034856e-01 -1.21371532e-01 -5.58468071e-02 5.37637864e+01] [ 1.21364730e-01 9.92601718e-01 -3.52595191e-03 1.79971876e+00] [ 5.58615869e-02 -3.28349144e-03 9.98433123e-01 1.83408456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.04710568099999 meters 0.04326759490068251 Centerline is valid? [True, True] Translation: X:53.80, Y:1.80, Z:1.83 [[ 9.89940185e-01 -1.29164487e-01 -5.77491620e-02 5.37953198e+01] [ 1.29170404e-01 9.91615708e-01 -3.64613346e-03 1.79582631e+00] [ 5.77359271e-02 -3.85002855e-03 9.98324466e-01 1.83195235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.07710568099999 meters 0.04564135068841103 Centerline is valid? [True, True] Translation: X:53.83, Y:1.79, Z:1.83 [[ 9.89490902e-01 -1.32064605e-01 -5.88786477e-02 5.38251101e+01] [ 1.32076029e-01 9.91232628e-01 -3.71469810e-03 1.79495835e+00] [ 5.88530169e-02 -4.10079799e-03 9.98258236e-01 1.83168058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.107105680999986 meters 0.049495066557205335 Centerline is valid? [True, True] Translation: X:53.85, Y:1.79, Z:1.83 [[ 9.88764017e-01 -1.37030621e-01 -5.97354773e-02 5.38545069e+01] [ 1.37051668e-01 9.90556749e-01 -3.76406540e-03 1.79376724e+00] [ 5.96871724e-02 -4.46507440e-03 9.98207145e-01 1.83172872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.13710568099999 meters 0.05100728310277321 Centerline is valid? [True, True] Translation: X:53.89, Y:1.80, Z:1.83 [[ 9.88756543e-01 -1.37769990e-01 -5.81371522e-02 5.38857747e+01] [ 1.37791413e-01 9.90454510e-01 -3.65939387e-03 1.79551363e+00] [ 5.80863592e-02 -4.39255070e-03 9.98301898e-01 1.83435485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.16710568099999 meters 0.05106135481302873 Centerline is valid? [True, True] Translation: X:53.92, Y:1.80, Z:1.84 [[ 9.88913775e-01 -1.36603373e-01 -5.82156619e-02 5.39172167e+01] [ 1.36623078e-01 9.90616342e-01 -3.66034349e-03 1.80292014e+00] [ 5.81694013e-02 -4.33383882e-03 9.98297320e-01 1.83776323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.19710568099999 meters 0.045682102518303916 Centerline is valid? [True, True] Translation: X:53.95, Y:1.82, Z:1.84 [[ 9.89101413e-01 -1.34603984e-01 -5.96670942e-02 5.39488331e+01] [ 1.34621668e-01 9.90890007e-01 -3.74178120e-03 1.81510429e+00] [ 5.96271860e-02 -4.33148266e-03 9.98211319e-01 1.83997273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.22710568099999 meters 0.041585165043389966 Centerline is valid? [True, True] Translation: X:53.98, Y:1.83, Z:1.84 [[ 9.89858030e-01 -1.28911423e-01 -5.96902417e-02 5.39788921e+01] [ 1.28919478e-01 9.91648042e-01 -3.73225492e-03 1.82760118e+00] [ 5.96728416e-02 -4.00083232e-03 9.98209971e-01 1.84064964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.25710568099999 meters 0.04039865444457569 Centerline is valid? [True, True] Translation: X:54.01, Y:1.84, Z:1.84 [[ 9.91512245e-01 -1.16116200e-01 -5.84850083e-02 5.40078854e+01] [ 1.16101731e-01 9.93230595e-01 -3.65690645e-03 1.83700165e+00] [ 5.85137256e-02 -3.16434319e-03 9.98281589e-01 1.84149159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.287105680999986 meters 0.04039865444457569 Centerline is valid? [True, True] Translation: X:54.04, Y:1.84, Z:1.84 [[ 9.91525804e-01 -1.16000283e-01 -5.84851658e-02 5.40404133e+01] [ 1.15985761e-01 9.93244154e-01 -3.65438372e-03 1.83890155e+00] [ 5.85139586e-02 -3.16003074e-03 9.98281589e-01 1.84269850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.31710568099999 meters 0.030221544610465497 Centerline is valid? [True, True] Translation: X:54.07, Y:1.86, Z:1.85 [[ 9.92752686e-01 -1.05844099e-01 -5.69133658e-02 5.40692629e+01] [ 1.05813924e-01 9.94379604e-01 -3.55199712e-03 1.86147049e+00] [ 5.69694481e-02 -2.49597189e-03 9.98372802e-01 1.85079196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.34710568099999 meters 0.02151596041524797 Centerline is valid? [True, True] Translation: X:54.10, Y:1.89, Z:1.86 [[ 9.95127201e-01 -8.28159390e-02 -5.35105034e-02 5.40977076e+01] [ 8.27559460e-02 9.96564248e-01 -3.33973675e-03 1.88950660e+00] [ 5.36032380e-02 -1.10484944e-03 9.98561702e-01 1.85880943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.37710568099999 meters 0.01891275780601306 Centerline is valid? [True, True] Translation: X:54.13, Y:1.91, Z:1.86 [[ 9.96452315e-01 -6.51277583e-02 -5.33025303e-02 5.41266785e+01] [ 6.50429095e-02 9.97876922e-01 -3.32684616e-03 1.90753480e+00] [ 5.34060349e-02 -1.51908096e-04 9.98572868e-01 1.85927794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.40710568099999 meters 0.019232474347074497 Centerline is valid? [True, True] Translation: X:54.16, Y:1.91, Z:1.86 [[ 9.96761160e-01 -5.93544264e-02 -5.42608614e-02 5.41574247e+01] [ 5.92580056e-02 9.98236959e-01 -3.38556570e-03 1.91442142e+00] [ 5.43661456e-02 1.59209971e-04 9.98521055e-01 1.85776769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43710568099999 meters 0.019603870974186633 Centerline is valid? [True, True] Translation: X:54.19, Y:1.92, Z:1.86 [[ 9.97079287e-01 -5.32391643e-02 -5.47584438e-02 5.41889338e+01] [ 5.31319393e-02 9.98581668e-01 -3.41312354e-03 1.91882267e+00] [ 5.48624900e-02 4.93732476e-04 9.98493797e-01 1.85943836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.467105680999985 meters 0.019756145800213325 Centerline is valid? [True, True] Translation: X:54.22, Y:1.92, Z:1.86 [[ 9.97162466e-01 -5.15431786e-02 -5.48663578e-02 5.42207707e+01] [ 5.14331792e-02 9.98670596e-01 -3.41595554e-03 1.91938465e+00] [ 5.49694874e-02 5.84311443e-04 9.98487864e-01 1.86045797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.49710568099999 meters 0.020127943505242996 Centerline is valid? [True, True] Translation: X:54.25, Y:1.92, Z:1.86 [[ 9.97123172e-01 -4.98837898e-02 -5.70700277e-02 5.42535235e+01] [ 4.97623412e-02 9.98754785e-01 -3.54810192e-03 1.91556268e+00] [ 5.71759560e-02 6.97956456e-04 9.98363873e-01 1.86012035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.52710568099999 meters 0.02078593557731601 Centerline is valid? [True, True] Translation: X:54.29, Y:1.91, Z:1.86 [[ 9.97172404e-01 -4.80739980e-02 -5.77588796e-02 5.42861820e+01] [ 4.79468565e-02 9.98843451e-01 -3.58587168e-03 1.91075854e+00] [ 5.78644659e-02 8.06375567e-04 9.98324122e-01 1.86005975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.55710568099999 meters 0.021333173023503058 Centerline is valid? [True, True] Translation: X:54.32, Y:1.91, Z:1.86 [[ 9.97193817e-01 -4.66002866e-02 -5.85909950e-02 5.43179689e+01] [ 4.64671820e-02 9.98913211e-01 -3.63290132e-03 1.90951780e+00] [ 5.86966132e-02 9.00148302e-04 9.98275462e-01 1.86088378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.58710568099999 meters 0.022850521882048242 Centerline is valid? [True, True] Translation: X:54.35, Y:1.90, Z:1.86 [[ 9.97085662e-01 -4.56437351e-02 -6.11296317e-02 5.43506719e+01] [ 4.54973588e-02 9.98957288e-01 -3.78503367e-03 1.90480239e+00] [ 6.12386542e-02 9.92766022e-04 9.98122659e-01 1.85750278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.61710568099999 meters 0.022396731807996614 Centerline is valid? [True, True] Translation: X:54.38, Y:1.89, Z:1.86 [[ 9.96980902e-01 -4.87996125e-02 -6.03960128e-02 5.43837486e+01] [ 4.86629042e-02 9.98808282e-01 -3.73320925e-03 1.89208202e+00] [ 6.05062170e-02 7.82892940e-04 9.98167513e-01 1.85567214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.647105680999985 meters 0.022029802167311187 Centerline is valid? [True, True] Translation: X:54.42, Y:1.89, Z:1.86 [[ 9.96968340e-01 -5.10676339e-02 -5.87045579e-02 5.44152836e+01] [ 5.09428363e-02 9.98695005e-01 -3.62145608e-03 1.88569158e+00] [ 5.88128880e-02 6.19900377e-04 9.98268831e-01 1.85663900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.677105680999986 meters 0.021190570934711033 Centerline is valid? [True, True] Translation: X:54.45, Y:1.87, Z:1.86 [[ 9.96642856e-01 -5.78362721e-02 -5.79481055e-02 5.44482970e+01] [ 5.77265892e-02 9.98326060e-01 -3.56637848e-03 1.86983256e+00] [ 5.80573699e-02 2.09259146e-04 9.98313226e-01 1.85822669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.70710568099999 meters 0.02150934524936725 Centerline is valid? [True, True] Translation: X:54.48, Y:1.85, Z:1.86 [[ 9.95990796e-01 -6.70691154e-02 -5.91951651e-02 5.44812562e+01] [ 6.69713407e-02 9.97748273e-01 -3.63636345e-03 1.85199908e+00] [ 5.93057615e-02 -3.42595048e-04 9.98239805e-01 1.85801700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.73710568099999 meters 0.022243668473282754 Centerline is valid? [True, True] Translation: X:54.51, Y:1.84, Z:1.86 [[ 9.95633889e-01 -7.21164882e-02 -5.92652660e-02 5.45126022e+01] [ 7.20279500e-02 9.97396002e-01 -3.63162185e-03 1.84353457e+00] [ 5.93728393e-02 -6.52989837e-04 9.98235663e-01 1.85897479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.76710568099999 meters 0.025094332895794703 Centerline is valid? [True, True] Translation: X:54.54, Y:1.82, Z:1.86 [[ 9.94925963e-01 -8.18090636e-02 -5.85628246e-02 5.45444986e+01] [ 8.17397766e-02 9.96647270e-01 -3.58169105e-03 1.82263860e+00] [ 5.86594941e-02 -1.22339478e-03 9.98277300e-01 1.85884841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.79710568099999 meters 0.026142254576099526 Centerline is valid? [True, True] Translation: X:54.58, Y:1.81, Z:1.86 [[ 9.94690105e-01 -8.48618005e-02 -5.82243137e-02 5.45769076e+01] [ 8.47987380e-02 9.96391749e-01 -3.55748683e-03 1.81426219e+00] [ 5.83161205e-02 -1.39875137e-03 9.98297187e-01 1.86021140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.82710568099999 meters 0.02647973291767725 Centerline is valid? [True, True] Translation: X:54.61, Y:1.80, Z:1.87 [[ 9.94858683e-01 -8.52115924e-02 -5.47282821e-02 5.46090402e+01] [ 8.51566334e-02 9.96361980e-01 -3.33967530e-03 1.80272447e+00] [ 5.48137585e-02 -1.33797128e-03 9.98495699e-01 1.86640249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.857105680999986 meters 0.023368925764835846 Centerline is valid? [True, True] Translation: X:54.64, Y:1.81, Z:1.87 [[ 9.95472700e-01 -7.85778710e-02 -5.34754289e-02 5.46405868e+01] [ 7.85160214e-02 9.96907523e-01 -3.25971765e-03 1.80507597e+00] [ 5.35661990e-02 -9.53717991e-04 9.98563845e-01 1.87452895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.88710568099999 meters 0.022627546258203818 Centerline is valid? [True, True] Translation: X:54.67, Y:1.81, Z:1.88 [[ 9.95872880e-01 -7.31098405e-02 -5.37787819e-02 5.46722798e+01] [ 7.30395423e-02 9.97323672e-01 -3.27406367e-03 1.80709372e+00] [ 5.38742185e-02 -6.67426395e-04 9.98547507e-01 1.87512368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.91710568099999 meters 0.02118431651311313 Centerline is valid? [True, True] Translation: X:54.70, Y:1.81, Z:1.88 [[ 9.96739502e-01 -6.19796313e-02 -5.16613005e-02 5.47035661e+01] [ 6.19000161e-02 9.98077412e-01 -3.14120686e-03 1.80984455e+00] [ 5.17566679e-02 -6.68703666e-05 9.98659723e-01 1.87586639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.94710568099999 meters 0.021385028704013712 Centerline is valid? [True, True] Translation: X:54.74, Y:1.81, Z:1.88 [[ 9.97227646e-01 -5.43990149e-02 -5.07717376e-02 5.47356756e+01] [ 5.43124476e-02 9.98519227e-01 -3.08415743e-03 1.81018427e+00] [ 5.08643313e-02 3.18069715e-04 9.98705521e-01 1.87541556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.97710568099999 meters 0.02189263072841438 Centerline is valid? [True, True] Translation: X:54.77, Y:1.81, Z:1.87 [[ 9.97308209e-01 -5.22365157e-02 -5.14556329e-02 5.47666839e+01] [ 5.21450148e-02 9.98634649e-01 -3.12003305e-03 1.81136694e+00] [ 5.15483576e-02 4.28479837e-04 9.98670408e-01 1.87451452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.00710568099999 meters 0.02204734986940258 Centerline is valid? [True, True] Translation: X:54.80, Y:1.81, Z:1.87 [[ 9.97333397e-01 -5.01417878e-02 -5.30273218e-02 5.47994404e+01] [ 5.00420298e-02 9.98741960e-01 -3.20815677e-03 1.80889633e+00] [ 5.31214740e-02 5.46007072e-04 9.98587908e-01 1.87367535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.037105680999986 meters 0.022142256842277313 Centerline is valid? [True, True] Translation: X:54.83, Y:1.81, Z:1.88 [[ 9.97327639e-01 -4.97570343e-02 -5.34959601e-02 5.48310351e+01] [ 4.96551743e-02 9.98761191e-01 -3.23233938e-03 1.80685347e+00] [ 5.35905204e-02 5.67350177e-04 9.98562834e-01 1.87519660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.06710568099999 meters 0.02246639703204272 Centerline is valid? [True, True] Translation: X:54.86, Y:1.80, Z:1.88 [[ 9.97295608e-01 -4.86201982e-02 -5.51139493e-02 5.48616293e+01] [ 4.85104645e-02 9.98817130e-01 -3.32789841e-03 1.80191933e+00] [ 5.52105598e-02 6.45295184e-04 9.98474525e-01 1.87508388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.09710568099999 meters 0.022684754079103055 Centerline is valid? [True, True] Translation: X:54.89, Y:1.80, Z:1.88 [[ 9.97422248e-01 -4.69285377e-02 -5.42823236e-02 5.48926870e+01] [ 4.68196366e-02 9.98897985e-01 -3.27684028e-03 1.79702791e+00] [ 5.43762810e-02 7.26914737e-04 9.98520251e-01 1.87742609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.12710568099999 meters 0.023255775352123344 Centerline is valid? [True, True] Translation: X:54.92, Y:1.80, Z:1.88 [[ 9.97582173e-01 -4.47807896e-02 -5.31459252e-02 5.49233479e+01] [ 4.46733594e-02 9.98996496e-01 -3.20823976e-03 1.79760421e+00] [ 5.32362605e-02 8.26275768e-04 9.98581603e-01 1.88029163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.15710568099999 meters 0.025190437886134964 Centerline is valid? [True, True] Translation: X:54.95, Y:1.80, Z:1.88 [[ 9.97885038e-01 -3.79295205e-02 -5.27901823e-02 5.49535059e+01] [ 3.78139456e-02 9.99279716e-01 -3.18676476e-03 1.79923793e+00] [ 5.28730308e-02 1.18381979e-03 9.98600541e-01 1.88220713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.18710568099999 meters 0.02752241364557764 Centerline is valid? [True, True] Translation: X:54.98, Y:1.80, Z:1.88 [[ 9.97982186e-01 -3.32874653e-02 -5.40694034e-02 5.49820482e+01] [ 3.31593231e-02 9.99444743e-01 -3.26558836e-03 1.79622197e+00] [ 5.41480842e-02 1.46609419e-03 9.98531840e-01 1.87804443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.217105680999985 meters 0.027288487423801525 Centerline is valid? [True, True] Translation: X:55.01, Y:1.79, Z:1.88 [[ 9.97969034e-01 -3.32689259e-02 -5.43229779e-02 5.50114762e+01] [ 3.31390516e-02 9.99445336e-01 -3.29005504e-03 1.79320585e+00] [ 5.44023034e-02 1.48316108e-03 9.98517997e-01 1.87775341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.24710568099999 meters 0.026942992345674776 Centerline is valid? [True, True] Translation: X:55.04, Y:1.79, Z:1.88 [[ 9.97749482e-01 -3.64091045e-02 -5.63058374e-02 5.50397543e+01] [ 3.62736596e-02 9.99336022e-01 -3.42601302e-03 1.78705233e+00] [ 5.63931896e-02 1.37588394e-03 9.98407690e-01 1.87638795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27710568099999 meters 0.026331723467005665 Centerline is valid? [True, True] Translation: X:55.07, Y:1.78, Z:1.88 [[ 9.97629766e-01 -3.90692859e-02 -5.66431023e-02 5.50686365e+01] [ 3.89357765e-02 9.99235728e-01 -3.45914595e-03 1.78302059e+00] [ 5.67349579e-02 1.24550379e-03 9.98388498e-01 1.87654064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.30710568099999 meters 0.023945427948704627 Centerline is valid? [True, True] Translation: X:55.10, Y:1.77, Z:1.88 [[ 9.97578510e-01 -4.32996493e-02 -5.44266145e-02 5.50982338e+01] [ 4.31819868e-02 9.99061651e-01 -3.33654947e-03 1.76949258e+00] [ 5.45200148e-02 9.78220705e-04 9.98512199e-01 1.88071142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.33710568099999 meters 0.02334942717709823 Centerline is valid? [True, True] Translation: X:55.13, Y:1.76, Z:1.89 [[ 9.97599514e-01 -4.51680425e-02 -5.24886392e-02 5.51267250e+01] [ 4.50609334e-02 9.98979042e-01 -3.22284060e-03 1.76031585e+00] [ 5.25806199e-02 8.49917142e-04 9.98616321e-01 1.88509704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.36710568099999 meters 0.02428578081865481 Centerline is valid? [True, True] Translation: X:55.15, Y:1.76, Z:1.89 [[ 9.97894398e-01 -4.19513029e-02 -4.94657349e-02 5.51544845e+01] [ 4.18519685e-02 9.99119190e-01 -3.04264909e-03 1.75603073e+00] [ 4.95498081e-02 9.66004100e-04 9.98771187e-01 1.88966006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.397105680999985 meters 0.025212613744950416 Centerline is valid? [True, True] Translation: X:55.18, Y:1.75, Z:1.89 [[ 9.98085583e-01 -3.92275373e-02 -4.78160031e-02 5.51830582e+01] [ 3.91312426e-02 9.99229729e-01 -2.94864417e-03 1.75468923e+00] [ 4.78948398e-02 1.07189962e-03 9.98851809e-01 1.89183012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.427105680999986 meters 0.027677124075573444 Centerline is valid? [True, True] Translation: X:55.21, Y:1.75, Z:1.89 [[ 9.98223965e-01 -3.39201193e-02 -4.89728544e-02 5.52131181e+01] [ 3.38121109e-02 9.99423607e-01 -3.03246741e-03 1.74913334e+00] [ 4.90474885e-02 1.37120606e-03 9.98795506e-01 1.89102344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.45710568099999 meters 0.028919501991218545 Centerline is valid? [True, True] Translation: X:55.24, Y:1.75, Z:1.89 [[ 9.98163901e-01 -3.26691310e-02 -5.10054392e-02 5.52410898e+01] [ 3.25501622e-02 9.99465103e-01 -3.16161486e-03 1.74820118e+00] [ 5.10814438e-02 1.49557450e-03 9.98693371e-01 1.88959435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.48710568099999 meters 0.030547117972095167 Centerline is valid? [True, True] Translation: X:55.27, Y:1.74, Z:1.89 [[ 9.98078286e-01 -3.13601407e-02 -5.34441518e-02 5.52692858e+01] [ 3.12273074e-02 9.99506798e-01 -3.31891085e-03 1.74336558e+00] [ 5.35218746e-02 1.64361589e-03 9.98565325e-01 1.88551115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.51710568099999 meters 0.0308665409719073 Centerline is valid? [True, True] Translation: X:55.30, Y:1.73, Z:1.89 [[ 9.98071668e-01 -3.14630043e-02 -5.35072506e-02 5.52977871e+01] [ 3.13294779e-02 9.99503555e-01 -3.33264013e-03 1.73191337e+00] [ 5.35855421e-02 1.64985947e-03 9.98561900e-01 1.88631087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.54710568099999 meters 0.02789167456637438 Centerline is valid? [True, True] Translation: X:55.33, Y:1.72, Z:1.89 [[ 9.98116662e-01 -3.30161974e-02 -5.17016503e-02 5.53268084e+01] [ 3.28927316e-02 9.99453645e-01 -3.23733188e-03 1.72337017e+00] [ 5.17802872e-02 1.53062639e-03 9.98657328e-01 1.89231009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.577105680999985 meters 0.028030486478149052 Centerline is valid? [True, True] Translation: X:55.36, Y:1.72, Z:1.90 [[ 9.98106070e-01 -3.66125016e-02 -4.94347858e-02 5.53550706e+01] [ 3.65033692e-02 9.99328694e-01 -3.10892516e-03 1.71668693e+00] [ 4.95154255e-02 1.29850084e-03 9.98772515e-01 1.89663736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.607105680999986 meters 0.023016343299335697 Centerline is valid? [True, True] Translation: X:55.39, Y:1.70, Z:1.90 [[ 9.97879433e-01 -4.17567432e-02 -4.99300688e-02 5.53853732e+01] [ 4.16513423e-02 9.99127241e-01 -3.15004181e-03 1.70091112e+00] [ 5.00180273e-02 1.06370756e-03 9.98747749e-01 1.89839701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.63710568099999 meters 0.021803054546776203 Centerline is valid? [True, True] Translation: X:55.41, Y:1.70, Z:1.90 [[ 9.97680126e-01 -4.52336647e-02 -5.08751643e-02 5.54148054e+01] [ 4.51279138e-02 9.98976008e-01 -3.22599459e-03 1.69519637e+00] [ 5.09689920e-02 9.22620656e-04 9.98699810e-01 1.89727037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.66710568099999 meters 0.019143258480848763 Centerline is valid? [True, True] Translation: X:55.44, Y:1.68, Z:1.90 [[ 9.97151344e-01 -5.45456530e-02 -5.20957704e-02 5.54441461e+01] [ 5.44467133e-02 9.98511166e-01 -3.31754971e-03 1.68201040e+00] [ 5.21991664e-02 4.71655679e-04 9.98636583e-01 1.89553571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.69710568099999 meters 0.017817667890405994 Centerline is valid? [True, True] Translation: X:55.47, Y:1.67, Z:1.90 [[ 9.96441754e-01 -6.79279631e-02 -4.98961249e-02 5.54732582e+01] [ 6.78535869e-02 9.97690206e-01 -3.18494329e-03 1.66759266e+00] [ 4.99972218e-02 -2.12020570e-04 9.98749334e-01 1.89945544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.72710568099999 meters 0.018680181251837975 Centerline is valid? [True, True] Translation: X:55.50, Y:1.66, Z:1.90 [[ 9.96075974e-01 -7.49204840e-02 -4.71123717e-02 5.55023214e+01] [ 7.48613131e-02 9.97189377e-01 -3.02161535e-03 1.66073183e+00] [ 4.72063375e-02 -5.17135559e-04 9.98885026e-01 1.90425614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.75710568099999 meters 0.022115331398744408 Centerline is valid? [True, True] Translation: X:55.53, Y:1.65, Z:1.91 [[ 9.95461066e-01 -8.56608253e-02 -4.14667246e-02 5.55316832e+01] [ 8.56238464e-02 9.96323957e-01 -2.67026015e-03 1.64758369e+00] [ 4.15430278e-02 -8.92400437e-04 9.99136317e-01 1.91250921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.787105680999986 meters 0.022695625302207787 Centerline is valid? [True, True] Translation: X:55.56, Y:1.65, Z:1.91 [[ 9.95194352e-01 -8.88221211e-02 -4.12169067e-02 5.55601100e+01] [ 8.87881708e-02 9.96046987e-01 -2.65716354e-03 1.64726237e+00] [ 4.12899906e-02 -1.01517960e-03 9.99146689e-01 1.91433766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.81710568099999 meters 0.02422569705567491 Centerline is valid? [True, True] Translation: X:55.59, Y:1.65, Z:1.91 [[ 9.94766714e-01 -9.17199012e-02 -4.50182651e-02 5.55878123e+01] [ 9.16821015e-02 9.95784081e-01 -2.90803518e-03 1.64693533e+00] [ 4.50951965e-02 -1.23455255e-03 9.98981931e-01 1.91026552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.84710568099999 meters 0.024488091346242708 Centerline is valid? [True, True] Translation: X:55.62, Y:1.65, Z:1.91 [[ 9.94634660e-01 -9.23421681e-02 -4.66349250e-02 5.56161099e+01] [ 9.23019621e-02 9.95726484e-01 -3.01944574e-03 1.64929731e+00] [ 4.67144521e-02 -1.30124969e-03 9.98907437e-01 1.90860655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.87710568099999 meters 0.025275307618125444 Centerline is valid? [True, True] Translation: X:55.64, Y:1.65, Z:1.90 [[ 9.94296220e-01 -9.41900231e-02 -5.00326535e-02 5.56449030e+01] [ 9.41455272e-02 9.95553140e-01 -3.25050467e-03 1.65308967e+00] [ 5.01163304e-02 -1.47838603e-03 9.98742293e-01 1.90482622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.90710568099999 meters 0.02638353065327982 Centerline is valid? [True, True] Translation: X:55.67, Y:1.66, Z:1.90 [[ 9.93854755e-01 -9.77923053e-02 -5.18593467e-02 5.56744425e+01] [ 9.77487226e-02 9.95205380e-01 -3.38214105e-03 1.65589207e+00] [ 5.19414482e-02 -1.70782793e-03 9.98648672e-01 1.90415702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93710568099999 meters 0.02803397000053987 Centerline is valid? [True, True] Translation: X:55.70, Y:1.66, Z:1.91 [[ 9.93664241e-01 -9.98902693e-02 -5.15102850e-02 5.57026307e+01] [ 9.98499075e-02 9.94996828e-01 -3.36279372e-03 1.65644404e+00] [ 5.15884806e-02 -1.80180933e-03 9.98666802e-01 1.90515535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.967105680999985 meters 0.03070062682446406 Centerline is valid? [True, True] Translation: X:55.73, Y:1.66, Z:1.91 [[ 9.93263770e-01 -1.04795319e-01 -4.94471767e-02 5.57317899e+01] [ 1.04763940e-01 9.94491862e-01 -3.23307614e-03 1.65853941e+00] [ 4.95136261e-02 -1.96898364e-03 9.98771507e-01 1.90969317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.99710568099999 meters 0.03341258268522988 Centerline is valid? [True, True] Translation: X:55.76, Y:1.66, Z:1.91 [[ 9.92774840e-01 -1.10162521e-01 -4.75640236e-02 5.57605118e+01] [ 1.10139460e-01 9.93911267e-01 -3.11339840e-03 1.66357450e+00] [ 4.76173988e-02 -2.14777229e-03 9.98863339e-01 1.91273347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.02710568099999 meters 0.03650502446677303 Centerline is valid? [True, True] Translation: X:55.79, Y:1.67, Z:1.92 [[ 9.92335932e-01 -1.15615558e-01 -4.36169779e-02 5.57907984e+01] [ 1.15601263e-01 9.93291587e-01 -2.85838026e-03 1.66822664e+00] [ 4.36548504e-02 -2.20570429e-03 9.99044238e-01 1.91649401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.05710568099999 meters 0.03729539102380622 Centerline is valid? [True, True] Translation: X:55.82, Y:1.67, Z:1.92 [[ 9.92001620e-01 -1.18478691e-01 -4.35383170e-02 5.58203399e+01] [ 1.18467183e-01 9.92953868e-01 -2.85352221e-03 1.67364363e+00] [ 4.35696219e-02 -2.32716309e-03 9.99047683e-01 1.91675084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.08710568099999 meters 0.040036721479478364 Centerline is valid? [True, True] Translation: X:55.85, Y:1.68, Z:1.91 [[ 9.91314679e-01 -1.23524773e-01 -4.51313345e-02 5.58500808e+01] [ 1.23517531e-01 9.92337976e-01 -2.95983357e-03 1.68057065e+00] [ 4.51511499e-02 -2.64038454e-03 9.98976677e-01 1.91414564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.11710568099999 meters 0.0414794828827548 Centerline is valid? [True, True] Translation: X:55.88, Y:1.69, Z:1.91 [[ 9.91088969e-01 -1.25379638e-01 -4.49733387e-02 5.58780126e+01] [ 1.25374281e-01 9.92105126e-01 -2.95095632e-03 1.68532759e+00] [ 4.49882697e-02 -2.71383975e-03 9.98983829e-01 1.91400536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.147105680999985 meters 0.04382728721090729 Centerline is valid? [True, True] Translation: X:55.91, Y:1.70, Z:1.91 [[ 9.90853745e-01 -1.26361541e-01 -4.73457250e-02 5.59055065e+01] [ 1.26356521e-01 9.91980016e-01 -3.11097543e-03 1.69583005e+00] [ 4.73591207e-02 -2.89991943e-03 9.98873718e-01 1.91001253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.177105680999986 meters 0.04382728721090729 Centerline is valid? [True, True] Translation: X:55.93, Y:1.70, Z:1.91 [[ 9.90810182e-01 -1.26702856e-01 -4.73452237e-02 5.59329123e+01] [ 1.26697862e-01 9.91936453e-01 -3.11858585e-03 1.69785057e+00] [ 4.73585870e-02 -2.90861201e-03 9.98873718e-01 1.91103084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.20710568099999 meters 0.04259797459391346 Centerline is valid? [True, True] Translation: X:55.96, Y:1.71, Z:1.91 [[ 9.90656010e-01 -1.26905617e-01 -4.99563162e-02 5.59610655e+01] [ 1.26899447e-01 9.91910070e-01 -3.30806856e-03 1.70744099e+00] [ 4.99719855e-02 -3.06227091e-03 9.98745925e-01 1.90836000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.23710568099999 meters 0.043138054127173725 Centerline is valid? [True, True] Translation: X:55.99, Y:1.72, Z:1.91 [[ 9.90631346e-01 -1.26126296e-01 -5.23611862e-02 5.59881326e+01] [ 1.26117731e-01 9.92009174e-01 -3.48091981e-03 1.71945488e+00] [ 5.23818126e-02 -3.15536572e-03 9.98622145e-01 1.90511436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.26710568099999 meters 0.042053541986184495 Centerline is valid? [True, True] Translation: X:56.02, Y:1.73, Z:1.91 [[ 9.90745530e-01 -1.25249801e-01 -5.23047106e-02 5.60160516e+01] [ 1.25239580e-01 9.92120404e-01 -3.48589322e-03 1.72854250e+00] [ 5.23291781e-02 -3.09698688e-03 9.98625088e-01 1.90653531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.29710568099999 meters 0.04042993159397158 Centerline is valid? [True, True] Translation: X:56.04, Y:1.75, Z:1.91 [[ 9.91223498e-01 -1.22712784e-01 -4.91685888e-02 5.60443136e+01] [ 1.22700081e-01 9.92438350e-01 -3.28806669e-03 1.74870093e+00] [ 4.92002810e-02 -2.77378087e-03 9.98785081e-01 1.91153548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.327105680999985 meters 0.04075463789838617 Centerline is valid? [True, True] Translation: X:56.07, Y:1.75, Z:1.91 [[ 9.91300751e-01 -1.22184415e-01 -4.89263747e-02 5.60736792e+01] [ 1.22171091e-01 9.92503655e-01 -3.27398495e-03 1.75478005e+00] [ 4.89596357e-02 -2.73188484e-03 9.98797022e-01 1.91224850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.357105680999986 meters 0.042189193092798886 Centerline is valid? [True, True] Translation: X:56.10, Y:1.76, Z:1.92 [[ 9.91401895e-01 -1.22838409e-01 -4.50888865e-02 5.61015480e+01] [ 1.22827668e-01 9.92423422e-01 -3.01918144e-03 1.76199614e+00] [ 4.51181385e-02 -2.54494060e-03 9.98978417e-01 1.91589970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.38710568099999 meters 0.0426114730786122 Centerline is valid? [True, True] Translation: X:56.13, Y:1.77, Z:1.92 [[ 9.91370779e-01 -1.23542884e-01 -4.38307377e-02 5.61316780e+01] [ 1.23533316e-01 9.92336078e-01 -2.93723873e-03 1.76830929e+00] [ 4.38576973e-02 -2.50266373e-03 9.99034654e-01 1.91943966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.41710568099999 meters 0.04520482800755147 Centerline is valid? [True, True] Translation: X:56.16, Y:1.78, Z:1.92 [[ 9.91135952e-01 -1.25907221e-01 -4.23898180e-02 5.61604827e+01] [ 1.25900442e-01 9.92038816e-01 -2.84019886e-03 1.78189900e+00] [ 4.24099464e-02 -2.52187363e-03 9.99097111e-01 1.92294137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.44710568099999 meters 0.04107637219025197 Centerline is valid? [True, True] Translation: X:56.19, Y:1.80, Z:1.92 [[ 9.90935967e-01 -1.27239395e-01 -4.30818498e-02 5.61912693e+01] [ 1.27233802e-01 9.91868564e-01 -2.88299553e-03 1.79660508e+00] [ 4.30983631e-02 -2.62460359e-03 9.99067386e-01 1.92398781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.47710568099999 meters 0.041655600784303366 Centerline is valid? [True, True] Translation: X:56.22, Y:1.81, Z:1.92 [[ 9.90489321e-01 -1.29398840e-01 -4.67637226e-02 5.62221385e+01] [ 1.29394762e-01 9.91588229e-01 -3.12714791e-03 1.80692168e+00] [ 4.67750062e-02 -2.95357415e-03 9.98901084e-01 1.91812202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.50710568099999 meters 0.04692829908548636 Centerline is valid? [True, True] Translation: X:56.25, Y:1.81, Z:1.91 [[ 9.90282730e-01 -1.30128504e-01 -4.90580068e-02 5.62530967e+01] [ 1.30125028e-01 9.91492173e-01 -3.27827667e-03 1.80877625e+00] [ 4.90672271e-02 -3.13725373e-03 9.98790551e-01 1.91223642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.537105680999986 meters 0.041912119081760436 Centerline is valid? [True, True] Translation: X:56.28, Y:1.82, Z:1.91 [[ 9.90242719e-01 -1.29991931e-01 -5.02140936e-02 5.62844629e+01] [ 1.29988265e-01 9.91509864e-01 -3.35261861e-03 1.82392823e+00] [ 5.02235825e-02 -3.20733674e-03 9.98732850e-01 1.91431860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.56710568099999 meters 0.04470631314865507 Centerline is valid? [True, True] Translation: X:56.31, Y:1.84, Z:1.91 [[ 9.90052414e-01 -1.30216022e-01 -5.32916979e-02 5.63142973e+01] [ 1.30212558e-01 9.91479739e-01 -3.55197501e-03 1.83771609e+00] [ 5.33001628e-02 -3.42260686e-03 9.98572671e-01 1.91397116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.59710568099999 meters 0.04281316555943742 Centerline is valid? [True, True] Translation: X:56.35, Y:1.85, Z:1.92 [[ 9.89882362e-01 -1.31149164e-01 -5.41553856e-02 5.63452737e+01] [ 1.31147362e-01 9.91356339e-01 -3.60249380e-03 1.84873277e+00] [ 5.41597489e-02 -3.53629090e-03 9.98526022e-01 1.91529930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.62710568099999 meters 0.045538194299816315 Centerline is valid? [True, True] Translation: X:56.38, Y:1.85, Z:1.91 [[ 9.89412813e-01 -1.34661044e-01 -5.41173542e-02 5.63755285e+01] [ 1.34664624e-01 9.90884706e-01 -3.59707816e-03 1.85430135e+00] [ 5.41084449e-02 -3.72869794e-03 9.98528103e-01 1.91365199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.65710568099999 meters 0.04762859328884089 Centerline is valid? [True, True] Translation: X:56.41, Y:1.86, Z:1.92 [[ 9.88704321e-01 -1.40243378e-01 -5.28730597e-02 5.64059077e+01] [ 1.40254764e-01 9.90109214e-01 -3.51350660e-03 1.86217026e+00] [ 5.28428497e-02 -3.94187937e-03 9.98595060e-01 1.91639533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.68710568099999 meters 0.05325731341897767 Centerline is valid? [True, True] Translation: X:56.44, Y:1.87, Z:1.92 [[ 9.88134034e-01 -1.43899089e-01 -5.37045968e-02 5.64354753e+01] [ 1.43916195e-01 9.89583444e-01 -3.56889112e-03 1.86749726e+00] [ 5.36587400e-02 -4.20241844e-03 9.98550489e-01 1.91687117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.717105680999985 meters 0.05296445447655278 Centerline is valid? [True, True] Translation: X:56.47, Y:1.88, Z:1.92 [[ 9.88072896e-01 -1.44479132e-01 -5.32703659e-02 5.64675493e+01] [ 1.44496840e-01 9.89498932e-01 -3.53922610e-03 1.87608234e+00] [ 5.32223145e-02 -4.20038614e-03 9.98573854e-01 1.91881944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.74710568099999 meters 0.05096555148687879 Centerline is valid? [True, True] Translation: X:56.50, Y:1.89, Z:1.92 [[ 9.88174355e-01 -1.44289472e-01 -5.18844106e-02 5.64986262e+01] [ 1.44306232e-01 9.89527089e-01 -3.44272790e-03 1.89281206e+00] [ 5.18377792e-02 -4.08522836e-03 9.98647163e-01 1.92191585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.77710568099999 meters 0.05610687409231305 Centerline is valid? [True, True] Translation: X:56.53, Y:1.89, Z:1.92 [[ 9.88319709e-01 -1.43411855e-01 -5.15479627e-02 5.65296634e+01] [ 1.43427426e-01 9.89654941e-01 -3.41622292e-03 1.89387858e+00] [ 5.15046229e-02 -4.01707115e-03 9.98664677e-01 1.92184589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.80710568099999 meters 0.048973663100702544 Centerline is valid? [True, True] Translation: X:56.56, Y:1.92, Z:1.92 [[ 9.88748324e-01 -1.40884027e-01 -5.02836312e-02 5.65590000e+01] [ 1.40895723e-01 9.90018842e-01 -3.32973835e-03 1.91571762e+00] [ 5.02508493e-02 -3.79247534e-03 9.98729427e-01 1.92259593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.83710568099999 meters 0.04336435869295611 Centerline is valid? [True, True] Translation: X:56.59, Y:1.94, Z:1.92 [[ 9.89234485e-01 -1.36943483e-01 -5.15908534e-02 5.65883080e+01] [ 1.36950524e-01 9.90572001e-01 -3.41532316e-03 1.93529350e+00] [ 5.15721612e-02 -3.68683894e-03 9.98662465e-01 1.92223032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.86710568099999 meters 0.04630488394944578 Centerline is valid? [True, True] Translation: X:56.62, Y:1.94, Z:1.92 [[ 9.89490003e-01 -1.34896119e-01 -5.20823485e-02 5.66190462e+01] [ 1.34900511e-01 9.90853152e-01 -3.44719942e-03 1.93816857e+00] [ 5.20709730e-02 -3.61496606e-03 9.98636844e-01 1.92199711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.897105680999985 meters 0.04272755084664244 Centerline is valid? [True, True] Translation: X:56.65, Y:1.96, Z:1.93 [[ 9.89618689e-01 -1.34278374e-01 -5.12266483e-02 5.66504691e+01] [ 1.34281955e-01 9.90937375e-01 -3.38742946e-03 1.95651695e+00] [ 5.12172589e-02 -3.52655098e-03 9.98681308e-01 1.92716114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.927105680999986 meters 0.04267852167690936 Centerline is valid? [True, True] Translation: X:56.68, Y:1.96, Z:1.93 [[ 9.89837622e-01 -1.32959777e-01 -5.04299558e-02 5.66823620e+01] [ 1.32961945e-01 9.91115560e-01 -3.32675600e-03 1.96386822e+00] [ 5.04242386e-02 -3.41231677e-03 9.98722060e-01 1.93085663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.95710568099999 meters 0.03910655334949852 Centerline is valid? [True, True] Translation: X:56.71, Y:1.98, Z:1.94 [[ 9.90501520e-01 -1.28176642e-01 -4.97743671e-02 5.67120255e+01] [ 1.28173290e-01 9.91746388e-01 -3.27242750e-03 1.98014163e+00] [ 4.97829976e-02 -3.13840000e-03 9.98755127e-01 1.93581635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.98710568099999 meters 0.03751187090323404 Centerline is valid? [True, True] Translation: X:56.74, Y:1.99, Z:1.94 [[ 9.91316746e-01 -1.21547716e-01 -5.01723229e-02 5.67410383e+01] [ 1.21535856e-01 9.92581561e-01 -3.29847484e-03 1.99228224e+00] [ 5.02010447e-02 -2.82790288e-03 9.98735129e-01 1.93524819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.01710568099999 meters 0.0318769744196166 Centerline is valid? [True, True] Translation: X:56.77, Y:2.01, Z:1.94 [[ 9.91904243e-01 -1.16814459e-01 -4.98031583e-02 5.67709558e+01] [ 1.16796798e-01 9.93150434e-01 -3.27472048e-03 2.00633912e+00] [ 4.98445629e-02 -2.56864026e-03 9.98753684e-01 1.93704070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.04710568099999 meters 0.026930708664025048 Centerline is valid? [True, True] Translation: X:56.80, Y:2.03, Z:1.94 [[ 9.93487217e-01 -1.02864652e-01 -4.90103297e-02 5.67993356e+01] [ 1.02830636e-01 9.94693662e-01 -3.22167853e-03 2.02549908e+00] [ 4.90816612e-02 -1.83906692e-03 9.98793076e-01 1.93890153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.077105680999985 meters 0.021343156959376962 Centerline is valid? [True, True] Translation: X:56.83, Y:2.05, Z:1.94 [[ 9.94983592e-01 -8.73952878e-02 -4.86797276e-02 5.68288318e+01] [ 8.73432419e-02 9.96173139e-01 -3.19939439e-03 2.04891281e+00] [ 4.87730490e-02 -1.06850030e-03 9.98809315e-01 1.94258422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.107105680999986 meters 0.019744717798477227 Centerline is valid? [True, True] Translation: X:56.86, Y:2.06, Z:1.94 [[ 9.95522802e-01 -8.09304730e-02 -4.88324574e-02 5.68601584e+01] [ 8.08704020e-02 9.96719463e-01 -3.20787403e-03 2.05921215e+00] [ 4.89318755e-02 -7.55588719e-04 9.98801833e-01 1.94463957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.13710568099999 meters 0.018346377137599765 Centerline is valid? [True, True] Translation: X:56.89, Y:2.07, Z:1.95 [[ 9.96428780e-01 -6.98630050e-02 -4.74220053e-02 5.68906054e+01] [ 6.97939544e-02 9.97556573e-01 -3.11237365e-03 2.07201850e+00] [ 4.75235729e-02 -2.08510592e-04 9.98870095e-01 1.94636824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.16710568099999 meters 0.01822031671767221 Centerline is valid? [True, True] Translation: X:56.92, Y:2.08, Z:1.95 [[ 9.96990349e-01 -6.34545530e-02 -4.45394573e-02 5.69215559e+01] [ 6.33874149e-02 9.97984725e-01 -2.91951883e-03 2.07707527e+00] [ 4.46349549e-02 8.74910342e-05 9.99003360e-01 1.94843012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.19710568099999 meters 0.018211352717811508 Centerline is valid? [True, True] Translation: X:56.95, Y:2.08, Z:1.95 [[ 9.97189019e-01 -6.18914234e-02 -4.22316461e-02 5.69535014e+01] [ 6.18301012e-02 9.98082879e-01 -2.75793456e-03 2.07841042e+00] [ 4.23213754e-02 1.38995111e-04 9.99104040e-01 1.95095201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.22710568099999 meters 0.01831790603960402 Centerline is valid? [True, True] Translation: X:56.99, Y:2.08, Z:1.95 [[ 9.97317865e-01 -6.07162341e-02 -4.08731560e-02 5.69860163e+01] [ 6.06579609e-02 9.98155052e-01 -2.66550762e-03 2.07852633e+00] [ 4.09595867e-02 1.79076072e-04 9.99160788e-01 1.95360495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.257105680999985 meters 0.018464049147784607 Centerline is valid? [True, True] Translation: X:57.02, Y:2.08, Z:1.96 [[ 9.97315212e-01 -6.07326522e-02 -4.09134755e-02 5.70193499e+01] [ 6.06745122e-02 9.98154054e-01 -2.66242220e-03 2.07819470e+00] [ 4.09996474e-02 1.72868988e-04 9.99159146e-01 1.95550541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.287105680999986 meters 0.018287857907224772 Centerline is valid? [True, True] Translation: X:57.05, Y:2.07, Z:1.95 [[ 9.97091392e-01 -6.38204614e-02 -4.16617801e-02 5.70525199e+01] [ 6.37631066e-02 9.97961396e-01 -2.70540361e-03 2.07019588e+00] [ 4.17495083e-02 4.10501264e-05 9.99128108e-01 1.95463428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.31710568099999 meters 0.01835359900199593 Centerline is valid? [True, True] Translation: X:57.09, Y:2.07, Z:1.95 [[ 9.96872188e-01 -6.66217494e-02 -4.25133396e-02 5.70856728e+01] [ 6.65647546e-02 9.97778300e-01 -2.75638884e-03 2.06504927e+00] [ 4.26025231e-02 -8.21226467e-05 9.99092097e-01 1.95361661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.34710568099999 meters 0.019145831465636906 Centerline is valid? [True, True] Translation: X:57.12, Y:2.05, Z:1.95 [[ 9.96318197e-01 -7.35051921e-02 -4.41252375e-02 5.71189303e+01] [ 7.34508014e-02 9.97294756e-01 -2.85488727e-03 2.05189319e+00] [ 4.42157170e-02 -3.96657918e-04 9.99021928e-01 1.95215158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.37710568099999 meters 0.02028955376691238 Centerline is valid? [True, True] Translation: X:57.15, Y:2.04, Z:1.95 [[ 9.95892361e-01 -7.78436653e-02 -4.62468196e-02 5.71510879e+01] [ 7.77887852e-02 9.96965384e-01 -2.98794041e-03 2.04329433e+00] [ 4.63390705e-02 -6.21816884e-04 9.98925575e-01 1.95131172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.40710568099999 meters 0.02211655238360455 Centerline is valid? [True, True] Translation: X:57.18, Y:2.03, Z:1.95 [[ 9.95351105e-01 -8.24118401e-02 -4.98444261e-02 5.71827121e+01] [ 8.23540455e-02 9.96597949e-01 -3.21561886e-03 2.03362616e+00] [ 4.99398579e-02 -9.04220349e-04 9.98751818e-01 1.94754586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43710568099999 meters 0.022186329617510797 Centerline is valid? [True, True] Translation: X:57.21, Y:2.03, Z:1.95 [[ 9.95140135e-01 -8.47476198e-02 -5.01393382e-02 5.72147942e+01] [ 8.46924553e-02 9.96401912e-01 -3.22758642e-03 2.03128711e+00] [ 5.02324627e-02 -1.03452287e-03 9.98737017e-01 1.94835436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.467105680999985 meters 0.024786978001028588 Centerline is valid? [True, True] Translation: X:57.25, Y:2.02, Z:1.95 [[ 9.94710412e-01 -9.02586522e-02 -4.90364265e-02 5.72464652e+01] [ 9.02127665e-02 9.95917525e-01 -3.15266399e-03 2.01664603e+00] [ 4.91207917e-02 -1.28772400e-03 9.98792015e-01 1.94633771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.49710568099999 meters 0.025480010082179188 Centerline is valid? [True, True] Translation: X:57.28, Y:2.01, Z:1.95 [[ 9.94515362e-01 -9.26132963e-02 -4.86001308e-02 5.72785831e+01] [ 9.25711646e-02 9.95701177e-01 -3.12186095e-03 2.01374447e+00] [ 4.86803332e-02 -1.39423204e-03 9.98813437e-01 1.94843918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.52710568099999 meters 0.025238203497934715 Centerline is valid? [True, True] Translation: X:57.31, Y:2.01, Z:1.95 [[ 9.94444626e-01 -9.27002623e-02 -4.98652920e-02 5.73112642e+01] [ 9.26562493e-02 9.95693019e-01 -3.19851592e-03 2.01160333e+00] [ 4.99470264e-02 -1.43958396e-03 9.98750831e-01 1.95235669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.55710568099999 meters 0.02583682459419658 Centerline is valid? [True, True] Translation: X:57.34, Y:2.01, Z:1.95 [[ 9.94646013e-01 -9.05017268e-02 -4.98873365e-02 5.73423305e+01] [ 9.04552017e-02 9.95895403e-01 -3.19415484e-03 2.00896434e+00] [ 4.99716456e-02 -1.33551572e-03 9.98749744e-01 1.95233255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.58710568099999 meters 0.022559171165836753 Centerline is valid? [True, True] Translation: X:57.37, Y:2.01, Z:1.95 [[ 9.95521437e-01 -8.11846572e-02 -4.84367591e-02 5.73721538e+01] [ 8.11300919e-02 9.96698716e-01 -3.09471408e-03 2.00939638e+00] [ 4.85280989e-02 -8.48824509e-04 9.98821457e-01 1.95456380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61710568099999 meters 0.020021098680169325 Centerline is valid? [True, True] Translation: X:57.40, Y:2.02, Z:1.96 [[ 9.96549242e-01 -6.81407374e-02 -4.73967154e-02 5.74034431e+01] [ 6.80737810e-02 9.97675697e-01 -3.02727280e-03 2.01781824e+00] [ 4.74928316e-02 -2.09647211e-04 9.98871557e-01 1.95931804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.647105680999985 meters 0.020076814142609593 Centerline is valid? [True, True] Translation: X:57.44, Y:2.02, Z:1.96 [[ 9.97329568e-01 -5.68602565e-02 -4.58327816e-02 5.74350816e+01] [ 5.67859270e-02 9.98382098e-01 -2.92319620e-03 2.02242480e+00] [ 4.59248423e-02 3.12733015e-04 9.98944849e-01 1.96138196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.677105680999986 meters 0.020995769280978224 Centerline is valid? [True, True] Translation: X:57.47, Y:2.02, Z:1.96 [[ 9.97689633e-01 -5.20126710e-02 -4.37044397e-02 5.74665847e+01] [ 5.19406212e-02 9.98646296e-01 -2.78328753e-03 2.02319158e+00] [ 4.37900430e-02 5.06821370e-04 9.99040627e-01 1.96320937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.70710568099999 meters 0.021508199768879153 Centerline is valid? [True, True] Translation: X:57.50, Y:2.02, Z:1.97 [[ 9.97916109e-01 -4.97426148e-02 -4.10988039e-02 5.74987267e+01] [ 4.96772045e-02 9.98761910e-01 -2.61190889e-03 2.01895232e+00] [ 4.11778430e-02 5.64792277e-04 9.99151673e-01 1.96640594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.73710568099999 meters 0.021297959166867834 Centerline is valid? [True, True] Translation: X:57.53, Y:2.02, Z:1.97 [[ 9.97898812e-01 -5.01520637e-02 -4.10211145e-02 5.75313080e+01] [ 5.00873975e-02 9.98741446e-01 -2.60329700e-03 2.01571035e+00] [ 4.11000479e-02 5.43186114e-04 9.99154888e-01 1.96826800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.76710568099999 meters 0.021160395127901376 Centerline is valid? [True, True] Translation: X:57.56, Y:2.01, Z:1.97 [[ 9.97957131e-01 -4.90811644e-02 -4.08974764e-02 5.75635902e+01] [ 4.90161453e-02 9.98794624e-01 -2.59163463e-03 2.00859345e+00] [ 4.09753800e-02 5.81703617e-04 9.99159987e-01 1.96999122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.79710568099999 meters 0.021463772344527267 Centerline is valid? [True, True] Translation: X:57.60, Y:2.00, Z:1.97 [[ 9.97944205e-01 -4.78386267e-02 -4.26477346e-02 5.75961907e+01] [ 4.77669643e-02 9.98854862e-01 -2.69837639e-03 2.00294206e+00] [ 4.27279837e-02 6.55676259e-04 9.99086528e-01 1.97033677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.827105680999985 meters 0.021307183406007513 Centerline is valid? [True, True] Translation: X:57.63, Y:2.00, Z:1.97 [[ 9.97881807e-01 -4.83340273e-02 -4.35398833e-02 5.76278643e+01] [ 4.82599824e-02 9.98831020e-01 -2.75075180e-03 1.99976123e+00] [ 4.36219409e-02 6.43691177e-04 9.99047903e-01 1.97030921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.857105680999986 meters 0.020224028385322973 Centerline is valid? [True, True] Translation: X:57.66, Y:1.99, Z:1.97 [[ 9.97713545e-01 -5.19582435e-02 -4.32206322e-02 5.76601257e+01] [ 5.18888115e-02 9.98649144e-01 -2.72752429e-03 1.98774518e+00] [ 4.33039647e-02 4.78620694e-04 9.99061829e-01 1.97062751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.88710568099999 meters 0.02005762651385558 Centerline is valid? [True, True] Translation: X:57.69, Y:1.98, Z:1.97 [[ 9.97671665e-01 -5.29359876e-02 -4.30003463e-02 5.76921475e+01] [ 5.28683042e-02 9.98597815e-01 -2.71049937e-03 1.98344841e+00] [ 4.30835348e-02 4.30833026e-04 9.99071381e-01 1.97208877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.91710568099999 meters 0.019523923407820325 Centerline is valid? [True, True] Translation: X:57.72, Y:1.97, Z:1.97 [[ 9.97621652e-01 -5.38209198e-02 -4.30621481e-02 5.77245097e+01] [ 5.37540376e-02 9.98550528e-01 -2.71041132e-03 1.97465005e+00] [ 4.31456076e-02 3.89200684e-04 9.99068719e-01 1.97444552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.94710568099999 meters 0.01931321786241406 Centerline is valid? [True, True] Translation: X:57.76, Y:1.97, Z:1.98 [[ 9.97629032e-01 -5.33256334e-02 -4.35050748e-02 5.77567504e+01] [ 5.32570767e-02 9.98577092e-01 -2.73416551e-03 1.97213552e+00] [ 4.35889722e-02 4.10729782e-04 9.99049465e-01 1.97528811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.97710568099999 meters 0.020691690923200314 Centerline is valid? [True, True] Translation: X:57.79, Y:1.97, Z:1.97 [[ 9.97894239e-01 -4.76905286e-02 -4.39625041e-02 5.77886081e+01] [ 4.76152237e-02 9.98861941e-01 -2.75909094e-03 1.96756393e+00] [ 4.40440547e-02 6.59996483e-04 9.99029372e-01 1.97452155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.007105680999985 meters 0.023801272747990525 Centerline is valid? [True, True] Translation: X:57.82, Y:1.97, Z:1.97 [[ 9.98170688e-01 -3.93351295e-02 -4.59132281e-02 5.78197915e+01] [ 3.92442469e-02 9.99225499e-01 -2.87950663e-03 1.96735134e+00] [ 4.59909341e-02 1.07240905e-03 9.98941282e-01 1.97437485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.037105680999986 meters 0.025066101313884575 Centerline is valid? [True, True] Translation: X:57.85, Y:1.97, Z:1.98 [[ 9.98307355e-01 -3.54374871e-02 -4.61151784e-02 5.78495903e+01] [ 3.53416683e-02 9.99371104e-01 -2.89174385e-03 1.96768643e+00] [ 4.61886529e-02 1.25706182e-03 9.98931944e-01 1.97591731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.06710568099999 meters 0.02749514033457703 Centerline is valid? [True, True] Translation: X:57.88, Y:1.96, Z:1.97 [[ 9.98383965e-01 -3.03110505e-02 -4.80697204e-02 5.78798287e+01] [ 3.02008820e-02 9.99539297e-01 -3.01665695e-03 1.96308361e+00] [ 4.81390126e-02 1.56003398e-03 9.98839427e-01 1.97407191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.09710568099999 meters 0.02749514033457703 Centerline is valid? [True, True] Translation: X:57.91, Y:1.97, Z:1.98 [[ 9.98372365e-01 -3.06913636e-02 -4.80693442e-02 5.79071458e+01] [ 3.05813475e-02 9.99527711e-01 -3.02263639e-03 1.96502855e+00] [ 4.81394104e-02 1.54769132e-03 9.98839427e-01 1.97508673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.12710568099999 meters 0.027058724601693233 Centerline is valid? [True, True] Translation: X:57.94, Y:1.95, Z:1.97 [[ 9.98046821e-01 -3.28172747e-02 -5.31560934e-02 5.79357461e+01] [ 3.26847885e-02 9.99460062e-01 -3.36003160e-03 1.95140543e+00] [ 5.32376595e-02 1.61607319e-03 9.98580563e-01 1.96869311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.15710568099999 meters 0.026329278249274033 Centerline is valid? [True, True] Translation: X:57.96, Y:1.94, Z:1.97 [[ 9.97836050e-01 -3.56982941e-02 -5.52163877e-02 5.79642349e+01] [ 3.55593605e-02 9.99361448e-01 -3.49691524e-03 1.94439337e+00] [ 5.53059631e-02 1.52588866e-03 9.98468288e-01 1.96643966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.18710568099999 meters 0.023257734141492414 Centerline is valid? [True, True] Translation: X:57.99, Y:1.93, Z:1.97 [[ 9.97677359e-01 -4.13383953e-02 -5.41389441e-02 5.79947239e+01] [ 4.12128560e-02 9.99144489e-01 -3.43369351e-03 1.92884089e+00] [ 5.42345711e-02 1.19449776e-03 9.98527508e-01 1.97153579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.217105680999985 meters 0.021838364268099944 Centerline is valid? [True, True] Translation: X:58.02, Y:1.92, Z:1.98 [[ 9.97595815e-01 -4.51921890e-02 -5.25381461e-02 5.80233014e+01] [ 4.50791451e-02 9.98977851e-01 -3.33527837e-03 1.92285926e+00] [ 5.26351728e-02 9.58885029e-04 9.98613348e-01 1.97584726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.24710568099999 meters 0.01891437262415694 Centerline is valid? [True, True] Translation: X:58.05, Y:1.91, Z:1.99 [[ 9.97431426e-01 -5.08918093e-02 -5.04041158e-02 5.80525889e+01] [ 5.07948100e-02 9.98703970e-01 -3.20434586e-03 1.90911138e+00] [ 5.05018655e-02 6.35847775e-04 9.98723764e-01 1.98508876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.27710568099999 meters 0.018342646648617785 Centerline is valid? [True, True] Translation: X:58.08, Y:1.90, Z:1.99 [[ 9.97359941e-01 -5.36514056e-02 -4.89354105e-02 5.80814814e+01] [ 5.35630640e-02 9.98559608e-01 -3.11578485e-03 1.89815396e+00] [ 4.90320905e-02 4.86428469e-04 9.98797085e-01 1.98784598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.30710568099999 meters 0.018042124280461105 Centerline is valid? [True, True] Translation: X:58.11, Y:1.89, Z:1.99 [[ 9.97295759e-01 -5.59569939e-02 -4.76443513e-02 5.81095864e+01] [ 5.58756261e-02 9.98433112e-01 -3.03898712e-03 1.89392335e+00] [ 4.77397505e-02 3.68611010e-04 9.98859740e-01 1.98998246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.33710568099999 meters 0.01672956206900382 Centerline is valid? [True, True] Translation: X:58.14, Y:1.88, Z:2.00 [[ 9.97047306e-01 -6.20209619e-02 -4.52777005e-02 5.81388710e+01] [ 6.19534280e-02 9.98074844e-01 -2.89465757e-03 1.88333592e+00] [ 4.53700633e-02 8.10017734e-05 9.98970245e-01 1.99541361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.36710568099999 meters 0.016790868735507464 Centerline is valid? [True, True] Translation: X:58.17, Y:1.88, Z:2.00 [[ 9.96705142e-01 -6.85183417e-02 -4.34061942e-02 5.81683575e+01] [ 6.84618386e-02 9.97649838e-01 -2.78868054e-03 1.87518643e+00] [ 4.34952583e-02 -1.92175631e-04 9.99053615e-01 1.99861169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.397105680999985 meters 0.016757557639473064 Centerline is valid? [True, True] Translation: X:58.20, Y:1.87, Z:2.00 [[ 9.96529790e-01 -7.10739152e-02 -4.33229340e-02 5.81970678e+01] [ 7.10194300e-02 9.97471010e-01 -2.79741827e-03 1.87300790e+00] [ 4.34121942e-02 -2.89059433e-04 9.99057204e-01 2.00063044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.427105680999986 meters 0.01706246954914978 Centerline is valid? [True, True] Translation: X:58.23, Y:1.87, Z:2.00 [[ 9.96371778e-01 -7.24371729e-02 -4.46781408e-02 5.82266141e+01] [ 7.23799197e-02 9.97372918e-01 -2.89997033e-03 1.86823503e+00] [ 4.47708333e-02 -3.44351649e-04 9.98997224e-01 2.00115419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.45710568099999 meters 0.01680768354160068 Centerline is valid? [True, True] Translation: X:58.25, Y:1.87, Z:2.00 [[ 9.96481458e-01 -7.01004652e-02 -4.59415710e-02 5.82544148e+01] [ 7.00368188e-02 9.97539909e-01 -2.99555200e-03 1.86967859e+00] [ 4.60385401e-02 -2.32589452e-04 9.98939637e-01 2.00199866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.48710568099999 meters 0.016878723983939123 Centerline is valid? [True, True] Translation: X:58.28, Y:1.88, Z:2.00 [[ 9.96956241e-01 -6.15073908e-02 -4.79071459e-02 5.82812484e+01] [ 6.14279696e-02 9.98106612e-01 -3.12971684e-03 1.87690974e+00] [ 4.80089398e-02 1.77352034e-04 9.98846890e-01 2.00435043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.51710568099999 meters 0.018795873148953597 Centerline is valid? [True, True] Translation: X:58.31, Y:1.88, Z:2.01 [[ 9.97552767e-01 -5.19599718e-02 -4.67828958e-02 5.83090940e+01] [ 5.18734507e-02 9.98648971e-01 -3.06240360e-03 1.88250462e+00] [ 4.68788132e-02 6.28118941e-04 9.98900387e-01 2.00880894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.54710568099999 meters 0.020360265850478405 Centerline is valid? [True, True] Translation: X:58.34, Y:1.88, Z:2.01 [[ 9.97795675e-01 -4.80376493e-02 -4.57840060e-02 5.83369938e+01] [ 4.79504187e-02 9.98845205e-01 -3.00225509e-03 1.88430032e+00] [ 4.58753562e-02 8.00274889e-04 9.98946851e-01 2.01141209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.577105680999985 meters 0.022906292044268493 Centerline is valid? [True, True] Translation: X:58.37, Y:1.88, Z:2.01 [[ 9.98045493e-01 -4.22144290e-02 -4.60774937e-02 5.83652510e+01] [ 4.21196360e-02 9.99107990e-01 -3.02665076e-03 1.88269302e+00] [ 4.61641605e-02 1.07996789e-03 9.98933283e-01 2.01357942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.607105680999986 meters 0.023840027972752073 Centerline is valid? [True, True] Translation: X:58.39, Y:1.88, Z:2.01 [[ 9.98066071e-01 -4.09869194e-02 -4.67353184e-02 5.83940837e+01] [ 4.08877454e-02 9.99159010e-01 -3.07643850e-03 1.88236851e+00] [ 4.68221082e-02 1.15958709e-03 9.98902571e-01 2.01355337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.63710568099999 meters 0.02438345730141305 Centerline is valid? [True, True] Translation: X:58.42, Y:1.88, Z:2.01 [[ 9.98013877e-01 -4.04425177e-02 -4.82980720e-02 5.84230585e+01] [ 4.03351892e-02 9.99181096e-01 -3.19517159e-03 1.87886629e+00] [ 4.83877413e-02 1.24071372e-03 9.98827857e-01 2.01187740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.66710568099999 meters 0.024930225794646974 Centerline is valid? [True, True] Translation: X:58.45, Y:1.88, Z:2.01 [[ 9.97809731e-01 -4.07453240e-02 -5.21110272e-02 5.84514656e+01] [ 4.06200179e-02 9.99168669e-01 -3.46187799e-03 1.87591859e+00] [ 5.22087611e-02 1.33754469e-03 9.98635297e-01 2.00690956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.69710568099999 meters 0.025300594866615626 Centerline is valid? [True, True] Translation: X:58.48, Y:1.87, Z:2.00 [[ 9.97550765e-01 -4.12941766e-02 -5.64558470e-02 5.84797137e+01] [ 4.11475739e-02 9.99146016e-01 -3.75723990e-03 1.87004656e+00] [ 5.65627867e-02 1.42501640e-03 9.98398027e-01 2.00323752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.72710568099999 meters 0.02503124037516714 Centerline is valid? [True, True] Translation: X:58.51, Y:1.87, Z:2.00 [[ 9.97402067e-01 -4.22945969e-02 -5.83119503e-02 5.85087004e+01] [ 4.21392456e-02 9.99104168e-01 -3.89178043e-03 1.86736135e+00] [ 5.84243139e-02 1.42444824e-03 9.98290825e-01 2.00288865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.757105680999985 meters 0.023290639100053474 Centerline is valid? [True, True] Translation: X:58.54, Y:1.86, Z:2.01 [[ 9.97340325e-01 -4.44199807e-02 -5.77853047e-02 5.85382257e+01] [ 4.42699271e-02 9.99012091e-01 -3.87493650e-03 1.85936367e+00] [ 5.79003427e-02 1.30647920e-03 9.98321513e-01 2.00648555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.787105680999986 meters 0.022654083330141923 Centerline is valid? [True, True] Translation: X:58.57, Y:1.86, Z:2.01 [[ 9.97448881e-01 -4.51561191e-02 -5.52870188e-02 5.85672451e+01] [ 4.50189309e-02 9.98979189e-01 -3.72494288e-03 1.85796306e+00] [ 5.53987852e-02 1.22647763e-03 9.98463555e-01 2.01082454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.81710568099999 meters 0.02142940219751 Centerline is valid? [True, True] Translation: X:58.60, Y:1.85, Z:2.02 [[ 9.97601272e-01 -4.76034590e-02 -5.02554837e-02 5.85963769e+01] [ 4.74926114e-02 9.98865809e-01 -3.39819612e-03 1.85244909e+00] [ 5.03602503e-02 1.00328061e-03 9.98730614e-01 2.01861362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.84710568099999 meters 0.020111894043097274 Centerline is valid? [True, True] Translation: X:58.63, Y:1.85, Z:2.02 [[ 9.97576417e-01 -5.04853984e-02 -4.78802401e-02 5.86255520e+01] [ 5.03877805e-02 9.98724459e-01 -3.24435887e-03 1.84878059e+00] [ 4.79829597e-02 8.23916865e-04 9.98847815e-01 2.02278421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.87710568099999 meters 0.017319952111109177 Centerline is valid? [True, True] Translation: X:58.66, Y:1.84, Z:2.03 [[ 9.97353207e-01 -5.79663363e-02 -4.38917376e-02 5.86557275e+01] [ 5.78909765e-02 9.98318442e-01 -2.98715493e-03 1.83530178e+00] [ 4.39910856e-02 4.38312997e-04 9.99031827e-01 2.02942098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.90710568099999 meters 0.016138964064723565 Centerline is valid? [True, True] Translation: X:58.68, Y:1.82, Z:2.03 [[ 9.96948646e-01 -6.49431247e-02 -4.33103561e-02 5.86845231e+01] [ 6.48758025e-02 9.97888957e-01 -2.95964950e-03 1.82375154e+00] [ 4.34111350e-02 1.40824452e-04 9.99057282e-01 2.02959793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.937105680999984 meters 0.016203707597247284 Centerline is valid? [True, True] Translation: X:58.71, Y:1.82, Z:2.03 [[ 9.96791415e-01 -6.64662159e-02 -4.45995129e-02 5.87128981e+01] [ 6.63960187e-02 9.97788673e-01 -3.05509759e-03 1.82219837e+00] [ 4.47039495e-02 8.40649546e-05 9.99000275e-01 2.02862613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.967105680999985 meters 0.016746582900442494 Centerline is valid? [True, True] Translation: X:58.74, Y:1.82, Z:2.02 [[ 9.96846928e-01 -6.27803848e-02 -4.85265475e-02 5.87403823e+01] [ 6.26921080e-02 9.98027325e-01 -3.34052563e-03 1.82494973e+00] [ 4.86405399e-02 2.87761154e-04 9.98816307e-01 2.02451017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.99710568099999 meters 0.02050177729632849 Centerline is valid? [True, True] Translation: X:58.77, Y:1.83, Z:2.02 [[ 9.97293575e-01 -5.17381181e-02 -5.22368875e-02 5.87682117e+01] [ 5.16203422e-02 9.98660285e-01 -3.60220840e-03 1.83398121e+00] [ 5.23532765e-02 8.95973285e-04 9.98628225e-01 2.02093590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.02710568099999 meters 0.02307000873199833 Centerline is valid? [True, True] Translation: X:58.80, Y:1.84, Z:2.02 [[ 9.97515246e-01 -4.59594712e-02 -5.33953257e-02 5.87978943e+01] [ 4.58278754e-02 9.98942547e-01 -3.68696665e-03 1.83950273e+00] [ 5.35083136e-02 1.23081111e-03 9.98566645e-01 2.02149979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.05710568099999 meters 0.02673824995899823 Centerline is valid? [True, True] Translation: X:58.83, Y:1.84, Z:2.02 [[ 9.97794586e-01 -3.96238932e-02 -5.32532668e-02 5.88257016e+01] [ 3.94838141e-02 9.99213432e-01 -3.68034325e-03 1.84468857e+00] [ 5.33572091e-02 1.56958448e-03 9.98574256e-01 2.02350963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.08710568099999 meters 0.025951809430165874 Centerline is valid? [True, True] Translation: X:58.85, Y:1.84, Z:2.03 [[ 9.97883079e-01 -4.03377244e-02 -5.10120406e-02 5.88548182e+01] [ 4.02097333e-02 9.99185015e-01 -3.53322924e-03 1.84115853e+00] [ 5.11129889e-02 1.47456913e-03 9.98691788e-01 2.02744468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11710568099999 meters 0.025542235053323904 Centerline is valid? [True, True] Translation: X:58.88, Y:1.84, Z:2.03 [[ 9.97857965e-01 -4.18031780e-02 -5.03187425e-02 5.88839671e+01] [ 4.16796956e-02 9.99124889e-01 -3.50126770e-03 1.83950039e+00] [ 5.04210721e-02 1.39649800e-03 9.98727072e-01 2.02878090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.147105680999985 meters 0.02316237438964996 Centerline is valid? [True, True] Translation: X:58.91, Y:1.83, Z:2.03 [[ 9.97716461e-01 -4.52734457e-02 -5.01216298e-02 5.89129781e+01] [ 4.51544879e-02 9.98973872e-01 -3.50374594e-03 1.83317732e+00] [ 5.02288252e-02 1.23252847e-03 9.98736975e-01 2.03020482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.177105680999986 meters 0.0232723004445329 Centerline is valid? [True, True] Translation: X:58.94, Y:1.83, Z:2.03 [[ 9.97644216e-01 -4.66109015e-02 -5.03333137e-02 5.89412645e+01] [ 4.64918960e-02 9.98912419e-01 -3.53319128e-03 1.83436602e+00] [ 5.04432574e-02 1.18477666e-03 9.98726226e-01 2.02993069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.20710568099999 meters 0.02276340352612917 Centerline is valid? [True, True] Translation: X:58.97, Y:1.83, Z:2.03 [[ 9.97528492e-01 -4.79192697e-02 -5.13872734e-02 5.89696727e+01] [ 4.77963501e-02 9.98850545e-01 -3.61894322e-03 1.83342780e+00] [ 5.15016232e-02 1.15387486e-03 9.98672244e-01 2.02872196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.23710568099999 meters 0.022705452210228474 Centerline is valid? [True, True] Translation: X:59.00, Y:1.83, Z:2.03 [[ 9.97459674e-01 -4.82577349e-02 -5.23964760e-02 5.89989904e+01] [ 4.81293925e-02 9.98834222e-01 -3.70920113e-03 1.83369197e+00] [ 5.25143910e-02 1.17796799e-03 9.98619473e-01 2.02829408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.26710568099999 meters 0.023022162960771655 Centerline is valid? [True, True] Translation: X:59.03, Y:1.83, Z:2.03 [[ 9.97316940e-01 -4.83866549e-02 -5.49331716e-02 5.90280237e+01] [ 4.82447326e-02 9.98827902e-01 -3.90751011e-03 1.83230748e+00] [ 5.50578558e-02 1.24678985e-03 9.98482387e-01 2.02644181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.29710568099999 meters 0.022107035550130997 Centerline is valid? [True, True] Translation: X:59.06, Y:1.83, Z:2.03 [[ 9.97305159e-01 -4.95135372e-02 -5.41371294e-02 5.90565336e+01] [ 4.93763901e-02 9.98772749e-01 -3.86875012e-03 1.83142520e+00] [ 5.42622451e-02 1.18522843e-03 9.98526016e-01 2.02858674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.327105680999985 meters 0.021272673914934488 Centerline is valid? [True, True] Translation: X:59.08, Y:1.83, Z:2.03 [[ 9.97090850e-01 -5.30531227e-02 -5.47284446e-02 5.90846514e+01] [ 5.29174694e-02 9.98591172e-01 -3.92584653e-03 1.82783929e+00] [ 5.48596201e-02 1.01833487e-03 9.98493558e-01 2.02706995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.357105680999986 meters 0.020270902599456027 Centerline is valid? [True, True] Translation: X:59.11, Y:1.83, Z:2.03 [[ 9.96845473e-01 -5.66686465e-02 -5.55676823e-02 5.91126798e+01] [ 5.65340343e-02 9.98392689e-01 -3.99271953e-03 1.82651527e+00] [ 5.57046297e-02 8.38659130e-04 9.98446939e-01 2.02608975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.38710568099999 meters 0.018727916537561527 Centerline is valid? [True, True] Translation: X:59.14, Y:1.82, Z:2.03 [[ 9.96527138e-01 -6.17732054e-02 -5.58366788e-02 5.91421322e+01] [ 6.16446943e-02 9.98090051e-01 -4.02264221e-03 1.82360024e+00] [ 5.59785251e-02 5.66637126e-04 9.98431812e-01 2.02692913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.41710568099999 meters 0.01714196832177436 Centerline is valid? [True, True] Translation: X:59.17, Y:1.81, Z:2.03 [[ 9.95828499e-01 -7.50805278e-02 -5.18508841e-02 5.91719396e+01] [ 7.49870702e-02 9.97177462e-01 -3.74822094e-03 1.81157503e+00] [ 5.19859514e-02 -1.55560647e-04 9.98647804e-01 2.03110414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.44710568099999 meters 0.018353191508229495 Centerline is valid? [True, True] Translation: X:59.20, Y:1.81, Z:2.04 [[ 9.95318873e-01 -8.32625561e-02 -4.90681866e-02 5.92010448e+01] [ 8.31884411e-02 9.96527496e-01 -3.55425821e-03 1.80538647e+00] [ 4.91937338e-02 -5.44285679e-04 9.98789107e-01 2.03502239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.47710568099999 meters 0.024660604898737618 Centerline is valid? [True, True] Translation: X:59.23, Y:1.79, Z:2.04 [[ 9.93933900e-01 -1.00550741e-01 -4.45527968e-02 5.92316032e+01] [ 1.00506473e-01 9.94931135e-01 -3.23823245e-03 1.79215489e+00] [ 4.46525713e-02 -1.25925547e-03 9.99001783e-01 2.04180402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.507105680999985 meters 0.03270228130428187 Centerline is valid? [True, True] Translation: X:59.26, Y:1.78, Z:2.04 [[ 9.92500193e-01 -1.14166568e-01 -4.36962438e-02 5.92613250e+01] [ 1.14137088e-01 9.93459929e-01 -3.17713029e-03 1.78205448e+00] [ 4.37731893e-02 -1.83405959e-03 9.99039811e-01 2.04494600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.537105680999986 meters 0.0347431252692758 Centerline is valid? [True, True] Translation: X:59.29, Y:1.78, Z:2.05 [[ 9.91468710e-01 -1.23678520e-01 -4.11511948e-02 5.92918920e+01] [ 1.23660469e-01 9.92320073e-01 -2.99364808e-03 1.78451584e+00] [ 4.12054066e-02 -2.12066765e-03 9.99148446e-01 2.05057693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.56710568099999 meters 0.03725472242728012 Centerline is valid? [True, True] Translation: X:59.32, Y:1.79, Z:2.05 [[ 9.90980782e-01 -1.27349320e-01 -4.17041981e-02 5.93205100e+01] [ 1.27334000e-01 9.91855254e-01 -3.03434646e-03 1.78628774e+00] [ 4.17509500e-02 -2.30338333e-03 9.99125394e-01 2.05164755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.59710568099999 meters 0.04020933657588309 Centerline is valid? [True, True] Translation: X:59.35, Y:1.79, Z:2.05 [[ 9.90221089e-01 -1.33052873e-01 -4.19419627e-02 5.93508766e+01] [ 1.33042310e-01 9.91105649e-01 -3.05549578e-03 1.79157923e+00] [ 4.19754587e-02 -2.55443925e-03 9.99115377e-01 2.05173720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.62710568099999 meters 0.042027522800040934 Centerline is valid? [True, True] Translation: X:59.38, Y:1.80, Z:2.05 [[ 9.90047938e-01 -1.34753374e-01 -4.05784235e-02 5.93786091e+01] [ 1.34744863e-01 9.90875914e-01 -2.95720637e-03 1.79505080e+00] [ 4.06066760e-02 -2.53995805e-03 9.99171980e-01 2.05395774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.65710568099999 meters 0.044012646720297435 Centerline is valid? [True, True] Translation: X:59.41, Y:1.81, Z:2.06 [[ 9.89843883e-01 -1.37782039e-01 -3.50028273e-02 5.94072376e+01] [ 1.37777392e-01 9.90459921e-01 -2.55634031e-03 1.80599552e+00] [ 3.50211153e-02 -2.29222044e-03 9.99383944e-01 2.06267756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.687105680999984 meters 0.04405953794582959 Centerline is valid? [True, True] Translation: X:59.44, Y:1.82, Z:2.06 [[ 9.89701442e-01 -1.38705226e-01 -3.53824220e-02 5.94350811e+01] [ 1.38701023e-01 9.90330926e-01 -2.58527255e-03 1.81582523e+00] [ 3.53988975e-02 -2.34893013e-03 9.99370502e-01 2.06490026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.717105680999985 meters 0.04212233023578685 Centerline is valid? [True, True] Translation: X:59.46, Y:1.84, Z:2.06 [[ 9.89844360e-01 -1.37269623e-01 -3.69485137e-02 5.94624932e+01] [ 1.37263592e-01 9.90530843e-01 -2.71194679e-03 1.83616337e+00] [ 3.69709104e-02 -2.38728050e-03 9.99313491e-01 2.06381543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.74710568099999 meters 0.04034295023264782 Centerline is valid? [True, True] Translation: X:59.49, Y:1.86, Z:2.06 [[ 9.90969666e-01 -1.28729902e-01 -3.75197642e-02 5.94900334e+01] [ 1.28717451e-01 9.91677475e-01 -2.75736026e-03 1.85504665e+00] [ 3.75624597e-02 -2.09698802e-03 9.99292082e-01 2.06275759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.77710568099999 meters 0.03704516809828929 Centerline is valid? [True, True] Translation: X:59.52, Y:1.87, Z:2.06 [[ 9.91705015e-01 -1.22439148e-01 -3.91128997e-02 5.95183756e+01] [ 1.22420642e-01 9.92474136e-01 -2.87687012e-03 1.87016144e+00] [ 3.91707828e-02 -1.93521976e-03 9.99230656e-01 2.06280767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.80710568099999 meters 0.0273172803922468 Centerline is valid? [True, True] Translation: X:59.55, Y:1.91, Z:2.06 [[ 9.93394333e-01 -1.06141139e-01 -4.36091430e-02 5.95465495e+01] [ 1.06102387e-01 9.94350032e-01 -3.20883363e-03 1.90501692e+00] [ 4.37033420e-02 -1.43939703e-03 9.99043516e-01 2.05868210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.83710568099999 meters 0.02229710937209292 Centerline is valid? [True, True] Translation: X:59.58, Y:1.92, Z:2.06 [[ 9.94141070e-01 -9.75758065e-02 -4.65026278e-02 5.95750223e+01] [ 9.75223119e-02 9.95227452e-01 -3.42315708e-03 1.92407634e+00] [ 4.66147090e-02 -1.13194272e-03 9.98912302e-01 2.05664537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.86710568099999 meters 0.0176116956599916 Centerline is valid? [True, True] Translation: X:59.60, Y:1.95, Z:2.05 [[ 9.95320463e-01 -8.27627792e-02 -4.98748297e-02 5.96033233e+01] [ 8.26825342e-02 9.96569167e-01 -3.67351087e-03 1.95271582e+00] [ 5.00077475e-02 -4.67456776e-04 9.98748720e-01 2.05389638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.897105680999985 meters 0.017189862942572003 Centerline is valid? [True, True] Translation: X:59.63, Y:1.97, Z:2.05 [[ 9.96054397e-01 -7.29763401e-02 -5.04984446e-02 5.96299569e+01] [ 7.28813355e-02 9.97333672e-01 -3.72262195e-03 1.97443271e+00] [ 5.06354625e-02 2.75398715e-05 9.98717202e-01 2.05319208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.927105680999986 meters 0.017826347133458 Centerline is valid? [True, True] Translation: X:59.66, Y:1.99, Z:2.05 [[ 9.96426814e-01 -6.71158872e-02 -5.12743858e-02 5.96580480e+01] [ 6.70096122e-02 9.97745128e-01 -3.79088040e-03 1.98997273e+00] [ 5.14131969e-02 3.41458171e-04 9.98677409e-01 2.05184331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95710568099999 meters 0.018444669593323956 Centerline is valid? [True, True] Translation: X:59.69, Y:2.00, Z:2.05 [[ 9.96551121e-01 -6.56179700e-02 -5.07951210e-02 5.96850381e+01] [ 6.55109485e-02 9.97844726e-01 -3.77075767e-03 1.99736417e+00] [ 5.09330731e-02 4.30116226e-04 9.98701976e-01 2.05117248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.98710568099999 meters 0.018444669593323956 Centerline is valid? [True, True] Translation: X:59.71, Y:2.00, Z:2.05 [[ 9.96527836e-01 -6.59714738e-02 -5.07940686e-02 5.97123582e+01] [ 6.58641910e-02 9.97821418e-01 -3.78488830e-03 1.99964480e+00] [ 5.09331042e-02 4.26236314e-04 9.98701976e-01 2.05218935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.01710568099999 meters 0.018580921141235184 Centerline is valid? [True, True] Translation: X:59.74, Y:2.01, Z:2.05 [[ 9.96695800e-01 -6.44880554e-02 -4.93839332e-02 5.97407125e+01] [ 6.43839876e-02 9.97918351e-01 -3.69682754e-03 2.00759584e+00] [ 4.95195344e-02 5.05077947e-04 9.98773028e-01 2.05492434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.04710568099999 meters 0.018739622800265872 Centerline is valid? [True, True] Translation: X:59.77, Y:2.01, Z:2.06 [[ 9.96702715e-01 -6.44156581e-02 -4.93388349e-02 5.97684879e+01] [ 6.43109996e-02 9.97923018e-01 -3.70742501e-03 2.01215577e+00] [ 4.94751753e-02 5.22170777e-04 9.98775217e-01 2.05512075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.077105680999985 meters 0.018317068159414588 Centerline is valid? [True, True] Translation: X:59.80, Y:2.01, Z:2.05 [[ 9.96440620e-01 -6.73507310e-02 -5.06948604e-02 5.97966292e+01] [ 6.72435398e-02 9.97729283e-01 -3.81896654e-03 2.01302290e+00] [ 5.08369569e-02 3.96471519e-04 9.98706887e-01 2.05483142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.107105680999986 meters 0.017615005865527385 Centerline is valid? [True, True] Translation: X:59.83, Y:2.01, Z:2.06 [[ 9.96165042e-01 -7.11903878e-02 -5.08639240e-02 5.98258016e+01] [ 7.10865468e-02 9.97462721e-01 -3.84998034e-03 2.01273610e+00] [ 5.10089496e-02 2.19475119e-04 9.98698172e-01 2.05744407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.13710568099999 meters 0.017230339589755804 Centerline is valid? [True, True] Translation: X:59.85, Y:2.01, Z:2.06 [[ 9.96094494e-01 -7.27342832e-02 -5.00547960e-02 5.98544487e+01] [ 7.26348581e-02 9.97351342e-01 -3.80488641e-03 2.01378453e+00] [ 5.01989637e-02 1.54303400e-04 9.98739225e-01 2.06102055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.16710568099999 meters 0.016945777653103265 Centerline is valid? [True, True] Translation: X:59.88, Y:2.01, Z:2.06 [[ 9.96061600e-01 -7.52511167e-02 -4.68887858e-02 5.98833708e+01] [ 7.51659633e-02 9.97164614e-01 -3.57913201e-03 2.01259796e+00] [ 4.70251717e-02 4.05952056e-05 9.98893704e-01 2.06408708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.19710568099999 meters 0.016651630009148342 Centerline is valid? [True, True] Translation: X:59.91, Y:2.01, Z:2.07 [[ 9.95907912e-01 -7.79133895e-02 -4.57923086e-02 5.99123069e+01] [ 7.78343020e-02 9.96960129e-01 -3.51032254e-03 2.01057695e+00] [ 4.59266070e-02 -6.82543857e-05 9.98944814e-01 2.06608835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.22710568099999 meters 0.017456100585824984 Centerline is valid? [True, True] Translation: X:59.94, Y:2.00, Z:2.07 [[ 9.95273342e-01 -8.65695523e-02 -4.40078189e-02 5.99415643e+01] [ 8.65043440e-02 9.96245714e-01 -3.38753241e-03 2.00119466e+00] [ 4.41358581e-02 -4.35346799e-04 9.99025443e-01 2.07007481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.257105680999985 meters 0.01954852668635789 Centerline is valid? [True, True] Translation: X:59.97, Y:1.99, Z:2.07 [[ 9.94477866e-01 -9.52303455e-02 -4.41016540e-02 5.99715440e+01] [ 9.51728124e-02 9.95454935e-01 -3.40717454e-03 1.99431375e+00] [ 4.42256755e-02 -8.08918780e-04 9.99021239e-01 2.07272366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.287105680999986 meters 0.02009405969395143 Centerline is valid? [True, True] Translation: X:60.00, Y:1.99, Z:2.07 [[ 9.94165938e-01 -9.70472065e-02 -4.70736378e-02 6.00005375e+01] [ 9.69834428e-02 9.95279331e-01 -3.64202585e-03 1.99260420e+00] [ 4.72048672e-02 -9.44585414e-04 9.98884782e-01 2.07159954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.31710568099999 meters 0.0197512016642764 Centerline is valid? [True, True] Translation: X:60.03, Y:1.99, Z:2.07 [[ 9.94368936e-01 -9.41484627e-02 -4.86465510e-02 6.00282537e+01] [ 9.40762143e-02 9.95557831e-01 -3.77774520e-03 1.99394397e+00] [ 4.87861237e-02 -8.20010883e-04 9.98808912e-01 2.07036522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.34710568099999 meters 0.01679664941525096 Centerline is valid? [True, True] Translation: X:60.06, Y:2.00, Z:2.07 [[ 9.95378391e-01 -8.25920358e-02 -4.89940139e-02 6.00561719e+01] [ 8.25044802e-02 9.96583410e-01 -3.81017919e-03 2.00231344e+00] [ 4.91413119e-02 -2.49655616e-04 9.98791805e-01 2.07116253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.37710568099999 meters 0.01751351095798307 Centerline is valid? [True, True] Translation: X:60.08, Y:2.01, Z:2.08 [[ 9.96464932e-01 -6.92410431e-02 -4.75743331e-02 6.00840857e+01] [ 6.91429451e-02 9.97599877e-01 -3.70653603e-03 2.01240901e+00] [ 4.77167933e-02 4.04003670e-04 9.98860823e-01 2.07536634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.40710568099999 meters 0.01901441056187764 Centerline is valid? [True, True] Translation: X:60.11, Y:2.02, Z:2.08 [[ 9.96903009e-01 -6.32683686e-02 -4.67065803e-02 6.01119643e+01] [ 6.31666568e-02 9.97996311e-01 -3.65191005e-03 2.01888610e+00] [ 4.68440452e-02 6.90301591e-04 9.98901977e-01 2.07807385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.437105680999984 meters 0.022252273828138925 Centerline is valid? [True, True] Translation: X:60.14, Y:2.02, Z:2.08 [[ 9.97422873e-01 -5.42769656e-02 -4.69214683e-02 6.01406526e+01] [ 5.41641117e-02 9.98525287e-01 -3.67419803e-03 2.02499815e+00] [ 4.70516969e-02 1.12326951e-03 9.98891824e-01 2.07976131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.467105680999985 meters 0.027836288082305725 Centerline is valid? [True, True] Translation: X:60.17, Y:2.03, Z:2.08 [[ 9.97776856e-01 -4.62409188e-02 -4.79908584e-02 6.01701018e+01] [ 4.61133583e-02 9.98929128e-01 -3.76236134e-03 2.02982077e+00] [ 4.81134414e-02 1.54097742e-03 9.98840689e-01 2.07711688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.49710568099999 meters 0.027853020688014655 Centerline is valid? [True, True] Translation: X:60.20, Y:2.03, Z:2.08 [[ 9.97893598e-01 -4.27333451e-02 -4.88080746e-02 6.02000126e+01] [ 4.25971375e-02 9.99084997e-01 -3.82791337e-03 2.02813278e+00] [ 4.89269946e-02 1.74076598e-03 9.98800840e-01 2.07798094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.52710568099999 meters 0.03157125319779674 Centerline is valid? [True, True] Translation: X:60.23, Y:2.03, Z:2.08 [[ 9.98107507e-01 -3.47198655e-02 -5.07536801e-02 6.02304315e+01] [ 3.45621254e-02 9.99394616e-01 -3.98256681e-03 2.02829617e+00] [ 5.08612289e-02 2.22087477e-03 9.98703261e-01 2.07767521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.55710568099999 meters 0.03728935282819498 Centerline is valid? [True, True] Translation: X:60.26, Y:2.03, Z:2.08 [[ 9.98297884e-01 -2.72515607e-02 -5.15624593e-02 6.02597600e+01] [ 2.70787637e-02 9.99625111e-01 -4.04697309e-03 2.03180915e+00] [ 5.16534154e-02 2.64383702e-03 9.98661572e-01 2.07789995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.58710568099999 meters 0.038139932649335385 Centerline is valid? [True, True] Translation: X:60.29, Y:2.03, Z:2.08 [[ 9.98388727e-01 -2.47827342e-02 -5.10467093e-02 6.02891909e+01] [ 2.46100577e-02 9.99689090e-01 -4.00857999e-03 2.03136683e+00] [ 5.11301819e-02 2.74585861e-03 9.98688222e-01 2.07951399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.617105680999984 meters 0.04026367623712068 Centerline is valid? [True, True] Translation: X:60.32, Y:2.03, Z:2.08 [[ 9.98407024e-01 -2.11893663e-02 -5.22917278e-02 6.03199985e+01] [ 2.10031014e-02 9.99770966e-01 -4.10904882e-03 2.02685280e+00] [ 5.23668194e-02 3.00421474e-03 9.98623398e-01 2.08020040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.647105680999985 meters 0.042215605852099825 Centerline is valid? [True, True] Translation: X:60.35, Y:2.02, Z:2.08 [[ 9.98486859e-01 -1.81496906e-02 -5.19093533e-02 6.03504520e+01] [ 1.79620155e-02 9.99830347e-01 -4.07970679e-03 2.02059149e+00] [ 5.19745921e-02 3.14113701e-03 9.98643467e-01 2.08173658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.677105680999986 meters 0.043045103175399044 Centerline is valid? [True, True] Translation: X:60.38, Y:2.02, Z:2.08 [[ 9.98570731e-01 -1.69561444e-02 -5.06851421e-02 6.03795807e+01] [ 1.67753802e-02 9.99851323e-01 -3.98972329e-03 2.01749409e+00] [ 5.07452567e-02 3.13375837e-03 9.98706713e-01 2.08399354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.70710568099999 meters 0.043124547624098675 Centerline is valid? [True, True] Translation: X:60.41, Y:2.01, Z:2.09 [[ 9.98682768e-01 -1.51690648e-02 -4.90166058e-02 6.04094416e+01] [ 1.49971016e-02 9.99880032e-01 -3.87415747e-03 2.00671115e+00] [ 4.90694928e-02 3.13394729e-03 9.98790450e-01 2.08629504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.73710568099999 meters 0.044895298545594695 Centerline is valid? [True, True] Translation: X:60.44, Y:2.00, Z:2.09 [[ 9.98633771e-01 -1.58213463e-02 -4.98023680e-02 6.04384313e+01] [ 1.56439298e-02 9.99869823e-01 -3.95021777e-03 1.99863435e+00] [ 4.98583827e-02 3.16571612e-03 9.98751280e-01 2.08511909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.76710568099999 meters 0.04318800841446876 Centerline is valid? [True, True] Translation: X:60.47, Y:1.99, Z:2.09 [[ 9.98559073e-01 -1.75851308e-02 -5.07005098e-02 6.04688820e+01] [ 1.74030787e-02 9.99840433e-01 -4.02999222e-03 1.98504895e+00] [ 5.07632877e-02 3.14184034e-03 9.98705771e-01 2.08527435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.79710568099999 meters 0.0441250856347131 Centerline is valid? [True, True] Translation: X:60.50, Y:1.98, Z:2.08 [[ 9.98483170e-01 -1.94423566e-02 -5.15107128e-02 6.04967686e+01] [ 1.92562231e-02 9.99806145e-01 -4.10735744e-03 1.98152534e+00] [ 5.15805839e-02 3.10922550e-03 9.98663996e-01 2.08462637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.827105680999985 meters 0.041318899672734624 Centerline is valid? [True, True] Translation: X:60.53, Y:1.96, Z:2.09 [[ 9.98358941e-01 -2.49514094e-02 -5.15446655e-02 6.05279828e+01] [ 2.47721039e-02 9.99684656e-01 -4.11467703e-03 1.96481936e+00] [ 5.16310783e-02 2.83105478e-03 9.98662214e-01 2.08587566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.857105680999986 meters 0.03409091733633003 Centerline is valid? [True, True] Translation: X:60.56, Y:1.94, Z:2.09 [[ 9.98309927e-01 -3.34659871e-02 -4.75112382e-02 6.05599927e+01] [ 3.33232136e-02 9.99437426e-01 -3.79415659e-03 1.94132095e+00] [ 4.76114848e-02 2.20451705e-03 9.98863497e-01 2.09281359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.88710568099999 meters 0.031241752774974794 Centerline is valid? [True, True] Translation: X:60.59, Y:1.93, Z:2.10 [[ 9.98252717e-01 -3.94030739e-02 -4.40330572e-02 6.05895150e+01] [ 3.92861515e-02 9.99221809e-01 -3.51788710e-03 1.93162705e+00] [ 4.41374066e-02 1.78185100e-03 9.99023881e-01 2.09784128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.91710568099999 meters 0.021565445029938058 Centerline is valid? [True, True] Translation: X:60.62, Y:1.90, Z:2.11 [[ 9.97622383e-01 -5.52274114e-02 -4.12251515e-02 6.06217345e+01] [ 5.51384627e-02 9.98473290e-01 -3.29242116e-03 1.90366221e+00] [ 4.13440445e-02 1.01150157e-03 9.99144457e-01 2.10517668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.94710568099999 meters 0.01923379084680561 Centerline is valid? [True, True] Translation: X:60.65, Y:1.89, Z:2.10 [[ 9.97029157e-01 -6.45217595e-02 -4.20690183e-02 6.06511860e+01] [ 6.44373516e-02 9.97916095e-01 -3.36076183e-03 1.89486440e+00] [ 4.21981927e-02 6.39961409e-04 9.99109055e-01 2.10499632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.97710568099999 meters 0.015558559322835192 Centerline is valid? [True, True] Translation: X:60.68, Y:1.88, Z:2.10 [[ 9.95835565e-01 -7.85255835e-02 -4.63169475e-02 6.06819870e+01] [ 7.84381139e-02 9.96912097e-01 -3.70578419e-03 1.87580245e+00] [ 4.64649241e-02 5.73376876e-05 9.98919920e-01 2.10060396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.007105680999985 meters 0.015506906655370908 Centerline is valid? [True, True] Translation: X:60.71, Y:1.87, Z:2.10 [[ 9.95355055e-01 -8.40736067e-02 -4.69035591e-02 6.07110584e+01] [ 8.39893780e-02 9.96459529e-01 -3.76719030e-03 1.86884213e+00] [ 4.70542197e-02 -1.89708844e-04 9.98892319e-01 2.10304597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.037105680999986 meters 0.015683235230869775 Centerline is valid? [True, True] Translation: X:60.74, Y:1.87, Z:2.10 [[ 9.95400472e-01 -8.41032654e-02 -4.58752733e-02 6.07390951e+01] [ 8.40220983e-02 9.96457029e-01 -3.69814962e-03 1.86852590e+00] [ 4.60237650e-02 -1.73396851e-04 9.98940330e-01 2.10480764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.06710568099999 meters 0.015317771112583695 Centerline is valid? [True, True] Translation: X:60.77, Y:1.87, Z:2.11 [[ 9.95813406e-01 -7.97402322e-02 -4.46895452e-02 6.07671392e+01] [ 7.96585040e-02 9.96815677e-01 -3.60951088e-03 1.87392908e+00] [ 4.48350625e-02 3.44970116e-05 9.98994402e-01 2.11063918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.09710568099999 meters 0.016767425759913412 Centerline is valid? [True, True] Translation: X:60.79, Y:1.89, Z:2.11 [[ 9.96213986e-01 -7.16645197e-02 -4.92127041e-02 6.07937782e+01] [ 7.15547991e-02 9.97428690e-01 -3.98995190e-03 1.88596081e+00] [ 4.93721010e-02 4.53440734e-04 9.98780351e-01 2.10763390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.12710568099999 meters 0.018084789214670965 Centerline is valid? [True, True] Translation: X:60.82, Y:1.89, Z:2.11 [[ 9.96387849e-01 -6.71634833e-02 -5.19646067e-02 6.08222723e+01] [ 6.70344757e-02 9.97741721e-01 -4.22349644e-03 1.89262344e+00] [ 5.21309208e-02 7.24820374e-04 9.98639996e-01 2.10658789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.15710568099999 meters 0.02207476256455962 Centerline is valid? [True, True] Translation: X:60.85, Y:1.90, Z:2.11 [[ 9.97088711e-01 -5.72083306e-02 -5.04113926e-02 6.08495858e+01] [ 5.70735410e-02 9.98361515e-01 -4.11042356e-03 1.90397465e+00] [ 5.05639448e-02 1.22130025e-03 9.98720079e-01 2.10942659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.187105680999984 meters 0.026466319106895057 Centerline is valid? [True, True] Translation: X:60.88, Y:1.91, Z:2.12 [[ 9.97810834e-01 -4.89756344e-02 -4.44401440e-02 6.08770369e+01] [ 4.88625825e-02 9.98798924e-01 -3.62727695e-03 1.91365075e+00] [ 4.45644162e-02 1.44787604e-03 9.99005464e-01 2.11622377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.217105680999985 meters 0.02881439836208858 Centerline is valid? [True, True] Translation: X:60.91, Y:1.92, Z:2.11 [[ 9.97986594e-01 -4.33367828e-02 -4.63107008e-02 6.09072942e+01] [ 4.32077797e-02 9.99058944e-01 -3.78347886e-03 1.92106160e+00] [ 4.64310836e-02 1.77487862e-03 9.98919919e-01 2.11411931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.24710568099999 meters 0.031334328495655504 Centerline is valid? [True, True] Translation: X:60.94, Y:1.93, Z:2.11 [[ 9.97913986e-01 -4.15574085e-02 -4.94030184e-02 6.09350543e+01] [ 4.14083506e-02 9.99134150e-01 -4.03727776e-03 1.92837024e+00] [ 4.95280215e-02 1.98315843e-03 9.98770766e-01 2.11007896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.27710568099999 meters 0.03418760253520911 Centerline is valid? [True, True] Translation: X:60.96, Y:1.93, Z:2.10 [[ 9.97775180e-01 -3.86748255e-02 -5.43042227e-02 6.09637083e+01] [ 3.84901595e-02 9.99249103e-01 -4.44272678e-03 1.93348769e+00] [ 5.44352675e-02 2.34266432e-03 9.98514554e-01 2.10339561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.30710568099999 meters 0.03364290019144256 Centerline is valid? [True, True] Translation: X:60.99, Y:1.93, Z:2.11 [[ 9.97775656e-01 -3.80323881e-02 -5.47473980e-02 6.09931018e+01] [ 3.78432846e-02 9.99273612e-01 -4.48704023e-03 1.93204031e+00] [ 5.48782830e-02 2.40523815e-03 9.98490155e-01 2.10595978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.33710568099999 meters 0.032955189623925144 Centerline is valid? [True, True] Translation: X:61.02, Y:1.93, Z:2.11 [[ 9.97745126e-01 -3.98012759e-02 -5.40418457e-02 6.10217060e+01] [ 3.96186984e-02 9.99204980e-01 -4.44599626e-03 1.93268298e+00] [ 5.41758377e-02 2.29490352e-03 9.98528774e-01 2.10899424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.367105680999984 meters 0.02974405219774945 Centerline is valid? [True, True] Translation: X:61.05, Y:1.93, Z:2.12 [[ 9.97715751e-01 -4.47717839e-02 -5.05842650e-02 6.10515327e+01] [ 4.46176414e-02 9.98995422e-01 -4.17291034e-03 1.92904271e+00] [ 5.07202778e-02 1.90642778e-03 9.98711079e-01 2.11582078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.397105680999985 meters 0.026932346931708075 Centerline is valid? [True, True] Translation: X:61.08, Y:1.92, Z:2.12 [[ 9.97698917e-01 -4.90874492e-02 -4.67685089e-02 6.10819519e+01] [ 4.89603550e-02 9.98793264e-01 -3.85987402e-03 1.92448694e+00] [ 4.69015431e-02 1.56118933e-03 9.98898297e-01 2.12220369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.427105680999986 meters 0.024690030876583342 Centerline is valid? [True, True] Translation: X:61.11, Y:1.92, Z:2.12 [[ 9.97607209e-01 -5.19694101e-02 -4.55964479e-02 6.11116533e+01] [ 5.18515150e-02 9.98647707e-01 -3.76536045e-03 1.92124437e+00] [ 4.57304717e-02 1.39210583e-03 9.98952845e-01 2.12473299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.45710568099999 meters 0.02292616469685609 Centerline is valid? [True, True] Translation: X:61.14, Y:1.92, Z:2.12 [[ 9.97202080e-01 -5.87606703e-02 -4.62081626e-02 6.11408204e+01] [ 5.86465636e-02 9.98271491e-01 -3.82241455e-03 1.91688318e+00] [ 4.63528990e-02 1.10176980e-03 9.98924519e-01 2.12434720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.48710568099999 meters 0.019969600194407366 Centerline is valid? [True, True] Translation: X:61.17, Y:1.91, Z:2.12 [[ 9.96754872e-01 -6.44606028e-02 -4.82136550e-02 6.11708757e+01] [ 6.43427738e-02 9.97919866e-01 -3.99353424e-03 1.91168578e+00] [ 4.83707897e-02 8.78374414e-04 9.98829062e-01 2.12225955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.51710568099999 meters 0.019160245184411864 Centerline is valid? [True, True] Translation: X:61.20, Y:1.91, Z:2.12 [[ 9.96641224e-01 -6.61490637e-02 -4.82760062e-02 6.12000924e+01] [ 6.60322212e-02 9.97809422e-01 -4.01286854e-03 1.91082633e+00] [ 4.84357014e-02 8.11618292e-04 9.98825973e-01 2.12285343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.54710568099999 meters 0.019059000665547818 Centerline is valid? [True, True] Translation: X:61.23, Y:1.91, Z:2.12 [[ 9.96520538e-01 -6.60520868e-02 -5.08324650e-02 6.12293754e+01] [ 6.59215526e-02 9.97815792e-01 -4.24205598e-03 1.90803518e+00] [ 5.10016330e-02 8.76340894e-04 9.98698185e-01 2.12284234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.577105680999985 meters 0.020341851961949268 Centerline is valid? [True, True] Translation: X:61.26, Y:1.91, Z:2.12 [[ 9.96432230e-01 -6.57552961e-02 -5.29060694e-02 6.12576626e+01] [ 6.56127117e-02 9.97835334e-01 -4.42930623e-03 1.90960004e+00] [ 5.30827958e-02 9.42192797e-04 9.98589670e-01 2.12061454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.607105680999986 meters 0.021353852481683547 Centerline is valid? [True, True] Translation: X:61.29, Y:1.91, Z:2.12 [[ 9.96451786e-01 -6.35902660e-02 -5.51372517e-02 6.12865953e+01] [ 6.34315235e-02 9.97975471e-01 -4.62610740e-03 1.90862516e+00] [ 5.53198002e-02 1.11225310e-03 9.98468068e-01 2.11997848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.63710568099999 meters 0.023312018436075933 Centerline is valid? [True, True] Translation: X:61.31, Y:1.91, Z:2.12 [[ 9.96597395e-01 -6.08513237e-02 -5.55945075e-02 6.13145029e+01] [ 6.06849238e-02 9.98146010e-01 -4.67796229e-03 1.91330972e+00] [ 5.57760960e-02 1.28829658e-03 9.98442471e-01 2.12015273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.66710568099999 meters 0.027095727600585776 Centerline is valid? [True, True] Translation: X:61.34, Y:1.92, Z:2.12 [[ 9.97066260e-01 -5.17401028e-02 -5.64077641e-02 6.13440449e+01] [ 5.15539728e-02 9.98658909e-01 -4.75090126e-03 1.92221815e+00] [ 5.65779282e-02 1.82891901e-03 9.98396511e-01 2.12001781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.69710568099999 meters 0.03206129219222369 Centerline is valid? [True, True] Translation: X:61.37, Y:1.93, Z:2.12 [[ 9.97501847e-01 -4.31807356e-02 -5.59060778e-02 6.13740052e+01] [ 4.29844177e-02 9.99064641e-01 -4.70986623e-03 1.93110093e+00] [ 5.60571610e-02 2.29501006e-03 9.98424923e-01 2.12114797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.72710568099999 meters 0.03440025870715614 Centerline is valid? [True, True] Translation: X:61.40, Y:1.94, Z:2.12 [[ 9.97696114e-01 -3.96652523e-02 -5.50375427e-02 6.14034631e+01] [ 3.94695718e-02 9.99210008e-01 -4.63826310e-03 1.93540003e+00] [ 5.51780413e-02 2.45526883e-03 9.98473513e-01 2.12375474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.757105680999985 meters 0.03765564044368085 Centerline is valid? [True, True] Translation: X:61.43, Y:1.94, Z:2.13 [[ 9.97978303e-01 -3.54765654e-02 -5.27325322e-02 6.14317096e+01] [ 3.52909827e-02 9.99367187e-01 -4.44659712e-03 1.93926966e+00] [ 5.28569123e-02 2.57662456e-03 9.98598772e-01 2.12845578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.787105680999986 meters 0.03801130080469435 Centerline is valid? [True, True] Translation: X:61.46, Y:1.94, Z:2.13 [[ 9.98049915e-01 -3.56012501e-02 -5.12729801e-02 6.14605596e+01] [ 3.54256317e-02 9.99362934e-01 -4.33017718e-03 1.94318397e+00] [ 5.13944756e-02 2.50535526e-03 9.98675288e-01 2.13119374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.81710568099999 meters 0.03789877022715086 Centerline is valid? [True, True] Translation: X:61.49, Y:1.95, Z:2.13 [[ 9.97979769e-01 -3.67117733e-02 -5.18519648e-02 6.14891291e+01] [ 3.65328417e-02 9.99322790e-01 -4.39471805e-03 1.94565820e+00] [ 5.19781880e-02 2.49154009e-03 9.98645112e-01 2.13049712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.84710568099999 meters 0.033120953236866674 Centerline is valid? [True, True] Translation: X:61.52, Y:1.94, Z:2.13 [[ 9.97793695e-01 -3.84054928e-02 -5.41549675e-02 6.15192113e+01] [ 3.82118535e-02 9.99259041e-01 -4.60695357e-03 1.93772691e+00] [ 5.42917732e-02 2.52742754e-03 9.98521915e-01 2.12946806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.87710568099999 meters 0.032755362023422926 Centerline is valid? [True, True] Translation: X:61.55, Y:1.94, Z:2.13 [[ 9.97797215e-01 -3.96130586e-02 -5.32120646e-02 6.15483066e+01] [ 3.94269172e-02 9.99212126e-01 -4.54371110e-03 1.93684558e+00] [ 5.33501305e-02 2.43571461e-03 9.98572897e-01 2.13064038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.90710568099999 meters 0.032755362023422926 Centerline is valid? [True, True] Translation: X:61.58, Y:1.94, Z:2.13 [[ 9.97782710e-01 -3.99787689e-02 -5.32105411e-02 6.15757071e+01] [ 3.97921998e-02 9.99197565e-01 -4.56149447e-03 1.93942216e+00] [ 5.33502060e-02 2.43401583e-03 9.98572897e-01 2.13165901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.937105680999984 meters 0.032394792800512114 Centerline is valid? [True, True] Translation: X:61.60, Y:1.94, Z:2.14 [[ 9.97893581e-01 -4.16558366e-02 -4.97311981e-02 6.16043592e+01] [ 4.14942776e-02 9.99129587e-01 -4.27710456e-03 1.93688651e+00] [ 4.98660777e-02 2.20453505e-03 9.98753480e-01 2.13627202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.967105680999985 meters 0.032935384565988685 Centerline is valid? [True, True] Translation: X:61.63, Y:1.94, Z:2.14 [[ 9.97918344e-01 -4.12937981e-02 -4.95358580e-02 6.16330976e+01] [ 4.11326984e-02 9.99144578e-01 -4.26761972e-03 1.93660586e+00] [ 4.96697102e-02 2.22119250e-03 9.98763228e-01 2.13806995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.99710568099999 meters 0.03385495062916415 Centerline is valid? [True, True] Translation: X:61.66, Y:1.93, Z:2.14 [[ 9.97950426e-01 -3.86992468e-02 -5.09638684e-02 6.16633903e+01] [ 3.85246980e-02 9.99247947e-01 -4.40320073e-03 1.93482168e+00] [ 5.10959414e-02 2.43080841e-03 9.98690791e-01 2.13726645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.02710568099999 meters 0.034108654498105656 Centerline is valid? [True, True] Translation: X:61.69, Y:1.94, Z:2.14 [[ 9.97908045e-01 -3.83254536e-02 -5.20643121e-02 6.16925404e+01] [ 3.81424255e-02 9.99262159e-01 -4.50485528e-03 1.93617017e+00] [ 5.21985475e-02 2.50957219e-03 9.98633573e-01 2.13694799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.05710568099999 meters 0.03470831924224613 Centerline is valid? [True, True] Translation: X:61.72, Y:1.93, Z:2.14 [[ 9.97794163e-01 -3.89973058e-02 -5.37216767e-02 6.17202497e+01] [ 3.88025142e-02 9.99236011e-01 -4.66459988e-03 1.93464274e+00] [ 5.38625408e-02 2.56977441e-03 9.98545053e-01 2.13505888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.08710568099999 meters 0.03235884747373597 Centerline is valid? [True, True] Translation: X:61.75, Y:1.93, Z:2.14 [[ 9.97658954e-01 -4.12199707e-02 -5.45666991e-02 6.17500243e+01] [ 4.10214883e-02 9.99146960e-01 -4.75295778e-03 1.92537894e+00] [ 5.47160683e-02 2.50342368e-03 9.98498816e-01 2.13729823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.117105680999984 meters 0.032190425445194175 Centerline is valid? [True, True] Translation: X:61.78, Y:1.92, Z:2.14 [[ 9.97582147e-01 -4.43930184e-02 -5.34707363e-02 6.17797307e+01] [ 4.42063164e-02 9.99011508e-01 -4.66992146e-03 1.92175271e+00] [ 5.36251928e-02 2.29488599e-03 9.98558497e-01 2.13979510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.147105680999985 meters 0.0314846594959676 Centerline is valid? [True, True] Translation: X:61.81, Y:1.92, Z:2.14 [[ 9.97593205e-01 -4.62461300e-02 -5.16632622e-02 6.18090474e+01] [ 4.60741324e-02 9.98927816e-01 -4.51586380e-03 1.92207728e+00] [ 5.18167109e-02 2.12465506e-03 9.98654352e-01 2.14259493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.177105680999986 meters 0.027664791135238124 Centerline is valid? [True, True] Translation: X:61.84, Y:1.92, Z:2.15 [[ 9.97434626e-01 -5.15995754e-02 -4.96150294e-02 6.18396551e+01] [ 5.14472924e-02 9.98666271e-01 -4.34232661e-03 1.91587640e+00] [ 4.97729186e-02 1.77862799e-03 9.98758976e-01 2.14541567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.20710568099999 meters 0.02190434226223122 Centerline is valid? [True, True] Translation: X:61.87, Y:1.90, Z:2.14 [[ 9.96804798e-01 -6.07125874e-02 -5.19054622e-02 6.18711760e+01] [ 6.05581687e-02 9.98154327e-01 -4.54400523e-03 1.90469256e+00] [ 5.20855400e-02 1.38618648e-03 9.98641665e-01 2.14414593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.23710568099999 meters 0.019446678875458482 Centerline is valid? [True, True] Translation: X:61.90, Y:1.90, Z:2.14 [[ 9.96387880e-01 -6.71341947e-02 -5.20018575e-02 6.19002494e+01] [ 6.69878136e-02 9.97743398e-01 -4.55471993e-03 1.90010837e+00] [ 5.21902874e-02 1.05477700e-03 9.98636601e-01 2.14482164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.26710568099999 meters 0.015373158349300411 Centerline is valid? [True, True] Translation: X:61.93, Y:1.89, Z:2.15 [[ 9.95555292e-01 -8.09200896e-02 -4.81829725e-02 6.19316475e+01] [ 8.08103675e-02 9.96720544e-01 -4.22403793e-03 1.88733155e+00] [ 4.83667680e-02 3.11579604e-04 9.98829594e-01 2.15061389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.29710568099999 meters 0.01498496879706576 Centerline is valid? [True, True] Translation: X:61.96, Y:1.88, Z:2.15 [[ 9.94999007e-01 -8.85086413e-02 -4.62946622e-02 6.19605841e+01] [ 8.84153256e-02 9.96075408e-01 -4.06352988e-03 1.88218228e+00] [ 4.64726320e-02 -4.99494314e-05 9.98919562e-01 2.15416836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.327105680999985 meters 0.017046364457876273 Centerline is valid? [True, True] Translation: X:61.99, Y:1.87, Z:2.16 [[ 9.93942741e-01 -1.00167573e-01 -4.52137688e-02 6.19898165e+01] [ 1.00090028e-01 9.94970419e-01 -3.98140966e-03 1.87351434e+00] [ 4.53851706e-02 -5.68154172e-04 9.98969401e-01 2.15656765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.357105680999986 meters 0.018280347009734674 Centerline is valid? [True, True] Translation: X:62.02, Y:1.87, Z:2.16 [[ 9.93606967e-01 -1.03557815e-01 -4.49552343e-02 6.20178303e+01] [ 1.03484385e-01 9.94623180e-01 -3.96388473e-03 1.87378176e+00] [ 4.51240094e-02 -7.13621286e-04 9.98981138e-01 2.15768849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.38710568099999 meters 0.018609992264702654 Centerline is valid? [True, True] Translation: X:62.05, Y:1.88, Z:2.16 [[ 9.93511224e-01 -1.04814517e-01 -4.41516193e-02 6.20454300e+01] [ 1.04744622e-01 9.94491506e-01 -3.89995414e-03 1.87979789e+00] [ 4.43171821e-02 -7.49996448e-04 9.99017230e-01 2.15841175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.41710568099999 meters 0.017753498267818954 Centerline is valid? [True, True] Translation: X:62.07, Y:1.89, Z:2.15 [[ 9.93658607e-01 -1.02006623e-01 -4.72992684e-02 6.20741411e+01] [ 1.01922364e-01 9.94783506e-01 -4.19608295e-03 1.88859311e+00] [ 4.74805603e-02 -6.51379323e-04 9.98871950e-01 2.15491537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.44710568099999 meters 0.016353735243601345 Centerline is valid? [True, True] Translation: X:62.10, Y:1.90, Z:2.15 [[ 9.94040544e-01 -9.68846285e-02 -4.99676454e-02 6.21012225e+01] [ 9.67834124e-02 9.95295532e-01 -4.44691612e-03 1.89962330e+00] [ 5.01634120e-02 -4.15624310e-04 9.98740937e-01 2.15440123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.47710568099999 meters 0.015327609150057469 Centerline is valid? [True, True] Translation: X:62.13, Y:1.91, Z:2.16 [[ 9.94359669e-01 -9.35525865e-02 -4.99676122e-02 6.21290703e+01] [ 9.34467322e-02 9.95614311e-01 -4.45553251e-03 1.90942727e+00] [ 5.01652964e-02 -2.38908241e-04 9.98740900e-01 2.15835663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.507105680999985 meters 0.015197780756480742 Centerline is valid? [True, True] Translation: X:62.15, Y:1.93, Z:2.16 [[ 9.95219749e-01 -8.41495065e-02 -4.95632048e-02 6.21543667e+01] [ 8.40329783e-02 9.96453109e-01 -4.43388969e-03 1.92926220e+00] [ 4.97605191e-02 2.47750872e-04 9.98761147e-01 2.15935850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.537105680999986 meters 0.016495480918609688 Centerline is valid? [True, True] Translation: X:62.18, Y:1.95, Z:2.16 [[ 9.95718022e-01 -7.75706124e-02 -5.02834098e-02 6.21818658e+01] [ 7.74417469e-02 9.96986683e-01 -4.50893229e-03 1.94679887e+00] [ 5.04816505e-02 5.95590051e-04 9.98724811e-01 2.15802007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.56710568099999 meters 0.016680902984673854 Centerline is valid? [True, True] Translation: X:62.21, Y:1.95, Z:2.16 [[ 9.95766946e-01 -7.71724992e-02 -4.99258944e-02 6.22083407e+01] [ 7.70441892e-02 9.97017559e-01 -4.49225386e-03 1.95371764e+00] [ 5.01236718e-02 6.26737860e-04 9.98742822e-01 2.15910625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.59710568099999 meters 0.015141194230481454 Centerline is valid? [True, True] Translation: X:62.24, Y:1.96, Z:2.16 [[ 9.95468155e-01 -8.30487643e-02 -4.63255282e-02 6.22355725e+01] [ 8.29442046e-02 9.96545434e-01 -4.17809695e-03 1.95657209e+00] [ 4.65124794e-02 3.16728382e-04 9.98917659e-01 2.16407132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.62710568099999 meters 0.014455622315462834 Centerline is valid? [True, True] Translation: X:62.26, Y:1.96, Z:2.17 [[ 9.95063312e-01 -8.90980323e-02 -4.37097881e-02 6.22644621e+01] [ 8.90105129e-02 9.96022861e-01 -3.94834273e-03 1.95669943e+00] [ 4.38877377e-02 3.82203395e-05 9.99036468e-01 2.16910975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.65710568099999 meters 0.016714215687092467 Centerline is valid? [True, True] Translation: X:62.29, Y:1.95, Z:2.17 [[ 9.93834267e-01 -1.02588451e-01 -4.20601993e-02 6.22937422e+01] [ 1.02518930e-01 9.94723749e-01 -3.81223186e-03 1.95323081e+00] [ 4.22293701e-02 -5.23239958e-04 9.99107805e-01 2.17228952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.687105680999984 meters 0.022528280652864035 Centerline is valid? [True, True] Translation: X:62.32, Y:1.95, Z:2.17 [[ 9.92416977e-01 -1.14033242e-01 -4.58798870e-02 6.23231755e+01] [ 1.13962128e-01 9.93476338e-01 -4.17124669e-03 1.95141949e+00] [ 4.60562429e-02 -1.08895354e-03 9.98938255e-01 2.16766554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.717105680999985 meters 0.023776491347288615 Centerline is valid? [True, True] Translation: X:62.35, Y:1.96, Z:2.17 [[ 9.91839087e-01 -1.18451243e-01 -4.71649086e-02 6.23524178e+01] [ 1.18381030e-01 9.92958980e-01 -4.28904292e-03 1.95600828e+00] [ 4.73408620e-02 -1.32939005e-03 9.98877908e-01 2.16730716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.74710568099999 meters 0.02481661901355541 Centerline is valid? [True, True] Translation: X:62.38, Y:1.97, Z:2.17 [[ 9.91543201e-01 -1.22085665e-01 -4.40133014e-02 6.23801067e+01] [ 1.22027919e-01 9.92518582e-01 -4.00646250e-03 1.96668759e+00] [ 4.41731511e-02 -1.39827093e-03 9.99022911e-01 2.17219775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.77710568099999 meters 0.021926945203920998 Centerline is valid? [True, True] Translation: X:62.41, Y:1.99, Z:2.18 [[ 9.92441807e-01 -1.15774134e-01 -4.06891807e-02 6.24075419e+01] [ 1.15719005e-01 9.93275041e-01 -3.71548804e-03 1.98505699e+00] [ 4.08457051e-02 -1.02110582e-03 9.99164944e-01 2.17996183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.80710568099999 meters 0.019033601932998297 Centerline is valid? [True, True] Translation: X:62.44, Y:2.00, Z:2.18 [[ 9.93107300e-01 -1.09528031e-01 -4.17312849e-02 6.24357329e+01] [ 1.09464421e-01 9.93983400e-01 -3.81318513e-03 1.99929921e+00] [ 4.18978551e-02 -7.81188955e-04 9.99121594e-01 2.18050117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.83710568099999 meters 0.015170891593884076 Centerline is valid? [True, True] Translation: X:62.46, Y:2.03, Z:2.18 [[ 9.94293451e-01 -9.64551645e-02 -4.55733884e-02 6.24615713e+01] [ 9.63652060e-02 9.95337301e-01 -4.17194896e-03 2.02626457e+00] [ 4.57632995e-02 -2.43547432e-04 9.98952282e-01 2.17599347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.867105680999984 meters 0.0148013093257259 Centerline is valid? [True, True] Translation: X:62.49, Y:2.04, Z:2.18 [[ 9.94865872e-01 -8.98404054e-02 -4.65896821e-02 6.24884336e+01] [ 8.97386689e-02 9.95956172e-01 -4.27491868e-03 2.04220450e+00] [ 4.67853419e-02 7.20746444e-05 9.98904964e-01 2.17538224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.897105680999985 meters 0.01802421823643858 Centerline is valid? [True, True] Translation: X:62.51, Y:2.07, Z:2.18 [[ 9.95972085e-01 -7.66054210e-02 -4.65962937e-02 6.25143985e+01] [ 7.64884639e-02 9.97061235e-01 -4.29048638e-03 2.06855285e+00] [ 4.67880327e-02 7.09125740e-04 9.98904589e-01 2.17510899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.927105680999986 meters 0.0218868263371421 Centerline is valid? [True, True] Translation: X:62.54, Y:2.09, Z:2.18 [[ 9.96658588e-01 -6.71210617e-02 -4.65448471e-02 6.25419034e+01] [ 6.69938482e-02 9.97744168e-01 -4.28949127e-03 2.08714955e+00] [ 4.67277650e-02 1.15693989e-03 9.98906991e-01 2.17639957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.95710568099999 meters 0.02454504514104852 Centerline is valid? [True, True] Translation: X:62.57, Y:2.10, Z:2.18 [[ 9.96960533e-01 -6.19585466e-02 -4.72317051e-02 6.25701940e+01] [ 6.18216432e-02 9.98077711e-01 -4.35525108e-03 2.09800579e+00] [ 4.74107571e-02 1.42207182e-03 9.98874465e-01 2.17666749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.98710568099999 meters 0.02500201007319183 Centerline is valid? [True, True] Translation: X:62.60, Y:2.10, Z:2.18 [[ 9.96944082e-01 -6.14608408e-02 -4.82189049e-02 6.25977965e+01] [ 6.13173761e-02 9.98108398e-01 -4.45024986e-03 2.10356867e+00] [ 4.84012100e-02 1.47999353e-03 9.98826878e-01 2.17641287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.01710568099999 meters 0.026825271312846462 Centerline is valid? [True, True] Translation: X:62.63, Y:2.11, Z:2.17 [[ 9.96878497e-01 -6.13746455e-02 -4.96630216e-02 6.26250964e+01] [ 6.12220513e-02 9.98113620e-01 -4.58939336e-03 2.11429281e+00] [ 4.98510106e-02 1.53459550e-03 9.98755486e-01 2.17410549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.047105680999984 meters 0.025282014888043238 Centerline is valid? [True, True] Translation: X:62.65, Y:2.12, Z:2.17 [[ 9.96802752e-01 -6.16880009e-02 -5.07825247e-02 6.26539465e+01] [ 6.15283975e-02 9.98094259e-01 -4.70168929e-03 2.11622562e+00] [ 5.09757841e-02 1.56208946e-03 9.98698668e-01 2.17499835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.077105680999985 meters 0.0273984587289613 Centerline is valid? [True, True] Translation: X:62.68, Y:2.12, Z:2.17 [[ 9.96654131e-01 -6.28961339e-02 -5.21978937e-02 6.26809848e+01] [ 6.27284087e-02 9.98018864e-01 -4.84694812e-03 2.12411260e+00] [ 5.23993369e-02 1.55644005e-03 9.98624998e-01 2.17267917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.107105680999986 meters 0.024165275845591732 Centerline is valid? [True, True] Translation: X:62.71, Y:2.12, Z:2.18 [[ 9.96699011e-01 -6.51924928e-02 -4.83840887e-02 6.27095834e+01] [ 6.50508596e-02 9.97871813e-01 -4.49783356e-03 2.12368797e+00] [ 4.85743433e-02 1.33555970e-03 9.98818677e-01 2.18061243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.13710568099999 meters 0.022557213424607966 Centerline is valid? [True, True] Translation: X:62.74, Y:2.13, Z:2.18 [[ 9.96637765e-01 -6.73056461e-02 -4.67238102e-02 6.27388585e+01] [ 6.71755966e-02 9.97731687e-01 -4.34980221e-03 2.12500266e+00] [ 4.69105922e-02 1.19647733e-03 9.98898376e-01 2.18435863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.16710568099999 meters 0.02035774344848228 Centerline is valid? [True, True] Translation: X:62.77, Y:2.12, Z:2.19 [[ 9.96246284e-01 -7.29659257e-02 -4.65759012e-02 6.27675911e+01] [ 7.28423032e-02 9.97333992e-01 -4.34825975e-03 2.12493080e+00] [ 4.67690042e-02 9.39241701e-04 9.98905290e-01 2.18529344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.19710568099999 meters 0.019182272659167478 Centerline is valid? [True, True] Translation: X:62.80, Y:2.12, Z:2.19 [[ 9.96000225e-01 -7.62129059e-02 -4.66384418e-02 6.27965196e+01] [ 7.60921935e-02 9.97091250e-01 -4.36077511e-03 2.12476784e+00] [ 4.68351296e-02 7.94511654e-04 9.98902317e-01 2.18613568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.22710568099999 meters 0.01731186220095771 Centerline is valid? [True, True] Translation: X:62.83, Y:2.12, Z:2.19 [[ 9.95669433e-01 -8.17870921e-02 -4.41956190e-02 6.28255002e+01] [ 8.16836468e-02 9.96649690e-01 -4.14452126e-03 2.12386550e+00] [ 4.43865183e-02 5.16513791e-04 9.99014299e-01 2.18894159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.257105680999985 meters 0.01599845958341148 Centerline is valid? [True, True] Translation: X:62.85, Y:2.12, Z:2.19 [[ 9.95075761e-01 -8.83784289e-02 -4.48718590e-02 6.28533805e+01] [ 8.82782877e-02 9.96086944e-01 -4.21232630e-03 2.12312057e+00] [ 4.50685517e-02 2.30372926e-04 9.98983870e-01 2.18789216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.287105680999986 meters 0.015675713190488896 Centerline is valid? [True, True] Translation: X:62.88, Y:2.12, Z:2.19 [[ 9.94664820e-01 -9.21255643e-02 -4.64195700e-02 6.28813901e+01] [ 9.20220981e-02 9.95747395e-01 -4.36555174e-03 2.12284415e+00] [ 4.66243449e-02 7.06345019e-05 9.98912491e-01 2.18711838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.31710568099999 meters 0.016066334069851723 Centerline is valid? [True, True] Translation: X:62.91, Y:2.12, Z:2.18 [[ 9.93850107e-01 -9.86770518e-02 -5.02474308e-02 6.29106854e+01] [ 9.85632016e-02 9.95119482e-01 -4.74468355e-03 2.12070951e+00] [ 5.04703887e-02 -2.37043395e-04 9.98725530e-01 2.18306460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.34710568099999 meters 0.016799222715060777 Centerline is valid? [True, True] Translation: X:62.94, Y:2.12, Z:2.18 [[ 9.93412027e-01 -1.02049243e-01 -5.21392012e-02 6.29395758e+01] [ 1.01930392e-01 9.94779265e-01 -4.94049909e-03 2.12136204e+00] [ 5.23711705e-02 -4.06618000e-04 9.98627606e-01 2.18098749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.37710568099999 meters 0.017526058496320874 Centerline is valid? [True, True] Translation: X:62.97, Y:2.12, Z:2.18 [[ 9.93038436e-01 -1.04829596e-01 -5.37161118e-02 6.29688687e+01] [ 1.04706552e-01 9.94490046e-01 -5.10758152e-03 2.12234521e+00] [ 5.39555641e-02 -5.52404075e-04 9.98543185e-01 2.18066674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.40710568099999 meters 0.018575498633436563 Centerline is valid? [True, True] Translation: X:63.00, Y:2.12, Z:2.18 [[ 9.92530151e-01 -1.08878990e-01 -5.50387575e-02 6.29975390e+01] [ 1.08755015e-01 9.94054710e-01 -5.25159361e-03 2.12225583e+00] [ 5.52833244e-02 -7.73375917e-04 9.98470408e-01 2.18140119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.437105680999984 meters 0.017506526216113302 Centerline is valid? [True, True] Translation: X:63.03, Y:2.13, Z:2.19 [[ 9.92894588e-01 -1.06452346e-01 -5.31811571e-02 6.30257260e+01] [ 1.06332193e-01 9.94317625e-01 -5.09174481e-03 2.12875394e+00] [ 5.34209900e-02 -5.99303195e-04 9.98571900e-01 2.18750125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.467105680999985 meters 0.016077453996774963 Centerline is valid? [True, True] Translation: X:63.05, Y:2.15, Z:2.19 [[ 9.94371049e-01 -9.43251509e-02 -4.82595420e-02 6.30516522e+01] [ 9.42113050e-02 9.95541442e-01 -4.63333271e-03 2.14569755e+00] [ 4.84814138e-02 6.06574787e-05 9.98824083e-01 2.19424915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.49710568099999 meters 0.016951960033215956 Centerline is valid? [True, True] Translation: X:63.08, Y:2.16, Z:2.20 [[ 9.95096691e-01 -8.76123354e-02 -4.58983060e-02 6.30785923e+01] [ 8.75019531e-02 9.96154576e-01 -4.41246852e-03 2.15777597e+00] [ 4.61083942e-02 3.74641400e-04 9.98936372e-01 2.19759675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.52710568099999 meters 0.02132990955189575 Centerline is valid? [True, True] Translation: X:63.11, Y:2.18, Z:2.20 [[ 9.96284527e-01 -7.45202389e-02 -4.31726255e-02 6.31066610e+01] [ 7.44100053e-02 9.97219069e-01 -4.15694645e-03 2.17673299e+00] [ 4.33623420e-02 9.29026131e-04 9.99058979e-01 2.20232810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.55710568099999 meters 0.02388136687590895 Centerline is valid? [True, True] Translation: X:63.14, Y:2.19, Z:2.20 [[ 9.96841348e-01 -6.66878799e-02 -4.31283281e-02 6.31356840e+01] [ 6.65704579e-02 9.97773077e-01 -4.15471986e-03 2.18636470e+00] [ 4.33093541e-02 1.27052400e-03 9.99060902e-01 2.20321562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.58710568099999 meters 0.027419682796238375 Centerline is valid? [True, True] Translation: X:63.16, Y:2.20, Z:2.20 [[ 9.96917094e-01 -6.54701032e-02 -4.32431901e-02 6.31630659e+01] [ 6.53507979e-02 9.97853646e-01 -4.16837213e-03 2.19539734e+00] [ 4.34232787e-02 1.32954445e-03 9.99055880e-01 2.20249148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.617105680999984 meters 0.025477621184869775 Centerline is valid? [True, True] Translation: X:63.19, Y:2.20, Z:2.20 [[ 9.96833839e-01 -6.64171710e-02 -4.37156285e-02 6.31925074e+01] [ 6.62958629e-02 9.97791083e-01 -4.22049205e-03 2.19528058e+00] [ 4.38993774e-02 1.30896399e-03 9.99035100e-01 2.20319147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.647105680999985 meters 0.025011854448392514 Centerline is valid? [True, True] Translation: X:63.22, Y:2.20, Z:2.20 [[ 9.96711872e-01 -6.63390400e-02 -4.65250100e-02 6.32217713e+01] [ 6.62008343e-02 9.97796140e-01 -4.50683667e-03 2.19605891e+00] [ 4.67214546e-02 1.41202314e-03 9.98906959e-01 2.20167793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.677105680999986 meters 0.02637559336417391 Centerline is valid? [True, True] Translation: X:63.25, Y:2.20, Z:2.20 [[ 9.96708765e-01 -6.51384471e-02 -4.82557730e-02 6.32495947e+01] [ 6.49876648e-02 9.97875052e-01 -4.68868629e-03 2.19986663e+00] [ 4.84586458e-02 1.53722473e-03 9.98824007e-01 2.20021630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.70710568099999 meters 0.02825599787280051 Centerline is valid? [True, True] Translation: X:63.28, Y:2.20, Z:2.20 [[ 9.97035056e-01 -6.04136179e-02 -4.76580678e-02 6.32793607e+01] [ 6.02609293e-02 9.98171896e-01 -4.63544764e-03 2.20236603e+00] [ 4.78509880e-02 1.74978434e-03 9.98852953e-01 2.20256941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.73710568099999 meters 0.031335973480878604 Centerline is valid? [True, True] Translation: X:63.31, Y:2.20, Z:2.20 [[ 9.97350970e-01 -5.54507143e-02 -4.70771816e-02 6.33074205e+01] [ 5.52960823e-02 9.98459489e-01 -4.58163714e-03 2.20494692e+00] [ 4.72587137e-02 1.96631654e-03 9.98880747e-01 2.20417299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.76710568099999 meters 0.03233871242564033 Centerline is valid? [True, True] Translation: X:63.34, Y:2.21, Z:2.20 [[ 9.97434574e-01 -5.36739777e-02 -4.73642724e-02 6.33356183e+01] [ 5.35152293e-02 9.98556372e-01 -4.61429012e-03 2.20764012e+00] [ 4.75435633e-02 2.06774260e-03 9.98867025e-01 2.20468825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.797105680999984 meters 0.03233871242564033 Centerline is valid? [True, True] Translation: X:63.36, Y:2.21, Z:2.21 [[ 9.97414693e-01 -5.40428607e-02 -4.73634773e-02 6.33629456e+01] [ 5.38841411e-02 9.98536495e-01 -4.62243631e-03 2.21054064e+00] [ 4.75439703e-02 2.05834559e-03 9.98867025e-01 2.20570628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.827105680999985 meters 0.03495430520111227 Centerline is valid? [True, True] Translation: X:63.39, Y:2.21, Z:2.20 [[ 9.97548316e-01 -5.08759032e-02 -4.80520572e-02 6.33914983e+01] [ 5.07081379e-02 9.98702433e-01 -4.70470357e-03 2.21279291e+00] [ 4.82290625e-02 2.25653878e-03 9.98833753e-01 2.20470291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.857105680999986 meters 0.03403878565007982 Centerline is valid? [True, True] Translation: X:63.42, Y:2.20, Z:2.20 [[ 9.97388252e-01 -5.29791340e-02 -4.90905862e-02 6.34210918e+01] [ 5.28061943e-02 9.98593176e-01 -4.81403385e-03 2.20415098e+00] [ 4.92765677e-02 2.20917377e-03 9.98782729e-01 2.20388075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.88710568099999 meters 0.033544964224579726 Centerline is valid? [True, True] Translation: X:63.45, Y:2.20, Z:2.20 [[ 9.97214114e-01 -5.53571945e-02 -4.99959090e-02 6.34510732e+01] [ 5.51799966e-02 9.98464308e-01 -4.91863350e-03 2.19999977e+00] [ 5.01914125e-02 2.14615666e-03 9.98737311e-01 2.20379607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.91710568099999 meters 0.027607817128146687 Centerline is valid? [True, True] Translation: X:63.48, Y:2.18, Z:2.21 [[ 9.96770175e-01 -6.37343730e-02 -4.88584510e-02 6.34833578e+01] [ 6.35746722e-02 9.97965458e-01 -4.81729452e-03 2.18353059e+00] [ 4.90660737e-02 1.69557549e-03 9.98794096e-01 2.20805588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.94710568099999 meters 0.02288355632740318 Centerline is valid? [True, True] Translation: X:63.51, Y:2.17, Z:2.21 [[ 9.96097261e-01 -7.54115085e-02 -4.58622950e-02 6.35141477e+01] [ 7.52831399e-02 9.97151943e-01 -4.52229220e-03 2.16860014e+00] [ 4.60727094e-02 1.05198531e-03 9.98937535e-01 2.21279764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.97710568099999 meters 0.01991001158599589 Centerline is valid? [True, True] Translation: X:63.54, Y:2.16, Z:2.22 [[ 9.95590249e-01 -8.22181883e-02 -4.51688563e-02 6.35434678e+01] [ 8.21005920e-02 9.96614088e-01 -4.45563315e-03 2.16015891e+00] [ 4.53822526e-02 7.27595073e-04 9.98969430e-01 2.21520588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00710568099998 meters 0.016212789837343325 Centerline is valid? [True, True] Translation: X:63.57, Y:2.14, Z:2.22 [[ 9.94283865e-01 -9.71664700e-02 -4.42523667e-02 6.35733204e+01] [ 9.70682000e-02 9.95268142e-01 -4.36918972e-03 2.13995668e+00] [ 4.44675096e-02 4.87172634e-05 9.99010830e-01 2.21781809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.037105681 meters 0.01669479808851115 Centerline is valid? [True, True] Translation: X:63.60, Y:2.13, Z:2.22 [[ 9.93610530e-01 -1.03804075e-01 -4.43038300e-02 6.36024278e+01] [ 1.03711888e-01 9.94597735e-01 -4.38052546e-03 2.13392418e+00] [ 4.45192054e-02 -2.42297620e-04 9.99008499e-01 2.21918516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.067105681 meters 0.0194679634384217 Centerline is valid? [True, True] Translation: X:63.63, Y:2.13, Z:2.22 [[ 9.92589292e-01 -1.12903971e-01 -4.49353963e-02 6.36324150e+01] [ 1.12817823e-01 9.93605695e-01 -4.45673998e-03 2.12569643e+00] [ 4.51512493e-02 -6.45801212e-04 9.98979954e-01 2.22079003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09710568099999 meters 0.01967291403196276 Centerline is valid? [True, True] Translation: X:63.66, Y:2.13, Z:2.23 [[ 9.92397496e-01 -1.16218846e-01 -4.05017261e-02 6.36606304e+01] [ 1.16151164e-01 9.93223379e-01 -4.02823611e-03 2.12841564e+00] [ 4.06954182e-02 -7.06711212e-04 9.99171348e-01 2.22898273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.12710568099999 meters 0.01966687063977119 Centerline is valid? [True, True] Translation: X:63.69, Y:2.13, Z:2.23 [[ 9.92394834e-01 -1.16853371e-01 -3.87012105e-02 6.36883192e+01] [ 1.16791574e-01 9.93148940e-01 -3.86155039e-03 2.13287155e+00] [ 3.88873013e-02 -6.87792618e-04 9.99243366e-01 2.23349079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.15710568099999 meters 0.019445131059550973 Centerline is valid? [True, True] Translation: X:63.72, Y:2.14, Z:2.24 [[ 9.92431391e-01 -1.16798728e-01 -3.79208599e-02 6.37155258e+01] [ 1.16738819e-01 9.93155388e-01 -3.79782462e-03 2.14159657e+00] [ 3.81048874e-02 -6.57756039e-04 9.99273529e-01 2.23596260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.18710568099999 meters 0.01940432186835856 Centerline is valid? [True, True] Translation: X:63.74, Y:2.15, Z:2.24 [[ 9.92533634e-01 -1.16207042e-01 -3.70527879e-02 6.37430783e+01] [ 1.16148920e-01 9.93224826e-01 -3.72465992e-03 2.14719746e+00] [ 3.72345805e-02 -6.06791061e-04 9.99306368e-01 2.23828754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.21710568099999 meters 0.018454507712484476 Centerline is valid? [True, True] Translation: X:63.77, Y:2.16, Z:2.24 [[ 9.92880668e-01 -1.14122304e-01 -3.41186111e-02 6.37711245e+01] [ 1.14071687e-01 9.93466590e-01 -3.43283718e-03 2.15937029e+00] [ 3.42874635e-02 -4.83569859e-04 9.99411895e-01 2.24359833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.247105681 meters 0.018012901260651092 Centerline is valid? [True, True] Translation: X:63.80, Y:2.17, Z:2.24 [[ 9.93112445e-01 -1.12180879e-01 -3.38100839e-02 6.37985287e+01] [ 1.12129667e-01 9.93687722e-01 -3.41303172e-03 2.16681103e+00] [ 3.39795422e-02 -4.01589158e-04 9.99422448e-01 2.24486793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.277105681 meters 0.01697048348206209 Centerline is valid? [True, True] Translation: X:63.83, Y:2.18, Z:2.24 [[ 9.93611239e-01 -1.07286488e-01 -3.50187733e-02 6.38261971e+01] [ 1.07228367e-01 9.94228119e-01 -3.53904204e-03 2.18077727e+00] [ 3.51963405e-02 -2.38573915e-04 9.99380388e-01 2.24376357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.307105681 meters 0.016569199779382166 Centerline is valid? [True, True] Translation: X:63.85, Y:2.20, Z:2.24 [[ 9.94450100e-01 -9.82107407e-02 -3.77312868e-02 6.38530705e+01] [ 9.81362167e-02 9.95165634e-01 -3.82662791e-03 2.19641374e+00] [ 3.79246959e-02 1.02584772e-04 9.99280595e-01 2.24154350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.337105681 meters 0.017217836207948096 Centerline is valid? [True, True] Translation: X:63.88, Y:2.21, Z:2.24 [[ 9.94766499e-01 -9.35635399e-02 -4.10545552e-02 6.38801353e+01] [ 9.34711288e-02 9.95613262e-01 -4.16893043e-03 2.20664411e+00] [ 4.12645195e-02 3.09696719e-04 9.99148209e-01 2.23773563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.367105681 meters 0.019420725749904392 Centerline is valid? [True, True] Translation: X:63.91, Y:2.22, Z:2.23 [[ 9.95039909e-01 -8.65479018e-02 -4.90412094e-02 6.39078517e+01] [ 8.64071955e-02 9.96247428e-01 -4.98594266e-03 2.22409000e+00] [ 4.92887016e-02 7.23698569e-04 9.98784311e-01 2.22702872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.397105681 meters 0.020613118416556175 Centerline is valid? [True, True] Translation: X:63.94, Y:2.23, Z:2.22 [[ 9.95098511e-01 -8.41096955e-02 -5.20049277e-02 6.39355276e+01] [ 8.39478473e-02 9.96456094e-01 -5.29259145e-03 2.23304210e+00] [ 5.22657853e-02 9.00948146e-04 9.98632803e-01 2.22400542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.427105681 meters 0.022254057044178568 Centerline is valid? [True, True] Translation: X:63.96, Y:2.24, Z:2.22 [[ 9.95227558e-01 -8.20083618e-02 -5.28841735e-02 6.39624580e+01] [ 8.18375840e-02 9.96631102e-01 -5.39036647e-03 2.24248862e+00] [ 5.31480673e-02 1.03672826e-03 9.98586105e-01 2.22370224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45710568099999 meters 0.021906323504941275 Centerline is valid? [True, True] Translation: X:63.99, Y:2.25, Z:2.23 [[ 9.95322123e-01 -8.20198186e-02 -5.10550764e-02 6.39911421e+01] [ 8.18602357e-02 9.96630188e-01 -5.21248186e-03 2.24676595e+00] [ 5.13105572e-02 1.00871793e-03 9.98682236e-01 2.22649735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.48710568099999 meters 0.0213632416497908 Centerline is valid? [True, True] Translation: X:64.02, Y:2.25, Z:2.23 [[ 9.95299910e-01 -8.22262147e-02 -5.11560173e-02 6.40189065e+01] [ 8.20653875e-02 9.96613172e-01 -5.23996822e-03 2.25019602e+00] [ 5.14136234e-02 1.01720152e-03 9.98676927e-01 2.22844845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.51710568099999 meters 0.021314988623454694 Centerline is valid? [True, True] Translation: X:64.05, Y:2.26, Z:2.23 [[ 9.95268174e-01 -8.26060752e-02 -5.11614975e-02 6.40465548e+01] [ 8.24447115e-02 9.96581759e-01 -5.26001500e-03 2.25632507e+00] [ 5.14211243e-02 1.01713063e-03 9.98676541e-01 2.22940342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.54710568099999 meters 0.02028825896204321 Centerline is valid? [True, True] Translation: X:64.07, Y:2.26, Z:2.23 [[ 9.95181462e-01 -8.54331245e-02 -4.81148564e-02 6.40735209e+01] [ 8.52930156e-02 9.96343558e-01 -4.96136403e-03 2.26117247e+00] [ 4.83627920e-02 8.33596310e-04 9.98829488e-01 2.23346402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.57710568099999 meters 0.01868007989950097 Centerline is valid? [True, True] Translation: X:64.10, Y:2.26, Z:2.24 [[ 9.94821764e-01 -9.04277374e-02 -4.63948605e-02 6.41026348e+01] [ 9.03025545e-02 9.95902852e-01 -4.79137241e-03 2.26232493e+00] [ 4.66380469e-02 5.76987132e-04 9.98911688e-01 2.23603973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.607105681 meters 0.017987978618677646 Centerline is valid? [True, True] Translation: X:64.13, Y:2.26, Z:2.24 [[ 9.94486039e-01 -9.33194780e-02 -4.78434305e-02 6.41305733e+01] [ 9.31889919e-02 9.95636105e-01 -4.95554404e-03 2.26285927e+00] [ 4.80970956e-02 4.69738298e-04 9.98842555e-01 2.23513337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.637105681 meters 0.017194425436282766 Centerline is valid? [True, True] Translation: X:64.16, Y:2.26, Z:2.23 [[ 9.93786603e-01 -9.89791855e-02 -5.09048874e-02 6.41585149e+01] [ 9.88383945e-02 9.95089480e-01 -5.28188667e-03 2.26115336e+00] [ 5.11777147e-02 2.17710874e-04 9.98689538e-01 2.23217134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.667105681 meters 0.01708068114758113 Centerline is valid? [True, True] Translation: X:64.19, Y:2.26, Z:2.23 [[ 9.93600556e-01 -1.00672119e-01 -5.12158049e-02 6.41863263e+01] [ 1.00531255e-01 9.94919647e-01 -5.32565009e-03 2.26393656e+00] [ 5.14917550e-02 1.42779728e-04 9.98673409e-01 2.23340814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.697105681 meters 0.01697611968571325 Centerline is valid? [True, True] Translation: X:64.21, Y:2.27, Z:2.24 [[ 9.93513053e-01 -1.01880274e-01 -5.05195308e-02 6.42134843e+01] [ 1.01743811e-01 9.94796663e-01 -5.27226046e-03 2.26984875e+00] [ 5.07938000e-02 9.80100128e-05 9.98709157e-01 2.23569834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.727105681 meters 0.017054617374201986 Centerline is valid? [True, True] Translation: X:64.24, Y:2.27, Z:2.24 [[ 9.93477096e-01 -1.01660255e-01 -5.16570574e-02 6.42410719e+01] [ 1.01516439e-01 9.94819168e-01 -5.40707491e-03 2.27482097e+00] [ 5.19391155e-02 1.27764586e-04 9.98650245e-01 2.23521708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.757105681 meters 0.01710360823638009 Centerline is valid? [True, True] Translation: X:64.27, Y:2.28, Z:2.23 [[ 9.93138951e-01 -1.03822746e-01 -5.38132083e-02 6.42694252e+01] [ 1.03669281e-01 9.94595816e-01 -5.64299386e-03 2.27911646e+00] [ 5.41082630e-02 2.55003908e-05 9.98535075e-01 2.23440458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.787105681 meters 0.01696743807151144 Centerline is valid? [True, True] Translation: X:64.30, Y:2.28, Z:2.24 [[ 9.92928889e-01 -1.05950784e-01 -5.35411260e-02 6.42968300e+01] [ 1.05800944e-01 9.94371372e-01 -5.63329280e-03 2.28158867e+00] [ 5.38366147e-02 -7.12424981e-05 9.98549755e-01 2.23579424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.817105681 meters 0.017633529123161115 Centerline is valid? [True, True] Translation: X:64.32, Y:2.28, Z:2.24 [[ 9.92278568e-01 -1.11761365e-01 -5.37832850e-02 6.43245794e+01] [ 1.11617802e-01 9.93735004e-01 -5.67512826e-03 2.28109190e+00] [ 5.40805930e-02 -3.71863928e-04 9.98536505e-01 2.23693101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.84710568099999 meters 0.018798012590590142 Centerline is valid? [True, True] Translation: X:64.35, Y:2.28, Z:2.24 [[ 9.91628206e-01 -1.17569055e-01 -5.33949270e-02 6.43539524e+01] [ 1.17435433e-01 9.93064481e-01 -5.64407634e-03 2.28051995e+00] [ 5.36881742e-02 -6.73631076e-04 9.98557523e-01 2.23884749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.87710568099999 meters 0.01886057101550222 Centerline is valid? [True, True] Translation: X:64.38, Y:2.28, Z:2.24 [[ 9.91643074e-01 -1.18290973e-01 -5.14903854e-02 6.43817696e+01] [ 1.18166984e-01 9.92978747e-01 -5.45636407e-03 2.28322215e+00] [ 5.17742970e-02 -6.73697924e-04 9.98658584e-01 2.24178219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.90710568099999 meters 0.01805848238761828 Centerline is valid? [True, True] Translation: X:64.41, Y:2.29, Z:2.25 [[ 9.91866722e-01 -1.16621910e-01 -5.09876053e-02 6.44104249e+01] [ 1.16497771e-01 9.93176218e-01 -5.41003171e-03 2.29040880e+00] [ 5.12706052e-02 -5.73911965e-04 9.98684633e-01 2.24511396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.93710568099999 meters 0.017136884790683513 Centerline is valid? [True, True] Translation: X:64.44, Y:2.30, Z:2.24 [[ 9.92621366e-01 -1.09794403e-01 -5.14588527e-02 6.44366331e+01] [ 1.09658330e-01 9.93954296e-01 -5.46878275e-03 2.30432798e+00] [ 5.17481895e-02 -2.14461275e-04 9.98660142e-01 2.24493602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.96710568099999 meters 0.017300238878768363 Centerline is valid? [True, True] Translation: X:64.46, Y:2.32, Z:2.24 [[ 9.93602139e-01 -1.00064115e-01 -5.23637466e-02 6.44644434e+01] [ 9.99091751e-02 9.94980944e-01 -5.57479469e-03 2.31986492e+00] [ 5.26587669e-02 3.07509199e-04 9.98612517e-01 2.24401241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.997105681 meters 0.018704126540769896 Centerline is valid? [True, True] Translation: X:64.49, Y:2.33, Z:2.24 [[ 9.94070279e-01 -9.43597012e-02 -5.40419102e-02 6.44909993e+01] [ 9.41853988e-02 9.95537961e-01 -5.76883505e-03 2.32970844e+00] [ 5.43451187e-02 6.44668597e-04 9.98522004e-01 2.24223196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.027105681 meters 0.02233393579937315 Centerline is valid? [True, True] Translation: X:64.52, Y:2.35, Z:2.24 [[ 9.94856950e-01 -8.43211226e-02 -5.61212804e-02 6.45187274e+01] [ 8.41167416e-02 9.96437853e-01 -5.99831975e-03 2.34690997e+00] [ 5.64271532e-02 1.24673085e-03 9.98405941e-01 2.23934168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.057105681 meters 0.024280377045618723 Centerline is valid? [True, True] Translation: X:64.55, Y:2.36, Z:2.24 [[ 9.95205404e-01 -8.05125235e-02 -5.55332176e-02 6.45457281e+01] [ 8.03060765e-02 9.96752536e-01 -5.94276202e-03 2.35671157e+00] [ 5.58313422e-02 1.45461406e-03 9.98439155e-01 2.24068831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.087105681 meters 0.025946963447954448 Centerline is valid? [True, True] Translation: X:64.57, Y:2.36, Z:2.25 [[ 9.95796357e-01 -7.66928709e-02 -5.00781288e-02 6.45739098e+01] [ 7.65196690e-02 9.97053614e-01 -5.36953941e-03 2.36442181e+00] [ 5.03423847e-02 1.51500594e-03 9.98730869e-01 2.24743115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.117105681 meters 0.02572704404627085 Centerline is valid? [True, True] Translation: X:64.60, Y:2.36, Z:2.25 [[ 9.95953077e-01 -7.71563936e-02 -4.60907729e-02 6.46029897e+01] [ 7.70095324e-02 9.97018038e-01 -4.95620639e-03 2.36320432e+00] [ 4.63357350e-02 1.38672013e-03 9.98924960e-01 2.25173364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.147105681 meters 0.024891091859506827 Centerline is valid? [True, True] Translation: X:64.63, Y:2.36, Z:2.25 [[ 9.95856648e-01 -7.87881853e-02 -4.54087823e-02 6.46318812e+01] [ 7.86466641e-02 9.96890524e-01 -4.89755505e-03 2.36310274e+00] [ 4.56534543e-02 1.30601351e-03 9.98956484e-01 2.25306369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.177105681 meters 0.023846435232231736 Centerline is valid? [True, True] Translation: X:64.66, Y:2.36, Z:2.25 [[ 9.95703304e-01 -8.04422998e-02 -4.58690073e-02 6.46614476e+01] [ 8.02989500e-02 9.96758474e-01 -4.96226470e-03 2.36245345e+00] [ 4.61194977e-02 1.25771024e-03 9.98935138e-01 2.25315670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20710568099999 meters 0.02631408431942106 Centerline is valid? [True, True] Translation: X:64.69, Y:2.37, Z:2.25 [[ 9.95812432e-01 -7.76620763e-02 -4.82307142e-02 6.46889735e+01] [ 7.74996625e-02 9.96978654e-01 -5.23120746e-03 2.36666830e+00] [ 4.84912589e-02 1.47143736e-03 9.98822523e-01 2.25005946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.23710568099999 meters 0.029517073300536517 Centerline is valid? [True, True] Translation: X:64.72, Y:2.37, Z:2.25 [[ 9.96213504e-01 -7.08957235e-02 -5.03234560e-02 6.47195637e+01] [ 7.07100449e-02 9.97481954e-01 -5.46272360e-03 2.37037247e+00] [ 5.05840229e-02 1.88366519e-03 9.98718032e-01 2.24722563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.26710568099999 meters 0.03040394764721615 Centerline is valid? [True, True] Translation: X:64.75, Y:2.37, Z:2.25 [[ 9.96410475e-01 -6.75737221e-02 -5.09897811e-02 6.47493394e+01] [ 6.73787131e-02 9.97712115e-01 -5.53573076e-03 2.37228770e+00] [ 5.12471923e-02 2.08023428e-03 9.98683833e-01 2.24743571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.29710568099999 meters 0.03226892192340118 Centerline is valid? [True, True] Translation: X:64.78, Y:2.37, Z:2.25 [[ 9.96735633e-01 -6.27920174e-02 -5.07468186e-02 6.47785160e+01] [ 6.25925400e-02 9.98023943e-01 -5.51210541e-03 2.37283708e+00] [ 5.09926562e-02 2.31773960e-03 9.98696339e-01 2.24921646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.32710568099999 meters 0.03423413403810579 Centerline is valid? [True, True] Translation: X:64.81, Y:2.37, Z:2.25 [[ 9.96973679e-01 -6.07192832e-02 -4.85453593e-02 6.48064470e+01] [ 6.05341104e-02 9.98152181e-01 -5.27692364e-03 2.37333144e+00] [ 4.87760673e-02 2.32230384e-03 9.98807040e-01 2.25242932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.357105681 meters 0.034046244910890505 Centerline is valid? [True, True] Translation: X:64.83, Y:2.37, Z:2.25 [[ 9.97007128e-01 -6.10796675e-02 -4.73926183e-02 6.48347405e+01] [ 6.09032028e-02 9.98130340e-01 -5.15991608e-03 2.37123867e+00] [ 4.76191762e-02 2.25811087e-03 9.98863011e-01 2.25437744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.387105681 meters 0.03379073466612003 Centerline is valid? [True, True] Translation: X:64.86, Y:2.36, Z:2.25 [[ 9.96914963e-01 -6.28029116e-02 -4.70781409e-02 6.48634062e+01] [ 6.26299851e-02 9.98023576e-01 -5.14075348e-03 2.36181912e+00] [ 4.73079488e-02 2.17639081e-03 9.98877981e-01 2.25470740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.417105681 meters 0.03303326985228445 Centerline is valid? [True, True] Translation: X:64.89, Y:2.36, Z:2.26 [[ 9.96864967e-01 -6.40891458e-02 -4.63984711e-02 6.48930335e+01] [ 6.39222367e-02 9.97941985e-01 -5.07368025e-03 2.35957187e+00] [ 4.66281502e-02 2.09188005e-03 9.98910126e-01 2.25624143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.447105681 meters 0.03361467001647983 Centerline is valid? [True, True] Translation: X:64.92, Y:2.36, Z:2.26 [[ 9.96934598e-01 -6.43529680e-02 -4.44983489e-02 6.49213021e+01] [ 6.41992021e-02 9.97925184e-01 -4.87752208e-03 2.35584370e+00] [ 4.47199060e-02 2.00581202e-03 9.98997551e-01 2.25732854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.477105681 meters 0.03398929319681697 Centerline is valid? [True, True] Translation: X:64.95, Y:2.35, Z:2.26 [[ 9.96929727e-01 -6.40261205e-02 -4.50752107e-02 6.49499798e+01] [ 6.38677674e-02 9.97946113e-01 -4.94600412e-03 2.35456971e+00] [ 4.52993048e-02 2.05196546e-03 9.98971352e-01 2.25734664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.507105681 meters 0.03450685431891359 Centerline is valid? [True, True] Translation: X:64.98, Y:2.35, Z:2.25 [[ 9.96737186e-01 -6.42801925e-02 -4.88163772e-02 6.49800388e+01] [ 6.40943288e-02 9.97929424e-01 -5.36489170e-03 2.34776693e+00] [ 4.90601554e-02 2.21853412e-03 9.98793362e-01 2.25435312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.537105681 meters 0.03319064903410237 Centerline is valid? [True, True] Translation: X:65.01, Y:2.34, Z:2.26 [[ 9.96572936e-01 -6.66578112e-02 -4.89808152e-02 6.50100394e+01] [ 6.64729242e-02 9.97773640e-01 -5.39577992e-03 2.33969400e+00] [ 4.92314371e-02 2.12139022e-03 9.98785145e-01 2.25547125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56710568099999 meters 0.032339088750255214 Centerline is valid? [True, True] Translation: X:65.04, Y:2.34, Z:2.26 [[ 9.96496866e-01 -6.84407576e-02 -4.80609853e-02 6.50390444e+01] [ 6.82644946e-02 9.97653174e-01 -5.30126520e-03 2.33589339e+00] [ 4.83110171e-02 2.00183529e-03 9.98830335e-01 2.25785991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.59710568099999 meters 0.03036821815545155 Centerline is valid? [True, True] Translation: X:65.07, Y:2.32, Z:2.26 [[ 9.96411814e-01 -7.07303416e-02 -4.64834932e-02 6.50690898e+01] [ 7.05673876e-02 9.97493775e-01 -5.13938811e-03 2.32287985e+00] [ 4.67305058e-02 1.84072834e-03 9.98905837e-01 2.26234416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.62710568099999 meters 0.031357231685546105 Centerline is valid? [True, True] Translation: X:65.10, Y:2.32, Z:2.27 [[ 9.96572467e-01 -7.00341405e-02 -4.40288137e-02 6.50978381e+01] [ 6.98870993e-02 9.97543010e-01 -4.87199829e-03 2.31763669e+00] [ 4.42618416e-02 1.77825328e-03 9.99018382e-01 2.26613421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.65710568099999 meters 0.031710102159304844 Centerline is valid? [True, True] Translation: X:65.13, Y:2.32, Z:2.27 [[ 9.96635966e-01 -6.97000820e-02 -4.31120581e-02 6.51271081e+01] [ 6.95585299e-02 9.97566436e-01 -4.77661631e-03 2.31721785e+00] [ 4.33400727e-02 1.76173622e-03 9.99058824e-01 2.26748057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.68710568099999 meters 0.03237133571413136 Centerline is valid? [True, True] Translation: X:65.16, Y:2.32, Z:2.27 [[ 9.96751747e-01 -6.87654343e-02 -4.19197977e-02 6.51557480e+01] [ 6.86302860e-02 9.97631296e-01 -4.65631724e-03 2.31581700e+00] [ 4.21406957e-02 1.76422464e-03 9.99110129e-01 2.26907767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.71710568099999 meters 0.03237133571413136 Centerline is valid? [True, True] Translation: X:65.18, Y:2.32, Z:2.27 [[ 9.96727491e-01 -6.91165170e-02 -4.19191458e-02 6.51830629e+01] [ 6.89814324e-02 9.97607050e-01 -4.66217800e-03 2.31908892e+00] [ 4.21410688e-02 1.75527827e-03 9.99110129e-01 2.27009640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.747105681 meters 0.03283355152509888 Centerline is valid? [True, True] Translation: X:65.21, Y:2.31, Z:2.27 [[ 9.96760685e-01 -6.89621658e-02 -4.13806269e-02 6.52127118e+01] [ 6.88298009e-02 9.97617735e-01 -4.61665819e-03 2.31146820e+00] [ 4.16004220e-02 1.75348307e-03 9.99132789e-01 2.27169779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.777105681 meters 0.0316058441149392 Centerline is valid? [True, True] Translation: X:65.24, Y:2.30, Z:2.27 [[ 9.96761068e-01 -6.91579381e-02 -4.10433083e-02 6.52420365e+01] [ 6.90273586e-02 9.97604199e-01 -4.59187644e-03 2.30237152e+00] [ 4.12625414e-02 1.74389251e-03 9.99146817e-01 2.27216175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.807105681 meters 0.031927653393891205 Centerline is valid? [True, True] Translation: X:65.27, Y:2.30, Z:2.27 [[ 9.96745584e-01 -6.91186656e-02 -4.14831454e-02 6.52709761e+01] [ 6.89846085e-02 9.97606859e-01 -4.65613187e-03 2.30054503e+00] [ 4.17056960e-02 1.77928033e-03 9.99128355e-01 2.27234222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.837105681 meters 0.03191088410986781 Centerline is valid? [True, True] Translation: X:65.30, Y:2.29, Z:2.27 [[ 9.96768345e-01 -6.78800474e-02 -4.29553811e-02 6.53008281e+01] [ 6.77345435e-02 9.97691661e-01 -4.83544462e-03 2.29320431e+00] [ 4.31844558e-02 1.91025500e-03 9.99065290e-01 2.27083308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.867105681 meters 0.035407671876591815 Centerline is valid? [True, True] Translation: X:65.33, Y:2.29, Z:2.27 [[ 9.96804513e-01 -6.53011756e-02 -4.60056356e-02 6.53301594e+01] [ 6.51308985e-02 9.97863221e-01 -5.19214379e-03 2.29247371e+00] [ 4.62463848e-02 2.17916398e-03 9.98927687e-01 2.26820266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.897105681 meters 0.03394508728493754 Centerline is valid? [True, True] Translation: X:65.36, Y:2.29, Z:2.27 [[ 9.96834669e-01 -6.46741828e-02 -4.62373509e-02 6.53596942e+01] [ 6.45012533e-02 9.97903953e-01 -5.22385452e-03 2.28904011e+00] [ 4.64782838e-02 2.22495221e-03 9.98916823e-01 2.26938924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.927105681 meters 0.04034803684106035 Centerline is valid? [True, True] Translation: X:65.39, Y:2.29, Z:2.27 [[ 9.96998002e-01 -6.34437938e-02 -4.43831958e-02 6.53877885e+01] [ 6.32827044e-02 9.97982982e-01 -5.02660113e-03 2.29023624e+00] [ 4.46125808e-02 2.20282263e-03 9.99001935e-01 2.27231793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95710568099999 meters 0.037310096404655636 Centerline is valid? [True, True] Translation: X:65.42, Y:2.28, Z:2.27 [[ 9.97159482e-01 -6.18444367e-02 -4.29910902e-02 6.54174617e+01] [ 6.16915613e-02 9.98083356e-01 -4.87491009e-03 2.28096082e+00] [ 4.32101776e-02 2.20887534e-03 9.99063562e-01 2.27476626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.98710568099999 meters 0.038235787268705 Centerline is valid? [True, True] Translation: X:65.45, Y:2.28, Z:2.27 [[ 9.97235976e-01 -6.07012326e-02 -4.28458748e-02 6.54459074e+01] [ 6.05478198e-02 9.98153415e-01 -4.87044425e-03 2.28172441e+00] [ 4.30623982e-02 2.26275792e-03 9.99069822e-01 2.27437444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.01710568099999 meters 0.03978354833830267 Centerline is valid? [True, True] Translation: X:65.47, Y:2.28, Z:2.27 [[ 9.97168251e-01 -5.94554045e-02 -4.60492529e-02 6.54742441e+01] [ 5.92766016e-02 9.98227844e-01 -5.23993488e-03 2.27955389e+00] [ 4.62791888e-02 2.49545349e-03 9.98925427e-01 2.27011517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.04710568099999 meters 0.03958907551043352 Centerline is valid? [True, True] Translation: X:65.50, Y:2.28, Z:2.27 [[ 9.97077479e-01 -6.03237284e-02 -4.68780125e-02 6.55031247e+01] [ 6.01390463e-02 9.98175719e-01 -5.34135797e-03 2.27899744e+00] [ 4.71147045e-02 2.50654877e-03 9.98886341e-01 2.26952005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.07710568099999 meters 0.036655071088463796 Centerline is valid? [True, True] Translation: X:65.53, Y:2.27, Z:2.27 [[ 9.96839256e-01 -6.47823616e-02 -4.59863456e-02 6.55334909e+01] [ 6.46088487e-02 9.97896850e-01 -5.25107970e-03 2.26905322e+00] [ 4.62298067e-02 2.26335754e-03 9.98928267e-01 2.27091678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.107105681 meters 0.03407842671245683 Centerline is valid? [True, True] Translation: X:65.56, Y:2.26, Z:2.27 [[ 9.96336753e-01 -7.14227940e-02 -4.70304147e-02 6.55639924e+01] [ 7.12486006e-02 9.97444123e-01 -5.37198640e-03 2.25935147e+00] [ 4.72938930e-02 2.00145625e-03 9.98879013e-01 2.27171655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.137105681 meters 0.032442721663979365 Centerline is valid? [True, True] Translation: X:65.59, Y:2.26, Z:2.27 [[ 9.96070232e-01 -7.47474272e-02 -4.75070028e-02 6.55936423e+01] [ 7.45733009e-02 9.97200753e-01 -5.42963249e-03 2.25716969e+00] [ 4.77798700e-02 1.86554128e-03 9.98856148e-01 2.27274517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.167105681 meters 0.029743286746884194 Centerline is valid? [True, True] Translation: X:65.62, Y:2.25, Z:2.28 [[ 9.95739284e-01 -7.96229135e-02 -4.65131198e-02 6.56243410e+01] [ 7.94608400e-02 9.96823760e-01 -5.32606883e-03 2.25145456e+00] [ 4.67894601e-02 1.60740440e-03 9.98903480e-01 2.27513916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.197105681 meters 0.027784026420210224 Centerline is valid? [True, True] Translation: X:65.65, Y:2.25, Z:2.28 [[ 9.95521958e-01 -8.22079901e-02 -4.66677407e-02 6.56535581e+01] [ 8.20474977e-02 9.96614074e-01 -5.34747036e-03 2.24906251e+00] [ 4.69493320e-02 1.49455281e-03 9.98896154e-01 2.27700142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.227105681 meters 0.02642417443890836 Centerline is valid? [True, True] Translation: X:65.68, Y:2.24, Z:2.28 [[ 9.95129053e-01 -8.65014078e-02 -4.72829159e-02 6.56819628e+01] [ 8.63409132e-02 9.96250852e-01 -5.43008126e-03 2.24463156e+00] [ 4.75753550e-02 1.32118148e-03 9.98866778e-01 2.27649633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.257105681 meters 0.020743963175148546 Centerline is valid? [True, True] Translation: X:65.71, Y:2.23, Z:2.28 [[ 9.94479252e-01 -9.28034107e-02 -4.89749420e-02 6.57121743e+01] [ 9.26385909e-02 9.95683886e-01 -5.62949206e-03 2.23472221e+00] [ 4.92859966e-02 1.06144343e-03 9.98784143e-01 2.27590761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.287105681 meters 0.019153792338847137 Centerline is valid? [True, True] Translation: X:65.74, Y:2.23, Z:2.28 [[ 9.93933897e-01 -9.80438721e-02 -4.98277776e-02 6.57419265e+01] [ 9.78794608e-02 9.95181753e-01 -5.73492515e-03 2.23242004e+00] [ 5.01499693e-02 8.23020503e-04 9.98741360e-01 2.27562263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31710568099999 meters 0.016681500546199365 Centerline is valid? [True, True] Translation: X:65.77, Y:2.22, Z:2.28 [[ 9.92724465e-01 -1.09526264e-01 -5.00213465e-02 6.57713282e+01] [ 1.09374451e-01 9.93983869e-01 -5.77044726e-03 2.22097929e+00] [ 5.03524271e-02 2.57406839e-04 9.98731479e-01 2.27698847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.34710568099999 meters 0.01627451471269523 Centerline is valid? [True, True] Translation: X:65.80, Y:2.22, Z:2.28 [[ 9.92048589e-01 -1.16537521e-01 -4.75247648e-02 6.58006404e+01] [ 1.16408096e-01 9.93186286e-01 -5.49144897e-03 2.21701876e+00] [ 4.78409045e-02 -8.44832008e-05 9.98854965e-01 2.28124566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.37710568099999 meters 0.01851305378518418 Centerline is valid? [True, True] Translation: X:65.83, Y:2.21, Z:2.29 [[ 9.90621228e-01 -1.29801757e-01 -4.26741868e-02 6.58307210e+01] [ 1.29709168e-01 9.91539760e-01 -4.94320232e-03 2.20830602e+00] [ 4.29547893e-02 -6.38392112e-04 9.99076813e-01 2.29081527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.40710568099999 meters 0.020456479286826788 Centerline is valid? [True, True] Translation: X:65.86, Y:2.21, Z:2.29 [[ 9.89923687e-01 -1.35242711e-01 -4.19583590e-02 6.58598287e+01] [ 1.35157523e-01 9.90812138e-01 -4.87354293e-03 2.20725866e+00] [ 4.22319625e-02 -8.46552281e-04 9.99107474e-01 2.29372811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.43710568099999 meters 0.023687448674837127 Centerline is valid? [True, True] Translation: X:65.89, Y:2.21, Z:2.30 [[ 9.88945710e-01 -1.42547511e-01 -4.08238866e-02 6.58897209e+01] [ 1.42472632e-01 9.89787331e-01 -4.75267892e-03 2.20712255e+00] [ 4.10844483e-02 -1.11614513e-03 9.99155054e-01 2.29545515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.46710568099999 meters 0.025395814833348143 Centerline is valid? [True, True] Translation: X:65.92, Y:2.21, Z:2.29 [[ 9.88569661e-01 -1.44652299e-01 -4.24939685e-02 6.59174524e+01] [ 1.44573004e-01 9.89481758e-01 -4.94954068e-03 2.21210211e+00] [ 4.27629691e-02 -1.25051493e-03 9.99084463e-01 2.29431660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.497105681 meters 0.024856492599833198 Centerline is valid? [True, True] Translation: X:65.95, Y:2.22, Z:2.29 [[ 9.88335333e-01 -1.46036116e-01 -4.32055774e-02 6.59453482e+01] [ 1.45955182e-01 9.89278371e-01 -5.03887214e-03 2.21919173e+00] [ 4.34782006e-02 -1.32598252e-03 9.99053496e-01 2.29480381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.527105681 meters 0.02483824997485151 Centerline is valid? [True, True] Translation: X:65.97, Y:2.23, Z:2.30 [[ 9.88209701e-01 -1.47195588e-01 -4.21312787e-02 6.59729901e+01] [ 1.47119099e-01 9.89106512e-01 -4.92731771e-03 2.23032508e+00] [ 4.23976016e-02 -1.32909260e-03 9.99099933e-01 2.29687856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.557105681 meters 0.025459527495506083 Centerline is valid? [True, True] Translation: X:66.00, Y:2.24, Z:2.30 [[ 9.88160326e-01 -1.47721972e-01 -4.14413869e-02 6.59997886e+01] [ 1.47647898e-01 9.89028051e-01 -4.85935387e-03 2.23768431e+00] [ 4.17045275e-02 -1.31691298e-03 9.99129120e-01 2.29835999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.587105681 meters 0.02574421177875187 Centerline is valid? [True, True] Translation: X:66.03, Y:2.25, Z:2.30 [[ 9.87840807e-01 -1.49794626e-01 -4.16186234e-02 6.60268435e+01] [ 1.49721545e-01 9.88716135e-01 -4.88510166e-03 2.24972380e+00] [ 4.18807665e-02 -1.40550185e-03 9.99121627e-01 2.30015968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.617105681 meters 0.02894863466637603 Centerline is valid? [True, True] Translation: X:66.05, Y:2.26, Z:2.30 [[ 9.87039264e-01 -1.54924245e-01 -4.18565456e-02 6.60546481e+01] [ 1.54854722e-01 9.87925012e-01 -4.91789792e-03 2.25721939e+00] [ 4.21130300e-02 -1.62752539e-03 9.99111527e-01 2.30108202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.647105681 meters 0.03151985481078987 Centerline is valid? [True, True] Translation: X:66.08, Y:2.26, Z:2.30 [[ 9.86612046e-01 -1.57564087e-01 -4.20740867e-02 6.60820046e+01] [ 1.57496093e-01 9.87507220e-01 -4.94676666e-03 2.26235240e+00] [ 4.23278972e-02 -1.74596470e-03 9.99102247e-01 2.30096411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.677105681 meters 0.03158949206530537 Centerline is valid? [True, True] Translation: X:66.11, Y:2.27, Z:2.30 [[ 9.86106092e-01 -1.60651302e-01 -4.22603183e-02 6.61107608e+01] [ 1.60585333e-01 9.87009431e-01 -4.97335105e-03 2.27124923e+00] [ 4.25103080e-02 -1.88213551e-03 9.99094255e-01 2.30145317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70710568099999 meters 0.034192634725664216 Centerline is valid? [True, True] Translation: X:66.14, Y:2.28, Z:2.30 [[ 9.85566532e-01 -1.63885030e-01 -4.24300306e-02 6.61378391e+01] [ 1.63821416e-01 9.86477363e-01 -4.99568024e-03 2.28262939e+00] [ 4.26749819e-02 -2.02737246e-03 9.99086951e-01 2.30172158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73710568099999 meters 0.03368560821380003 Centerline is valid? [True, True] Translation: X:66.16, Y:2.30, Z:2.30 [[ 9.85443547e-01 -1.64269143e-01 -4.37797308e-02 6.61645667e+01] [ 1.64201528e-01 9.86413314e-01 -5.16069751e-03 2.30109009e+00] [ 4.40326527e-02 -2.10312263e-03 9.99027879e-01 2.30123072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.76710568099999 meters 0.03365420203265525 Centerline is valid? [True, True] Translation: X:66.19, Y:2.32, Z:2.30 [[ 9.85344106e-01 -1.64507646e-01 -4.51024030e-02 6.61904155e+01] [ 1.64435395e-01 9.86373439e-01 -5.33285902e-03 2.31789597e+00] [ 4.53651085e-02 -2.16173027e-03 9.98968135e-01 2.30224013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.79710568099999 meters 0.03303354122328023 Centerline is valid? [True, True] Translation: X:66.22, Y:2.33, Z:2.30 [[ 9.85247156e-01 -1.65037843e-01 -4.52830228e-02 6.62176747e+01] [ 1.64964777e-01 9.86284831e-01 -5.37163257e-03 2.32979127e+00] [ 4.55484811e-02 -2.17771804e-03 9.98959756e-01 2.30368266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.82710568099999 meters 0.03414272097756761 Centerline is valid? [True, True] Translation: X:66.24, Y:2.35, Z:2.30 [[ 9.85119951e-01 -1.65567152e-01 -4.61107304e-02 6.62435637e+01] [ 1.65491313e-01 9.86196001e-01 -5.48395190e-03 2.34836576e+00] [ 4.63821802e-02 -2.22857490e-03 9.98921282e-01 2.30326344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.857105681 meters 0.033799710148854314 Centerline is valid? [True, True] Translation: X:66.27, Y:2.36, Z:2.30 [[ 9.85085507e-01 -1.65919227e-01 -4.55779939e-02 6.62700915e+01] [ 1.65845146e-01 9.86136867e-01 -5.42843350e-03 2.36051633e+00] [ 4.58468215e-02 -2.21141787e-03 9.98946034e-01 2.30470010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.887105681 meters 0.03428038745707539 Centerline is valid? [True, True] Translation: X:66.30, Y:2.38, Z:2.31 [[ 9.85033553e-01 -1.66895888e-01 -4.30657912e-02 6.62965994e+01] [ 1.66830001e-01 9.85972252e-01 -5.14482428e-03 2.37775877e+00] [ 4.33203252e-02 -2.11684145e-03 9.99058991e-01 2.30888469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.917105681 meters 0.032909590181900365 Centerline is valid? [True, True] Translation: X:66.32, Y:2.39, Z:2.31 [[ 9.84993379e-01 -1.67495576e-01 -4.16326371e-02 6.63231259e+01] [ 1.67433952e-01 9.85870679e-01 -4.98749510e-03 2.39107158e+00] [ 4.18797796e-02 -2.05806731e-03 9.99120537e-01 2.31211060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.947105681 meters 0.0323658452496294 Centerline is valid? [True, True] Translation: X:66.35, Y:2.41, Z:2.31 [[ 9.85215581e-01 -1.66575227e-01 -4.00368854e-02 6.63498307e+01] [ 1.66516870e-01 9.86026867e-01 -4.81142253e-03 2.41237874e+00] [ 4.02789085e-02 -1.92652838e-03 9.99186618e-01 2.31427454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.977105681 meters 0.03043643089718309 Centerline is valid? [True, True] Translation: X:66.38, Y:2.43, Z:2.32 [[ 9.86098493e-01 -1.61559111e-01 -3.88383324e-02 6.63762590e+01] [ 1.61499828e-01 9.86861645e-01 -4.67972293e-03 2.43390901e+00] [ 3.90841124e-02 -1.65771629e-03 9.99234549e-01 2.31601429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.007105681 meters 0.027387961301944194 Centerline is valid? [True, True] Translation: X:66.40, Y:2.46, Z:2.32 [[ 9.87652059e-01 -1.52829679e-01 -3.44456152e-02 6.64023598e+01] [ 1.52777689e-01 9.88251860e-01 -4.15192559e-03 2.45898641e+00] [ 3.46754808e-02 -1.16186363e-03 9.99397949e-01 2.32161638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.037105681 meters 0.024013707129349353 Centerline is valid? [True, True] Translation: X:66.43, Y:2.48, Z:2.32 [[ 9.88383015e-01 -1.48148676e-01 -3.39261805e-02 6.64296631e+01] [ 1.48095471e-01 9.88964613e-01 -4.08974421e-03 2.47712392e+00] [ 3.41576821e-02 -9.82079981e-04 9.99415974e-01 2.32274631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06710568099999 meters 0.019566700226157245 Centerline is valid? [True, True] Translation: X:66.46, Y:2.50, Z:2.32 [[ 9.89744665e-01 -1.38031300e-01 -3.67812242e-02 6.64569787e+01] [ 1.37961321e-01 9.90427638e-01 -4.44609104e-03 2.50482295e+00] [ 3.70428407e-02 -6.73891395e-04 9.99313451e-01 2.31933833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09710568099999 meters 0.01754438033592757 Centerline is valid? [True, True] Translation: X:66.48, Y:2.52, Z:2.32 [[ 9.90485883e-01 -1.31876268e-01 -3.93238492e-02 6.64838090e+01] [ 1.31791356e-01 9.91266073e-01 -4.75519860e-03 2.51948708e+00] [ 3.96074954e-02 -4.72586313e-04 9.99215204e-01 2.31661383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.12710568099999 meters 0.01572053098029569 Centerline is valid? [True, True] Translation: X:66.51, Y:2.55, Z:2.31 [[ 9.92058828e-01 -1.18368427e-01 -4.25228940e-02 6.65094244e+01] [ 1.18256074e-01 9.92969742e-01 -5.15685871e-03 2.54518822e+00] [ 4.28343563e-02 8.73167315e-05 9.99082184e-01 2.31368060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.15710568099999 meters 0.016641348260836738 Centerline is valid? [True, True] Translation: X:66.54, Y:2.56, Z:2.31 [[ 9.92628291e-01 -1.13096977e-01 -4.35677645e-02 6.65368734e+01] [ 1.12973315e-01 9.93583897e-01 -5.29809149e-03 2.55893832e+00] [ 4.38874274e-02 3.37040710e-04 9.99036426e-01 2.31329852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.18710568099999 meters 0.018737655104394138 Centerline is valid? [True, True] Translation: X:66.56, Y:2.58, Z:2.31 [[ 9.93235571e-01 -1.06982557e-01 -4.51423519e-02 6.65624088e+01] [ 1.06842844e-01 9.94260690e-01 -5.50344705e-03 2.57871500e+00] [ 4.54720388e-02 6.43082130e-04 9.98965405e-01 2.31049112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.21710568099999 meters 0.019697680959176893 Centerline is valid? [True, True] Translation: X:66.59, Y:2.59, Z:2.31 [[ 9.93401057e-01 -1.05093093e-01 -4.59323503e-02 6.65900310e+01] [ 1.04945987e-01 9.94462104e-01 -5.60920805e-03 2.58824769e+00] [ 4.62674707e-02 7.51777378e-04 9.98928804e-01 2.30991141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.247105681 meters 0.021506732170239216 Centerline is valid? [True, True] Translation: X:66.62, Y:2.60, Z:2.31 [[ 9.93626787e-01 -1.01944282e-01 -4.80954491e-02 6.66170078e+01] [ 1.01778634e-01 9.94789652e-01 -5.88702441e-03 2.59989838e+00] [ 4.84450036e-02 9.54416014e-04 9.98825396e-01 2.30768358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.277105681 meters 0.019873606602699333 Centerline is valid? [True, True] Translation: X:66.65, Y:2.60, Z:2.31 [[ 9.93285323e-01 -1.05946437e-01 -4.64717184e-02 6.66452535e+01] [ 1.05795837e-01 9.94371562e-01 -5.69534006e-03 2.60234821e+00] [ 4.68135562e-02 7.40583356e-04 9.98903370e-01 2.31037984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.307105681 meters 0.01806797239007396 Centerline is valid? [True, True] Translation: X:66.67, Y:2.60, Z:2.31 [[ 9.92821993e-01 -1.10680007e-01 -4.53257741e-02 6.66729659e+01] [ 1.10541118e-01 9.93855960e-01 -5.56707266e-03 2.60197471e+00] [ 4.56634544e-02 5.16750433e-04 9.98956747e-01 2.31272973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.337105681 meters 0.01579731897617298 Centerline is valid? [True, True] Translation: X:66.70, Y:2.59, Z:2.32 [[ 9.91670245e-01 -1.21603738e-01 -4.24577100e-02 6.67024764e+01] [ 1.21491630e-01 9.92578728e-01 -5.22046554e-03 2.59436207e+00] [ 4.27774479e-02 1.87239604e-05 9.99084626e-01 2.31891204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.367105681 meters 0.015960791321404235 Centerline is valid? [True, True] Translation: X:66.73, Y:2.59, Z:2.32 [[ 9.91214675e-01 -1.26016563e-01 -4.01658327e-02 6.67301541e+01] [ 1.25919381e-01 9.92028126e-01 -4.95039693e-03 2.59260353e+00] [ 4.04694677e-02 -1.50750680e-04 9.99180764e-01 2.32229239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.397105681 meters 0.01697321546894666 Centerline is valid? [True, True] Translation: X:66.76, Y:2.59, Z:2.33 [[ 9.90674610e-01 -1.30975645e-01 -3.75392853e-02 6.67589945e+01] [ 1.30894103e-01 9.91385533e-01 -4.63233636e-03 2.58954806e+00] [ 3.78226276e-02 -3.24533071e-04 9.99284416e-01 2.32612391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.427105681 meters 0.01753250559152152 Centerline is valid? [True, True] Translation: X:66.79, Y:2.59, Z:2.33 [[ 9.90427940e-01 -1.33053884e-01 -3.67309015e-02 6.67873855e+01] [ 1.32976844e-01 9.91108731e-01 -4.54343197e-03 2.59062444e+00] [ 3.70088384e-02 -3.84417407e-04 9.99314864e-01 2.32766257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45710568099999 meters 0.018942672955768694 Centerline is valid? [True, True] Translation: X:66.82, Y:2.59, Z:2.33 [[ 9.89858393e-01 -1.36811534e-01 -3.82487275e-02 6.68167402e+01] [ 1.36730335e-01 9.90596950e-01 -4.74312602e-03 2.59075642e+00] [ 3.85379872e-02 -5.34738247e-04 9.99256993e-01 2.32665416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.48710568099999 meters 0.017714096004012622 Centerline is valid? [True, True] Translation: X:66.84, Y:2.60, Z:2.33 [[ 9.89917619e-01 -1.35611106e-01 -4.08990914e-02 6.68446314e+01] [ 1.35516687e-01 9.90762014e-01 -5.08511703e-03 2.59731277e+00] [ 4.12108646e-02 -5.08662411e-04 9.99150342e-01 2.32514136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.51710568099999 meters 0.017017141679190616 Centerline is valid? [True, True] Translation: X:66.87, Y:2.60, Z:2.32 [[ 9.90233794e-01 -1.32800248e-01 -4.24396980e-02 6.68727050e+01] [ 1.32695305e-01 9.91142745e-01 -5.29284681e-03 2.60274572e+00] [ 4.27666902e-02 -3.90392902e-04 9.99085010e-01 2.32496605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.54710568099999 meters 0.016060806668550934 Centerline is valid? [True, True] Translation: X:66.90, Y:2.61, Z:2.32 [[ 9.90979708e-01 -1.26515916e-01 -4.41921075e-02 6.69004323e+01] [ 1.26395209e-01 9.91964572e-01 -5.52628913e-03 2.61138021e+00] [ 4.45361685e-02 -1.09230292e-04 9.99007767e-01 2.32487074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.57710568099999 meters 0.01607358611091001 Centerline is valid? [True, True] Translation: X:66.93, Y:2.62, Z:2.33 [[ 9.91696385e-01 -1.20746529e-01 -4.42555621e-02 6.69269814e+01] [ 1.20619066e-01 9.92683358e-01 -5.54909119e-03 2.62093532e+00] [ 4.46017935e-02 1.64949090e-04 9.99004831e-01 2.32665563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.607105681 meters 0.01607358611091001 Centerline is valid? [True, True] Translation: X:66.95, Y:2.62, Z:2.33 [[ 9.91649786e-01 -1.21129425e-01 -4.42534151e-02 6.69541910e+01] [ 1.21001581e-01 9.92636709e-01 -5.56616575e-03 2.62459974e+00] [ 4.46017907e-02 1.64953889e-04 9.99004831e-01 2.32767299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.637105681 meters 0.016455670785993064 Centerline is valid? [True, True] Translation: X:66.98, Y:2.63, Z:2.33 [[ 9.91894669e-01 -1.19203506e-01 -4.39942040e-02 6.69820697e+01] [ 1.19074588e-01 9.92869807e-01 -5.54874696e-03 2.62940943e+00] [ 4.43419469e-02 2.65180805e-04 9.99016377e-01 2.32806653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.667105681 meters 0.016943716652583783 Centerline is valid? [True, True] Translation: X:67.01, Y:2.63, Z:2.33 [[ 9.92113302e-01 -1.16953956e-01 -4.50884450e-02 6.70111728e+01] [ 1.16815884e-01 9.93137265e-01 -5.69411443e-03 2.63245585e+00] [ 4.54449641e-02 3.82160095e-04 9.98966771e-01 2.32834688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.697105681 meters 0.01727964083244445 Centerline is valid? [True, True] Translation: X:67.04, Y:2.64, Z:2.33 [[ 9.92147041e-01 -1.16190712e-01 -4.63030026e-02 6.70389300e+01] [ 1.16043622e-01 9.93226824e-01 -5.86129827e-03 2.63621697e+00] [ 4.66704126e-02 4.42101617e-04 9.98910245e-01 2.32773333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.727105681 meters 0.01742997498993549 Centerline is valid? [True, True] Translation: X:67.07, Y:2.64, Z:2.33 [[ 9.92317350e-01 -1.14931639e-01 -4.57929604e-02 6.70679485e+01] [ 1.14786091e-01 9.93373276e-01 -5.80413209e-03 2.63751623e+00] [ 4.61565815e-02 5.03146033e-04 9.98934090e-01 2.33004248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.757105681 meters 0.017587957817908745 Centerline is valid? [True, True] Translation: X:67.10, Y:2.64, Z:2.33 [[ 9.92407002e-01 -1.14946288e-01 -4.37686258e-02 6.70955108e+01] [ 1.14812779e-01 9.93371586e-01 -5.56038998e-03 2.64013193e+00] [ 4.41176554e-02 4.92972370e-04 9.99026221e-01 2.33342462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.787105681 meters 0.016872603174501486 Centerline is valid? [True, True] Translation: X:67.12, Y:2.64, Z:2.34 [[ 9.92267641e-01 -1.16875056e-01 -4.17749991e-02 6.71240888e+01] [ 1.16754898e-01 9.93146548e-01 -5.31302337e-03 2.63915850e+00] [ 4.21096561e-02 3.94505416e-04 9.99112917e-01 2.33745309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81710568099999 meters 0.01621084959899455 Centerline is valid? [True, True] Translation: X:67.15, Y:2.64, Z:2.34 [[ 9.91861057e-01 -1.20109714e-01 -4.22528183e-02 6.71532310e+01] [ 1.19989117e-01 9.92760586e-01 -5.38799185e-03 2.63836992e+00] [ 4.25940829e-02 2.74260920e-04 9.99092423e-01 2.33745243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.84710568099999 meters 0.01577454078506945 Centerline is valid? [True, True] Translation: X:67.18, Y:2.63, Z:2.33 [[ 9.90652306e-01 -1.28146064e-01 -4.67610315e-02 6.71825097e+01] [ 1.28006583e-01 9.91755304e-01 -5.97768007e-03 2.63074061e+00] [ 4.71415172e-02 -6.39173060e-05 9.98888219e-01 2.33245840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.87710568099999 meters 0.018310932348910857 Centerline is valid? [True, True] Translation: X:67.21, Y:2.62, Z:2.33 [[ 9.88794829e-01 -1.40426757e-01 -5.06469399e-02 6.72134721e+01] [ 1.40278911e-01 9.90090824e-01 -6.47979785e-03 2.62332459e+00] [ 5.10550075e-02 -6.97506956e-04 9.98695599e-01 2.32949940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.90710568099999 meters 0.024113473526719983 Centerline is valid? [True, True] Translation: X:67.24, Y:2.61, Z:2.33 [[ 9.86910522e-01 -1.53705446e-01 -4.88083738e-02 6.72441198e+01] [ 1.53584239e-01 9.88115815e-01 -6.24649385e-03 2.61372368e+00] [ 4.91884462e-02 -1.33146642e-03 9.98788628e-01 2.33281708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.93710568099999 meters 0.02709008099248698 Centerline is valid? [True, True] Translation: X:67.27, Y:2.61, Z:2.34 [[ 9.86077344e-01 -1.59517077e-01 -4.69656687e-02 6.72742562e+01] [ 1.59411372e-01 9.87193939e-01 -6.01181844e-03 2.61116367e+00] [ 4.73232111e-02 -1.55874371e-03 9.98878413e-01 2.33673150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.96710568099999 meters 0.032077468492281574 Centerline is valid? [True, True] Translation: X:67.30, Y:2.61, Z:2.34 [[ 9.84816286e-01 -1.67705418e-01 -4.48528183e-02 6.73042021e+01] [ 1.67617393e-01 9.85835395e-01 -5.74318491e-03 2.60770388e+00] [ 4.51806591e-02 -1.86213045e-03 9.98977097e-01 2.34210345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.997105681 meters 0.033729869417862275 Centerline is valid? [True, True] Translation: X:67.33, Y:2.61, Z:2.35 [[ 9.84541865e-01 -1.69635338e-01 -4.36023806e-02 6.73312355e+01] [ 1.69553969e-01 9.85505080e-01 -5.58470779e-03 2.61345679e+00] [ 4.39177313e-02 -1.89457806e-03 9.99033355e-01 2.34507092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.027105681 meters 0.03322966880661329 Centerline is valid? [True, True] Translation: X:67.36, Y:2.62, Z:2.35 [[ 9.84696632e-01 -1.68678934e-01 -4.38173523e-02 6.73596962e+01] [ 1.68595535e-01 9.85669304e-01 -5.61859230e-03 2.62044962e+00] [ 4.41371573e-02 -1.85480105e-03 9.99023759e-01 2.34578413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.057105681 meters 0.028883773456894753 Centerline is valid? [True, True] Translation: X:67.39, Y:2.64, Z:2.34 [[ 9.85437916e-01 -1.63632616e-01 -4.62220908e-02 6.73878395e+01] [ 1.63533685e-01 9.86519872e-01 -5.93944221e-03 2.63622431e+00] [ 4.65708975e-02 -1.70591728e-03 9.98913530e-01 2.34402706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.087105681 meters 0.02685300062809321 Centerline is valid? [True, True] Translation: X:67.42, Y:2.65, Z:2.34 [[ 9.85978798e-01 -1.60187548e-01 -4.67520955e-02 6.74153513e+01] [ 1.60082342e-01 9.87085367e-01 -6.01019155e-03 2.64641208e+00] [ 4.71110672e-02 -1.55826352e-03 9.98888442e-01 2.34496798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.117105681 meters 0.02196872933075649 Centerline is valid? [True, True] Translation: X:67.44, Y:2.67, Z:2.35 [[ 9.87560785e-01 -1.50488954e-01 -4.55715956e-02 6.74433606e+01] [ 1.50378505e-01 9.88611118e-01 -5.86195597e-03 2.66599495e+00] [ 4.59347457e-02 -1.06395058e-03 9.98943876e-01 2.34759073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.147105681 meters 0.018382714710580363 Centerline is valid? [True, True] Translation: X:67.47, Y:2.68, Z:2.35 [[ 9.89039454e-01 -1.40404459e-01 -4.56896762e-02 6.74702546e+01] [ 1.40282610e-01 9.90094053e-01 -5.87843546e-03 2.68226619e+00] [ 4.60624352e-02 -5.95462418e-04 9.98938385e-01 2.34725822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.177105681 meters 0.01710903780595108 Centerline is valid? [True, True] Translation: X:67.50, Y:2.69, Z:2.35 [[ 9.89591138e-01 -1.37173152e-01 -4.35075365e-02 6.74977182e+01] [ 1.37059371e-01 9.90546995e-01 -5.60167170e-03 2.69241743e+00] [ 4.38646585e-02 -4.19750917e-04 9.99037394e-01 2.35043501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20710568099999 meters 0.016523768552048502 Centerline is valid? [True, True] Translation: X:67.52, Y:2.70, Z:2.36 [[ 9.90242249e-01 -1.33735702e-01 -3.91797212e-02 6.75238947e+01] [ 1.33640297e-01 9.91017008e-01 -5.05586471e-03 2.70481916e+00] [ 3.95039197e-02 -2.29458718e-04 9.99219389e-01 2.35599143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23710568099999 meters 0.01636595690307291 Centerline is valid? [True, True] Translation: X:67.55, Y:2.71, Z:2.36 [[ 9.90254571e-01 -1.33918110e-01 -3.82338186e-02 6.75512132e+01] [ 1.33827130e-01 9.90992376e-01 -4.94062112e-03 2.71052086e+00] [ 3.85510614e-02 -2.24249582e-04 9.99256606e-01 2.35808920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.26710568099999 meters 0.016422657341569665 Centerline is valid? [True, True] Translation: X:67.58, Y:2.72, Z:2.36 [[ 9.90305206e-01 -1.33549915e-01 -3.82101951e-02 6.75773845e+01] [ 1.33458206e-01 9.91042069e-01 -4.95228103e-03 2.71516023e+00] [ 3.85292876e-02 -1.95194406e-04 9.99257452e-01 2.36026695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.29710568099999 meters 0.01636034756397174 Centerline is valid? [True, True] Translation: X:67.60, Y:2.72, Z:2.36 [[ 9.90394312e-01 -1.32838604e-01 -3.83798402e-02 6.76036886e+01] [ 1.32745291e-01 9.91137669e-01 -4.98083871e-03 2.72086184e+00] [ 3.87013530e-02 -1.61748713e-04 9.99250809e-01 2.36092042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.32710568099999 meters 0.016208973334912086 Centerline is valid? [True, True] Translation: X:67.63, Y:2.73, Z:2.36 [[ 9.91107980e-01 -1.27086284e-01 -3.94214110e-02 6.76305725e+01] [ 1.26982995e-01 9.91891663e-01 -5.12325047e-03 2.73236800e+00] [ 3.97528637e-02 7.18456075e-05 9.99209540e-01 2.35991976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.357105681 meters 0.01685740386747486 Centerline is valid? [True, True] Translation: X:67.66, Y:2.74, Z:2.36 [[ 9.91691920e-01 -1.22055407e-01 -4.06154423e-02 6.76574324e+01] [ 1.21940937e-01 9.92523244e-01 -5.29322335e-03 2.74086792e+00] [ 4.09578371e-02 2.96561721e-04 9.99160832e-01 2.35842264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.387105681 meters 0.01960070532734416 Centerline is valid? [True, True] Translation: X:67.69, Y:2.75, Z:2.35 [[ 9.92581500e-01 -1.12614759e-01 -4.58244598e-02 6.76858487e+01] [ 1.12458716e-01 9.93638419e-01 -5.97737073e-03 2.75285144e+00] [ 4.62060839e-02 7.79667713e-04 9.98931624e-01 2.35422935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.417105681 meters 0.023198410383447117 Centerline is valid? [True, True] Translation: X:67.71, Y:2.77, Z:2.35 [[ 9.93430450e-01 -1.04160406e-01 -4.73977909e-02 6.77135307e+01] [ 1.03983711e-01 9.94559768e-01 -6.18519658e-03 2.76516234e+00] [ 4.77841885e-02 1.21596443e-03 9.98856943e-01 2.35212148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.447105681 meters 0.02496563284636452 Centerline is valid? [True, True] Translation: X:67.74, Y:2.77, Z:2.35 [[ 9.93762661e-01 -1.01020568e-01 -4.72294260e-02 6.77410441e+01] [ 1.00841398e-01 9.94883400e-01 -6.16712807e-03 2.77149419e+00] [ 4.76107787e-02 1.36598025e-03 9.98865030e-01 2.35217058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.477105681 meters 0.02581317706989219 Centerline is valid? [True, True] Translation: X:67.77, Y:2.77, Z:2.35 [[ 9.93934033e-01 -9.88698625e-02 -4.81652106e-02 6.77697709e+01] [ 9.86805898e-02 9.95099232e-01 -6.29764730e-03 2.77256047e+00] [ 4.85518115e-02 1.50647460e-03 9.98819529e-01 2.35264998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.507105681 meters 0.024757977059942256 Centerline is valid? [True, True] Translation: X:67.80, Y:2.77, Z:2.35 [[ 9.93567436e-01 -1.01147100e-01 -5.09216465e-02 6.77999219e+01] [ 1.00937606e-01 9.94870361e-01 -6.67561821e-03 2.76840465e+00] [ 5.13356563e-02 1.49276778e-03 9.98680340e-01 2.35098018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.537105681 meters 0.02360786255814022 Centerline is valid? [True, True] Translation: X:67.83, Y:2.77, Z:2.35 [[ 9.93259019e-01 -1.03934509e-01 -5.13238702e-02 6.78288680e+01] [ 1.03724542e-01 9.94583191e-01 -6.74499105e-03 2.76683044e+00] [ 5.17468959e-02 1.37597827e-03 9.98659284e-01 2.35133485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56710568099999 meters 0.021276342716250767 Centerline is valid? [True, True] Translation: X:67.86, Y:2.76, Z:2.36 [[ 9.92823331e-01 -1.09315867e-01 -4.84961370e-02 6.78592811e+01] [ 1.09134067e-01 9.94006508e-01 -6.38887507e-03 2.75912342e+00] [ 4.89038812e-02 1.05044359e-03 9.98802937e-01 2.35531338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59710568099999 meters 0.020617468915308492 Centerline is valid? [True, True] Translation: X:67.89, Y:2.76, Z:2.36 [[ 9.92556979e-01 -1.12397498e-01 -4.68769123e-02 6.78875406e+01] [ 1.12230491e-01 9.93662934e-01 -6.18792957e-03 2.75771887e+00] [ 4.72753580e-02 8.80853802e-04 9.98881507e-01 2.35774022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.62710568099999 meters 0.017656758251806765 Centerline is valid? [True, True] Translation: X:67.92, Y:2.75, Z:2.36 [[ 9.91919191e-01 -1.19561458e-01 -4.24426232e-02 6.79179915e+01] [ 1.19430924e-01 9.92826679e-01 -5.60710453e-03 2.74686501e+00] [ 4.28085623e-02 4.92832882e-04 9.99083172e-01 2.36448106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.65710568099999 meters 0.01585950363794444 Centerline is valid? [True, True] Translation: X:67.95, Y:2.73, Z:2.37 [[ 9.90717551e-01 -1.29937420e-01 -3.99374696e-02 6.79491117e+01] [ 1.29830092e-01 9.91522196e-01 -5.28037755e-03 2.73407170e+00] [ 4.02850062e-02 4.62773485e-05 9.99188229e-01 2.36827801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.68710568099999 meters 0.016157686921880902 Centerline is valid? [True, True] Translation: X:67.98, Y:2.73, Z:2.37 [[ 9.89962507e-01 -1.35340592e-01 -4.07082235e-02 6.79774040e+01] [ 1.35233110e-01 9.90799121e-01 -5.39524270e-03 2.73080394e+00] [ 4.10638673e-02 -1.64011686e-04 9.99156510e-01 2.36854111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.71710568099999 meters 0.017757255989773228 Centerline is valid? [True, True] Translation: X:68.01, Y:2.72, Z:2.37 [[ 9.88692669e-01 -1.43598954e-01 -4.31989224e-02 6.80074744e+01] [ 1.43485040e-01 9.89635826e-01 -5.74232131e-03 2.72372207e+00] [ 4.35757926e-02 -5.21008134e-04 9.99049988e-01 2.36587284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.747105681 meters 0.018880482452273296 Centerline is valid? [True, True] Translation: X:68.04, Y:2.72, Z:2.37 [[ 9.88155009e-01 -1.47092960e-01 -4.37417345e-02 6.80363568e+01] [ 1.46978998e-01 9.89122445e-01 -5.82773489e-03 2.72138718e+00] [ 4.41231502e-02 -6.70410906e-04 9.99025875e-01 2.36582349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.777105681 meters 0.019435921637610303 Centerline is valid? [True, True] Translation: X:68.06, Y:2.72, Z:2.37 [[ 9.87971755e-01 -1.48203841e-01 -4.41297183e-02 6.80646022e+01] [ 1.48088721e-01 9.88956572e-01 -5.88467343e-03 2.72332167e+00] [ 4.45145062e-02 -7.21222421e-04 9.99008478e-01 2.36709421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.807105681 meters 0.019640228784520843 Centerline is valid? [True, True] Translation: X:68.09, Y:2.73, Z:2.37 [[ 9.87730561e-01 -1.49925709e-01 -4.37106364e-02 6.80931724e+01] [ 1.49814159e-01 9.88696954e-01 -5.83539038e-03 2.72755527e+00] [ 4.40914481e-02 -7.84678808e-04 9.99027191e-01 2.36854823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.837105681 meters 0.02120170249702407 Centerline is valid? [True, True] Translation: X:68.12, Y:2.73, Z:2.37 [[ 9.87350795e-01 -1.52438458e-01 -4.35995892e-02 6.81212930e+01] [ 1.52329342e-01 9.88312572e-01 -5.83369346e-03 2.72824005e+00] [ 4.39793013e-02 -8.81594873e-04 9.99032053e-01 2.36891233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.867105681 meters 0.02372927530009265 Centerline is valid? [True, True] Translation: X:68.15, Y:2.73, Z:2.37 [[ 9.86413734e-01 -1.58971722e-01 -4.14238671e-02 6.81515660e+01] [ 1.58878796e-01 9.87282513e-01 -5.54692488e-03 2.72648190e+00] [ 4.17788638e-02 -1.10981125e-03 9.99126266e-01 2.37297530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.897105681 meters 0.027742058420233227 Centerline is valid? [True, True] Translation: X:68.18, Y:2.72, Z:2.38 [[ 9.85320928e-01 -1.66265202e-01 -3.87111299e-02 6.81818619e+01] [ 1.66189601e-01 9.86080184e-01 -5.18532495e-03 2.72242252e+00] [ 3.90344172e-02 -1.32417803e-03 9.99236989e-01 2.37757585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92710568099999 meters 0.02928870095098179 Centerline is valid? [True, True] Translation: X:68.21, Y:2.72, Z:2.38 [[ 9.84507697e-01 -1.71090806e-01 -3.83735597e-02 6.82117089e+01] [ 1.71020138e-01 9.85254121e-01 -5.14102696e-03 2.72328436e+00] [ 3.86872903e-02 -1.50127085e-03 9.99250239e-01 2.37941615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95710568099999 meters 0.03421403628522425 Centerline is valid? [True, True] Translation: X:68.24, Y:2.72, Z:2.38 [[ 9.83149563e-01 -1.78613721e-01 -3.89111297e-02 6.82413481e+01] [ 1.78546857e-01 9.83917590e-01 -5.21489710e-03 2.72118468e+00] [ 3.92167971e-02 -1.82043612e-03 9.99229067e-01 2.38063308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.98710568099999 meters 0.039164789013346704 Centerline is valid? [True, True] Translation: X:68.27, Y:2.72, Z:2.38 [[ 9.82575250e-01 -1.82212887e-01 -3.66652637e-02 6.82692104e+01] [ 1.82155966e-01 9.83257364e-01 -4.91524700e-03 2.72336459e+00] [ 3.69470119e-02 -1.84919649e-03 9.99315515e-01 2.38456188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.01710568099999 meters 0.03729133003028668 Centerline is valid? [True, True] Translation: X:68.30, Y:2.73, Z:2.39 [[ 9.82397736e-01 -1.83118388e-01 -3.69099418e-02 6.82968447e+01] [ 1.83061214e-01 9.83089047e-01 -4.95149552e-03 2.73325357e+00] [ 3.71924694e-02 -1.89244075e-03 9.99306329e-01 2.38544608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.04710568099999 meters 0.03459006064978213 Centerline is valid? [True, True] Translation: X:68.32, Y:2.75, Z:2.38 [[ 9.82167382e-01 -1.84007986e-01 -3.85784309e-02 6.83236048e+01] [ 1.83945710e-01 9.82922712e-01 -5.18819456e-03 2.74869283e+00] [ 3.88742851e-02 -2.00066139e-03 9.99242106e-01 2.38395065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.07710568099999 meters 0.03590775477986038 Centerline is valid? [True, True] Translation: X:68.35, Y:2.75, Z:2.38 [[ 9.82137450e-01 -1.83944471e-01 -3.96290369e-02 6.83504423e+01] [ 1.83878181e-01 9.82934520e-01 -5.34260436e-03 2.75474637e+00] [ 3.99354909e-02 -2.03974339e-03 9.99200178e-01 2.38301772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.107105681 meters 0.034505640122260615 Centerline is valid? [True, True] Translation: X:68.38, Y:2.77, Z:2.38 [[ 9.82239756e-01 -1.82899315e-01 -4.18676716e-02 6.83776742e+01] [ 1.82824110e-01 9.83129398e-01 -5.65076227e-03 2.76998939e+00] [ 4.21948593e-02 -2.10401642e-03 9.99107185e-01 2.38135864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.137105681 meters 0.037692896922151706 Centerline is valid? [True, True] Translation: X:68.40, Y:2.78, Z:2.38 [[ 9.82705107e-01 -1.80308918e-01 -4.21825329e-02 6.84038630e+01] [ 1.80229635e-01 9.83608009e-01 -5.70645546e-03 2.78247532e+00] [ 4.25200020e-02 -1.99477959e-03 9.99093624e-01 2.38253686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.167105681 meters 0.03278219673186358 Centerline is valid? [True, True] Translation: X:68.43, Y:2.80, Z:2.38 [[ 9.83040532e-01 -1.78476289e-01 -4.21607351e-02 6.84301919e+01] [ 1.78395075e-01 9.83942365e-01 -5.71128735e-03 2.80088264e+00] [ 4.25030628e-02 -1.90684055e-03 9.99094517e-01 2.38485077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.197105681 meters 0.03014331076958057 Centerline is valid? [True, True] Translation: X:68.46, Y:2.82, Z:2.39 [[ 9.84060948e-01 -1.73065069e-01 -4.08966061e-02 6.84575824e+01] [ 1.72983518e-01 9.84909074e-01 -5.55136511e-03 2.82179424e+00] [ 4.12401858e-02 -1.61155718e-03 9.99147962e-01 2.38696031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.227105681 meters 0.025800295701382352 Centerline is valid? [True, True] Translation: X:68.48, Y:2.84, Z:2.39 [[ 9.85376991e-01 -1.65428330e-01 -4.08124281e-02 6.84846467e+01] [ 1.65340524e-01 9.86220974e-01 -5.54097541e-03 2.84411563e+00] [ 4.11667068e-02 -1.28799856e-03 9.99151462e-01 2.38811953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.257105681 meters 0.02281877350797064 Centerline is valid? [True, True] Translation: X:68.51, Y:2.86, Z:2.39 [[ 9.86340150e-01 -1.59642274e-01 -4.05888356e-02 6.85123157e+01] [ 1.59550452e-01 9.87174384e-01 -5.51251439e-03 2.85973651e+00] [ 4.09482891e-02 -1.03875281e-03 9.99160727e-01 2.39029003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.287105681 meters 0.017524441759309492 Centerline is valid? [True, True] Translation: X:68.54, Y:2.89, Z:2.40 [[ 9.89047949e-01 -1.42860648e-01 -3.70808656e-02 6.85383011e+01] [ 1.42772139e-01 9.89742764e-01 -5.03767680e-03 2.88987048e+00] [ 3.74202042e-02 -3.11610589e-04 9.99299570e-01 2.39558307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31710568099999 meters 0.01679238432111977 Centerline is valid? [True, True] Translation: X:68.56, Y:2.90, Z:2.40 [[ 9.90247034e-01 -1.34861026e-01 -3.49759166e-02 6.85643117e+01] [ 1.34777268e-01 9.90864523e-01 -4.75231369e-03 2.90498680e+00] [ 3.52972969e-02 -7.99395171e-06 9.99376856e-01 2.39861567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34710568099999 meters 0.018822609258761308 Centerline is valid? [True, True] Translation: X:68.59, Y:2.93, Z:2.40 [[ 9.91914254e-01 -1.22550798e-01 -3.29759677e-02 6.85900688e+01] [ 1.22469441e-01 9.92462158e-01 -4.48342794e-03 2.92772815e+00] [ 3.32768477e-02 4.08627767e-04 9.99446089e-01 2.40013590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.37710568099999 meters 0.021273380839199604 Centerline is valid? [True, True] Translation: X:68.62, Y:2.94, Z:2.40 [[ 9.92738301e-01 -1.14746240e-01 -3.61104779e-02 6.86178672e+01] [ 1.14643019e-01 9.93394555e-01 -4.92306875e-03 2.94336714e+00] [ 3.64368558e-02 7.47504703e-04 9.99335678e-01 2.39500369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.40710568099999 meters 0.022757677608907508 Centerline is valid? [True, True] Translation: X:68.65, Y:2.95, Z:2.39 [[ 9.92897815e-01 -1.12571094e-01 -3.84925545e-02 6.86458350e+01] [ 1.12452086e-01 9.93643280e-01 -5.24987429e-03 2.95042390e+00] [ 3.88388522e-02 8.84020682e-04 9.99245096e-01 2.39090598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.43710568099999 meters 0.02289945343317152 Centerline is valid? [True, True] Translation: X:68.67, Y:2.95, Z:2.39 [[ 9.92840359e-01 -1.11864046e-01 -4.18862329e-02 6.86747441e+01] [ 1.11722289e-01 9.93723020e-01 -5.71741229e-03 2.95190384e+00] [ 4.22628867e-02 9.96851870e-04 9.99106028e-01 2.38524067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.46710568099999 meters 0.022990884493343154 Centerline is valid? [True, True] Translation: X:68.70, Y:2.95, Z:2.38 [[ 9.92749770e-01 -1.12038979e-01 -4.35334416e-02 6.87030779e+01] [ 1.11885408e-01 9.93703266e-01 -5.95603880e-03 2.95407428e+00] [ 4.39266316e-02 1.04209928e-03 9.99034216e-01 2.38417929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.497105681 meters 0.021972787417296986 Centerline is valid? [True, True] Translation: X:68.73, Y:2.95, Z:2.38 [[ 9.92168017e-01 -1.15385972e-01 -4.78403872e-02 6.87319691e+01] [ 1.15203951e-01 9.93320238e-01 -6.55397930e-03 2.95285267e+00] [ 4.82770621e-02 9.91247011e-04 9.98833491e-01 2.38083792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.527105681 meters 0.021972787417296986 Centerline is valid? [True, True] Translation: X:68.76, Y:2.96, Z:2.38 [[ 9.92123762e-01 -1.15766814e-01 -4.78381195e-02 6.87591089e+01] [ 1.15584440e-01 9.93275926e-01 -6.57049468e-03 2.95682515e+00] [ 4.82770977e-02 9.89401662e-04 9.98833491e-01 2.38185530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.557105681 meters 0.020238182987573093 Centerline is valid? [True, True] Translation: X:68.79, Y:2.95, Z:2.38 [[ 9.91244729e-01 -1.22161717e-01 -5.01039147e-02 6.87884153e+01] [ 1.21968957e-01 9.92509943e-01 -6.89832311e-03 2.95053088e+00] [ 5.05713445e-02 7.26804207e-04 9.98720186e-01 2.38098904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.587105681 meters 0.018714374368240583 Centerline is valid? [True, True] Translation: X:68.82, Y:2.95, Z:2.39 [[ 9.90860505e-01 -1.26209301e-01 -4.76095804e-02 6.88177823e+01] [ 1.26039560e-01 9.92003508e-01 -6.56269991e-03 2.94837698e+00] [ 4.80571445e-02 5.02029579e-04 9.98844462e-01 2.38516162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.617105681 meters 0.017081513475325997 Centerline is valid? [True, True] Translation: X:68.85, Y:2.94, Z:2.39 [[ 9.89953426e-01 -1.34464843e-01 -4.37197975e-02 6.88477982e+01] [ 1.34329165e-01 9.90918359e-01 -6.03995024e-03 2.93991580e+00] [ 4.41349110e-02 1.06425557e-04 9.99025574e-01 2.39144286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.647105681 meters 0.016900508901196425 Centerline is valid? [True, True] Translation: X:68.88, Y:2.94, Z:2.39 [[ 9.89366558e-01 -1.39090491e-01 -4.25164567e-02 6.88751497e+01] [ 1.38965871e-01 9.90279672e-01 -5.88713531e-03 2.93710244e+00] [ 4.29220273e-02 -8.38016506e-05 9.99078422e-01 2.39291721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67710568099999 meters 0.018622230157510838 Centerline is valid? [True, True] Translation: X:68.91, Y:2.93, Z:2.40 [[ 9.87871673e-01 -1.50176799e-01 -3.94523385e-02 6.89050840e+01] [ 1.50077932e-01 9.88659023e-01 -5.47265929e-03 2.92704565e+00] [ 3.98267769e-02 -5.14640307e-04 9.99206467e-01 2.39728036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70710568099999 meters 0.0202769739975201 Centerline is valid? [True, True] Translation: X:68.93, Y:2.93, Z:2.40 [[ 9.87018310e-01 -1.55995250e-01 -3.82143703e-02 6.89335910e+01] [ 1.55906383e-01 9.87757547e-01 -5.31295566e-03 2.92633925e+00] [ 3.85753285e-02 -7.13879740e-04 9.99255440e-01 2.40038317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73710568099999 meters 0.023748332813650398 Centerline is valid? [True, True] Translation: X:68.96, Y:2.92, Z:2.40 [[ 9.85654749e-01 -1.64231463e-01 -3.88939905e-02 6.89628461e+01] [ 1.64145620e-01 9.86421271e-01 -5.41210482e-03 2.92416983e+00] [ 3.92546975e-02 -1.04981138e-03 9.99228686e-01 2.40068893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.76710568099999 meters 0.02569542346432819 Centerline is valid? [True, True] Translation: X:68.99, Y:2.92, Z:2.40 [[ 9.84957478e-01 -1.67674966e-01 -4.17597096e-02 6.89919426e+01] [ 1.67578959e-01 9.85841513e-01 -5.81404676e-03 2.92344847e+00] [ 4.21433254e-02 -1.27145984e-03 9.99110766e-01 2.39698536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.79710568099999 meters 0.026340972793162717 Centerline is valid? [True, True] Translation: X:69.02, Y:2.93, Z:2.40 [[ 9.84657035e-01 -1.69178495e-01 -4.27686702e-02 6.90203098e+01] [ 1.69079009e-01 9.85584485e-01 -5.95914322e-03 2.92596574e+00] [ 4.31602967e-02 -1.36357208e-03 9.99067230e-01 2.39653629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.82710568099999 meters 0.027966421760957514 Centerline is valid? [True, True] Translation: X:69.05, Y:2.93, Z:2.40 [[ 9.83963235e-01 -1.72750576e-01 -4.44251158e-02 6.90501889e+01] [ 1.72646290e-01 9.84964357e-01 -6.20275510e-03 2.92929470e+00] [ 4.48286852e-02 -1.56654845e-03 9.98993461e-01 2.39578087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.857105681 meters 0.029812489354025064 Centerline is valid? [True, True] Translation: X:69.08, Y:2.93, Z:2.40 [[ 9.82986040e-01 -1.78616956e-01 -4.28302301e-02 6.90789808e+01] [ 1.78525476e-01 9.83917103e-01 -5.98238362e-03 2.93325930e+00] [ 4.32099511e-02 -1.76568764e-03 9.99064454e-01 2.39960003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.887105681 meters 0.033070034175590686 Centerline is valid? [True, True] Translation: X:69.11, Y:2.93, Z:2.40 [[ 9.82526917e-01 -1.81786410e-01 -3.99319109e-02 6.91073560e+01] [ 1.81709345e-01 9.83336443e-01 -5.58149318e-03 2.93290013e+00] [ 4.02811428e-02 -1.77203408e-03 9.99186814e-01 2.40384789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.917105681 meters 0.033246853151841844 Centerline is valid? [True, True] Translation: X:69.14, Y:2.94, Z:2.41 [[ 9.82244292e-01 -1.84446664e-01 -3.42867278e-02 6.91353907e+01] [ 1.84391365e-01 9.82841203e-01 -4.79528730e-03 2.94033039e+00] [ 3.45828836e-02 -1.61203298e-03 9.99400533e-01 2.41299224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.947105681 meters 0.03330846171650772 Centerline is valid? [True, True] Translation: X:69.16, Y:2.95, Z:2.41 [[ 9.82678289e-01 -1.82211196e-01 -3.38003041e-02 6.91623764e+01] [ 1.82156059e-01 9.83258258e-01 -4.72949866e-03 2.94791614e+00] [ 3.40961957e-02 -1.50935453e-03 9.99417416e-01 2.41450127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.977105681 meters 0.026959782728424687 Centerline is valid? [True, True] Translation: X:69.19, Y:2.97, Z:2.41 [[ 9.84890403e-01 -1.70099667e-01 -3.25114888e-02 6.91890708e+01] [ 1.70041921e-01 9.85426311e-01 -4.55317344e-03 2.97250858e+00] [ 3.28121698e-02 -1.04393920e-03 9.99460991e-01 2.41432567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.007105681 meters 0.019894259175933304 Centerline is valid? [True, True] Translation: X:69.22, Y:3.00, Z:2.41 [[ 9.88220734e-01 -1.49600551e-01 -3.22405867e-02 6.92150551e+01] [ 1.49532790e-01 9.88746452e-01 -4.51637782e-03 3.00370165e+00] [ 3.25534183e-02 -3.57846667e-04 9.99469933e-01 2.41267568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.037105681 meters 0.018742014409948993 Centerline is valid? [True, True] Translation: X:69.24, Y:3.02, Z:2.41 [[ 9.89480469e-01 -1.40637524e-01 -3.39041157e-02 6.92413238e+01] [ 1.40557307e-01 9.90061151e-01 -4.74981358e-03 3.02159709e+00] [ 3.42351499e-02 -6.56234424e-05 9.99413803e-01 2.41141392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06710568099999 meters 0.020364083427656516 Centerline is valid? [True, True] Translation: X:69.27, Y:3.05, Z:2.40 [[ 9.90701773e-01 -1.30044507e-01 -3.99802958e-02 6.92669342e+01] [ 1.29923706e-01 9.91508088e-01 -5.61615372e-03 3.04569969e+00] [ 4.03711366e-02 3.69545260e-04 9.99184685e-01 2.40372391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09710568099999 meters 0.02159584667278396 Centerline is valid? [True, True] Translation: X:69.29, Y:3.06, Z:2.40 [[ 9.91001459e-01 -1.26098528e-01 -4.48917462e-02 6.92935968e+01] [ 1.25941507e-01 9.92017535e-01 -6.32039601e-03 3.05871106e+00] [ 4.53303920e-02 6.09787502e-04 9.98971863e-01 2.39714664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.12710568099999 meters 0.022035257986117638 Centerline is valid? [True, True] Translation: X:69.32, Y:3.07, Z:2.40 [[ 9.91025076e-01 -1.25591668e-01 -4.57824407e-02 6.93216710e+01] [ 1.25427474e-01 9.92081804e-01 -6.45304914e-03 3.06527717e+00] [ 4.62303756e-02 6.52757608e-04 9.98930591e-01 2.39658993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.15710568099999 meters 0.02218742423348071 Centerline is valid? [True, True] Translation: X:69.35, Y:3.07, Z:2.40 [[ 9.90951009e-01 -1.25704805e-01 -4.70574044e-02 6.93485843e+01] [ 1.25530828e-01 9.92067458e-01 -6.64604791e-03 3.07196494e+00] [ 4.75195598e-02 6.78752941e-04 9.98870077e-01 2.39614170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.18710568099999 meters 0.022068929469799176 Centerline is valid? [True, True] Translation: X:69.38, Y:3.08, Z:2.40 [[ 9.90790509e-01 -1.26527467e-01 -4.82179084e-02 6.93758698e+01] [ 1.26345359e-01 9.91962882e-01 -6.81838788e-03 3.07581952e+00] [ 4.86930888e-02 6.63485037e-04 9.98813568e-01 2.39580622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.21710568099999 meters 0.021136712907477335 Centerline is valid? [True, True] Translation: X:69.40, Y:3.07, Z:2.40 [[ 9.90319518e-01 -1.30255087e-01 -4.79673272e-02 6.94045906e+01] [ 1.30078422e-01 9.91480392e-01 -6.79971514e-03 3.07433115e+00] [ 4.84443619e-02 4.94376387e-04 9.98825760e-01 2.39726305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.247105681 meters 0.019963631378943934 Centerline is valid? [True, True] Translation: X:69.43, Y:3.07, Z:2.40 [[ 9.89864134e-01 -1.34246727e-01 -4.63336976e-02 6.94323636e+01] [ 1.34085696e-01 9.90947893e-01 -6.58030887e-03 3.07289305e+00] [ 4.67976649e-02 3.00925660e-04 9.98904344e-01 2.40052725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.277105681 meters 0.01899567828966558 Centerline is valid? [True, True] Translation: X:69.46, Y:3.07, Z:2.41 [[ 9.88689109e-01 -1.43873332e-01 -4.23593071e-02 6.94624532e+01] [ 1.43747334e-01 9.89596102e-01 -6.02147883e-03 3.06662015e+00] [ 4.27849354e-02 -1.35666904e-04 9.99084296e-01 2.40825723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.307105681 meters 0.020394623166311573 Centerline is valid? [True, True] Translation: X:69.49, Y:3.06, Z:2.41 [[ 9.87668931e-01 -1.51305234e-01 -4.02095508e-02 6.94915237e+01] [ 1.51197353e-01 9.88486999e-01 -5.72820577e-03 3.06123490e+00] [ 4.06133257e-02 -4.22006776e-04 9.99174849e-01 2.41065161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.337105681 meters 0.02084968685463219 Centerline is valid? [True, True] Translation: X:69.52, Y:3.06, Z:2.41 [[ 9.87296845e-01 -1.53916858e-01 -3.94276625e-02 6.95202864e+01] [ 1.53814938e-01 9.88083670e-01 -5.62374420e-03 3.05987540e+00] [ 3.98234185e-02 -5.12258558e-04 9.99206602e-01 2.41182767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.367105681 meters 0.0213931353620746 Centerline is valid? [True, True] Translation: X:69.55, Y:3.06, Z:2.41 [[ 9.86359055e-01 -1.59722116e-01 -3.98078003e-02 6.95496091e+01] [ 1.59622767e-01 9.87161731e-01 -5.68227395e-03 3.05533193e+00] [ 4.02043219e-02 -7.49468865e-04 9.99191198e-01 2.41174312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.397105681 meters 0.02667242921069683 Centerline is valid? [True, True] Translation: X:69.58, Y:3.05, Z:2.41 [[ 9.85166768e-01 -1.66477194e-01 -4.16146957e-02 6.95788653e+01] [ 1.66374419e-01 9.86044728e-01 -5.94527822e-03 3.04855738e+00] [ 4.20237046e-02 -1.06653030e-03 9.99116045e-01 2.41263279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42710568099999 meters 0.024879158628187917 Centerline is valid? [True, True] Translation: X:69.61, Y:3.06, Z:2.42 [[ 9.84760752e-01 -1.68958391e-01 -4.12228626e-02 6.96066595e+01] [ 1.68859499e-01 9.85622507e-01 -5.89443587e-03 3.05772001e+00] [ 4.16260956e-02 -1.15626282e-03 9.99132589e-01 2.41606992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45710568099999 meters 0.025892759556844218 Centerline is valid? [True, True] Translation: X:69.64, Y:3.06, Z:2.42 [[ 9.84324309e-01 -1.71767687e-01 -4.00189610e-02 6.96350472e+01] [ 1.71676284e-01 9.85136722e-01 -5.73521046e-03 3.05987696e+00] [ 4.04092719e-02 -1.22499943e-03 9.99182461e-01 2.41847006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.48710568099999 meters 0.025886050444856267 Centerline is valid? [True, True] Translation: X:69.66, Y:3.06, Z:2.42 [[ 9.84185879e-01 -1.72581510e-01 -3.99221591e-02 6.96636492e+01] [ 1.72490684e-01 9.84994456e-01 -5.73451882e-03 3.06247416e+00] [ 4.03127773e-02 -1.24236810e-03 9.99186337e-01 2.42008567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.51710568099999 meters 0.02628413603199342 Centerline is valid? [True, True] Translation: X:69.69, Y:3.07, Z:2.42 [[ 9.84057685e-01 -1.73521957e-01 -3.89949218e-02 6.96924441e+01] [ 1.73435544e-01 9.84829222e-01 -5.61389528e-03 3.06607628e+00] [ 3.93774725e-02 -1.23870869e-03 9.99223639e-01 2.42384457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.54710568099999 meters 0.024822191781902557 Centerline is valid? [True, True] Translation: X:69.72, Y:3.08, Z:2.43 [[ 9.84815456e-01 -1.69500038e-01 -3.75267146e-02 6.97193429e+01] [ 1.69416651e-01 9.85529647e-01 -5.41415144e-03 3.07643288e+00] [ 3.79013886e-02 -1.02571030e-03 9.99280958e-01 2.42722721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.57710568099999 meters 0.022152187731941633 Centerline is valid? [True, True] Translation: X:69.75, Y:3.09, Z:2.43 [[ 9.85709415e-01 -1.64441523e-01 -3.65504399e-02 6.97470937e+01] [ 1.64358821e-01 9.86386504e-01 -5.27659714e-03 3.08743859e+00] [ 3.69205523e-02 -8.06195717e-04 9.99317879e-01 2.42947276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.607105681 meters 0.018599504999320372 Centerline is valid? [True, True] Translation: X:69.77, Y:3.11, Z:2.43 [[ 9.88300101e-01 -1.48248835e-01 -3.58496011e-02 6.97725103e+01] [ 1.48158478e-01 9.88950072e-01 -5.17878816e-03 3.11049167e+00] [ 3.62212149e-02 -1.93225491e-04 9.99343778e-01 2.43111392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.637105681 meters 0.020149306690544714 Centerline is valid? [True, True] Translation: X:69.80, Y:3.14, Z:2.43 [[ 9.90834892e-01 -1.30000696e-01 -3.66883592e-02 6.97992813e+01] [ 1.29893425e-01 9.91513782e-01 -5.30261212e-03 3.13580669e+00] [ 3.70663571e-02 4.88436459e-04 9.99312687e-01 2.42876197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.667105681 meters 0.021937219505567897 Centerline is valid? [True, True] Translation: X:69.83, Y:3.15, Z:2.43 [[ 9.91632927e-01 -1.24017753e-01 -3.58292460e-02 6.98281694e+01] [ 1.23911513e-01 9.92279755e-01 -5.17924931e-03 3.14538806e+00] [ 3.61949543e-02 6.96258060e-04 9.99344505e-01 2.42870948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.697105681 meters 0.024719746193156644 Centerline is valid? [True, True] Translation: X:69.86, Y:3.15, Z:2.43 [[ 9.92264561e-01 -1.18410626e-01 -3.72822174e-02 6.98566155e+01] [ 1.18291566e-01 9.92964270e-01 -5.39111362e-03 3.15386537e+00] [ 3.76582749e-02 9.39239123e-04 9.99290234e-01 2.42599877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.727105681 meters 0.024327709704488772 Centerline is valid? [True, True] Translation: X:69.89, Y:3.16, Z:2.42 [[ 9.91902709e-01 -1.19503489e-01 -4.29875768e-02 6.98861826e+01] [ 1.19346145e-01 9.92833239e-01 -6.21741575e-03 3.15618604e+00] [ 4.34224980e-02 1.03666995e-03 9.99056261e-01 2.42024957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.757105681 meters 0.024113413281198082 Centerline is valid? [True, True] Translation: X:69.91, Y:3.16, Z:2.42 [[ 9.91600089e-01 -1.21455010e-01 -4.44740939e-02 6.99144374e+01] [ 1.21288427e-01 9.92596447e-01 -6.43510752e-03 3.15811829e+00] [ 4.49264036e-02 9.86860280e-04 9.98989812e-01 2.41880851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.787105681 meters 0.021263015468702823 Centerline is valid? [True, True] Translation: X:69.94, Y:3.15, Z:2.42 [[ 9.90973021e-01 -1.26253027e-01 -4.50848698e-02 6.99447527e+01] [ 1.26086467e-01 9.91997759e-01 -6.53063812e-03 3.14950274e+00] [ 4.55486027e-02 7.87094240e-04 9.98961814e-01 2.42085446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81710568099999 meters 0.020319937893278503 Centerline is valid? [True, True] Translation: X:69.97, Y:3.15, Z:2.42 [[ 9.90637699e-01 -1.29081862e-01 -4.44389720e-02 6.99729404e+01] [ 1.28922299e-01 9.91633721e-01 -6.45012345e-03 3.14702985e+00] [ 4.48997771e-02 6.60561006e-04 9.98991278e-01 2.42392614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84710568099999 meters 0.018343331704326844 Centerline is valid? [True, True] Translation: X:70.00, Y:3.14, Z:2.43 [[ 9.89846073e-01 -1.35927536e-01 -4.15747099e-02 7.00031947e+01] [ 1.35793685e-01 9.90718726e-01 -6.03996358e-03 3.14002253e+00] [ 4.20098410e-02 3.33051164e-04 9.99117141e-01 2.43017198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.87710568099999 meters 0.017920456076184303 Centerline is valid? [True, True] Translation: X:70.03, Y:3.14, Z:2.43 [[ 9.89389711e-01 -1.39228583e-01 -4.15138597e-02 7.00317443e+01] [ 1.39097519e-01 9.90260248e-01 -6.04322522e-03 3.13993845e+00] [ 4.19509147e-02 2.04629978e-04 9.99119652e-01 2.43104600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.90710568099999 meters 0.017503788993494505 Centerline is valid? [True, True] Translation: X:70.06, Y:3.13, Z:2.43 [[ 9.88390587e-01 -1.46087504e-01 -4.17431245e-02 7.00615525e+01] [ 1.45960747e-01 9.89271669e-01 -6.08485304e-03 3.13196054e+00] [ 4.21842115e-02 -7.86461793e-05 9.99109847e-01 2.43040874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.93710568099999 meters 0.017575802090234276 Centerline is valid? [True, True] Translation: X:70.09, Y:3.13, Z:2.43 [[ 9.87878674e-01 -1.49496608e-01 -4.17910315e-02 7.00899769e+01] [ 1.49371948e-01 9.88762216e-01 -6.10742897e-03 3.12989973e+00] [ 4.22344329e-02 -2.09008953e-04 9.99107706e-01 2.43219538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.96710568099999 meters 0.017707062281556753 Centerline is valid? [True, True] Translation: X:70.12, Y:3.13, Z:2.44 [[ 9.87535939e-01 -1.52376554e-01 -3.94227630e-02 7.01185500e+01] [ 1.52267368e-01 9.88322466e-01 -5.77519008e-03 3.12685594e+00] [ 3.98424059e-02 -2.99592601e-04 9.99205931e-01 2.43699432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.997105681 meters 0.017113145849455415 Centerline is valid? [True, True] Translation: X:70.15, Y:3.13, Z:2.44 [[ 9.88028537e-01 -1.49069679e-01 -3.97220478e-02 7.01465629e+01] [ 1.48955565e-01 9.88826682e-01 -5.83371990e-03 3.13162673e+00] [ 4.01478515e-02 -1.52938346e-04 9.99193738e-01 2.43926147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.027105681 meters 0.01729064479314921 Centerline is valid? [True, True] Translation: X:70.17, Y:3.14, Z:2.44 [[ 9.89293526e-01 -1.39676380e-01 -4.22945413e-02 7.01745232e+01] [ 1.39537773e-01 9.90197173e-01 -6.22637392e-03 3.13962398e+00] [ 4.27496126e-02 2.58025318e-04 9.99085784e-01 2.43906555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.057105681 meters 0.018604462741276726 Centerline is valid? [True, True] Translation: X:70.20, Y:3.15, Z:2.44 [[ 9.90061774e-01 -1.34047651e-01 -4.25312998e-02 7.02009538e+01] [ 1.33901729e-01 9.90974752e-01 -6.27430242e-03 3.14765890e+00] [ 4.29884998e-02 5.16932388e-04 9.99075433e-01 2.44049530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.087105681 meters 0.023816811907489504 Centerline is valid? [True, True] Translation: X:70.23, Y:3.16, Z:2.44 [[ 9.91471397e-01 -1.23735549e-01 -4.09143268e-02 7.02275178e+01] [ 1.23591509e-01 9.92314791e-01 -6.04113786e-03 3.16107206e+00] [ 4.13473952e-02 9.32952006e-04 9.99144395e-01 2.44343478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.117105681 meters 0.024124169651529408 Centerline is valid? [True, True] Translation: X:70.26, Y:3.16, Z:2.44 [[ 9.91989266e-01 -1.19223852e-01 -4.17488808e-02 7.02572106e+01] [ 1.19069722e-01 9.92866736e-01 -6.16808942e-03 3.16315936e+00] [ 4.21864584e-02 1.14765086e-03 9.99109096e-01 2.44423682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.147105681 meters 0.027364702657746286 Centerline is valid? [True, True] Translation: X:70.29, Y:3.16, Z:2.44 [[ 9.92343965e-01 -1.14851271e-01 -4.54162953e-02 7.02856556e+01] [ 1.14664151e-01 9.93381635e-01 -6.71266827e-03 3.16404959e+00] [ 4.58866722e-02 1.45365490e-03 9.98945594e-01 2.44043575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17710568099999 meters 0.02745426772359262 Centerline is valid? [True, True] Translation: X:70.31, Y:3.16, Z:2.44 [[ 9.92414990e-01 -1.14741210e-01 -4.41241724e-02 7.03142604e+01] [ 1.14564209e-01 9.93394397e-01 -6.52787856e-03 3.16059988e+00] [ 4.45817223e-02 1.42331362e-03 9.99004727e-01 2.44090234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20710568099999 meters 0.025929220882200458 Centerline is valid? [True, True] Translation: X:70.34, Y:3.16, Z:2.44 [[ 9.92272216e-01 -1.16607834e-01 -4.24082728e-02 7.03437740e+01] [ 1.16445392e-01 9.93177183e-01 -6.28915563e-03 3.15895536e+00] [ 4.28522937e-02 1.30230643e-03 9.99080570e-01 2.44325472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.23710568099999 meters 0.022063618162294445 Centerline is valid? [True, True] Translation: X:70.38, Y:3.15, Z:2.44 [[ 9.91250442e-01 -1.24864089e-01 -4.27962573e-02 7.03760522e+01] [ 1.24705797e-01 9.92173384e-01 -6.35919018e-03 3.14760445e+00] [ 4.32553419e-02 9.66608692e-04 9.99063582e-01 2.44458068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.26710568099999 meters 0.01754342243390052 Centerline is valid? [True, True] Translation: X:70.41, Y:3.13, Z:2.45 [[ 9.89641712e-01 -1.37368050e-01 -4.17049245e-02 7.04075292e+01] [ 1.37228763e-01 9.90519990e-01 -6.19810931e-03 3.13118970e+00] [ 4.21609836e-02 4.10792309e-04 9.99110746e-01 2.44766745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.29710568099999 meters 0.01662900434228555 Centerline is valid? [True, True] Translation: X:70.44, Y:3.13, Z:2.45 [[ 9.89028156e-01 -1.42149981e-01 -4.02080893e-02 7.04375813e+01] [ 1.42024371e-01 9.89845110e-01 -5.97793375e-03 3.12759887e+00] [ 4.06495437e-02 2.01816195e-04 9.99173445e-01 2.45121403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.32710568099999 meters 0.016266945734326285 Centerline is valid? [True, True] Translation: X:70.47, Y:3.12, Z:2.45 [[ 9.88608628e-01 -1.45227376e-01 -3.95220176e-02 7.04667035e+01] [ 1.45108182e-01 9.89398303e-01 -5.88326905e-03 3.12259008e+00] [ 3.99574289e-02 8.12824150e-05 9.99201380e-01 2.45468246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.357105681 meters 0.016295780082849258 Centerline is valid? [True, True] Translation: X:70.49, Y:3.12, Z:2.46 [[ 9.88696714e-01 -1.44915552e-01 -3.84485337e-02 7.04947419e+01] [ 1.44801977e-01 9.89444022e-01 -5.73720151e-03 3.12416614e+00] [ 3.88740815e-02 1.04928576e-04 9.99244112e-01 2.45638222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.387105681 meters 0.01638823151276945 Centerline is valid? [True, True] Translation: X:70.52, Y:3.13, Z:2.46 [[ 9.88892218e-01 -1.44070539e-01 -3.65494400e-02 7.05229177e+01] [ 1.43966864e-01 9.89567410e-01 -5.46655202e-03 3.12717088e+00] [ 3.69557038e-02 1.43922511e-04 9.99316894e-01 2.45894859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.417105681 meters 0.01638823151276945 Centerline is valid? [True, True] Translation: X:70.55, Y:3.13, Z:2.46 [[ 9.88839767e-01 -1.44430605e-01 -3.65474454e-02 7.05500334e+01] [ 1.44326683e-01 9.89514921e-01 -5.47985481e-03 3.13148624e+00] [ 3.69557013e-02 1.43926782e-04 9.99316894e-01 2.45996593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.447105681 meters 0.016204370540702003 Centerline is valid? [True, True] Translation: X:70.58, Y:3.13, Z:2.46 [[ 9.88210838e-01 -1.48180580e-01 -3.84948853e-02 7.05782987e+01] [ 1.48067559e-01 9.88960320e-01 -5.78641328e-03 3.13257979e+00] [ 3.89273481e-02 1.83526291e-05 9.99242043e-01 2.45734217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.477105681 meters 0.016272844417001133 Centerline is valid? [True, True] Translation: X:70.61, Y:3.13, Z:2.46 [[ 9.87629405e-01 -1.51691835e-01 -3.97208404e-02 7.06061126e+01] [ 1.51574111e-01 9.88427829e-01 -5.97624500e-03 3.13325201e+00] [ 4.01677316e-02 -1.18335789e-04 9.99192944e-01 2.45675435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.507105681 meters 0.017050884423822518 Centerline is valid? [True, True] Translation: X:70.63, Y:3.13, Z:2.45 [[ 9.86630886e-01 -1.57212480e-01 -4.29386973e-02 7.06348830e+01] [ 1.57079420e-01 9.87564737e-01 -6.47653742e-03 3.12937739e+00] [ 4.34229358e-02 -3.54833802e-04 9.99056716e-01 2.45309400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.537105681 meters 0.018033018773422196 Centerline is valid? [True, True] Translation: X:70.66, Y:3.13, Z:2.45 [[ 9.86123375e-01 -1.59766298e-01 -4.51156189e-02 7.06624883e+01] [ 1.59621803e-01 9.87154747e-01 -6.81068201e-03 3.12996417e+00] [ 4.56242148e-02 -4.85263731e-04 9.98958555e-01 2.45116975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56710568099999 meters 0.018943226417869264 Centerline is valid? [True, True] Translation: X:70.69, Y:3.13, Z:2.45 [[ 9.85298784e-01 -1.64343024e-01 -4.66655890e-02 7.06911724e+01] [ 1.64193141e-01 9.86402992e-01 -7.05333318e-03 3.13261564e+00] [ 4.71902427e-02 -7.12529035e-04 9.98885666e-01 2.45227421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59710568099999 meters 0.019106165851635982 Centerline is valid? [True, True] Translation: X:70.72, Y:3.14, Z:2.46 [[ 9.85326065e-01 -1.65322880e-01 -4.24369019e-02 7.07192657e+01] [ 1.65199287e-01 9.86239264e-01 -6.42724454e-03 3.13998839e+00] [ 4.29155094e-02 -6.77614341e-04 9.99078475e-01 2.46013249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.62710568099999 meters 0.01866110395289316 Centerline is valid? [True, True] Translation: X:70.75, Y:3.15, Z:2.46 [[ 9.85679117e-01 -1.63888758e-01 -3.97133925e-02 7.07459697e+01] [ 1.63778890e-01 9.86478665e-01 -6.02647172e-03 3.14709070e+00] [ 4.01640854e-02 -5.64048018e-04 9.99192938e-01 2.46486893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.65710568099999 meters 0.01708875555316615 Centerline is valid? [True, True] Translation: X:70.77, Y:3.16, Z:2.47 [[ 9.86648249e-01 -1.58653114e-01 -3.68024758e-02 7.07726479e+01] [ 1.58554972e-01 9.87334334e-01 -5.58876828e-03 3.15988990e+00] [ 3.72230234e-02 -3.21067100e-04 9.99306932e-01 2.47071234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.68710568099999 meters 0.016320898643170004 Centerline is valid? [True, True] Translation: X:70.80, Y:3.17, Z:2.47 [[ 9.87545532e-01 -1.53710738e-01 -3.35683171e-02 7.07984471e+01] [ 1.53625886e-01 9.88115882e-01 -5.10793916e-03 3.17350300e+00] [ 3.39545324e-02 -1.12639952e-04 9.99423372e-01 2.47454492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.71710568099999 meters 0.016364507191642418 Centerline is valid? [True, True] Translation: X:70.83, Y:3.18, Z:2.48 [[ 9.87905698e-01 -1.51926519e-01 -3.09946065e-02 7.08251859e+01] [ 1.51853188e-01 9.88391790e-01 -4.71998619e-03 3.18248439e+00] [ 3.13519057e-02 -4.37285649e-05 9.99508407e-01 2.47787839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.747105681 meters 0.016416416856402292 Centerline is valid? [True, True] Translation: X:70.85, Y:3.19, Z:2.48 [[ 9.88564411e-01 -1.47755106e-01 -3.01468741e-02 7.08527047e+01] [ 1.47683454e-01 9.89023973e-01 -4.60196082e-03 3.19471948e+00] [ 3.04959444e-02 9.71401876e-05 9.99534886e-01 2.47951661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.777105681 meters 0.01812459859006475 Centerline is valid? [True, True] Translation: X:70.88, Y:3.21, Z:2.48 [[ 9.89783907e-01 -1.38642474e-01 -3.32578174e-02 7.08794123e+01] [ 1.38549694e-01 9.90342405e-01 -5.08945133e-03 3.21070129e+00] [ 3.36422410e-02 4.29596595e-04 9.99433847e-01 2.47666210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.807105681 meters 0.020843841639024713 Centerline is valid? [True, True] Translation: X:70.91, Y:3.22, Z:2.48 [[ 9.90389171e-01 -1.33939925e-01 -3.44874868e-02 7.09053166e+01] [ 1.33836863e-01 9.90989257e-01 -5.29024124e-03 3.22335386e+00] [ 3.48853035e-02 6.23700572e-04 9.99391128e-01 2.47613504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.837105681 meters 0.022815536779320033 Centerline is valid? [True, True] Translation: X:70.93, Y:3.23, Z:2.47 [[ 9.91181001e-01 -1.26956318e-01 -3.79778462e-02 7.09343631e+01] [ 1.26826015e-01 9.91907842e-01 -5.83052845e-03 3.23275242e+00] [ 3.84107459e-02 9.62530127e-04 9.99261571e-01 2.47165182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.867105681 meters 0.02479921379067316 Centerline is valid? [True, True] Translation: X:70.96, Y:3.24, Z:2.46 [[ 9.91480582e-01 -1.22199282e-01 -4.50953449e-02 7.09635951e+01] [ 1.22010485e-01 9.92504646e-01 -6.92594453e-03 3.23813435e+00] [ 4.56036848e-02 1.36483460e-03 9.98958678e-01 2.46455145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.897105681 meters 0.026245033441756917 Centerline is valid? [True, True] Translation: X:70.99, Y:3.24, Z:2.46 [[ 9.91622611e-01 -1.20436047e-01 -4.66878524e-02 7.09918034e+01] [ 1.20231425e-01 9.92719950e-01 -7.17675540e-03 3.24396800e+00] [ 4.72123025e-02 1.50328592e-03 9.98883746e-01 2.46244325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92710568099999 meters 0.028367989631697493 Centerline is valid? [True, True] Translation: X:71.02, Y:3.25, Z:2.46 [[ 9.92044754e-01 -1.16572415e-01 -4.75192467e-02 7.10207693e+01] [ 1.16355371e-01 9.93180687e-01 -7.31778033e-03 3.24980575e+00] [ 4.80482494e-02 1.73044599e-03 9.98843517e-01 2.46188370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95710568099999 meters 0.029567489726925966 Centerline is valid? [True, True] Translation: X:71.05, Y:3.25, Z:2.46 [[ 9.92266810e-01 -1.14945111e-01 -4.68422782e-02 7.10493376e+01] [ 1.14732156e-01 9.93370234e-01 -7.21871150e-03 3.25324880e+00] [ 4.73614804e-02 1.78857225e-03 9.98876214e-01 2.46382272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.98710568099999 meters 0.028961359134987028 Centerline is valid? [True, True] Translation: X:71.08, Y:3.25, Z:2.47 [[ 9.92571587e-01 -1.13881561e-01 -4.28092935e-02 7.10791580e+01] [ 1.13702155e-01 9.93492889e-01 -6.61055156e-03 3.24909364e+00] [ 4.32835487e-02 1.69393673e-03 9.99061392e-01 2.46988630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.01710568099999 meters 0.027228657612934762 Centerline is valid? [True, True] Translation: X:71.11, Y:3.24, Z:2.47 [[ 9.92220117e-01 -1.18296589e-01 -3.87963383e-02 7.11090291e+01] [ 1.18152173e-01 9.92977359e-01 -6.00242904e-03 3.24471341e+00] [ 3.92339524e-02 1.37185919e-03 9.99229110e-01 2.47491933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.04710568099999 meters 0.02571022715264852 Centerline is valid? [True, True] Translation: X:71.14, Y:3.24, Z:2.48 [[ 9.91867726e-01 -1.21416354e-01 -3.81638982e-02 7.11382950e+01] [ 1.21278841e-01 9.92600905e-01 -5.90648421e-03 3.24340004e+00] [ 3.85986636e-02 1.22997772e-03 9.99254037e-01 2.47586955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.07710568099999 meters 0.023377445239952166 Centerline is valid? [True, True] Translation: X:71.17, Y:3.24, Z:2.47 [[ 9.90979991e-01 -1.27991330e-01 -3.97099165e-02 7.11690157e+01] [ 1.27847558e-01 9.91774765e-01 -6.14957084e-03 3.23619236e+00] [ 4.01703849e-02 1.01728579e-03 9.99192326e-01 2.47359297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.107105681 meters 0.019641706978391408 Centerline is valid? [True, True] Translation: X:71.20, Y:3.23, Z:2.47 [[ 9.89717351e-01 -1.36052359e-01 -4.41511031e-02 7.12002908e+01] [ 1.35882473e-01 9.90701348e-01 -6.84045581e-03 3.22646080e+00] [ 4.46712175e-02 7.70756718e-04 9.99001446e-01 2.46850590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.137105681 meters 0.016896530650311138 Centerline is valid? [True, True] Translation: X:71.23, Y:3.21, Z:2.46 [[ 9.88127344e-01 -1.45972094e-01 -4.79218023e-02 7.12311746e+01] [ 1.45783091e-01 9.89288642e-01 -7.43454548e-03 3.21455046e+00] [ 4.84937309e-02 3.60089245e-04 9.98823422e-01 2.46455742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.167105681 meters 0.016102846517032716 Centerline is valid? [True, True] Translation: X:71.26, Y:3.21, Z:2.47 [[ 9.87234428e-01 -1.51801173e-01 -4.82139725e-02 7.12607056e+01] [ 1.51616011e-01 9.88411046e-01 -7.49596741e-03 3.20983966e+00] [ 4.87931197e-02 9.02669049e-05 9.98808902e-01 2.46544633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.197105681 meters 0.01680109364610121 Centerline is valid? [True, True] Translation: X:71.29, Y:3.20, Z:2.47 [[ 9.85714348e-01 -1.61665763e-01 -4.72377610e-02 7.12909696e+01] [ 1.61498579e-01 9.86845500e-01 -7.35986130e-03 3.20245927e+00] [ 4.78062095e-02 -3.74110423e-04 9.98856559e-01 2.46958957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.227105681 meters 0.017524673337016586 Centerline is valid? [True, True] Translation: X:71.32, Y:3.20, Z:2.47 [[ 9.85099378e-01 -1.65742212e-01 -4.59209593e-02 7.13195524e+01] [ 1.65587938e-01 9.86168965e-01 -7.16996274e-03 3.20359124e+00] [ 4.64741904e-02 -5.40831114e-04 9.98919345e-01 2.47384435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.257105681 meters 0.01966690575493222 Centerline is valid? [True, True] Translation: X:71.35, Y:3.20, Z:2.48 [[ 9.84123353e-01 -1.72841072e-01 -4.03384374e-02 7.13475141e+01] [ 1.72727517e-01 9.84949435e-01 -6.30994489e-03 3.20140338e+00] [ 4.08219387e-02 -7.57793996e-04 9.99166150e-01 2.48326533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.287105681 meters 0.02244826996752455 Centerline is valid? [True, True] Translation: X:71.38, Y:3.20, Z:2.49 [[ 9.83129208e-01 -1.79953293e-01 -3.27684819e-02 7.13770592e+01] [ 1.79882198e-01 9.83674787e-01 -5.12916103e-03 3.19918165e+00] [ 3.31565389e-02 -8.51838517e-04 9.99449808e-01 2.49347884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31710568099999 meters 0.024285907000545615 Centerline is valid? [True, True] Translation: X:71.41, Y:3.20, Z:2.50 [[ 9.82392377e-01 -1.84247806e-01 -3.09509850e-02 7.14061785e+01] [ 1.84186445e-01 9.82879374e-01 -4.84664918e-03 3.20066820e+00] [ 3.13140693e-02 -9.39440693e-04 9.99509153e-01 2.49639999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34710568099999 meters 0.02886239414958146 Centerline is valid? [True, True] Translation: X:71.44, Y:3.20, Z:2.50 [[ 9.80634182e-01 -1.93145933e-01 -3.24229906e-02 7.14357685e+01] [ 1.93083326e-01 9.81169208e-01 -5.08074643e-03 3.20100611e+00] [ 3.27937655e-02 -1.27798524e-03 9.99461323e-01 2.49624604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.37710568099999 meters 0.03316078462496658 Centerline is valid? [True, True] Translation: X:71.46, Y:3.21, Z:2.50 [[ 9.79130328e-01 -2.00670837e-01 -3.21716683e-02 7.14649051e+01] [ 2.00613193e-01 9.79657550e-01 -5.04293547e-03 3.20646030e+00] [ 3.25291878e-02 -1.51637003e-03 9.99469636e-01 2.49684276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.40710568099999 meters 0.0351404051955078 Centerline is valid? [True, True] Translation: X:71.49, Y:3.21, Z:2.50 [[ 9.78528406e-01 -2.03579151e-01 -3.22131663e-02 7.14941576e+01] [ 2.03522887e-01 9.79057161e-01 -5.05073085e-03 3.21308140e+00] [ 3.25667546e-02 -1.61383298e-03 9.99468260e-01 2.49795487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.43710568099999 meters 0.03613509166944957 Centerline is valid? [True, True] Translation: X:71.52, Y:3.22, Z:2.50 [[ 9.77827220e-01 -2.06638940e-01 -3.39746292e-02 7.15224119e+01] [ 2.06578136e-01 9.78415597e-01 -5.32860073e-03 3.22427144e+00] [ 3.43424035e-02 -1.80796476e-03 9.99408490e-01 2.49674086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.46710568099999 meters 0.037304978824552006 Centerline is valid? [True, True] Translation: X:71.55, Y:3.23, Z:2.49 [[ 9.77853649e-01 -2.05861375e-01 -3.77271206e-02 7.15487346e+01] [ 2.05785742e-01 9.78579170e-01 -5.91920299e-03 3.23475612e+00] [ 3.81375096e-02 -1.97558928e-03 9.99270548e-01 2.49356923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.497105681 meters 0.0340525390544311 Centerline is valid? [True, True] Translation: X:71.57, Y:3.26, Z:2.50 [[ 9.79307187e-01 -1.99082768e-01 -3.63797467e-02 7.15748643e+01] [ 1.99007618e-01 9.79981297e-01 -5.71191480e-03 3.25770303e+00] [ 3.67886151e-02 -1.64612752e-03 9.99321714e-01 2.49787783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.527105681 meters 0.031040305638254825 Centerline is valid? [True, True] Translation: X:71.60, Y:3.28, Z:2.50 [[ 9.80518245e-01 -1.93267214e-01 -3.50963681e-02 7.16025535e+01] [ 1.93193512e-01 9.81145193e-01 -5.51153488e-03 3.27588505e+00] [ 3.54998318e-02 -1.37623010e-03 9.99368735e-01 2.50168754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.557105681 meters 0.023075266385775926 Centerline is valid? [True, True] Translation: X:71.63, Y:3.31, Z:2.50 [[ 9.83388222e-01 -1.78075019e-01 -3.51694770e-02 7.16258924e+01] [ 1.77991220e-01 9.84016567e-01 -5.52465640e-03 3.31177279e+00] [ 3.55911513e-02 -8.26976081e-04 9.99366092e-01 2.50362789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.587105681 meters 0.0174822851462137 Centerline is valid? [True, True] Translation: X:71.65, Y:3.34, Z:2.50 [[ 9.85845570e-01 -1.63588585e-01 -3.67054071e-02 7.16517497e+01] [ 1.63487162e-01 9.86528599e-01 -5.76817466e-03 3.34222367e+00] [ 3.71545414e-02 -3.14333391e-04 9.99309482e-01 2.50007017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.617105681 meters 0.016782023263815237 Centerline is valid? [True, True] Translation: X:71.68, Y:3.35, Z:2.50 [[ 9.86411016e-01 -1.59922576e-01 -3.76573717e-02 7.16796023e+01] [ 1.59813106e-01 9.87129544e-01 -5.91893587e-03 3.35408429e+00] [ 3.81192756e-02 -1.79637992e-04 9.99273180e-01 2.49867136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.647105681 meters 0.016606846592337045 Centerline is valid? [True, True] Translation: X:71.71, Y:3.37, Z:2.49 [[ 9.86651673e-01 -1.57672237e-01 -4.07178389e-02 7.17060905e+01] [ 1.57541782e-01 9.87491498e-01 -6.41316947e-03 3.36973097e+00] [ 4.12196985e-02 -8.71965150e-05 9.99150103e-01 2.49404920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67710568099999 meters 0.016793789221491533 Centerline is valid? [True, True] Translation: X:71.73, Y:3.38, Z:2.49 [[ 9.86437172e-01 -1.58666248e-01 -4.20324583e-02 7.17333832e+01] [ 1.58527472e-01 9.87332268e-01 -6.63570818e-03 3.37784291e+00] [ 4.25528653e-02 -1.17590133e-04 9.99094210e-01 2.49204591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70710568099999 meters 0.01721073784620004 Centerline is valid? [True, True] Translation: X:71.76, Y:3.39, Z:2.49 [[ 9.85860194e-01 -1.61351082e-01 -4.52272740e-02 7.17612471e+01] [ 1.61192867e-01 9.86897041e-01 -7.14777760e-03 3.38689408e+00] [ 4.57879645e-02 -2.43604548e-04 9.98951151e-01 2.48799404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.73710568099999 meters 0.017419428475524013 Centerline is valid? [True, True] Translation: X:71.79, Y:3.39, Z:2.49 [[ 9.85673855e-01 -1.61992446e-01 -4.69627358e-02 7.17899002e+01] [ 1.61821803e-01 9.86791962e-01 -7.43830863e-03 3.39324456e+00] [ 4.75474000e-02 -2.67848222e-04 9.98868947e-01 2.48764662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.76710568099999 meters 0.01724347647035955 Centerline is valid? [True, True] Translation: X:71.82, Y:3.40, Z:2.49 [[ 9.85831823e-01 -1.61254094e-01 -4.61815342e-02 7.18172688e+01] [ 1.61087535e-01 9.86912900e-01 -7.33036933e-03 3.39984276e+00] [ 4.67592039e-02 -2.12758131e-04 9.98906168e-01 2.49013201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.79710568099999 meters 0.017094538030616075 Centerline is valid? [True, True] Translation: X:71.84, Y:3.41, Z:2.49 [[ 9.86248050e-01 -1.59214074e-01 -4.43357885e-02 7.18446040e+01] [ 1.59057779e-01 9.87244078e-01 -7.05359678e-03 3.41088333e+00] [ 4.48932765e-02 -9.53559991e-05 9.98991784e-01 2.49472463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.82710568099999 meters 0.017238011100003104 Centerline is valid? [True, True] Translation: X:71.87, Y:3.42, Z:2.49 [[ 9.86252834e-01 -1.58676439e-01 -4.61208779e-02 7.18724051e+01] [ 1.58505965e-01 9.87330636e-01 -7.35356516e-03 3.41889080e+00] [ 4.67033932e-02 -5.79597563e-05 9.98908799e-01 2.49438436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.857105681 meters 0.017269468834753835 Centerline is valid? [True, True] Translation: X:71.90, Y:3.42, Z:2.50 [[ 9.86057333e-01 -1.60254546e-01 -4.48265068e-02 7.19002433e+01] [ 1.60094456e-01 9.87075715e-01 -7.16224666e-03 3.42237698e+00] [ 4.53949388e-02 -1.14089374e-04 9.98969112e-01 2.49629002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.887105681 meters 0.01778978778612257 Centerline is valid? [True, True] Translation: X:71.93, Y:3.42, Z:2.50 [[ 9.85255340e-01 -1.66137166e-01 -4.08700012e-02 7.19285425e+01] [ 1.66008552e-01 9.86102595e-01 -6.54460591e-03 3.42195703e+00] [ 4.13893165e-02 -3.36661797e-04 9.99143038e-01 2.50111104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.917105681 meters 0.018973024477595826 Centerline is valid? [True, True] Translation: X:71.96, Y:3.42, Z:2.51 [[ 9.84400033e-01 -1.72101149e-01 -3.65755244e-02 7.19572697e+01] [ 1.72001795e-01 9.85079150e-01 -5.86951402e-03 3.42270157e+00] [ 3.70399366e-02 -5.13106049e-04 9.99313654e-01 2.50736514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.947105681 meters 0.019806286341752393 Centerline is valid? [True, True] Translation: X:71.99, Y:3.43, Z:2.51 [[ 9.83980931e-01 -1.74549309e-01 -3.62500525e-02 7.19857012e+01] [ 1.74452931e-01 9.84648259e-01 -5.82937308e-03 3.42603271e+00] [ 3.67110641e-02 -5.87935952e-04 9.99325749e-01 2.50920048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.977105681 meters 0.02004221941890867 Centerline is valid? [True, True] Translation: X:72.01, Y:3.43, Z:2.51 [[ 9.83808458e-01 -1.75210132e-01 -3.77137512e-02 7.20125618e+01] [ 1.75105796e-01 9.84530863e-01 -6.07785512e-03 3.43247826e+00] [ 3.81952538e-02 -6.24451162e-04 9.99270100e-01 2.50873935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.007105681 meters 0.018629564807660235 Centerline is valid? [True, True] Translation: X:72.04, Y:3.45, Z:2.50 [[ 9.84602286e-01 -1.69573749e-01 -4.24627038e-02 7.20401531e+01] [ 1.69435471e-01 9.85517402e-01 -6.86081628e-03 3.44510082e+00] [ 4.30111479e-02 -4.39512812e-04 9.99074496e-01 2.50449727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03710568099999 meters 0.017926096846985425 Centerline is valid? [True, True] Translation: X:72.07, Y:3.46, Z:2.50 [[ 9.85323128e-01 -1.64812451e-01 -4.44431037e-02 7.20673127e+01] [ 1.64655434e-01 9.86324898e-01 -7.19608814e-03 3.45533570e+00] [ 4.50213447e-02 -2.27326482e-04 9.98985999e-01 2.50351362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06710568099999 meters 0.01818771452389753 Centerline is valid? [True, True] Translation: X:72.09, Y:3.47, Z:2.50 [[ 9.87008139e-01 -1.54138773e-01 -4.53450424e-02 7.20942765e+01] [ 1.53963329e-01 9.88049169e-01 -7.35754263e-03 3.47143030e+00] [ 4.59372141e-02 2.80480774e-04 9.98944290e-01 2.50450790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09710568099999 meters 0.02065875514982502 Centerline is valid? [True, True] Translation: X:72.12, Y:3.49, Z:2.51 [[ 9.88510623e-01 -1.44608865e-01 -4.39889009e-02 7.21208700e+01] [ 1.44433677e-01 9.89488637e-01 -7.15191451e-03 3.48729269e+00] [ 4.45607479e-02 7.16264772e-04 9.99006420e-01 2.50743475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.12710568099999 meters 0.0220497888765112 Centerline is valid? [True, True] Translation: X:72.15, Y:3.50, Z:2.51 [[ 9.89030924e-01 -1.41076909e-01 -4.37622793e-02 7.21480408e+01] [ 1.40899478e-01 9.89998245e-01 -7.12832567e-03 3.49550219e+00] [ 4.43302218e-02 8.84052233e-04 9.99016541e-01 2.50824437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.15710568099999 meters 0.02402908934910331 Centerline is valid? [True, True] Translation: X:72.17, Y:3.50, Z:2.51 [[ 9.89514151e-01 -1.37228927e-01 -4.50551531e-02 7.21749692e+01] [ 1.37036600e-01 9.90538755e-01 -7.34469548e-03 3.50098301e+00] [ 4.56367799e-02 1.09347514e-03 9.98957501e-01 2.50716792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.18710568099999 meters 0.02481371391333084 Centerline is valid? [True, True] Translation: X:72.20, Y:3.50, Z:2.50 [[ 9.89520565e-01 -1.36238602e-01 -4.78340397e-02 7.22041779e+01] [ 1.36020188e-01 9.90675304e-01 -7.80708657e-03 3.50272215e+00] [ 4.84516284e-02 1.21887763e-03 9.98824786e-01 2.50454267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.21710568099999 meters 0.025655750428648375 Centerline is valid? [True, True] Translation: X:72.23, Y:3.51, Z:2.50 [[ 9.89594246e-01 -1.35215093e-01 -4.91945777e-02 7.22330873e+01] [ 1.34981962e-01 9.90815387e-01 -8.04603415e-03 3.50648655e+00] [ 4.98306898e-02 1.32192848e-03 9.98756805e-01 2.50334087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.247105681 meters 0.02934442199755824 Centerline is valid? [True, True] Translation: X:72.26, Y:3.51, Z:2.50 [[ 9.90361650e-01 -1.28988947e-01 -5.04544712e-02 7.22615177e+01] [ 1.28734924e-01 9.91644589e-01 -8.26607312e-03 3.51227594e+00] [ 5.10991355e-02 1.69114932e-03 9.98692154e-01 2.50229015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.277105681 meters 0.03520853415985849 Centerline is valid? [True, True] Translation: X:72.29, Y:3.52, Z:2.50 [[ 9.91378170e-01 -1.20003311e-01 -5.26168244e-02 7.22897997e+01] [ 1.19714151e-01 9.92770939e-01 -8.62470090e-03 3.52180030e+00] [ 5.32714468e-02 2.25136174e-03 9.98577530e-01 2.50265134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.307105681 meters 0.038275734113157926 Centerline is valid? [True, True] Translation: X:72.32, Y:3.53, Z:2.50 [[ 9.91860488e-01 -1.15399392e-01 -5.38121938e-02 7.23192040e+01] [ 1.15090092e-01 9.93315882e-01 -8.82203681e-03 3.52931790e+00] [ 5.44705644e-02 2.55697938e-03 9.98512103e-01 2.50322598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.337105681 meters 0.038275734113157926 Centerline is valid? [True, True] Translation: X:72.35, Y:3.53, Z:2.50 [[ 9.91819051e-01 -1.15755535e-01 -5.38110189e-02 7.23462514e+01] [ 1.15446371e-01 9.93274474e-01 -8.82919530e-03 3.53401397e+00] [ 5.44711397e-02 2.54467726e-03 9.98512103e-01 2.50424291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.367105681 meters 0.04072460244937541 Centerline is valid? [True, True] Translation: X:72.38, Y:3.54, Z:2.51 [[ 9.92606562e-01 -1.09164062e-01 -5.30605473e-02 7.23769255e+01] [ 1.08853350e-01 9.94019576e-01 -8.71955714e-03 3.53538890e+00] [ 5.36950850e-02 2.87927129e-03 9.98553227e-01 2.50621244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.397105681 meters 0.04010256537683902 Centerline is valid? [True, True] Translation: X:72.41, Y:3.53, Z:2.51 [[ 9.92872951e-01 -1.07142089e-01 -5.21907579e-02 7.24061591e+01] [ 1.06838402e-01 9.94239357e-01 -8.58240729e-03 3.53419900e+00] [ 5.28096426e-02 2.94526291e-03 9.98600254e-01 2.50904076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42710568099999 meters 0.04168662236964544 Centerline is valid? [True, True] Translation: X:72.44, Y:3.53, Z:2.51 [[ 9.93360513e-01 -1.03404339e-01 -5.04225595e-02 7.24367189e+01] [ 1.03115441e-01 9.94634727e-01 -8.30458874e-03 3.52621619e+00] [ 5.10107592e-02 3.05010606e-03 9.98693446e-01 2.51231908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45710568099999 meters 0.04163325766813385 Centerline is valid? [True, True] Translation: X:72.46, Y:3.53, Z:2.51 [[ 9.93309427e-01 -1.03788656e-01 -5.06388824e-02 7.24646654e+01] [ 1.03497353e-01 9.94594693e-01 -8.34831430e-03 3.52574474e+00] [ 5.12316240e-02 3.05146900e-03 9.98682136e-01 2.51263841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.48710568099999 meters 0.04136382771169544 Centerline is valid? [True, True] Translation: X:72.50, Y:3.52, Z:2.51 [[ 9.93116257e-01 -1.05388016e-01 -5.11220613e-02 7.24955038e+01] [ 1.05092243e-01 9.94426602e-01 -8.44707947e-03 3.51569836e+00] [ 5.17273587e-02 3.01639987e-03 9.98656689e-01 2.51269761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.51710568099999 meters 0.04070675667562496 Centerline is valid? [True, True] Translation: X:72.53, Y:3.51, Z:2.51 [[ 9.92955337e-01 -1.07099660e-01 -5.06888671e-02 7.25255189e+01] [ 1.06810257e-01 9.94244006e-01 -8.39198857e-03 3.51325468e+00] [ 5.12958814e-02 2.91877893e-03 9.98679234e-01 2.51423131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.54710568099999 meters 0.03984292112999206 Centerline is valid? [True, True] Translation: X:72.56, Y:3.51, Z:2.52 [[ 9.92650175e-01 -1.10411595e-01 -4.95470408e-02 7.25563831e+01] [ 1.10138620e-01 9.93882289e-01 -8.21459134e-03 3.50642413e+00] [ 5.01509125e-02 2.69717283e-03 9.98738009e-01 2.51551531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.57710568099999 meters 0.03797314220512008 Centerline is valid? [True, True] Translation: X:72.59, Y:3.49, Z:2.51 [[ 9.92199869e-01 -1.13153949e-01 -5.23030089e-02 7.25876933e+01] [ 1.12853152e-01 9.93573776e-01 -8.67852982e-03 3.49484053e+00] [ 5.29489079e-02 2.70827672e-03 9.98593550e-01 2.51455798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.607105681 meters 0.036574418170581366 Centerline is valid? [True, True] Translation: X:72.62, Y:3.49, Z:2.51 [[ 9.91846273e-01 -1.14527001e-01 -5.58975505e-02 7.26178046e+01] [ 1.14184463e-01 9.93416088e-01 -9.29434776e-03 3.49140135e+00] [ 5.65939797e-02 2.83593239e-03 9.98393249e-01 2.51322127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.637105681 meters 0.035972326958879586 Centerline is valid? [True, True] Translation: X:72.65, Y:3.48, Z:2.51 [[ 9.91234580e-01 -1.18544870e-01 -5.83191318e-02 7.26472033e+01] [ 1.18177990e-01 9.92944929e-01 -9.71238098e-03 3.48393091e+00] [ 5.90590391e-02 2.73521011e-03 9.98250744e-01 2.51042545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.667105681 meters 0.03366953166467449 Centerline is valid? [True, True] Translation: X:72.68, Y:3.48, Z:2.51 [[ 9.90928670e-01 -1.21559832e-01 -5.73025184e-02 7.26780294e+01] [ 1.21210368e-01 9.92580917e-01 -9.54830245e-03 3.47906465e+00] [ 5.80380763e-02 2.51602733e-03 9.98311200e-01 2.51277127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.697105681 meters 0.030069235154081192 Centerline is valid? [True, True] Translation: X:72.71, Y:3.47, Z:2.52 [[ 9.90126556e-01 -1.28973107e-01 -5.49121101e-02 7.27095006e+01] [ 1.28663461e-01 9.91646082e-01 -9.15219798e-03 3.46606845e+00] [ 5.56337662e-02 1.99665212e-03 9.98449246e-01 2.51781047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.727105681 meters 0.026213813573996894 Centerline is valid? [True, True] Translation: X:72.74, Y:3.46, Z:2.52 [[ 9.89110767e-01 -1.36818262e-01 -5.42277913e-02 7.27408650e+01] [ 1.36527945e-01 9.90594972e-01 -9.04004808e-03 3.45737952e+00] [ 5.49546211e-02 1.53799996e-03 9.98487669e-01 2.52060011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.757105681 meters 0.023973411316006454 Centerline is valid? [True, True] Translation: X:72.77, Y:3.46, Z:2.52 [[ 9.88491309e-01 -1.41425959e-01 -5.36994433e-02 7.27704783e+01] [ 1.41147883e-01 9.89948018e-01 -8.95525462e-03 3.45529550e+00] [ 5.44261629e-02 1.27262864e-03 9.98516987e-01 2.52183164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78710568099999 meters 0.020587623862964928 Centerline is valid? [True, True] Translation: X:72.80, Y:3.44, Z:2.52 [[ 9.86978177e-01 -1.51368749e-01 -5.44204083e-02 7.28015298e+01] [ 1.51097964e-01 9.88477089e-01 -9.08019653e-03 3.44292354e+00] [ 5.51677848e-02 7.39142938e-04 9.98476825e-01 2.52100380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81710568099999 meters 0.018646737734240547 Centerline is valid? [True, True] Translation: X:72.83, Y:3.43, Z:2.52 [[ 9.85466952e-01 -1.60776440e-01 -5.48253823e-02 7.28332469e+01] [ 1.60515668e-01 9.86990824e-01 -9.15606972e-03 3.43037044e+00] [ 5.55842295e-02 2.22671264e-04 9.98453977e-01 2.52281912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84710568099999 meters 0.019324531916848825 Centerline is valid? [True, True] Translation: X:72.86, Y:3.42, Z:2.52 [[ 9.83740546e-01 -1.71004834e-01 -5.48806463e-02 7.28632526e+01] [ 1.70758651e-01 9.85270131e-01 -9.17894812e-03 3.42028061e+00] [ 5.56419060e-02 -3.41641684e-04 9.98450731e-01 2.52281602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.87710568099999 meters 0.0202790219579677 Centerline is valid? [True, True] Translation: X:72.89, Y:3.42, Z:2.52 [[ 9.82735808e-01 -1.76304128e-01 -5.60997848e-02 7.28920896e+01] [ 1.76055108e-01 9.84335529e-01 -9.38966672e-03 3.41986034e+00] [ 5.68764483e-02 -6.49091977e-04 9.98381014e-01 2.52463623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.90710568099999 meters 0.02365795178881227 Centerline is valid? [True, True] Translation: X:72.92, Y:3.41, Z:2.52 [[ 9.81123379e-01 -1.85075211e-01 -5.60721083e-02 7.29215268e+01] [ 1.84840364e-01 9.82723686e-01 -9.39131471e-03 3.41405659e+00] [ 5.68414885e-02 -1.15035049e-03 9.98382553e-01 2.52460369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.93710568099999 meters 0.024848271226374553 Centerline is valid? [True, True] Translation: X:72.95, Y:3.41, Z:2.53 [[ 9.80540387e-01 -1.88570464e-01 -5.46052087e-02 7.29508488e+01] [ 1.88352640e-01 9.82058791e-01 -9.15501871e-03 3.41411176e+00] [ 5.53518914e-02 -1.30816962e-03 9.98466052e-01 2.52845991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.96710568099999 meters 0.026280304510260654 Centerline is valid? [True, True] Translation: X:72.98, Y:3.41, Z:2.53 [[ 9.79813634e-01 -1.92854921e-01 -5.26519036e-02 7.29799646e+01] [ 1.92657671e-01 9.81226169e-01 -8.84455015e-03 3.41323955e+00] [ 5.33691407e-02 -1.47778231e-03 9.98573758e-01 2.53461773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.997105681 meters 0.02677063791441798 Centerline is valid? [True, True] Translation: X:73.01, Y:3.42, Z:2.54 [[ 9.79342654e-01 -1.95413423e-01 -5.19765333e-02 7.30076165e+01] [ 1.95224068e-01 9.80719679e-01 -8.74496086e-03 3.41892889e+00] [ 5.26832918e-02 -1.58275710e-03 9.98610017e-01 2.53667669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.027105681 meters 0.027169551854392 Centerline is valid? [True, True] Translation: X:73.04, Y:3.43, Z:2.54 [[ 9.79129375e-01 -1.96573357e-01 -5.16195874e-02 7.30353218e+01] [ 1.96387704e-01 9.80487775e-01 -8.69444536e-03 3.42554362e+00] [ 5.23214707e-02 -1.62446540e-03 9.98628973e-01 2.53708738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.057105681 meters 0.027097018264783102 Centerline is valid? [True, True] Translation: X:73.06, Y:3.43, Z:2.54 [[ 9.78892029e-01 -1.98283442e-01 -4.95386002e-02 7.30631668e+01] [ 1.98113820e-01 9.80143366e-01 -8.36038288e-03 3.43496440e+00] [ 5.02126559e-02 -1.63036916e-03 9.98737218e-01 2.53893631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.087105681 meters 0.028782134212420932 Centerline is valid? [True, True] Translation: X:73.09, Y:3.44, Z:2.54 [[ 9.78232619e-01 -2.01549283e-01 -4.93844972e-02 7.30919248e+01] [ 2.01384013e-01 9.79476765e-01 -8.35140461e-03 3.43956751e+00] [ 5.00541871e-02 -1.77563179e-03 9.98744925e-01 2.53890445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.117105681 meters 0.03273869171536271 Centerline is valid? [True, True] Translation: X:73.12, Y:3.44, Z:2.54 [[ 9.77153992e-01 -2.06059776e-01 -5.20523289e-02 7.31205126e+01] [ 2.05881785e-01 9.78537150e-01 -8.81685304e-03 3.44275593e+00] [ 5.27519364e-02 -2.10120324e-03 9.98605437e-01 2.53655607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.147105681 meters 0.033421369802183847 Centerline is valid? [True, True] Translation: X:73.15, Y:3.45, Z:2.54 [[ 9.76549875e-01 -2.08597845e-01 -5.32661324e-02 7.31494676e+01] [ 2.08415029e-01 9.77998828e-01 -9.02594879e-03 3.44993868e+00] [ 5.39770086e-02 -2.28717339e-03 9.98539559e-01 2.53615907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17710568099999 meters 0.03569639923367848 Centerline is valid? [True, True] Translation: X:73.18, Y:3.46, Z:2.54 [[ 9.75325036e-01 -2.14248502e-01 -5.32790180e-02 7.31783467e+01] [ 2.14073878e-01 9.76775731e-01 -9.03027232e-03 3.45868209e+00] [ 5.39763741e-02 -2.59819534e-03 9.98538833e-01 2.53767830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20710568099999 meters 0.03710569978743724 Centerline is valid? [True, True] Translation: X:73.21, Y:3.47, Z:2.54 [[ 9.74745134e-01 -2.17199006e-01 -5.19279856e-02 7.32073689e+01] [ 2.17037213e-01 9.76123638e-01 -8.80289148e-03 3.46559302e+00] [ 5.26001135e-02 -2.68972964e-03 9.98612033e-01 2.54073918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.23710568099999 meters 0.04088065996251429 Centerline is valid? [True, True] Translation: X:73.24, Y:3.47, Z:2.55 [[ 9.73712160e-01 -2.22500038e-01 -4.87684665e-02 7.32355122e+01] [ 2.22363842e-01 9.74928683e-01 -8.26953101e-03 3.47318031e+00] [ 4.93857478e-02 -2.79220066e-03 9.98775877e-01 2.54598080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.26710568099999 meters 0.04076080172748966 Centerline is valid? [True, True] Translation: X:73.26, Y:3.49, Z:2.55 [[ 9.73628479e-01 -2.23430498e-01 -4.61128704e-02 7.32613586e+01] [ 2.23309523e-01 9.74716181e-01 -7.82450513e-03 3.48910604e+00] [ 4.66951941e-02 -2.67928208e-03 9.98905591e-01 2.55039802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.29710568099999 meters 0.03986201504049027 Centerline is valid? [True, True] Translation: X:73.29, Y:3.50, Z:2.55 [[ 9.73922621e-01 -2.22077265e-01 -4.64372385e-02 7.32886408e+01] [ 2.21952244e-01 9.75025561e-01 -7.89664991e-03 3.50185294e+00] [ 4.70311609e-02 -2.61612331e-03 9.98889997e-01 2.55079461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.32710568099999 meters 0.035659541012175264 Centerline is valid? [True, True] Translation: X:73.32, Y:3.52, Z:2.55 [[ 9.74962609e-01 -2.17370300e-01 -4.68835074e-02 7.33154290e+01] [ 2.17236850e-01 9.76086263e-01 -7.98484835e-03 3.52481933e+00] [ 4.74980165e-02 -2.39989688e-03 9.98868449e-01 2.55074444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.357105681 meters 0.032978447609224706 Centerline is valid? [True, True] Translation: X:73.34, Y:3.55, Z:2.55 [[ 9.76287791e-01 -2.11094818e-01 -4.79700657e-02 7.33408070e+01] [ 2.10947463e-01 9.77463244e-01 -8.17161756e-03 3.54656451e+00] [ 4.86139621e-02 -2.14131321e-03 9.98815347e-01 2.54994520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.387105681 meters 0.03115342747886328 Centerline is valid? [True, True] Translation: X:73.37, Y:3.56, Z:2.55 [[ 9.77077057e-01 -2.07256368e-01 -4.86335592e-02 7.33680571e+01] [ 2.07100002e-01 9.78284673e-01 -8.28784621e-03 3.56181279e+00] [ 4.92951745e-02 -1.97414583e-03 9.98782303e-01 2.54998496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.417105681 meters 0.026585631695741845 Centerline is valid? [True, True] Translation: X:73.39, Y:3.59, Z:2.55 [[ 9.78571258e-01 -1.99291047e-01 -5.17819648e-02 7.33942225e+01] [ 1.99102485e-01 9.79938918e-01 -8.82707937e-03 3.58691627e+00] [ 5.25023205e-02 -1.67199171e-03 9.98619402e-01 2.54692850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.447105681 meters 0.023155293049724638 Centerline is valid? [True, True] Translation: X:73.42, Y:3.61, Z:2.54 [[ 9.80155567e-01 -1.90043146e-01 -5.63796632e-02 7.34201271e+01] [ 1.89804113e-01 9.81774908e-01 -9.61401297e-03 3.60893417e+00] [ 5.71792160e-02 -1.27786361e-03 9.98363112e-01 2.54218552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.477105681 meters 0.022124807975305406 Centerline is valid? [True, True] Translation: X:73.45, Y:3.62, Z:2.54 [[ 9.80733845e-01 -1.87008300e-01 -5.64714120e-02 7.34459719e+01] [ 1.86763161e-01 9.82357721e-01 -9.63485543e-03 3.62120179e+00] [ 5.72769255e-02 -1.09755063e-03 9.98357726e-01 2.54271656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.507105681 meters 0.01995420844665983 Centerline is valid? [True, True] Translation: X:73.47, Y:3.64, Z:2.54 [[ 9.82012698e-01 -1.80386774e-01 -5.57823777e-02 7.34718070e+01] [ 1.80136446e-01 9.83595511e-01 -9.52530021e-03 3.64059775e+00] [ 5.65855345e-02 -6.94473494e-04 9.98397514e-01 2.54463606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53710568099999 meters 0.018124770118289446 Centerline is valid? [True, True] Translation: X:73.50, Y:3.66, Z:2.55 [[ 9.83784806e-01 -1.71099449e-01 -5.37813622e-02 7.34977439e+01] [ 1.70852613e-01 9.85253752e-01 -9.18848321e-03 3.66055097e+00] [ 5.45604333e-02 -1.49196094e-04 9.98510459e-01 2.54980509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56710568099999 meters 0.018081238356574086 Centerline is valid? [True, True] Translation: X:73.52, Y:3.67, Z:2.55 [[ 9.84648655e-01 -1.66638929e-01 -5.19470226e-02 7.35245831e+01] [ 1.66402000e-01 9.86017980e-01 -8.88357787e-03 3.67416565e+00] [ 5.27010481e-02 1.03114572e-04 9.98610329e-01 2.55409704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59710568099999 meters 0.019078592450323784 Centerline is valid? [True, True] Translation: X:73.55, Y:3.69, Z:2.56 [[ 9.86106988e-01 -1.59027555e-01 -4.79921429e-02 7.35496273e+01] [ 1.58815710e-01 9.87274026e-01 -8.21995512e-03 3.69219746e+00] [ 4.86885955e-02 4.83848935e-04 9.98813890e-01 2.55802019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.62710568099999 meters 0.020800369529239034 Centerline is valid? [True, True] Translation: X:73.58, Y:3.70, Z:2.56 [[ 9.87144928e-01 -1.53317210e-01 -4.51522314e-02 7.35757205e+01] [ 1.53123500e-01 9.88176759e-01 -7.73864182e-03 3.70190367e+00] [ 4.58048527e-02 7.25293311e-04 9.98950144e-01 2.56149631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.65710568099999 meters 0.021918404967285164 Centerline is valid? [True, True] Translation: X:73.60, Y:3.71, Z:2.56 [[ 9.87438329e-01 -1.51098948e-01 -4.62023100e-02 7.36036647e+01] [ 1.50893336e-01 9.88518273e-01 -7.92617673e-03 3.70983288e+00] [ 4.68694647e-02 8.54990005e-04 9.98900657e-01 2.56214783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.68710568099999 meters 0.024401438642940188 Centerline is valid? [True, True] Translation: X:73.63, Y:3.72, Z:2.56 [[ 9.87914830e-01 -1.46892264e-01 -4.94666741e-02 7.36300944e+01] [ 1.46650575e-01 9.89151837e-01 -8.50016284e-03 3.72249976e+00] [ 5.01786597e-02 1.14312072e-03 9.98739603e-01 2.55784354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.71710568099999 meters 0.026803304854192186 Centerline is valid? [True, True] Translation: X:73.66, Y:3.73, Z:2.55 [[ 9.88226916e-01 -1.42990022e-01 -5.44188967e-02 7.36583931e+01] [ 1.42691284e-01 9.89723022e-01 -9.35610191e-03 3.73042658e+00] [ 5.51974642e-02 1.48084947e-03 9.98474360e-01 2.55069967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.747105681 meters 0.028497317807348564 Centerline is valid? [True, True] Translation: X:73.69, Y:3.74, Z:2.55 [[ 9.88315952e-01 -1.41060756e-01 -5.77359674e-02 7.36862873e+01] [ 1.40720918e-01 9.89999499e-01 -9.93053759e-03 3.73683642e+00] [ 5.85593879e-02 1.68985038e-03 9.98282496e-01 2.54738096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.777105681 meters 0.030928646346307556 Centerline is valid? [True, True] Translation: X:73.71, Y:3.74, Z:2.54 [[ 9.88546199e-01 -1.38145178e-01 -6.07644888e-02 7.37135880e+01] [ 1.37762910e-01 9.90410040e-01 -1.04562742e-02 3.74474227e+00] [ 6.16262436e-02 1.96541732e-03 9.98097362e-01 2.54434506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.807105681 meters 0.03012692304455046 Centerline is valid? [True, True] Translation: X:73.74, Y:3.75, Z:2.55 [[ 9.89066650e-01 -1.35703861e-01 -5.77202192e-02 7.37420688e+01] [ 1.35354225e-01 9.90747383e-01 -9.94270259e-03 3.74751876e+00] [ 5.85354192e-02 2.02132000e-03 9.98283286e-01 2.55010282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.837105681 meters 0.031626360441121534 Centerline is valid? [True, True] Translation: X:73.77, Y:3.75, Z:2.55 [[ 9.89241313e-01 -1.34720011e-01 -5.70275673e-02 7.37694969e+01] [ 1.34376251e-01 9.90881546e-01 -9.83795163e-03 3.75195038e+00] [ 5.78329330e-02 2.06895753e-03 9.98324131e-01 2.55062670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.867105681 meters 0.028971009384555116 Centerline is valid? [True, True] Translation: X:73.80, Y:3.75, Z:2.56 [[ 9.89086985e-01 -1.36288101e-01 -5.59686585e-02 7.37995521e+01] [ 1.35958883e-01 9.90667324e-01 -9.66623416e-03 3.74817084e+00] [ 5.67637138e-02 1.95131010e-03 9.98385734e-01 2.55529491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.897105681 meters 0.026701199644925476 Centerline is valid? [True, True] Translation: X:73.83, Y:3.75, Z:2.56 [[ 9.88752871e-01 -1.39372633e-01 -5.42497023e-02 7.38295590e+01] [ 1.39067145e-01 9.90238487e-01 -9.38449015e-03 3.74656446e+00] [ 5.50280842e-02 1.73459036e-03 9.98483300e-01 2.55862624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92710568099999 meters 0.022494435643530913 Centerline is valid? [True, True] Translation: X:73.86, Y:3.74, Z:2.56 [[ 9.87350376e-01 -1.49799700e-01 -5.19546464e-02 7.38612396e+01] [ 1.49533589e-01 9.88715740e-01 -8.99391937e-03 3.73670442e+00] [ 5.27156631e-02 1.11118492e-03 9.98608945e-01 2.56160891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95710568099999 meters 0.01821368336323347 Centerline is valid? [True, True] Translation: X:73.89, Y:3.72, Z:2.56 [[ 9.85442718e-01 -1.62107913e-01 -5.12218206e-02 7.38937426e+01] [ 1.61865732e-01 9.86772934e-01 -8.86914701e-03 3.72157503e+00] [ 5.19820651e-02 4.48978824e-04 9.98647918e-01 2.56228636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.98710568099999 meters 0.017507171678928384 Centerline is valid? [True, True] Translation: X:73.92, Y:3.72, Z:2.56 [[ 9.84451789e-01 -1.67768348e-01 -5.20428261e-02 7.39228407e+01] [ 1.67526035e-01 9.85826434e-01 -9.01502493e-03 3.71765790e+00] [ 5.28176294e-02 1.56329140e-04 9.98604163e-01 2.56183459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.01710568099999 meters 0.018194396978680107 Centerline is valid? [True, True] Translation: X:73.95, Y:3.71, Z:2.56 [[ 9.82446823e-01 -1.78714996e-01 -5.34714049e-02 7.39539434e+01] [ 1.78474789e-01 9.83900789e-01 -9.27291923e-03 3.70652443e+00] [ 5.42677672e-02 -4.33147680e-04 9.98526325e-01 2.56003665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.04710568099999 meters 0.02150841550702901 Centerline is valid? [True, True] Translation: X:73.99, Y:3.69, Z:2.56 [[ 9.80280247e-01 -1.89552077e-01 -5.58627591e-02 7.39850121e+01] [ 1.89306576e-01 9.81870092e-01 -9.70268037e-03 3.69415094e+00] [ 5.66891357e-02 -1.06384172e-03 9.98391311e-01 2.55827588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.07710568099999 meters 0.023344020802982406 Centerline is valid? [True, True] Translation: X:74.02, Y:3.69, Z:2.56 [[ 9.79261375e-01 -1.94158808e-01 -5.78750119e-02 7.40155948e+01] [ 1.93903040e-01 9.80969148e-01 -1.00568977e-02 3.69181200e+00] [ 5.87262364e-02 -1.37380933e-03 9.98273180e-01 2.55800435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.107105681 meters 0.02688226770736576 Centerline is valid? [True, True] Translation: X:74.05, Y:3.69, Z:2.56 [[ 9.77881719e-01 -2.00685177e-01 -5.89305007e-02 7.40450616e+01] [ 2.00431543e-01 9.79654145e-01 -1.02446733e-02 3.68620150e+00] [ 5.97874633e-02 -1.79345243e-03 9.98209518e-01 2.55812445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.137105681 meters 0.027302266880199315 Centerline is valid? [True, True] Translation: X:74.07, Y:3.69, Z:2.56 [[ 9.77571576e-01 -2.02932040e-01 -5.63240737e-02 7.40729278e+01] [ 2.02703414e-01 9.79191107e-01 -9.80315493e-03 3.68770081e+00] [ 5.71414064e-02 -1.83379642e-03 9.98364411e-01 2.56313987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.167105681 meters 0.02741284503853264 Centerline is valid? [True, True] Translation: X:74.10, Y:3.69, Z:2.56 [[ 9.77704348e-01 -2.02106157e-01 -5.69851736e-02 7.41005142e+01] [ 2.01869772e-01 9.79361984e-01 -9.93475803e-03 3.69191632e+00] [ 5.78169884e-02 -1.79032786e-03 9.98325593e-01 2.56336115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.197105681 meters 0.0250569390682321 Centerline is valid? [True, True] Translation: X:74.13, Y:3.70, Z:2.57 [[ 9.78159389e-01 -1.99758412e-01 -5.74524726e-02 7.41280510e+01] [ 1.99513415e-01 9.79843784e-01 -1.00277274e-02 3.70017493e+00] [ 5.82975710e-02 -1.65382327e-03 9.98297880e-01 2.56511127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.227105681 meters 0.0250569390682321 Centerline is valid? [True, True] Translation: X:74.16, Y:3.71, Z:2.57 [[ 9.78083360e-01 -2.00131351e-01 -5.74489638e-02 7.41550837e+01] [ 1.99885819e-01 9.79767677e-01 -1.00477965e-02 3.70513926e+00] [ 5.82975169e-02 -1.65565056e-03 9.98297881e-01 2.56612923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.257105681 meters 0.022792870333511555 Centerline is valid? [True, True] Translation: X:74.18, Y:3.72, Z:2.57 [[ 9.79319647e-01 -1.94466431e-01 -5.58196752e-02 7.41822895e+01] [ 1.94224594e-01 9.80908357e-01 -9.77766822e-03 3.71751834e+00] [ 5.66554141e-02 -1.26609116e-03 9.98392989e-01 2.56881810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28710568099999 meters 0.021878361253009463 Centerline is valid? [True, True] Translation: X:74.21, Y:3.73, Z:2.57 [[ 9.79758182e-01 -1.92829463e-01 -5.37652537e-02 7.42096179e+01] [ 1.92602237e-01 9.81231646e-01 -9.42530019e-03 3.72628663e+00] [ 5.45736439e-02 -1.12079312e-03 9.98509119e-01 2.57158195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31710568099999 meters 0.022194497915365312 Centerline is valid? [True, True] Translation: X:74.24, Y:3.73, Z:2.58 [[ 9.79647964e-01 -1.94430998e-01 -4.98643609e-02 7.42377886e+01] [ 1.94236850e-01 9.80915573e-01 -8.75692899e-03 3.73468442e+00] [ 5.06153466e-02 -1.10678875e-03 9.98717609e-01 2.57576679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34710568099999 meters 0.026917226872943227 Centerline is valid? [True, True] Translation: X:74.27, Y:3.74, Z:2.58 [[ 9.77947247e-01 -2.02961027e-01 -4.92544818e-02 7.42665424e+01] [ 2.02781799e-01 9.79185641e-01 -8.66156990e-03 3.73796155e+00] [ 4.99872425e-02 -1.51735401e-03 9.98748704e-01 2.57776201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.37710568099999 meters 0.02986692447365182 Centerline is valid? [True, True] Translation: X:74.30, Y:3.74, Z:2.58 [[ 9.76858032e-01 -2.08011336e-01 -4.97962851e-02 7.42957414e+01] [ 2.07834567e-01 9.78124772e-01 -8.75918508e-03 3.74237175e+00] [ 5.05289898e-02 -1.79290905e-03 9.98720985e-01 2.57821375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.40710568099999 meters 0.03376668624895556 Centerline is valid? [True, True] Translation: X:74.33, Y:3.75, Z:2.58 [[ 9.75051036e-01 -2.16467120e-01 -4.91676965e-02 7.43255653e+01] [ 2.16305402e-01 9.76287428e-01 -8.65043395e-03 3.74647247e+00] [ 4.98743385e-02 -2.20062377e-03 9.98753076e-01 2.57825505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.43710568099999 meters 0.03470469310311439 Centerline is valid? [True, True] Translation: X:74.36, Y:3.75, Z:2.58 [[ 9.74399277e-01 -2.19137678e-01 -5.02466586e-02 7.43550706e+01] [ 2.18972263e-01 9.75691026e-01 -8.84140406e-03 3.75127013e+00] [ 5.09626986e-02 -2.38756682e-03 9.98697703e-01 2.57718888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.46710568099999 meters 0.03514348218495567 Centerline is valid? [True, True] Translation: X:74.38, Y:3.77, Z:2.57 [[ 9.74047196e-01 -2.19558902e-01 -5.50086245e-02 7.43814266e+01] [ 2.19361086e-01 9.75595688e-01 -9.68335606e-03 3.76684073e+00] [ 5.57922439e-02 -2.63470577e-03 9.98438923e-01 2.57240454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.497105681 meters 0.03535384678522855 Centerline is valid? [True, True] Translation: X:74.41, Y:3.78, Z:2.57 [[ 9.74463823e-01 -2.17469899e-01 -5.59204915e-02 7.44081001e+01] [ 2.17261437e-01 9.76063706e-01 -9.85443154e-03 3.77910001e+00] [ 5.67250044e-02 -2.54657932e-03 9.98386593e-01 2.57229307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.527105681 meters 0.03326470090433391 Centerline is valid? [True, True] Translation: X:74.44, Y:3.79, Z:2.57 [[ 9.75130134e-01 -2.14258226e-01 -5.66977480e-02 7.44352042e+01] [ 2.14037482e-01 9.76774166e-01 -1.00092361e-02 3.79444656e+00] [ 5.75254567e-02 -2.37513552e-03 9.98341214e-01 2.57260901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.557105681 meters 0.026486086576268324 Centerline is valid? [True, True] Translation: X:74.46, Y:3.82, Z:2.57 [[ 9.77711469e-01 -2.02040244e-01 -5.70966124e-02 7.44603882e+01] [ 2.01794867e-01 9.79375821e-01 -1.00912166e-02 3.82489212e+00] [ 5.79578736e-02 -1.65550510e-03 9.98317657e-01 2.57094930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.587105681 meters 0.023739897335974793 Centerline is valid? [True, True] Translation: X:74.49, Y:3.84, Z:2.58 [[ 9.78568222e-01 -1.98566662e-01 -5.45482831e-02 7.44868253e+01] [ 1.98337160e-01 9.80086410e-01 -9.64365896e-03 3.83916380e+00] [ 5.53769401e-02 -1.38197334e-03 9.98464564e-01 2.57589617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.617105681 meters 0.020397697150071375 Centerline is valid? [True, True] Translation: X:74.51, Y:3.86, Z:2.58 [[ 9.80271124e-01 -1.91134512e-01 -5.03599234e-02 7.45129486e+01] [ 1.90928926e-01 9.81563455e-01 -8.90667284e-03 3.86310548e+00] [ 5.11338330e-02 -8.84211907e-04 9.98691418e-01 2.58215430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.647105681 meters 0.018063239533632668 Centerline is valid? [True, True] Translation: X:74.54, Y:3.88, Z:2.58 [[ 9.81681291e-01 -1.83571996e-01 -5.10212161e-02 7.45380524e+01] [ 1.83350458e-01 9.83006145e-01 -9.02929857e-03 3.88461292e+00] [ 5.18116953e-02 -4.90869864e-04 9.98656751e-01 2.58159022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67710568099999 meters 0.01761683777925837 Centerline is valid? [True, True] Translation: X:74.56, Y:3.90, Z:2.58 [[ 9.82220823e-01 -1.80356739e-01 -5.20932054e-02 7.45649369e+01] [ 1.80120303e-01 9.83601215e-01 -9.23719614e-03 3.89574822e+00] [ 5.29049307e-02 -3.10077542e-04 9.98599505e-01 2.58038475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70710568099999 meters 0.01788455345544069 Centerline is valid? [True, True] Translation: X:74.59, Y:3.91, Z:2.58 [[ 9.83329881e-01 -1.73842792e-01 -5.33013101e-02 7.45905584e+01] [ 1.73584807e-01 9.84773416e-01 -9.46754109e-03 3.91210615e+00] [ 5.41355770e-02 5.74184114e-05 9.98533593e-01 2.57759375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.73710568099999 meters 0.018099618701202986 Centerline is valid? [True, True] Translation: X:74.62, Y:3.92, Z:2.58 [[ 9.83830335e-01 -1.71021974e-01 -5.31916851e-02 7.46170263e+01] [ 1.70760347e-01 9.85267190e-01 -9.45882305e-03 3.92200608e+00] [ 5.40256887e-02 2.22846474e-04 9.98539521e-01 2.57943770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.76710568099999 meters 0.01957508493233159 Centerline is valid? [True, True] Translation: X:74.64, Y:3.94, Z:2.58 [[ 9.85132105e-01 -1.63749036e-01 -5.19710403e-02 7.46428092e+01] [ 1.63488334e-01 9.86501832e-01 -9.25741527e-03 3.93660447e+00] [ 5.27854193e-02 6.23118203e-04 9.98605684e-01 2.58105305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.79710568099999 meters 0.023116142144792837 Centerline is valid? [True, True] Translation: X:74.67, Y:3.95, Z:2.58 [[ 9.86632063e-01 -1.54577358e-01 -5.16043762e-02 7.46700252e+01] [ 1.54307489e-01 9.87980063e-01 -9.19751978e-03 3.95133399e+00] [ 5.24058231e-02 1.11162624e-03 9.98625252e-01 2.58214622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.82710568099999 meters 0.025061783471310915 Centerline is valid? [True, True] Translation: X:74.70, Y:3.96, Z:2.58 [[ 9.87189193e-01 -1.50680509e-01 -5.24679167e-02 7.46975657e+01] [ 1.50395592e-01 9.88581593e-01 -9.35952942e-03 3.96153312e+00] [ 5.32791153e-02 1.34868289e-03 9.98578748e-01 2.58289042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.857105681 meters 0.026910097905458848 Centerline is valid? [True, True] Translation: X:74.73, Y:3.97, Z:2.58 [[ 9.87893845e-01 -1.45577791e-01 -5.35990418e-02 7.47252967e+01] [ 1.45272183e-01 9.89345394e-01 -9.57520669e-03 3.97254512e+00] [ 5.44219026e-02 1.67283794e-03 9.98516629e-01 2.58322756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.887105681 meters 0.029407783334527374 Centerline is valid? [True, True] Translation: X:74.75, Y:3.98, Z:2.58 [[ 9.88172029e-01 -1.43601659e-01 -5.38015289e-02 7.47524609e+01] [ 1.43290521e-01 9.89633946e-01 -9.61665556e-03 3.97669527e+00] [ 5.46247870e-02 1.79366092e-03 9.98505341e-01 2.58094864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.917105681 meters 0.02816851237648953 Centerline is valid? [True, True] Translation: X:74.78, Y:3.98, Z:2.58 [[ 9.88062019e-01 -1.44197256e-01 -5.42272796e-02 7.47809832e+01] [ 1.43881379e-01 9.89547350e-01 -9.70521349e-03 3.97661369e+00] [ 5.50599260e-02 1.78705709e-03 9.98481452e-01 2.58191362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.947105681 meters 0.027007972314913697 Centerline is valid? [True, True] Translation: X:74.81, Y:3.97, Z:2.58 [[ 9.87536201e-01 -1.47039002e-01 -5.61407460e-02 7.48109746e+01] [ 1.46703754e-01 9.89129221e-01 -1.00694460e-02 3.97479684e+00] [ 5.70110537e-02 1.70788428e-03 9.98372086e-01 2.58168767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.977105681 meters 0.025803913336184797 Centerline is valid? [True, True] Translation: X:74.84, Y:3.97, Z:2.58 [[ 9.87042916e-01 -1.50076158e-01 -5.67752414e-02 7.48405741e+01] [ 1.49737154e-01 9.88673194e-01 -1.02029813e-02 3.97297525e+00] [ 5.76633834e-02 1.56941732e-03 9.98334849e-01 2.58246798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.007105681 meters 0.024475595797890895 Centerline is valid? [True, True] Translation: X:74.87, Y:3.97, Z:2.59 [[ 9.86748177e-01 -1.53276625e-01 -5.32382538e-02 7.48691454e+01] [ 1.52982483e-01 9.88182453e-01 -9.58117967e-03 3.96958492e+00] [ 5.40776792e-02 1.30969131e-03 9.98535873e-01 2.58790815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03710568099999 meters 0.022131838397874616 Centerline is valid? [True, True] Translation: X:74.90, Y:3.97, Z:2.59 [[ 9.86282063e-01 -1.56705741e-01 -5.18748803e-02 7.48987868e+01] [ 1.56430713e-01 9.87644721e-01 -9.34540202e-03 3.96674048e+00] [ 5.26984298e-02 1.10237788e-03 9.98609864e-01 2.59217140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06710568099999 meters 0.018665136032334436 Centerline is valid? [True, True] Translation: X:74.93, Y:3.96, Z:2.59 [[ 9.84858160e-01 -1.65465217e-01 -5.17268391e-02 7.49298475e+01] [ 1.65203083e-01 9.86215415e-01 -9.33256286e-03 3.95615803e+00] [ 5.25580207e-02 6.45817409e-04 9.98617663e-01 2.59314391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09710568099999 meters 0.016914812767385937 Centerline is valid? [True, True] Translation: X:74.96, Y:3.95, Z:2.59 [[ 9.83585308e-01 -1.72842071e-01 -5.18223842e-02 7.49595564e+01] [ 1.72588732e-01 9.84949517e-01 -9.35838314e-03 3.95057852e+00] [ 5.26599546e-02 2.60808590e-04 9.98612468e-01 2.59412643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.12710568099999 meters 0.016662199309246634 Centerline is valid? [True, True] Translation: X:74.99, Y:3.95, Z:2.60 [[ 9.83262275e-01 -1.74855810e-01 -5.11932052e-02 7.49872917e+01] [ 1.74610605e-01 9.84594037e-01 -9.25840505e-03 3.95336172e+00] [ 5.20234106e-02 1.64563872e-04 9.98645852e-01 2.59575522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.15710568099999 meters 0.016254535841977582 Centerline is valid? [True, True] Translation: X:75.02, Y:3.95, Z:2.60 [[ 9.82721087e-01 -1.78107003e-01 -5.03702282e-02 7.50167684e+01] [ 1.77873443e-01 9.84011126e-01 -9.11826572e-03 3.95134451e+00] [ 5.11888920e-02 1.18608317e-06 9.98688989e-01 2.59693789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.18710568099999 meters 0.016383446161634427 Centerline is valid? [True, True] Translation: X:75.05, Y:3.95, Z:2.60 [[ 9.82207372e-01 -1.80403303e-01 -5.21854925e-02 7.50457150e+01] [ 1.80155087e-01 9.83592719e-01 -9.46087969e-03 3.94879681e+00] [ 5.30360444e-02 -1.08936186e-04 9.98592593e-01 2.59626368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.21710568099999 meters 0.01656942985103261 Centerline is valid? [True, True] Translation: X:75.07, Y:3.95, Z:2.60 [[ 9.82136802e-01 -1.80208502e-01 -5.41497781e-02 7.50740991e+01] [ 1.79940391e-01 9.83628429e-01 -9.82693727e-03 3.95484730e+00] [ 5.50341588e-02 -9.23354792e-05 9.98484468e-01 2.59616469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.247105681 meters 0.01721870067751796 Centerline is valid? [True, True] Translation: X:75.10, Y:3.97, Z:2.60 [[ 9.83176615e-01 -1.74063833e-01 -5.53671829e-02 7.51001996e+01] [ 1.73772988e-01 9.84734334e-01 -1.00618060e-02 3.96714866e+00] [ 5.62733625e-02 2.71211536e-04 9.98415362e-01 2.59701747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.277105681 meters 0.020231387412533147 Centerline is valid? [True, True] Translation: X:75.13, Y:3.98, Z:2.60 [[ 9.85040092e-01 -1.63896688e-01 -5.32343270e-02 7.51266216e+01] [ 1.63612662e-01 9.86477164e-01 -9.68000179e-03 3.97999447e+00] [ 5.41009682e-02 8.25379884e-04 9.98535129e-01 2.60079363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.307105681 meters 0.022453185605437968 Centerline is valid? [True, True] Translation: X:75.15, Y:3.99, Z:2.60 [[ 9.85741621e-01 -1.59681371e-01 -5.30595620e-02 7.51542879e+01] [ 1.59392604e-01 9.87168036e-01 -9.65748034e-03 3.98860206e+00] [ 5.39208233e-02 1.06247859e-03 9.98544649e-01 2.60193277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.337105681 meters 0.025652586187759473 Centerline is valid? [True, True] Translation: X:75.18, Y:4.00, Z:2.60 [[ 9.86523445e-01 -1.54448230e-01 -5.40114439e-02 7.51825454e+01] [ 1.54140458e-01 9.87999911e-01 -9.84349648e-03 3.99616628e+00] [ 5.48836124e-02 1.38549136e-03 9.98491797e-01 2.60120982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.367105681 meters 0.02877621707316134 Centerline is valid? [True, True] Translation: X:75.21, Y:4.00, Z:2.60 [[ 9.87403186e-01 -1.49362168e-01 -5.22100635e-02 7.52109094e+01] [ 1.49067316e-01 9.88781236e-01 -9.51858668e-03 4.00301613e+00] [ 5.30460478e-02 1.61586876e-03 9.98590760e-01 2.60395635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39710568099999 meters 0.030278524411806132 Centerline is valid? [True, True] Translation: X:75.24, Y:4.01, Z:2.60 [[ 9.87603814e-01 -1.47803015e-01 -5.28486149e-02 7.52391956e+01] [ 1.47498269e-01 9.89015310e-01 -9.64248258e-03 4.00984774e+00] [ 5.36932773e-02 1.72787336e-03 9.98555981e-01 2.60429129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42710568099999 meters 0.02824854109501545 Centerline is valid? [True, True] Translation: X:75.27, Y:4.01, Z:2.60 [[ 9.87523080e-01 -1.47184613e-01 -5.59897861e-02 7.52679141e+01] [ 1.46840727e-01 9.89107251e-01 -1.02297548e-02 4.01067339e+00] [ 5.68855659e-02 1.88053805e-03 9.98378934e-01 2.60264712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45710568099999 meters 0.028784093392136514 Centerline is valid? [True, True] Translation: X:75.30, Y:4.01, Z:2.60 [[ 9.87354236e-01 -1.47367387e-01 -5.84334247e-02 7.52957858e+01] [ 1.46992690e-01 9.89079883e-01 -1.06833205e-02 4.01307058e+00] [ 5.93696979e-02 1.95893547e-03 9.98234142e-01 2.59995018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48710568099999 meters 0.02578453712303631 Centerline is valid? [True, True] Translation: X:75.33, Y:4.01, Z:2.60 [[ 9.86864622e-01 -1.50026204e-01 -5.99195752e-02 7.53266095e+01] [ 1.49636302e-01 9.88680276e-01 -1.09676331e-02 4.00548818e+00] [ 6.08867345e-02 1.85742543e-03 9.98142953e-01 2.60147441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.51710568099999 meters 0.023279498459632342 Centerline is valid? [True, True] Translation: X:75.36, Y:4.00, Z:2.61 [[ 9.86297748e-01 -1.54797969e-01 -5.70468284e-02 7.53576353e+01] [ 1.54451828e-01 9.87945008e-01 -1.04544153e-02 4.00204010e+00] [ 5.79774516e-02 1.50017933e-03 9.98316766e-01 2.60820638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.54710568099999 meters 0.01837860540860171 Centerline is valid? [True, True] Translation: X:75.39, Y:4.00, Z:2.62 [[ 9.85046092e-01 -1.63912537e-01 -5.30742482e-02 7.53890642e+01] [ 1.63626094e-01 9.86474467e-01 -9.72766302e-03 3.99682114e+00] [ 5.39508766e-02 8.97864518e-04 9.98543187e-01 2.61515760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.57710568099999 meters 0.017367151621692202 Centerline is valid? [True, True] Translation: X:75.42, Y:4.00, Z:2.62 [[ 9.84231382e-01 -1.68941825e-01 -5.24141814e-02 7.54170709e+01] [ 1.68669428e-01 9.85625831e-01 -9.60965482e-03 3.99750431e+00] [ 5.32842437e-02 6.17453820e-04 9.98579195e-01 2.61626335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.607105681 meters 0.015522927930453897 Centerline is valid? [True, True] Translation: X:75.45, Y:3.99, Z:2.62 [[ 9.82763375e-01 -1.77461784e-01 -5.18021703e-02 7.54479419e+01] [ 1.77207006e-01 9.84127679e-01 -9.50728264e-03 3.99005925e+00] [ 5.26671289e-02 1.63701671e-04 9.98612110e-01 2.61818244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.637105681 meters 0.015045043462905779 Centerline is valid? [True, True] Translation: X:75.48, Y:3.99, Z:2.62 [[ 9.82135687e-01 -1.81735566e-01 -4.88024302e-02 7.54776493e+01] [ 1.81513940e-01 9.83347437e-01 -8.97258730e-03 3.98512051e+00] [ 4.96203829e-02 -4.60232152e-05 9.98768149e-01 2.62349577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.667105681 meters 0.015004618180563825 Centerline is valid? [True, True] Translation: X:75.51, Y:3.99, Z:2.63 [[ 9.82190908e-01 -1.81409574e-01 -4.89038577e-02 7.55055183e+01] [ 1.81185765e-01 9.83407630e-01 -9.00846859e-03 3.98925449e+00] [ 4.97266492e-02 -1.26469148e-05 9.98762865e-01 2.62547194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.697105681 meters 0.01581125297957557 Centerline is valid? [True, True] Translation: X:75.53, Y:4.00, Z:2.63 [[ 9.83250196e-01 -1.75121043e-01 -5.05140745e-02 7.55322115e+01] [ 1.74872935e-01 9.84546854e-01 -9.32460716e-03 4.00155071e+00] [ 5.13664081e-02 3.34877335e-04 9.98679819e-01 2.62647402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.727105681 meters 0.0208903896063564 Centerline is valid? [True, True] Translation: X:75.56, Y:4.02, Z:2.63 [[ 9.85321007e-01 -1.62570633e-01 -5.20893766e-02 7.55579713e+01] [ 1.62288482e-01 9.86696366e-01 -9.62964389e-03 4.01892792e+00] [ 5.29618959e-02 1.03478455e-03 9.98595998e-01 2.62552439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.757105681 meters 0.02316300875538323 Centerline is valid? [True, True] Translation: X:75.59, Y:4.03, Z:2.63 [[ 9.86229524e-01 -1.56682124e-01 -5.29342855e-02 7.55862607e+01] [ 1.56382003e-01 9.87648122e-01 -9.79059446e-03 4.02610642e+00] [ 5.38144588e-02 1.37780374e-03 9.98550002e-01 2.62676379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78710568099999 meters 0.029108374839725528 Centerline is valid? [True, True] Translation: X:75.61, Y:4.04, Z:2.63 [[ 9.87816462e-01 -1.46236180e-01 -5.32317300e-02 7.56140127e+01] [ 1.45917333e-01 9.89247761e-01 -9.84882706e-03 4.03700933e+00] [ 5.40996246e-02 1.96140144e-03 9.98533617e-01 2.62783280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81710568099999 meters 0.03285907644236825 Centerline is valid? [True, True] Translation: X:75.64, Y:4.05, Z:2.63 [[ 9.88761300e-01 -1.39961415e-01 -5.25537177e-02 7.56434023e+01] [ 1.39641710e-01 9.90154340e-01 -9.72498590e-03 4.04507935e+00] [ 5.33974145e-02 2.27699871e-03 9.98570744e-01 2.62801805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84710568099999 meters 0.03183780139360025 Centerline is valid? [True, True] Translation: X:75.67, Y:4.05, Z:2.63 [[ 9.88803542e-01 -1.39580894e-01 -5.27705323e-02 7.56728480e+01] [ 1.39257658e-01 9.90207969e-01 -9.77151554e-03 4.04630303e+00] [ 5.36177185e-02 2.31340843e-03 9.98558856e-01 2.62972623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.87710568099999 meters 0.03156137454031691 Centerline is valid? [True, True] Translation: X:75.70, Y:4.04, Z:2.63 [[ 9.88586397e-01 -1.41211748e-01 -5.24993066e-02 7.57020615e+01] [ 1.40893178e-01 9.89976901e-01 -9.73896133e-03 4.04401317e+00] [ 5.33483567e-02 2.23101052e-03 9.98573470e-01 2.63114986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.90710568099999 meters 0.030265074720555046 Centerline is valid? [True, True] Translation: X:75.73, Y:4.04, Z:2.63 [[ 9.88002342e-01 -1.44732324e-01 -5.38880985e-02 7.57313940e+01] [ 1.44401103e-01 9.89468598e-01 -1.00107685e-02 4.04057595e+00] [ 5.47694630e-02 2.10916181e-03 9.98496799e-01 2.62993258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.93710568099999 meters 0.029275837704094112 Centerline is valid? [True, True] Translation: X:75.76, Y:4.04, Z:2.63 [[ 9.87626277e-01 -1.46809299e-01 -5.51485799e-02 7.57604816e+01] [ 1.46465068e-01 9.89162689e-01 -1.02546743e-02 4.04115126e+00] [ 5.60563991e-02 2.05044527e-03 9.98425498e-01 2.62929599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.96710568099999 meters 0.028087002811159677 Centerline is valid? [True, True] Translation: X:75.79, Y:4.04, Z:2.63 [[ 9.87072089e-01 -1.49693174e-01 -5.72769051e-02 7.57907028e+01] [ 1.49325730e-01 9.88730524e-01 -1.06665959e-02 4.03911322e+00] [ 5.82281410e-02 1.97578343e-03 9.98301347e-01 2.62867586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.997105681 meters 0.028297721847504058 Centerline is valid? [True, True] Translation: X:75.82, Y:4.04, Z:2.63 [[ 9.86820962e-01 -1.51812090e-01 -5.60132065e-02 7.58187350e+01] [ 1.51463621e-01 9.88407701e-01 -1.04397254e-02 4.03953311e+00] [ 5.69487612e-02 1.81817678e-03 9.98375447e-01 2.62989353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.027105681 meters 0.025266741032141042 Centerline is valid? [True, True] Translation: X:75.85, Y:4.04, Z:2.63 [[ 9.86688974e-01 -1.53122633e-01 -5.47569900e-02 7.58489556e+01] [ 1.52791238e-01 9.88205714e-01 -1.02129646e-02 4.03672057e+00] [ 5.56750064e-02 1.71063129e-03 9.98447479e-01 2.63460796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.057105681 meters 0.024803419715508996 Centerline is valid? [True, True] Translation: X:75.88, Y:4.04, Z:2.64 [[ 9.85920165e-01 -1.58359352e-01 -5.37005044e-02 7.58784322e+01] [ 1.58047970e-01 9.87380560e-01 -1.00234496e-02 4.03534786e+00] [ 5.46101410e-02 1.39506540e-03 9.98506778e-01 2.63602785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.087105681 meters 0.019241301418005216 Centerline is valid? [True, True] Translation: X:75.91, Y:4.03, Z:2.64 [[ 9.84723507e-01 -1.65880066e-01 -5.29473232e-02 7.59102981e+01] [ 1.65588051e-01 9.86145460e-01 -9.88581222e-03 4.02712383e+00] [ 5.38536216e-02 9.67347618e-04 9.98548372e-01 2.64063287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.117105681 meters 0.018740876342092528 Centerline is valid? [True, True] Translation: X:75.94, Y:4.03, Z:2.64 [[ 9.84061758e-01 -1.69801063e-01 -5.28209773e-02 7.59381178e+01] [ 1.69515929e-01 9.85478072e-01 -9.86503775e-03 4.02831994e+00] [ 5.37290088e-02 7.53809333e-04 9.98555269e-01 2.63904700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14710568099999 meters 0.018740876342092528 Centerline is valid? [True, True] Translation: X:75.97, Y:4.03, Z:2.64 [[ 9.84003952e-01 -1.70136295e-01 -5.28191522e-02 7.59650769e+01] [ 1.69851119e-01 9.85420258e-01 -9.87480049e-03 4.03362803e+00] [ 5.37291246e-02 7.45450581e-04 9.98555269e-01 2.64006466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17710568099999 meters 0.015595152407617975 Centerline is valid? [True, True] Translation: X:76.00, Y:4.03, Z:2.64 [[ 9.82507565e-01 -1.78648102e-01 -5.25712953e-02 7.59952649e+01] [ 1.78376785e-01 9.83912988e-01 -9.84656774e-03 4.02707319e+00] [ 5.34846509e-02 2.96828634e-04 9.98568628e-01 2.64287815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20710568099999 meters 0.015313498526468095 Centerline is valid? [True, True] Translation: X:76.03, Y:4.03, Z:2.64 [[ 9.81225732e-01 -1.84861856e-01 -5.49741452e-02 7.60251774e+01] [ 1.84573824e-01 9.82764516e-01 -1.03155208e-02 4.02645657e+00] [ 5.59335855e-02 -2.49337890e-05 9.98434491e-01 2.64357065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23710568099999 meters 0.015458374681408484 Centerline is valid? [True, True] Translation: X:76.05, Y:4.03, Z:2.64 [[ 9.80833467e-01 -1.86252933e-01 -5.72324587e-02 7.60534621e+01] [ 1.85942191e-01 9.82501825e-01 -1.07547867e-02 4.02936937e+00] [ 5.82341057e-02 -9.32740010e-05 9.98302950e-01 2.64347396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.26710568099999 meters 0.015591733192902003 Centerline is valid? [True, True] Translation: X:76.08, Y:4.03, Z:2.64 [[ 9.80936067e-01 -1.85316074e-01 -5.85011587e-02 7.60822661e+01] [ 1.84988989e-01 9.82678967e-01 -1.10055320e-02 4.03368347e+00] [ 5.95273602e-02 -2.63469835e-05 9.98226674e-01 2.64459181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.29710568099999 meters 0.015547465955039964 Centerline is valid? [True, True] Translation: X:76.11, Y:4.04, Z:2.65 [[ 9.81949872e-01 -1.80773766e-01 -5.56353623e-02 7.61092629e+01] [ 1.80469614e-01 9.83524672e-01 -1.04851489e-02 4.04435271e+00] [ 5.66141913e-02 2.55398273e-04 9.98396098e-01 2.65188020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.32710568099999 meters 0.015958215041550622 Centerline is valid? [True, True] Translation: X:76.14, Y:4.05, Z:2.66 [[ 9.82744766e-01 -1.77292335e-01 -5.27271466e-02 7.61369027e+01] [ 1.77013217e-01 9.84158130e-01 -9.95465746e-03 4.05379415e+00] [ 5.36567344e-02 4.49485681e-04 9.98559339e-01 2.65817053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.357105681 meters 0.018848944733578833 Centerline is valid? [True, True] Translation: X:76.16, Y:4.07, Z:2.67 [[ 9.84803414e-01 -1.67259956e-01 -4.67583509e-02 7.61627144e+01] [ 1.67028471e-01 9.85912420e-01 -8.84248108e-03 4.06852777e+00] [ 4.75786319e-02 8.98129704e-04 9.98867092e-01 2.66779725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.387105681 meters 0.023890128368144803 Centerline is valid? [True, True] Translation: X:76.19, Y:4.09, Z:2.67 [[ 9.86371598e-01 -1.57722703e-01 -4.68467733e-02 7.61891614e+01] [ 1.57478956e-01 9.87482486e-01 -8.87227103e-03 4.08590666e+00] [ 4.76597268e-02 1.37397519e-03 9.98862685e-01 2.66761078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.417105681 meters 0.028282969243284415 Centerline is valid? [True, True] Translation: X:76.22, Y:4.10, Z:2.66 [[ 9.87484107e-01 -1.49097160e-01 -5.14312643e-02 7.62179260e+01] [ 1.48791527e-01 9.88820592e-01 -9.74259376e-03 4.09874862e+00] [ 5.23088862e-02 1.96812013e-03 9.98629014e-01 2.66249591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.447105681 meters 0.029487447893687874 Centerline is valid? [True, True] Translation: X:76.25, Y:4.10, Z:2.66 [[ 9.87847885e-01 -1.46114062e-01 -5.29833687e-02 7.62469213e+01] [ 1.45785341e-01 9.89265322e-01 -1.00377445e-02 4.10488383e+00] [ 5.38812650e-02 2.19156614e-03 9.98544945e-01 2.66164041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.477105681 meters 0.031794252947028034 Centerline is valid? [True, True] Translation: X:76.27, Y:4.11, Z:2.66 [[ 9.88130712e-01 -1.43480255e-01 -5.48736120e-02 7.62748480e+01] [ 1.43123382e-01 9.89650215e-01 -1.03994631e-02 4.10950981e+00] [ 5.57977995e-02 2.42233196e-03 9.98439151e-01 2.65945650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.507105681 meters 0.03274558268869834 Centerline is valid? [True, True] Translation: X:76.30, Y:4.11, Z:2.66 [[ 9.87951794e-01 -1.42834984e-01 -5.95770128e-02 7.63038607e+01] [ 1.42412729e-01 9.89742900e-01 -1.12962943e-02 4.11381339e+00] [ 6.05794315e-02 2.67566926e-03 9.98159793e-01 2.65504775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53710568099999 meters 0.032640126523954385 Centerline is valid? [True, True] Translation: X:76.33, Y:4.12, Z:2.65 [[ 9.87749610e-01 -1.43612114e-01 -6.10431694e-02 7.63325310e+01] [ 1.43169594e-01 9.89630361e-01 -1.15852017e-02 4.11750361e+00] [ 6.20739490e-02 2.70375267e-03 9.98067891e-01 2.65477598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56710568099999 meters 0.03171723957268626 Centerline is valid? [True, True] Translation: X:76.36, Y:4.12, Z:2.66 [[ 9.87537533e-01 -1.45712145e-01 -5.94776633e-02 7.63621074e+01] [ 1.45294921e-01 9.89323818e-01 -1.13035405e-02 4.11752516e+00] [ 6.04897321e-02 2.52086814e-03 9.98165636e-01 2.65961904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59710568099999 meters 0.028931643390436124 Centerline is valid? [True, True] Translation: X:76.39, Y:4.12, Z:2.67 [[ 9.87272453e-01 -1.49131828e-01 -5.52521697e-02 7.63928234e+01] [ 1.48776857e-01 9.88814980e-01 -1.05062443e-02 4.11557644e+00] [ 5.62009885e-02 2.15228143e-03 9.98417156e-01 2.66755626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.62710568099999 meters 0.027592486085153155 Centerline is valid? [True, True] Translation: X:76.42, Y:4.12, Z:2.67 [[ 9.86875717e-01 -1.52072238e-01 -5.43171533e-02 7.64225751e+01] [ 1.51733279e-01 9.88367443e-01 -1.03348656e-02 4.11609630e+00] [ 5.52569521e-02 1.95750815e-03 9.98470249e-01 2.66972169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.65710568099999 meters 0.02278654298722241 Centerline is valid? [True, True] Translation: X:76.45, Y:4.11, Z:2.67 [[ 9.85575463e-01 -1.59683268e-01 -5.60558799e-02 7.64546902e+01] [ 1.59333790e-01 9.87167016e-01 -1.06782860e-02 4.10649429e+00] [ 5.70416593e-02 1.59266082e-03 9.98370529e-01 2.66925476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.68710568099999 meters 0.021110599397119494 Centerline is valid? [True, True] Translation: X:76.48, Y:4.11, Z:2.67 [[ 9.84589304e-01 -1.65108263e-01 -5.76468945e-02 7.64836534e+01] [ 1.64747381e-01 9.86274560e-01 -1.09905319e-02 4.10552798e+00] [ 5.86702932e-02 1.32398525e-03 9.98276537e-01 2.66752347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.71710568099999 meters 0.01688295384857754 Centerline is valid? [True, True] Translation: X:76.52, Y:4.10, Z:2.67 [[ 9.82647153e-01 -1.76228612e-01 -5.78623297e-02 7.65162362e+01] [ 1.75883421e-01 9.84349033e-01 -1.10455463e-02 4.09608943e+00] [ 5.89032696e-02 6.76850079e-04 9.98263466e-01 2.66736581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.747105681 meters 0.015122131120640342 Centerline is valid? [True, True] Translation: X:76.55, Y:4.09, Z:2.67 [[ 9.80800122e-01 -1.86804690e-01 -5.59922092e-02 7.65467981e+01] [ 1.86498418e-01 9.82397071e-01 -1.06927265e-02 4.08666492e+00] [ 5.70040337e-02 4.49690183e-05 9.98373947e-01 2.67146633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.777105681 meters 0.015438167609001449 Centerline is valid? [True, True] Translation: X:76.58, Y:4.09, Z:2.67 [[ 9.79962701e-01 -1.91128279e-01 -5.60632313e-02 7.65754749e+01] [ 1.90827661e-01 9.81565048e-01 -1.07173305e-02 4.08605209e+00] [ 5.70780933e-02 -1.95831174e-04 9.98369698e-01 2.67440169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.807105681 meters 0.015653182135222 Centerline is valid? [True, True] Translation: X:76.60, Y:4.09, Z:2.68 [[ 9.79235691e-01 -1.95128230e-01 -5.49766834e-02 7.66039143e+01] [ 1.94844271e-01 9.80777658e-01 -1.05307119e-02 4.08713652e+00] [ 5.59747419e-02 -3.99842808e-04 9.98432105e-01 2.68057968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.837105681 meters 0.0149476918500089 Centerline is valid? [True, True] Translation: X:76.63, Y:4.10, Z:2.69 [[ 9.80033788e-01 -1.91683484e-01 -5.28319567e-02 7.66311847e+01] [ 1.91415195e-01 9.81456780e-01 -1.01396353e-02 4.09907282e+00] [ 5.37958827e-02 -1.75654061e-04 9.98551938e-01 2.68615557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.867105681 meters 0.014748950241609216 Centerline is valid? [True, True] Translation: X:76.66, Y:4.11, Z:2.69 [[ 9.80898852e-01 -1.87356528e-01 -5.22969833e-02 7.66574663e+01] [ 1.87086485e-01 9.82291975e-01 -1.00559491e-02 4.11147537e+00] [ 5.32549547e-02 7.98101277e-05 9.98580945e-01 2.68899649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89710568099999 meters 0.017262813792948938 Centerline is valid? [True, True] Translation: X:76.68, Y:4.13, Z:2.69 [[ 9.82958880e-01 -1.76234425e-01 -5.22806561e-02 7.66823659e+01] [ 1.75947907e-01 9.84347976e-01 -1.00695390e-02 4.13065975e+00] [ 5.32369574e-02 6.99270759e-04 9.98581663e-01 2.69032840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92710568099999 meters 0.021637037757714434 Centerline is valid? [True, True] Translation: X:76.71, Y:4.15, Z:2.69 [[ 9.84755693e-01 -1.65860971e-01 -5.24057587e-02 7.67094536e+01] [ 1.65558095e-01 9.86148330e-01 -1.00989496e-02 4.14758247e+00] [ 5.33548730e-02 1.26880055e-03 9.98574808e-01 2.69201140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95710568099999 meters 0.02506150125063726 Centerline is valid? [True, True] Translation: X:76.74, Y:4.16, Z:2.69 [[ 9.86233326e-01 -1.56818048e-01 -5.24588175e-02 7.67374857e+01] [ 1.56501652e-01 9.87625939e-01 -1.01113027e-02 4.16188783e+00] [ 5.33953236e-02 1.76221205e-03 9.98571897e-01 2.69356877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98710568099999 meters 0.02923114106578924 Centerline is valid? [True, True] Translation: X:76.77, Y:4.17, Z:2.69 [[ 9.87169327e-01 -1.49739632e-01 -5.54505337e-02 7.67656360e+01] [ 1.49374847e-01 9.88722860e-01 -1.06893435e-02 4.17423780e+00] [ 5.64258286e-02 2.26927708e-03 9.98404215e-01 2.69004548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.01710568099999 meters 0.030783688571726732 Centerline is valid? [True, True] Translation: X:76.79, Y:4.18, Z:2.69 [[ 9.87257572e-01 -1.48580827e-01 -5.69756439e-02 7.67928953e+01] [ 1.48193484e-01 9.88897344e-01 -1.09879549e-02 4.18165319e+00] [ 5.79756623e-02 2.40452252e-03 9.98315101e-01 2.68875456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.04710568099999 meters 0.030927601795720412 Centerline is valid? [True, True] Translation: X:76.82, Y:4.19, Z:2.69 [[ 9.86992102e-01 -1.49953599e-01 -5.79699030e-02 7.68205654e+01] [ 1.49554418e-01 9.88690186e-01 -1.11889569e-02 4.18683316e+00] [ 5.89920985e-02 2.37375702e-03 9.98255627e-01 2.68730021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.07710568099999 meters 0.02974324620305949 Centerline is valid? [True, True] Translation: X:76.85, Y:4.19, Z:2.69 [[ 9.86634734e-01 -1.51736266e-01 -5.93970373e-02 7.68496140e+01] [ 1.51319655e-01 9.88418258e-01 -1.14764791e-02 4.18934443e+00] [ 6.04505142e-02 2.33515367e-03 9.98168464e-01 2.68722694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.107105681 meters 0.026494874150703257 Centerline is valid? [True, True] Translation: X:76.88, Y:4.18, Z:2.69 [[ 9.85681032e-01 -1.56805501e-01 -6.20075595e-02 7.68798517e+01] [ 1.56360459e-01 9.87627209e-01 -1.19959652e-02 4.18408419e+00] [ 6.31213863e-02 2.12866487e-03 9.98003587e-01 2.68625564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.137105681 meters 0.02396199180720713 Centerline is valid? [True, True] Translation: X:76.91, Y:4.18, Z:2.69 [[ 9.84764969e-01 -1.62541555e-01 -6.17915731e-02 7.69100935e+01] [ 1.62110572e-01 9.86700130e-01 -1.19589242e-02 4.18305940e+00] [ 6.29135753e-02 1.75966240e-03 9.98017428e-01 2.68859899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.167105681 meters 0.023168342639739676 Centerline is valid? [True, True] Translation: X:76.94, Y:4.19, Z:2.69 [[ 9.84470366e-01 -1.64832484e-01 -6.04015818e-02 7.69384231e+01] [ 1.64424394e-01 9.86320300e-01 -1.16997314e-02 4.18679501e+00] [ 6.15038021e-02 1.58654537e-03 9.98105588e-01 2.69097962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.197105681 meters 0.02108815651180683 Centerline is valid? [True, True] Translation: X:76.97, Y:4.19, Z:2.70 [[ 9.84278181e-01 -1.67295894e-01 -5.66440334e-02 7.69676166e+01] [ 1.66940341e-01 9.85905799e-01 -1.09853829e-02 4.18512169e+00] [ 5.76834904e-02 1.35649841e-03 9.98334000e-01 2.69791031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.227105681 meters 0.020567860942139946 Centerline is valid? [True, True] Translation: X:77.00, Y:4.19, Z:2.70 [[ 9.84064000e-01 -1.68760712e-01 -5.60166515e-02 7.69968788e+01] [ 1.68414777e-01 9.85656237e-01 -1.08740655e-02 4.18760528e+00] [ 5.70482770e-02 1.26674455e-03 9.98370617e-01 2.70005140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.257105681 meters 0.018668267069782276 Centerline is valid? [True, True] Translation: X:77.03, Y:4.19, Z:2.70 [[ 9.83234833e-01 -1.74118348e-01 -5.41485368e-02 7.70260375e+01] [ 1.73802466e-01 9.84724287e-01 -1.05252661e-02 4.18592555e+00] [ 5.51540213e-02 9.37658986e-04 9.98477418e-01 2.70233269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28710568099999 meters 0.016459427230188325 Centerline is valid? [True, True] Translation: X:77.06, Y:4.18, Z:2.70 [[ 9.81785062e-01 -1.82064839e-01 -5.43183712e-02 7.70559024e+01] [ 1.81758812e-01 9.83286401e-01 -1.05635257e-02 4.18087305e+00] [ 5.53337623e-02 4.98269061e-04 9.98467789e-01 2.70181283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31710568099999 meters 0.015845562045677213 Centerline is valid? [True, True] Translation: X:77.08, Y:4.18, Z:2.70 [[ 9.81030135e-01 -1.85780132e-01 -5.53680054e-02 7.70844181e+01] [ 1.85467439e-01 9.82591293e-01 -1.07786537e-02 4.18064581e+00] [ 5.64065797e-02 3.05221894e-04 9.98407835e-01 2.70248094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34710568099999 meters 0.01582984121778261 Centerline is valid? [True, True] Translation: X:77.11, Y:4.18, Z:2.70 [[ 9.80416908e-01 -1.88750616e-01 -5.61773193e-02 7.71124035e+01] [ 1.88432612e-01 9.82025041e-01 -1.09530393e-02 4.18058984e+00] [ 5.72349272e-02 1.52905938e-04 9.98360726e-01 2.70311357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.37710568099999 meters 0.016470079649767818 Centerline is valid? [True, True] Translation: X:77.14, Y:4.19, Z:2.71 [[ 9.81377654e-01 -1.83980613e-01 -5.52180691e-02 7.71387004e+01] [ 1.83665462e-01 9.82929778e-01 -1.07726045e-02 4.18877956e+00] [ 5.62574348e-02 4.30341136e-04 9.98416204e-01 2.70781995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.40710568099999 meters 0.01796394921498028 Centerline is valid? [True, True] Translation: X:77.17, Y:4.20, Z:2.71 [[ 9.82311506e-01 -1.79379705e-01 -5.37310573e-02 7.71651012e+01] [ 1.79074086e-01 9.83779679e-01 -1.04887783e-02 4.19882861e+00] [ 5.47409963e-02 6.81407640e-04 9.98500355e-01 2.71071780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.43710568099999 meters 0.020856232537895418 Centerline is valid? [True, True] Translation: X:77.19, Y:4.21, Z:2.72 [[ 9.84106962e-01 -1.69608462e-01 -5.25971137e-02 7.71921822e+01] [ 1.69301384e-01 9.85510791e-01 -1.02724035e-02 4.21324502e+00] [ 5.35773097e-02 1.20437965e-03 9.98562978e-01 2.71634845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.46710568099999 meters 0.025334597912635873 Centerline is valid? [True, True] Translation: X:77.22, Y:4.23, Z:2.72 [[ 9.85622034e-01 -1.61220856e-01 -5.05672079e-02 7.72185538e+01] [ 1.60925837e-01 9.86917057e-01 -9.87916404e-03 4.22670863e+00] [ 5.14983673e-02 1.59955149e-03 9.98671798e-01 2.71945615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.497105681 meters 0.027614601525146536 Centerline is valid? [True, True] Translation: X:77.25, Y:4.23, Z:2.72 [[ 9.86446788e-01 -1.55698600e-01 -5.17752964e-02 7.72471507e+01] [ 1.55381440e-01 9.87802708e-01 -1.01202010e-02 4.23391341e+00] [ 5.27194792e-02 1.93811965e-03 9.98607481e-01 2.71906060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.527105681 meters 0.029069006915596236 Centerline is valid? [True, True] Translation: X:77.27, Y:4.24, Z:2.72 [[ 9.86588299e-01 -1.54336989e-01 -5.31377720e-02 7.72744704e+01] [ 1.54000675e-01 9.88016100e-01 -1.03912185e-02 4.23986624e+00] [ 5.41047237e-02 2.06860183e-03 9.98533124e-01 2.71774318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.557105681 meters 0.029076072953208573 Centerline is valid? [True, True] Translation: X:77.30, Y:4.24, Z:2.72 [[ 9.86453343e-01 -1.54673285e-01 -5.46440894e-02 7.73036587e+01] [ 1.54317539e-01 9.87963403e-01 -1.06963644e-02 4.24289581e+00] [ 5.56408023e-02 2.11892303e-03 9.98448602e-01 2.71752372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.587105681 meters 0.02735945210563497 Centerline is valid? [True, True] Translation: X:77.33, Y:4.24, Z:2.72 [[ 9.85891720e-01 -1.57926879e-01 -5.54672713e-02 7.73335021e+01] [ 1.57564660e-01 9.87448827e-01 -1.08716018e-02 4.24209067e+00] [ 5.64880101e-02 1.97854048e-03 9.98401317e-01 2.71785633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.617105681 meters 0.027858126037906293 Centerline is valid? [True, True] Translation: X:77.36, Y:4.25, Z:2.72 [[ 9.85662280e-01 -1.59139614e-01 -5.60754247e-02 7.73612331e+01] [ 1.58770958e-01 9.87254188e-01 -1.09977856e-02 4.24602599e+00] [ 5.71108812e-02 1.93695350e-03 9.98365963e-01 2.71683100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64710568099999 meters 0.02697435863925343 Centerline is valid? [True, True] Translation: X:77.39, Y:4.25, Z:2.72 [[ 9.85726393e-01 -1.58538030e-01 -5.66495459e-02 7.73907767e+01] [ 1.58160016e-01 9.87350835e-01 -1.11237287e-02 4.24536177e+00] [ 5.76965105e-02 2.00525988e-03 9.98332155e-01 2.71919205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67710568099999 meters 0.028605745398738634 Centerline is valid? [True, True] Translation: X:77.42, Y:4.25, Z:2.72 [[ 9.86215605e-01 -1.55861203e-01 -5.55523645e-02 7.74196957e+01] [ 1.55492418e-01 9.87776652e-01 -1.09267778e-02 4.24724148e+00] [ 5.65763893e-02 2.13818725e-03 9.98395984e-01 2.72232323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70710568099999 meters 0.02976662913914755 Centerline is valid? [True, True] Translation: X:77.45, Y:4.25, Z:2.72 [[ 9.86331110e-01 -1.55019456e-01 -5.58561448e-02 7.74470082e+01] [ 1.54644444e-01 9.87908939e-01 -1.10011151e-02 4.25261715e+00] [ 5.68861717e-02 2.21289965e-03 9.98378218e-01 2.72307916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73710568099999 meters 0.028506807432772785 Centerline is valid? [True, True] Translation: X:77.48, Y:4.25, Z:2.72 [[ 9.86185752e-01 -1.55634852e-01 -5.67049877e-02 7.74750076e+01] [ 1.55248645e-01 9.87812154e-01 -1.11806119e-02 4.25391116e+00] [ 5.77539689e-02 2.22278764e-03 9.98328372e-01 2.72229719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.76710568099999 meters 0.026563183605734605 Centerline is valid? [True, True] Translation: X:77.51, Y:4.25, Z:2.72 [[ 9.85303692e-01 -1.60679081e-01 -5.79557398e-02 7.75052569e+01] [ 1.60283396e-01 9.87004707e-01 -1.14429862e-02 4.24954398e+00] [ 5.90412364e-02 1.98547374e-03 9.98253570e-01 2.72002626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.79710568099999 meters 0.024200851099635674 Centerline is valid? [True, True] Translation: X:77.54, Y:4.25, Z:2.72 [[ 9.84595373e-01 -1.64698567e-01 -5.87054840e-02 7.75350474e+01] [ 1.64299109e-01 9.86342347e-01 -1.16007582e-02 4.24716428e+00] [ 5.98143331e-02 1.77679405e-03 9.98207939e-01 2.72075253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.82710568099999 meters 0.020805217755048934 Centerline is valid? [True, True] Translation: X:77.57, Y:4.24, Z:2.72 [[ 9.82996872e-01 -1.73867097e-01 -5.90540592e-02 7.75656435e+01] [ 1.73478529e-01 9.84768346e-01 -1.16835522e-02 4.24001309e+00] [ 6.01859535e-02 1.24028391e-03 9.98186412e-01 2.72096642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.857105681 meters 0.018852831743524777 Centerline is valid? [True, True] Translation: X:77.59, Y:4.24, Z:2.72 [[ 9.81868837e-01 -1.80486485e-01 -5.79501164e-02 7.75947807e+01] [ 1.80123548e-01 9.83577120e-01 -1.14698359e-02 4.23795340e+00] [ 5.90685589e-02 8.23693835e-04 9.98253588e-01 2.72242253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.887105681 meters 0.018278613421981477 Centerline is valid? [True, True] Translation: X:77.62, Y:4.24, Z:2.72 [[ 9.81411747e-01 -1.83029130e-01 -5.77175840e-02 7.76237868e+01] [ 1.82672865e-01 9.83107256e-01 -1.14344759e-02 4.24023635e+00] [ 5.88354179e-02 6.78492551e-04 9.98267466e-01 2.72385784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.917105681 meters 0.017303512089919194 Centerline is valid? [True, True] Translation: X:77.65, Y:4.24, Z:2.73 [[ 9.80300732e-01 -1.88988477e-01 -5.73919095e-02 7.76538972e+01] [ 1.88645324e-01 9.81979247e-01 -1.13885957e-02 4.23875825e+00] [ 5.85099774e-02 3.37533358e-04 9.98286767e-01 2.72655867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.947105681 meters 0.01672812733699338 Centerline is valid? [True, True] Translation: X:77.68, Y:4.24, Z:2.73 [[ 9.78797870e-01 -1.97192554e-01 -5.54060088e-02 7.76834230e+01] [ 1.96884872e-01 9.80364769e-01 -1.10121532e-02 4.23782393e+00] [ 5.64896136e-02 -1.29932844e-04 9.98403178e-01 2.73178059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.977105681 meters 0.018240086290894058 Centerline is valid? [True, True] Translation: X:77.71, Y:4.24, Z:2.73 [[ 9.77079373e-01 -2.05953874e-01 -5.38414475e-02 7.77116468e+01] [ 2.05675703e-01 9.78561515e-01 -1.07175547e-02 4.23570942e+00] [ 5.48944904e-02 -6.01975958e-04 9.98491979e-01 2.73422959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.007105681 meters 0.021384178512005053 Centerline is valid? [True, True] Translation: X:77.74, Y:4.23, Z:2.74 [[ 9.75546338e-01 -2.13186280e-01 -5.34878725e-02 7.77404285e+01] [ 2.12922046e-01 9.77011067e-01 -1.06572345e-02 4.23457729e+00] [ 5.45302196e-02 -9.92121142e-04 9.98511628e-01 2.73585929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03710568099999 meters 0.021384178512005053 Centerline is valid? [True, True] Translation: X:77.77, Y:4.24, Z:2.74 [[ 9.75469174e-01 -2.13539600e-01 -5.34857819e-02 7.77673796e+01] [ 2.13275322e-01 9.76933896e-01 -1.06677173e-02 4.24020671e+00] [ 5.45300533e-02 -1.00116801e-03 9.98511628e-01 2.73687838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06710568099999 meters 0.02204050426756758 Centerline is valid? [True, True] Translation: X:77.80, Y:4.25, Z:2.74 [[ 9.74604566e-01 -2.17476372e-01 -5.33850935e-02 7.77953527e+01] [ 2.17217915e-01 9.76064848e-01 -1.06672254e-02 4.24576455e+00] [ 5.44271826e-02 -1.19987210e-03 9.98517021e-01 2.73968372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09710568099999 meters 0.02520348977207452 Centerline is valid? [True, True] Translation: X:77.82, Y:4.25, Z:2.74 [[ 9.73203073e-01 -2.24235014e-01 -5.09356223e-02 7.78238525e+01] [ 2.24008287e-01 9.74533956e-01 -1.01909263e-02 4.24940354e+00] [ 5.19236560e-02 -1.49216070e-03 9.98649942e-01 2.74444595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.12710568099999 meters 0.02866013144170433 Centerline is valid? [True, True] Translation: X:77.85, Y:4.25, Z:2.75 [[ 9.71546246e-01 -2.31727948e-01 -4.89903117e-02 7.78530591e+01] [ 2.31527511e-01 9.72778937e-01 -9.80567334e-03 4.25277239e+00] [ 4.99289919e-02 -1.81593981e-03 9.98751119e-01 2.74899875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.15710568099999 meters 0.03151315348918835 Centerline is valid? [True, True] Translation: X:77.88, Y:4.26, Z:2.75 [[ 9.70401817e-01 -2.36403059e-01 -4.93346431e-02 7.78827761e+01] [ 2.36205583e-01 9.71652882e-01 -9.87919840e-03 4.25545997e+00] [ 5.02716209e-02 -2.06632604e-03 9.98733445e-01 2.75161405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.18710568099999 meters 0.03687762140246412 Centerline is valid? [True, True] Translation: X:77.91, Y:4.26, Z:2.76 [[ 9.68125907e-01 -2.45634842e-01 -4.89464307e-02 7.79123386e+01] [ 2.45452095e-01 9.69359149e-01 -9.80356421e-03 4.26238877e+00] [ 4.98547674e-02 -2.52291946e-03 9.98753291e-01 2.75543967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.21710568099999 meters 0.03987518326232207 Centerline is valid? [True, True] Translation: X:77.94, Y:4.28, Z:2.76 [[ 9.66348383e-01 -2.52820439e-01 -4.74618522e-02 7.79396989e+01] [ 2.52657164e-01 9.67509154e-01 -9.50757765e-03 4.27641657e+00] [ 4.83234864e-02 -2.80394468e-03 9.98827802e-01 2.76024736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.247105681 meters 0.040945158252211955 Centerline is valid? [True, True] Translation: X:77.97, Y:4.29, Z:2.76 [[ 9.65850494e-01 -2.55010860e-01 -4.58506776e-02 7.79668227e+01] [ 2.54860715e-01 9.66934107e-01 -9.18962100e-03 4.28652404e+00] [ 4.66780371e-02 -2.80973649e-03 9.98906035e-01 2.76364818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.277105681 meters 0.04320683803564995 Centerline is valid? [True, True] Translation: X:77.99, Y:4.30, Z:2.77 [[ 9.65320061e-01 -2.57792143e-01 -4.12358094e-02 7.79930273e+01] [ 2.57672739e-01 9.66196803e-01 -8.27630860e-03 4.30204291e+00] [ 4.19754745e-02 -2.63605722e-03 9.99115164e-01 2.77002031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.307105681 meters 0.04527434685620609 Centerline is valid? [True, True] Translation: X:78.02, Y:4.32, Z:2.77 [[ 9.64605357e-01 -2.60507371e-01 -4.08951601e-02 7.80184478e+01] [ 2.60392228e-01 9.65468004e-01 -8.21108388e-03 4.31840000e+00] [ 4.16220164e-02 -2.72832634e-03 9.99129703e-01 2.77109574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.337105681 meters 0.04571817696706549 Centerline is valid? [True, True] Translation: X:78.05, Y:4.33, Z:2.77 [[ 9.64413310e-01 -2.61229131e-01 -4.08204405e-02 7.80457042e+01] [ 2.61114821e-01 9.65272906e-01 -8.20161977e-03 4.33070682e+00] [ 4.15453673e-02 -2.74907076e-03 9.99132837e-01 2.77192734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.367105681 meters 0.043326194969831304 Centerline is valid? [True, True] Translation: X:78.07, Y:4.36, Z:2.77 [[ 9.65785112e-01 -2.56265610e-01 -3.98378433e-02 7.80714054e+01] [ 2.56152051e-01 9.66603265e-01 -8.01595213e-03 4.35759535e+00] [ 4.05616022e-02 -2.46285802e-03 9.99174004e-01 2.77249032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39710568099999 meters 0.03495835793341171 Centerline is valid? [True, True] Translation: X:78.10, Y:4.39, Z:2.77 [[ 9.68919417e-01 -2.43980568e-01 -4.08490642e-02 7.80950248e+01] [ 2.43850214e-01 9.69778066e-01 -8.22040943e-03 4.39479980e+00] [ 4.16201467e-02 -1.99613876e-03 9.99131512e-01 2.77074268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42710568099999 meters 0.03201719739015517 Centerline is valid? [True, True] Translation: X:78.12, Y:4.41, Z:2.77 [[ 9.70717239e-01 -2.36525880e-01 -4.19946475e-02 7.81211180e+01] [ 2.36381077e-01 9.71623663e-01 -8.45242293e-03 4.41368816e+00] [ 4.28022100e-02 -1.72182735e-03 9.99082082e-01 2.76990099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45710568099999 meters 0.02242531384519429 Centerline is valid? [True, True] Translation: X:78.14, Y:4.45, Z:2.77 [[ 9.73941356e-01 -2.22471739e-01 -4.40971729e-02 7.81440757e+01] [ 2.22297557e-01 9.74938453e-01 -8.87743416e-03 4.45179379e+00] [ 4.49670078e-02 -1.15659353e-03 9.98987803e-01 2.76820562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48710568099999 meters 0.018504812468821585 Centerline is valid? [True, True] Translation: X:78.17, Y:4.48, Z:2.77 [[ 9.76749125e-01 -2.09767859e-01 -4.42559975e-02 7.81679166e+01] [ 2.09579277e-01 9.77751052e-01 -8.91109161e-03 4.48208440e+00] [ 4.51406087e-02 -5.71239009e-04 9.98980480e-01 2.76831472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.51710568099999 meters 0.016131706604202916 Centerline is valid? [True, True] Translation: X:78.19, Y:4.51, Z:2.77 [[ 9.78957890e-01 -1.98958332e-01 -4.53545182e-02 7.81912600e+01] [ 1.98748430e-01 9.80007948e-01 -9.13695995e-03 4.51206977e+00] [ 4.62656626e-02 -6.94402753e-05 9.98929168e-01 2.76747687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.54710568099999 meters 0.016211598719077146 Centerline is valid? [True, True] Translation: X:78.22, Y:4.53, Z:2.77 [[ 9.79433458e-01 -1.96050684e-01 -4.76889023e-02 7.82184784e+01] [ 1.95814383e-01 9.80593760e-01 -9.62319556e-03 4.52527174e+00] [ 4.86500741e-02 8.71067366e-05 9.98815880e-01 2.76608973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.57710568099999 meters 0.016487235422097134 Centerline is valid? [True, True] Translation: X:78.24, Y:4.54, Z:2.76 [[ 9.79383119e-01 -1.95391773e-01 -5.12909531e-02 7.82444583e+01] [ 1.95116689e-01 9.80725259e-01 -1.03654869e-02 4.53846896e+00] [ 5.23276642e-02 1.44061951e-04 9.98629959e-01 2.76027080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.607105681 meters 0.016446102842907914 Centerline is valid? [True, True] Translation: X:78.27, Y:4.55, Z:2.76 [[ 9.78997216e-01 -1.97228004e-01 -5.16291172e-02 7.82702486e+01] [ 1.96951455e-01 9.80357645e-01 -1.04409189e-02 4.54533017e+00] [ 5.26742413e-02 5.32007728e-05 9.98611747e-01 2.75907955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.637105681 meters 0.016560196600064227 Centerline is valid? [True, True] Translation: X:78.30, Y:4.55, Z:2.76 [[ 9.78240595e-01 -2.00477819e-01 -5.34226699e-02 7.82978801e+01] [ 2.00185878e-01 9.79698235e-01 -1.08158870e-02 4.55389845e+00] [ 5.45064409e-02 -1.13924299e-04 9.98513412e-01 2.75836935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.667105681 meters 0.01674773347248917 Centerline is valid? [True, True] Translation: X:78.32, Y:4.56, Z:2.76 [[ 9.77787340e-01 -2.02674370e-01 -5.34323702e-02 7.83247209e+01] [ 2.02384553e-01 9.79246165e-01 -1.08369871e-02 4.56193000e+00] [ 5.45198232e-02 -2.17617523e-04 9.98512665e-01 2.76128806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.697105681 meters 0.016848471678307754 Centerline is valid? [True, True] Translation: X:78.35, Y:4.57, Z:2.76 [[ 9.77870809e-01 -2.02620793e-01 -5.20912235e-02 7.83514853e+01] [ 2.02344437e-01 9.79257258e-01 -1.05807474e-02 4.56853468e+00] [ 5.31545881e-02 -1.93765237e-04 9.98586277e-01 2.76283768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.727105681 meters 0.01667036537344842 Centerline is valid? [True, True] Translation: X:78.38, Y:4.57, Z:2.77 [[ 9.77923038e-01 -2.03070790e-01 -4.92827172e-02 7.83795235e+01] [ 2.02823592e-01 9.79164039e-01 -1.00187734e-02 4.57435977e+00] [ 5.02903847e-02 -1.98108446e-04 9.98734618e-01 2.76858832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.757105681 meters 0.017007369900587634 Centerline is valid? [True, True] Translation: X:78.41, Y:4.58, Z:2.77 [[ 9.77462102e-01 -2.06155965e-01 -4.54703955e-02 7.84076140e+01] [ 2.05948221e-01 9.78519095e-01 -9.25803468e-03 4.58098912e+00] [ 4.64022493e-02 -3.15169038e-04 9.98922786e-01 2.77485490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78710568099999 meters 0.01742813561417584 Centerline is valid? [True, True] Translation: X:78.43, Y:4.58, Z:2.78 [[ 9.77055928e-01 -2.08367449e-01 -4.40989670e-02 7.84344045e+01] [ 2.08173713e-01 9.78050536e-01 -8.99193468e-03 4.58476235e+00] [ 4.50046448e-02 -3.94622609e-04 9.98986700e-01 2.77672391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81710568099999 meters 0.01926239742314936 Centerline is valid? [True, True] Translation: X:78.46, Y:4.58, Z:2.78 [[ 9.75807215e-01 -2.14708326e-01 -4.12385134e-02 7.84638546e+01] [ 2.14544306e-01 9.76678007e-01 -8.41489402e-03 4.58173913e+00] [ 4.20834969e-02 -6.36173960e-04 9.99113895e-01 2.77985448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84710568099999 meters 0.020901467506264513 Centerline is valid? [True, True] Translation: X:78.49, Y:4.58, Z:2.78 [[ 9.74813347e-01 -2.19002658e-01 -4.21518067e-02 7.84926449e+01] [ 2.18835082e-01 9.75723905e-01 -8.60628764e-03 4.58272258e+00] [ 4.30133253e-02 -8.34770002e-04 9.99074150e-01 2.77900402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.87710568099999 meters 0.02569975754567541 Centerline is valid? [True, True] Translation: X:78.52, Y:4.58, Z:2.78 [[ 9.72736478e-01 -2.27556004e-01 -4.47438117e-02 7.85232886e+01] [ 2.27375973e-01 9.73764150e-01 -9.14039099e-03 4.57839275e+00] [ 4.56498707e-02 -1.28247598e-03 9.98956678e-01 2.77540971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.90710568099999 meters 0.027677153046969733 Centerline is valid? [True, True] Translation: X:78.55, Y:4.58, Z:2.78 [[ 9.71939828e-01 -2.30796553e-01 -4.54524137e-02 7.85526336e+01] [ 2.30614094e-01 9.73000946e-01 -9.28974076e-03 4.58041674e+00] [ 4.63692817e-02 -1.45289817e-03 9.98923310e-01 2.77612719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.93710568099999 meters 0.022233878895234052 Centerline is valid? [True, True] Translation: X:78.58, Y:4.60, Z:2.78 [[ 9.73758540e-01 -2.23570618e-01 -4.25497823e-02 7.85788331e+01] [ 2.23403346e-01 9.74687193e-01 -8.70751123e-03 4.59943413e+00] [ 4.34194715e-02 -1.02675029e-03 9.99056402e-01 2.78424453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.96710568099999 meters 0.018210096720955294 Centerline is valid? [True, True] Translation: X:78.60, Y:4.62, Z:2.79 [[ 9.77052339e-01 -2.09297719e-01 -3.95372087e-02 7.86044604e+01] [ 2.09141512e-01 9.77851898e-01 -8.09282127e-03 4.61984733e+00] [ 4.03553436e-02 -3.61761677e-04 9.99185326e-01 2.78993609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.997105681 meters 0.0172193963010845 Centerline is valid? [True, True] Translation: X:78.63, Y:4.63, Z:2.79 [[ 9.78384832e-01 -2.03107722e-01 -3.88635204e-02 7.86311412e+01] [ 2.02951803e-01 9.79156393e-01 -7.95757398e-03 4.63385672e+00] [ 3.96697092e-02 -1.01851843e-04 9.99212842e-01 2.79231701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.027105681 meters 0.0181360758243488 Centerline is valid? [True, True] Translation: X:78.66, Y:4.65, Z:2.79 [[ 9.80512799e-01 -1.92777886e-01 -3.78330298e-02 7.86563665e+01] [ 1.92621936e-01 9.81242368e-01 -7.75923667e-03 4.65116395e+00] [ 3.86191809e-02 3.20559411e-04 9.99253950e-01 2.79401642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.057105681 meters 0.0204502853022246 Centerline is valid? [True, True] Translation: X:78.68, Y:4.67, Z:2.80 [[ 9.82054451e-01 -1.84967770e-01 -3.68236119e-02 7.86824549e+01] [ 1.84814366e-01 9.82744395e-01 -7.55680394e-03 4.66687401e+00] [ 3.75859633e-02 6.15660480e-04 9.99293208e-01 2.79530735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.087105681 meters 0.021908454492705075 Centerline is valid? [True, True] Translation: X:78.71, Y:4.68, Z:2.79 [[ 9.82626527e-01 -1.81606202e-01 -3.82661225e-02 7.87100076e+01] [ 1.81437451e-01 9.83371023e-01 -7.86659808e-03 4.67616397e+00] [ 3.90584190e-02 7.87020252e-04 9.99236619e-01 2.79286378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.117105681 meters 0.02451013288986614 Centerline is valid? [True, True] Translation: X:78.74, Y:4.68, Z:2.79 [[ 9.83443829e-01 -1.76074867e-01 -4.28471253e-02 7.87385810e+01] [ 1.75857391e-01 9.84376116e-01 -8.82272090e-03 4.68468463e+00] [ 4.37311462e-02 1.14166677e-03 9.99042683e-01 2.78759655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14710568099999 meters 0.026894070866598185 Centerline is valid? [True, True] Translation: X:78.77, Y:4.69, Z:2.78 [[ 9.84060780e-01 -1.71679867e-01 -4.63724527e-02 7.87659290e+01] [ 1.71420091e-01 9.85151725e-01 -9.55152707e-03 4.69190733e+00] [ 4.73237067e-02 1.45011310e-03 9.98878553e-01 2.78369344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17710568099999 meters 0.028042476665754296 Centerline is valid? [True, True] Translation: X:78.79, Y:4.70, Z:2.78 [[ 9.84451021e-01 -1.69055209e-01 -4.77129353e-02 7.87944182e+01] [ 1.68776740e-01 9.85605236e-01 -9.83517301e-03 4.69771237e+00] [ 4.86888061e-02 1.62941242e-03 9.98812668e-01 2.78372495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20710568099999 meters 0.032306708810108165 Centerline is valid? [True, True] Translation: X:78.82, Y:4.71, Z:2.79 [[ 9.85625012e-01 -1.61792354e-01 -4.86473966e-02 7.88236764e+01] [ 1.61493375e-01 9.86822715e-01 -1.00408357e-02 4.70581706e+00] [ 4.96308865e-02 2.04026656e-03 9.98765544e-01 2.78520957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23710568099999 meters 0.03362586417329265 Centerline is valid? [True, True] Translation: X:78.85, Y:4.71, Z:2.79 [[ 9.86125683e-01 -1.58586236e-01 -4.90565406e-02 7.88531198e+01] [ 1.58278152e-01 9.87342630e-01 -1.01270989e-02 4.71085484e+00] [ 5.00416323e-02 2.22201376e-03 9.98744661e-01 2.78579931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.26710568099999 meters 0.03848101478120073 Centerline is valid? [True, True] Translation: X:78.88, Y:4.72, Z:2.79 [[ 9.86829174e-01 -1.54235316e-01 -4.87816360e-02 7.88808958e+01] [ 1.53925226e-01 9.88031150e-01 -1.00733153e-02 4.71595792e+00] [ 4.97514368e-02 2.43191706e-03 9.98758670e-01 2.78611452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.29710568099999 meters 0.035779682095532984 Centerline is valid? [True, True] Translation: X:78.91, Y:4.71, Z:2.79 [[ 9.86980193e-01 -1.54070925e-01 -4.61762722e-02 7.89097728e+01] [ 1.53792580e-01 9.88057075e-01 -9.54249623e-03 4.71134210e+00] [ 4.70950136e-02 2.31668674e-03 9.98887728e-01 2.79124038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.32710568099999 meters 0.03537665564162685 Centerline is valid? [True, True] Translation: X:78.94, Y:4.71, Z:2.80 [[ 9.86598504e-01 -1.57365550e-01 -4.31216378e-02 7.89402659e+01] [ 1.57125375e-01 9.87538335e-01 -8.92482092e-03 4.70629569e+00] [ 4.39887298e-02 2.02971143e-03 9.99029965e-01 2.79583002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.357105681 meters 0.03325085315828986 Centerline is valid? [True, True] Translation: X:78.97, Y:4.70, Z:2.80 [[ 9.86049330e-01 -1.61028522e-01 -4.21489477e-02 7.89719179e+01] [ 1.60802324e-01 9.86948064e-01 -8.72535140e-03 4.70183715e+00] [ 4.30038528e-02 1.82597817e-03 9.99073238e-01 2.79724503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.387105681 meters 0.027630595848028263 Centerline is valid? [True, True] Translation: X:79.00, Y:4.69, Z:2.80 [[ 9.84092757e-01 -1.72094766e-01 -4.41003073e-02 7.90048833e+01] [ 1.71858142e-01 9.85079395e-01 -9.13045314e-03 4.68598028e+00] [ 4.50136073e-02 1.40621593e-03 9.98985384e-01 2.79591317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.417105681 meters 0.024263292004818988 Centerline is valid? [True, True] Translation: X:79.04, Y:4.68, Z:2.79 [[ 9.82952297e-01 -1.78046451e-01 -4.58720254e-02 7.90357615e+01] [ 1.77796758e-01 9.84021374e-01 -9.49995249e-03 4.68160193e+00] [ 4.68304863e-02 1.18210274e-03 9.98902151e-01 2.79457207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.447105681 meters 0.021587961024697174 Centerline is valid? [True, True] Translation: X:79.07, Y:4.67, Z:2.79 [[ 9.81297121e-01 -1.86156504e-01 -4.90073065e-02 7.90666181e+01] [ 1.85881207e-01 9.82519731e-01 -1.01565591e-02 4.67333245e+00] [ 5.00413551e-02 8.57064970e-04 9.98746779e-01 2.79054798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.477105681 meters 0.019530074679320414 Centerline is valid? [True, True] Translation: X:79.10, Y:4.67, Z:2.79 [[ 9.80134751e-01 -1.92003126e-01 -4.97058323e-02 7.90974826e+01] [ 1.91727009e-01 9.81394146e-01 -1.03094447e-02 4.66599117e+00] [ 5.07604585e-02 5.74694444e-04 9.98710692e-01 2.79277552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50710568099998 meters 0.018519354589742944 Centerline is valid? [True, True] Translation: X:79.13, Y:4.66, Z:2.80 [[ 9.79041433e-01 -1.97838208e-01 -4.83520091e-02 7.91264313e+01] [ 1.97583377e-01 9.80234648e-01 -1.00420652e-02 4.66191773e+00] [ 4.93830188e-02 2.78044661e-04 9.98779876e-01 2.79600429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53710568099999 meters 0.018307589565443566 Centerline is valid? [True, True] Translation: X:79.16, Y:4.66, Z:2.80 [[ 9.78583558e-01 -2.00234158e-01 -4.77546119e-02 7.91551466e+01] [ 1.99988040e-01 9.79748057e-01 -9.92615293e-03 4.66373914e+00] [ 4.87750431e-02 1.63218810e-04 9.98809776e-01 2.80031494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56710568099999 meters 0.018512680368828548 Centerline is valid? [True, True] Translation: X:79.18, Y:4.67, Z:2.81 [[ 9.78842540e-01 -1.99556826e-01 -4.52145479e-02 7.91823339e+01] [ 1.99334904e-01 9.79886235e-01 -9.41076183e-03 4.66751615e+00] [ 4.61830949e-02 1.98816467e-04 9.98932972e-01 2.80548564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59710568099999 meters 0.019823900028752284 Centerline is valid? [True, True] Translation: X:79.21, Y:4.68, Z:2.81 [[ 9.80239933e-01 -1.92920626e-01 -4.37184885e-02 7.92077712e+01] [ 1.92706315e-01 9.81214239e-01 -9.10461201e-03 4.67902737e+00] [ 4.46536708e-02 4.99875474e-04 9.99002402e-01 2.80858775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.62710568099999 meters 0.02157562861309487 Centerline is valid? [True, True] Translation: X:79.23, Y:4.69, Z:2.81 [[ 9.81133387e-01 -1.88224772e-01 -4.41442169e-02 7.92341388e+01] [ 1.88001238e-01 9.82125709e-01 -9.19930563e-03 4.68886381e+00] [ 4.50867075e-02 7.26578485e-04 9.98982813e-01 2.80924726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.65710568099999 meters 0.024240863943683293 Centerline is valid? [True, True] Translation: X:79.26, Y:4.70, Z:2.81 [[ 9.82639011e-01 -1.80229039e-01 -4.40234805e-02 7.92621289e+01] [ 1.79998495e-01 9.83624061e-01 -9.17866266e-03 4.70025790e+00] [ 4.49568162e-02 1.09515179e-03 9.98988331e-01 2.81063615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.68710568099999 meters 0.02564455215834708 Centerline is valid? [True, True] Translation: X:79.29, Y:4.71, Z:2.81 [[ 9.83360122e-01 -1.76336301e-01 -4.36850002e-02 7.92900420e+01] [ 1.76105261e-01 9.84329164e-01 -9.11232989e-03 4.70882643e+00] [ 4.46072542e-02 1.26754347e-03 9.99003797e-01 2.81122076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.71710568099999 meters 0.026282087036773014 Centerline is valid? [True, True] Translation: X:79.32, Y:4.72, Z:2.81 [[ 9.83473005e-01 -1.75619119e-01 -4.40315029e-02 7.93184447e+01] [ 1.75383003e-01 9.84457297e-01 -9.19964512e-03 4.71516648e+00] [ 4.49627679e-02 1.32522544e-03 9.98987784e-01 2.81254902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.747105681 meters 0.027925109763239173 Centerline is valid? [True, True] Translation: X:79.35, Y:4.72, Z:2.81 [[ 9.83827687e-01 -1.73189221e-01 -4.57009451e-02 7.93452420e+01] [ 1.72931574e-01 9.84887420e-01 -9.56249181e-03 4.72116179e+00] [ 4.66664064e-02 1.50470785e-03 9.98909396e-01 2.81211619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.777105681 meters 0.029340111705830584 Centerline is valid? [True, True] Translation: X:79.37, Y:4.73, Z:2.81 [[ 9.84233494e-01 -1.70635028e-01 -4.65630359e-02 7.93727773e+01] [ 1.70364398e-01 9.85332899e-01 -9.74937610e-03 4.72771013e+00] [ 4.75436762e-02 1.66297894e-03 9.98867776e-01 2.81172517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.807105681 meters 0.03126854794614823 Centerline is valid? [True, True] Translation: X:79.40, Y:4.73, Z:2.81 [[ 9.85061812e-01 -1.65499321e-01 -4.75731138e-02 7.94021237e+01] [ 1.65210590e-01 9.86207962e-01 -9.96581190e-03 4.73292424e+00] [ 4.85663187e-02 1.95735852e-03 9.98818042e-01 2.81117129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.837105681 meters 0.03344835637068787 Centerline is valid? [True, True] Translation: X:79.43, Y:4.74, Z:2.81 [[ 9.85580188e-01 -1.62294164e-01 -4.78779483e-02 7.94302837e+01] [ 1.61997817e-01 9.86740118e-01 -1.00322371e-02 4.73970296e+00] [ 4.88712659e-02 2.13145095e-03 9.98802812e-01 2.81143354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.867105681 meters 0.034667020204526056 Centerline is valid? [True, True] Translation: X:79.46, Y:4.75, Z:2.81 [[ 9.85716445e-01 -1.61479171e-01 -4.78285236e-02 7.94569314e+01] [ 1.61182235e-01 9.86873725e-01 -1.00268824e-02 4.74600321e+00] [ 4.88198459e-02 2.17455454e-03 9.98805233e-01 2.81196670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89710568099999 meters 0.036290144753551974 Centerline is valid? [True, True] Translation: X:79.49, Y:4.75, Z:2.81 [[ 9.86168304e-01 -1.58640628e-01 -4.80127912e-02 7.94859497e+01] [ 1.58337615e-01 9.87333637e-01 -1.00742015e-02 4.75003599e+00] [ 4.90028213e-02 2.33262734e-03 9.98795916e-01 2.81242866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92710568099999 meters 0.0378124135942891 Centerline is valid? [True, True] Translation: X:79.51, Y:4.75, Z:2.81 [[ 9.86439655e-01 -1.57024126e-01 -4.77517593e-02 7.95137368e+01] [ 1.56722239e-01 9.87591838e-01 -1.00250366e-02 4.75186532e+00] [ 4.87334204e-02 2.40533102e-03 9.98808925e-01 2.81313187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95710568099999 meters 0.0378124135942891 Centerline is valid? [True, True] Translation: X:79.54, Y:4.76, Z:2.81 [[ 9.86383873e-01 -1.57374800e-01 -4.77496324e-02 7.95406064e+01] [ 1.57072835e-01 9.87536035e-01 -1.00351575e-02 4.75775479e+00] [ 4.87337636e-02 2.39834742e-03 9.98808925e-01 2.81415062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98710568099999 meters 0.03370208642525469 Centerline is valid? [True, True] Translation: X:79.57, Y:4.75, Z:2.82 [[ 9.86236227e-01 -1.58878497e-01 -4.57791138e-02 7.95717307e+01] [ 1.58601815e-01 9.87295593e-01 -9.63723728e-03 4.74996448e+00] [ 4.67286671e-02 2.24394201e-03 9.98905099e-01 2.81814944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.01710568099999 meters 0.0341432187302882 Centerline is valid? [True, True] Translation: X:79.60, Y:4.75, Z:2.82 [[ 9.85956620e-01 -1.60842993e-01 -4.49341313e-02 7.95993880e+01] [ 1.60577832e-01 9.86977719e-01 -9.47327137e-03 4.75184660e+00] [ 4.58726957e-02 2.12480921e-03 9.98945034e-01 2.82044004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.04710568099999 meters 0.030613874570435712 Centerline is valid? [True, True] Translation: X:79.63, Y:4.74, Z:2.82 [[ 9.84610223e-01 -1.69252755e-01 -4.35455442e-02 7.96305612e+01] [ 1.69011644e-01 9.85571237e-01 -9.18704768e-03 4.74467257e+00] [ 4.44721690e-02 1.68595706e-03 9.99009201e-01 2.82304187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.07710568099999 meters 0.026431048712279904 Centerline is valid? [True, True] Translation: X:79.66, Y:4.74, Z:2.82 [[ 9.83555265e-01 -1.75327930e-01 -4.33492428e-02 7.96622296e+01] [ 1.75094801e-01 9.84509085e-01 -9.14724520e-03 4.74078924e+00] [ 4.42814909e-02 1.40659415e-03 9.99018103e-01 2.82342256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.107105681 meters 0.020758109274692214 Centerline is valid? [True, True] Translation: X:79.70, Y:4.73, Z:2.82 [[ 9.80591375e-01 -1.90767959e-01 -4.52564011e-02 7.96953432e+01] [ 1.90530108e-01 9.81634877e-01 -9.55227439e-03 4.72777043e+00] [ 4.62475296e-02 7.44170865e-04 9.98929733e-01 2.81884387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.137105681 meters 0.01749614032952146 Centerline is valid? [True, True] Translation: X:79.73, Y:4.71, Z:2.82 [[ 9.77451375e-01 -2.05981365e-01 -4.64810414e-02 7.97280832e+01] [ 2.05747488e-01 9.78555914e-01 -9.81299841e-03 4.70929876e+00] [ 4.75055927e-02 2.83712957e-05 9.98870972e-01 2.81832785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.167105681 meters 0.017791335832713393 Centerline is valid? [True, True] Translation: X:79.76, Y:4.71, Z:2.82 [[ 9.76099853e-01 -2.12466965e-01 -4.56822292e-02 7.97570584e+01] [ 2.12247830e-01 9.77168211e-01 -9.65122386e-03 4.70693157e+00] [ 4.66897884e-02 -2.75395798e-04 9.98909399e-01 2.82178894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.197105681 meters 0.019116132228142894 Centerline is valid? [True, True] Translation: X:79.79, Y:4.71, Z:2.82 [[ 9.74763879e-01 -2.18644361e-01 -4.50557905e-02 7.97851707e+01] [ 2.18437046e-01 9.75804460e-01 -9.53485493e-03 4.70575230e+00] [ 4.60503836e-02 -5.47621637e-04 9.98938968e-01 2.82346473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.227105681 meters 0.01950296500428197 Centerline is valid? [True, True] Translation: X:79.81, Y:4.71, Z:2.82 [[ 9.74527091e-01 -2.19647575e-01 -4.52978121e-02 7.98132080e+01] [ 2.19438607e-01 9.75579109e-01 -9.59689788e-03 4.71193342e+00] [ 4.62995345e-02 -5.87651782e-04 9.98927429e-01 2.82455648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25710568099998 meters 0.019092101250502834 Centerline is valid? [True, True] Translation: X:79.84, Y:4.72, Z:2.83 [[ 9.75209655e-01 -2.16608112e-01 -4.52443871e-02 7.98394287e+01] [ 2.16395748e-01 9.76258542e-01 -9.59890943e-03 4.72137472e+00] [ 4.62494211e-02 -4.29743859e-04 9.98929831e-01 2.82503627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28710568099999 meters 0.017214008717471325 Centerline is valid? [True, True] Translation: X:79.87, Y:4.74, Z:2.83 [[ 9.76539150e-01 -2.11244564e-01 -4.17973900e-02 7.98650720e+01] [ 2.11058170e-01 9.77433225e-01 -8.87350056e-03 4.73759848e+00] [ 4.27286365e-02 -1.56359962e-04 9.99086703e-01 2.83248889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31710568099999 meters 0.017155269113987327 Centerline is valid? [True, True] Translation: X:79.89, Y:4.75, Z:2.84 [[ 9.78119969e-01 -2.04397919e-01 -3.87661950e-02 7.98903471e+01] [ 2.04231715e-01 9.78887874e-01 -8.24238895e-03 4.75391775e+00] [ 3.96324853e-02 1.44758743e-04 9.99214314e-01 2.83893894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34710568099999 meters 0.01753049582179053 Centerline is valid? [True, True] Translation: X:79.92, Y:4.77, Z:2.84 [[ 9.78927915e-01 -2.00501781e-01 -3.87191576e-02 7.99170339e+01] [ 2.00332335e-01 9.79693286e-01 -8.24743364e-03 4.76555722e+00] [ 3.95865239e-02 3.16943756e-04 9.99216096e-01 2.84021427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.37710568099999 meters 0.02023800997750953 Centerline is valid? [True, True] Translation: X:79.94, Y:4.78, Z:2.84 [[ 9.80994557e-01 -1.90577070e-01 -3.64699921e-02 7.99421580e+01] [ 1.90419419e-01 9.81671996e-01 -7.78061485e-03 4.78340589e+00] [ 3.72843767e-02 6.88146106e-04 9.99304459e-01 2.84268043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.40710568099999 meters 0.023745515428533547 Centerline is valid? [True, True] Translation: X:79.97, Y:4.80, Z:2.84 [[ 9.82682751e-01 -1.82072844e-01 -3.44106087e-02 7.99685821e+01] [ 1.81927166e-01 9.83284579e-01 -7.34457995e-03 4.79887743e+00] [ 3.51726694e-02 9.57167514e-04 9.99380792e-01 2.84396391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.43710568099999 meters 0.025831014408687968 Centerline is valid? [True, True] Translation: X:79.99, Y:4.81, Z:2.84 [[ 9.83222481e-01 -1.79015051e-01 -3.50308954e-02 7.99947737e+01] [ 1.78862043e-01 9.83845733e-01 -7.47947147e-03 4.80908371e+00] [ 3.58039349e-02 1.08828697e-03 9.99358241e-01 2.84373722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.46710568099999 meters 0.029338797860601437 Centerline is valid? [True, True] Translation: X:80.02, Y:4.82, Z:2.84 [[ 9.84111906e-01 -1.72987998e-01 -3.99863528e-02 8.00222731e+01] [ 1.72783330e-01 9.84922790e-01 -8.54515614e-03 4.82194249e+00] [ 4.08616795e-02 1.50041473e-03 9.99163686e-01 2.83847422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.497105681 meters 0.03208830216263501 Centerline is valid? [True, True] Translation: X:80.05, Y:4.83, Z:2.83 [[ 9.84978910e-01 -1.66873597e-01 -4.43818621e-02 8.00511127e+01] [ 1.66615175e-01 9.85976372e-01 -9.48562610e-03 4.83228917e+00] [ 4.53423680e-02 1.94844993e-03 9.98969606e-01 2.83367325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.527105681 meters 0.03412158169263705 Centerline is valid? [True, True] Translation: X:80.08, Y:4.84, Z:2.83 [[ 9.85379711e-01 -1.63850351e-01 -4.66892574e-02 8.00795358e+01] [ 1.63560886e-01 9.86482758e-01 -9.98018235e-03 4.84163630e+00] [ 4.76934038e-02 2.19773289e-03 9.98859604e-01 2.83107102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.557105681 meters 0.037124012109777706 Centerline is valid? [True, True] Translation: X:80.11, Y:4.85, Z:2.83 [[ 9.86164985e-01 -1.57840943e-01 -5.06444332e-02 8.01090884e+01] [ 1.57492302e-01 9.87460854e-01 -1.08276176e-02 4.85118427e+00] [ 5.17184366e-02 2.70170904e-03 9.98658052e-01 2.82636065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.587105681 meters 0.039117904608992435 Centerline is valid? [True, True] Translation: X:80.14, Y:4.86, Z:2.83 [[ 9.86668378e-01 -1.54528386e-01 -5.10538003e-02 8.01376102e+01] [ 1.54169587e-01 9.87984093e-01 -1.09165435e-02 4.85708277e+00] [ 5.21272584e-02 2.90006497e-03 9.98636239e-01 2.82674228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.617105681 meters 0.0391471099473462 Centerline is valid? [True, True] Translation: X:80.17, Y:4.86, Z:2.83 [[ 9.86620421e-01 -1.55172509e-01 -5.00163793e-02 8.01666242e+01] [ 1.54828634e-01 9.87883380e-01 -1.07014970e-02 4.86121194e+00] [ 5.10709280e-02 2.81434780e-03 9.98691063e-01 2.82923770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64710568099999 meters 0.03699944465551725 Centerline is valid? [True, True] Translation: X:80.20, Y:4.86, Z:2.83 [[ 9.85930298e-01 -1.60573984e-01 -4.64482807e-02 8.01969308e+01] [ 1.60282921e-01 9.87020976e-01 -9.94875605e-03 4.85794114e+00] [ 4.74429387e-02 2.36391392e-03 9.98871153e-01 2.83431094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67710568099999 meters 0.03242851158674809 Centerline is valid? [True, True] Translation: X:80.23, Y:4.85, Z:2.84 [[ 9.84627420e-01 -1.69749137e-01 -4.11591328e-02 8.02282875e+01] [ 1.69528555e-01 9.85485833e-01 -8.81714082e-03 4.85053772e+00] [ 4.20584443e-02 1.70395030e-03 9.99113699e-01 2.84105067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70710568099999 meters 0.028130482694390814 Centerline is valid? [True, True] Translation: X:80.26, Y:4.85, Z:2.84 [[ 9.83826289e-01 -1.74491598e-01 -4.04785805e-02 8.02596938e+01] [ 1.74282200e-01 9.84657554e-01 -8.67273530e-03 4.84727231e+00] [ 4.13708595e-02 1.47776891e-03 9.99142767e-01 2.84263227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73710568099999 meters 0.022605448059881638 Centerline is valid? [True, True] Translation: X:80.29, Y:4.84, Z:2.84 [[ 9.81802123e-01 -1.85400282e-01 -4.11257525e-02 8.02931066e+01] [ 1.85193629e-01 9.82662538e-01 -8.81233226e-03 4.83541269e+00] [ 4.20465452e-02 1.03573918e-03 9.99115116e-01 2.84380717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.76710568099999 meters 0.018209792367748473 Centerline is valid? [True, True] Translation: X:80.33, Y:4.82, Z:2.84 [[ 9.79461734e-01 -1.97167281e-01 -4.21873754e-02 8.03261108e+01] [ 1.96960667e-01 9.80369709e-01 -9.04047367e-03 4.82414599e+00] [ 4.31417105e-02 5.45544438e-04 9.99068814e-01 2.84446960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.79710568099999 meters 0.016749655981468818 Centerline is valid? [True, True] Translation: X:80.36, Y:4.81, Z:2.85 [[ 9.76685992e-01 -2.10382393e-01 -4.27050479e-02 8.03582211e+01] [ 2.10183127e-01 9.77619173e-01 -9.15455008e-03 4.81308693e+00] [ 4.36752298e-02 -3.47596746e-05 9.99045781e-01 2.84604463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.82710568099999 meters 0.017159272011668943 Centerline is valid? [True, True] Translation: X:80.39, Y:4.81, Z:2.85 [[ 9.75681553e-01 -2.15070149e-01 -4.23123937e-02 8.03872207e+01] [ 2.14878365e-01 9.76598576e-01 -9.08350521e-03 4.81249673e+00] [ 4.32758143e-02 -2.29409505e-04 9.99063137e-01 2.84621273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.857105681 meters 0.017681748498571594 Centerline is valid? [True, True] Translation: X:80.42, Y:4.82, Z:2.85 [[ 9.74768220e-01 -2.19144422e-01 -4.24575052e-02 8.04160400e+01] [ 2.18954889e-01 9.75692348e-01 -9.12133173e-03 4.81611253e+00] [ 4.34243519e-02 -4.05094032e-04 9.99056636e-01 2.85029391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.887105681 meters 0.017374702944476864 Centerline is valid? [True, True] Translation: X:80.44, Y:4.82, Z:2.85 [[ 9.75143335e-01 -2.17634073e-01 -4.16039259e-02 8.04427249e+01] [ 2.17450147e-01 9.76030383e-01 -8.95122959e-03 4.82397822e+00] [ 4.25547883e-02 -3.18047938e-04 9.99094084e-01 2.85336819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.917105681 meters 0.01697088336950095 Centerline is valid? [True, True] Translation: X:80.47, Y:4.84, Z:2.86 [[ 9.76832065e-01 -2.10261736e-01 -3.98637499e-02 8.04691229e+01] [ 2.10086504e-01 9.77645131e-01 -8.58244947e-03 4.83903051e+00] [ 4.07771617e-02 8.77598962e-06 9.99168266e-01 2.86071947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.947105681 meters 0.018235587557101945 Centerline is valid? [True, True] Translation: X:80.49, Y:4.86, Z:2.86 [[ 9.79043751e-01 -1.99975770e-01 -3.85100653e-02 8.04931952e+01] [ 1.99803779e-01 9.79800746e-01 -8.30347737e-03 4.85889935e+00] [ 3.93926850e-02 4.35011046e-04 9.99223712e-01 2.86309080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.977105681 meters 0.021100660212142557 Centerline is valid? [True, True] Translation: X:80.52, Y:4.88, Z:2.86 [[ 9.80877928e-01 -1.90496728e-01 -3.98683778e-02 8.05192011e+01] [ 1.90304347e-01 9.81687463e-01 -8.60121572e-03 4.87674197e+00] [ 4.07767901e-02 8.49617065e-04 9.99167920e-01 2.86212529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00710568099998 meters 0.023178689662873078 Centerline is valid? [True, True] Translation: X:80.55, Y:4.89, Z:2.86 [[ 9.81571227e-01 -1.86752845e-01 -4.05129711e-02 8.05451074e+01] [ 1.86550867e-01 9.82406395e-01 -8.74351144e-03 4.88993268e+00] [ 4.14330776e-02 1.02464937e-03 9.99140756e-01 2.86107938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03710568099999 meters 0.026464379956019832 Centerline is valid? [True, True] Translation: X:80.57, Y:4.91, Z:2.86 [[ 9.82729670e-01 -1.80424176e-01 -4.11036881e-02 8.05720761e+01] [ 1.80210531e-01 9.83588017e-01 -8.87565181e-03 4.90717158e+00] [ 4.20304772e-02 1.31504891e-03 9.99115464e-01 2.85999423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06710568099999 meters 0.02743818979332425 Centerline is valid? [True, True] Translation: X:80.60, Y:4.92, Z:2.86 [[ 9.83430714e-01 -1.76585978e-01 -4.10051534e-02 8.06002718e+01] [ 1.76369942e-01 9.84284110e-01 -8.85629372e-03 4.91625217e+00] [ 4.19246182e-02 1.47747471e-03 9.99119684e-01 2.86141457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09710568099999 meters 0.028323910311226407 Centerline is valid? [True, True] Translation: X:80.63, Y:4.92, Z:2.86 [[ 9.83588580e-01 -1.75462988e-01 -4.20267231e-02 8.06279985e+01] [ 1.75234862e-01 9.84484781e-01 -9.08070416e-03 4.92414657e+00] [ 4.29679967e-02 1.56712990e-03 9.99075220e-01 2.86193773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.12710568099999 meters 0.028598672314000012 Centerline is valid? [True, True] Translation: X:80.66, Y:4.93, Z:2.86 [[ 9.83824636e-01 -1.73529108e-01 -4.44604814e-02 8.06557189e+01] [ 1.73271089e-01 9.84827163e-01 -9.62232643e-03 4.93378299e+00] [ 4.54556435e-02 1.76296576e-03 9.98964802e-01 2.86001174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.15710568099999 meters 0.03036139340931695 Centerline is valid? [True, True] Translation: X:80.68, Y:4.94, Z:2.86 [[ 9.83953915e-01 -1.72734897e-01 -4.46917150e-02 8.06821417e+01] [ 1.72472749e-01 9.84966667e-01 -9.68589213e-03 4.94367831e+00] [ 4.56929411e-02 1.82236853e-03 9.98953870e-01 2.85989170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.18710568099999 meters 0.03080241198584954 Centerline is valid? [True, True] Translation: X:80.71, Y:4.95, Z:2.86 [[ 9.84360539e-01 -1.70393720e-01 -4.47248119e-02 8.07099573e+01] [ 1.70128438e-01 9.85374151e-01 -9.70033059e-03 4.95056670e+00] [ 4.57235490e-02 1.93966024e-03 9.98952249e-01 2.86108536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.21710568099999 meters 0.03290890920402197 Centerline is valid? [True, True] Translation: X:80.74, Y:4.96, Z:2.86 [[ 9.84841584e-01 -1.67556875e-01 -4.48525247e-02 8.07382465e+01] [ 1.67286555e-01 9.85860196e-01 -9.74076441e-03 4.95971574e+00] [ 4.58504508e-02 2.08988551e-03 9.98946129e-01 2.86041543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.247105681 meters 0.03509833790598021 Centerline is valid? [True, True] Translation: X:80.77, Y:4.97, Z:2.86 [[ 9.85335836e-01 -1.64672469e-01 -4.46796111e-02 8.07654013e+01] [ 1.64401156e-01 9.86345811e-01 -9.70575961e-03 4.96779416e+00] [ 4.56678187e-02 2.21805305e-03 9.98954218e-01 2.86088566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.277105681 meters 0.03459225785725784 Centerline is valid? [True, True] Translation: X:80.79, Y:4.97, Z:2.86 [[ 9.85503254e-01 -1.63735379e-01 -4.44304199e-02 8.07937386e+01] [ 1.63465852e-01 9.86501718e-01 -9.65788905e-03 4.97118024e+00] [ 4.54120237e-02 2.25502466e-03 9.98965797e-01 2.86228991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.307105681 meters 0.034472924836197356 Centerline is valid? [True, True] Translation: X:80.82, Y:4.97, Z:2.86 [[ 9.85684947e-01 -1.62217287e-01 -4.59427569e-02 8.08225328e+01] [ 1.61926786e-01 9.86752099e-01 -1.00005569e-02 4.97237184e+00] [ 4.69563750e-02 2.41803549e-03 9.98894014e-01 2.86247765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.337105681 meters 0.03397407785244289 Centerline is valid? [True, True] Translation: X:80.85, Y:4.97, Z:2.86 [[ 9.85494004e-01 -1.63148826e-01 -4.67335942e-02 8.08519772e+01] [ 1.62848879e-01 9.86598495e-01 -1.01809414e-02 4.97440237e+00] [ 4.77683023e-02 2.42274332e-03 9.98855505e-01 2.86143815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.367105681 meters 0.03433607262008657 Centerline is valid? [True, True] Translation: X:80.88, Y:4.98, Z:2.86 [[ 9.85212932e-01 -1.64514128e-01 -4.78600026e-02 8.08797313e+01] [ 1.64200438e-01 9.86371739e-01 -1.04406819e-02 4.97817240e+00] [ 4.89253937e-02 2.42766138e-03 9.98799486e-01 2.86081197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39710568099999 meters 0.03208309105779873 Centerline is valid? [True, True] Translation: X:80.91, Y:4.97, Z:2.86 [[ 9.84326183e-01 -1.69027572e-01 -5.03154660e-02 8.09120441e+01] [ 1.68686424e-01 9.85608587e-01 -1.09819668e-02 4.97219253e+00] [ 5.14476106e-02 2.32230150e-03 9.98672995e-01 2.85904492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42710568099999 meters 0.028731829631540223 Centerline is valid? [True, True] Translation: X:80.94, Y:4.96, Z:2.86 [[ 9.83055646e-01 -1.76506802e-01 -4.94666051e-02 8.09448426e+01] [ 1.76186379e-01 9.84297585e-01 -1.07992852e-02 4.96479661e+00] [ 5.05960072e-02 1.90095623e-03 9.98717393e-01 2.86130971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45710568099999 meters 0.02697828959757136 Centerline is valid? [True, True] Translation: X:80.97, Y:4.96, Z:2.87 [[ 9.82530036e-01 -1.80009581e-01 -4.72364119e-02 8.09749831e+01] [ 1.79721407e-01 9.83663483e-01 -1.03134517e-02 4.96465715e+00] [ 4.83212536e-02 1.64388164e-03 9.98830493e-01 2.86517318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48710568099999 meters 0.024605798222138736 Centerline is valid? [True, True] Translation: X:81.01, Y:4.96, Z:2.87 [[ 9.81241008e-01 -1.87785511e-01 -4.36197826e-02 8.10052110e+01] [ 1.87547375e-01 9.82209368e-01 -9.52577836e-03 4.96045530e+00] [ 4.46325623e-02 1.16630863e-03 9.99002790e-01 2.87037330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.51710568099999 meters 0.019552238405879642 Centerline is valid? [True, True] Translation: X:81.04, Y:4.95, Z:2.87 [[ 9.79241577e-01 -1.98454921e-01 -4.12501982e-02 8.10384492e+01] [ 1.98251333e-01 9.80109804e-01 -9.01005716e-03 4.95029340e+00] [ 4.22178139e-02 6.45115814e-04 9.99108222e-01 2.87413256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.54710568099999 meters 0.017937652402549253 Centerline is valid? [True, True] Translation: X:81.07, Y:4.95, Z:2.88 [[ 9.77754638e-01 -2.05736165e-01 -4.08472612e-02 8.10686574e+01] [ 2.05542773e-01 9.78607440e-01 -8.92451785e-03 4.94767524e+00] [ 4.18095298e-02 3.30129373e-04 9.99125545e-01 2.87523239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.57710568099999 meters 0.01785515797363994 Centerline is valid? [True, True] Translation: X:81.10, Y:4.94, Z:2.88 [[ 9.74675694e-01 -2.19847577e-01 -4.09186268e-02 8.11007404e+01] [ 2.19665312e-01 9.75534200e-01 -8.95410605e-03 4.93524765e+00] [ 4.18860584e-02 -2.61053400e-04 9.99122360e-01 2.87772931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.607105681 meters 0.019209072754063913 Centerline is valid? [True, True] Translation: X:81.13, Y:4.93, Z:2.88 [[ 9.73175565e-01 -2.26293141e-01 -4.14817406e-02 8.11294497e+01] [ 2.26111099e-01 9.74059100e-01 -9.09068207e-03 4.93350535e+00] [ 4.24628259e-02 -5.32652283e-04 9.99097905e-01 2.87915363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.637105681 meters 0.023137235233611646 Centerline is valid? [True, True] Translation: X:81.16, Y:4.93, Z:2.88 [[ 9.70910137e-01 -2.36115225e-01 -3.97882669e-02 8.11593349e+01] [ 2.35955786e-01 9.71724631e-01 -8.72407087e-03 4.93007501e+00] [ 4.07231249e-02 -9.17982920e-04 9.99170048e-01 2.88387313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.667105681 meters 0.026457605277153656 Centerline is valid? [True, True] Translation: X:81.19, Y:4.93, Z:2.89 [[ 9.69078173e-01 -2.43819050e-01 -3.79442481e-02 8.11887333e+01] [ 2.43679838e-01 9.69820022e-01 -8.32231821e-03 4.93371641e+00] [ 3.88282313e-02 -1.18127131e-03 9.99245202e-01 2.88819685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.697105681 meters 0.02851358546399786 Centerline is valid? [True, True] Translation: X:81.22, Y:4.94, Z:2.89 [[ 9.68127523e-01 -2.47398575e-01 -3.90261958e-02 8.12175515e+01] [ 2.47254127e-01 9.68912841e-01 -8.56169536e-03 4.93909264e+00] [ 3.99311335e-02 -1.36057507e-03 9.99201508e-01 2.88819392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.727105681 meters 0.03204334239884841 Centerline is valid? [True, True] Translation: X:81.25, Y:4.94, Z:2.89 [[ 9.66656820e-01 -2.52886441e-01 -4.02869667e-02 8.12450367e+01] [ 2.52737090e-01 9.67494587e-01 -8.84234285e-03 4.94454556e+00] [ 4.12135308e-02 -1.63449969e-03 9.99149025e-01 2.88776572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75710568099998 meters 0.03469505104377747 Centerline is valid? [True, True] Translation: X:81.27, Y:4.95, Z:2.89 [[ 9.65708814e-01 -2.56253777e-01 -4.17191547e-02 8.12729123e+01] [ 2.56096580e-01 9.66607793e-01 -9.16063495e-03 4.95259563e+00] [ 4.26735074e-02 -1.83762691e-03 9.99087381e-01 2.88819636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78710568099999 meters 0.035804390345258855 Centerline is valid? [True, True] Translation: X:81.30, Y:4.96, Z:2.89 [[ 9.65119056e-01 -2.58213545e-01 -4.32547404e-02 8.13006274e+01] [ 2.58046299e-01 9.66085816e-01 -9.50284574e-03 4.96252286e+00] [ 4.42415547e-02 -1.99034817e-03 9.99018880e-01 2.88752882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81710568099999 meters 0.03884452735625343 Centerline is valid? [True, True] Translation: X:81.33, Y:4.98, Z:2.88 [[ 9.63790755e-01 -2.62638826e-01 -4.61327229e-02 8.13280048e+01] [ 2.62453004e-01 9.64891410e-01 -1.01482802e-02 4.97717132e+00] [ 4.71784004e-02 -2.32685313e-03 9.98883769e-01 2.88184250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84710568099999 meters 0.03884452735625343 Centerline is valid? [True, True] Translation: X:81.35, Y:4.98, Z:2.88 [[ 9.63697067e-01 -2.62982570e-01 -4.61316684e-02 8.13548714e+01] [ 2.62796913e-01 9.64797750e-01 -1.01530701e-02 4.98334276e+00] [ 4.71778103e-02 -2.33877618e-03 9.98883769e-01 2.88286329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.87710568099999 meters 0.04113039299977893 Centerline is valid? [True, True] Translation: X:81.38, Y:5.00, Z:2.88 [[ 9.61976775e-01 -2.69081534e-01 -4.68594920e-02 8.13822274e+01] [ 2.68896485e-01 9.63113712e-01 -1.03274932e-02 4.99718625e+00] [ 4.79099570e-02 -2.66554405e-03 9.98848102e-01 2.88376830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.90710568099999 meters 0.0504893566751449 Centerline is valid? [True, True] Translation: X:81.41, Y:5.00, Z:2.89 [[ 9.59380461e-01 -2.78644267e-01 -4.41191933e-02 8.14103096e+01] [ 2.78490176e-01 9.60389834e-01 -9.72564055e-03 5.00183605e+00] [ 4.50816187e-02 -2.95617240e-03 9.98978933e-01 2.88895778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.93710568099999 meters 0.050546849203152104 Centerline is valid? [True, True] Translation: X:81.44, Y:5.01, Z:2.89 [[ 9.58224390e-01 -2.82669853e-01 -4.36322497e-02 8.14385257e+01] [ 2.82523191e-01 9.59212225e-01 -9.62053529e-03 5.01471222e+00] [ 4.45720226e-02 -3.10849087e-03 9.99001337e-01 2.89206700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.96710568099999 meters 0.05030242145799227 Centerline is valid? [True, True] Translation: X:81.46, Y:5.04, Z:2.90 [[ 9.56883660e-01 -2.87221077e-01 -4.33326041e-02 8.14644449e+01] [ 2.87081036e-01 9.57858644e-01 -9.55490119e-03 5.03548036e+00] [ 4.42508784e-02 -3.29704008e-03 9.99015010e-01 2.89518157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.997105681 meters 0.056314465931146 Centerline is valid? [True, True] Translation: X:81.49, Y:5.05, Z:2.90 [[ 9.57168941e-01 -2.86548292e-01 -4.14450822e-02 8.14896365e+01] [ 2.86419488e-01 9.58060713e-01 -9.14037269e-03 5.05043730e+00] [ 4.23260632e-02 -3.12179837e-03 9.99098973e-01 2.89787780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.027105681 meters 0.049173646919291714 Centerline is valid? [True, True] Translation: X:81.51, Y:5.08, Z:2.90 [[ 9.57410269e-01 -2.85856088e-01 -4.06432492e-02 8.15130818e+01] [ 2.85731362e-01 9.58267782e-01 -8.96925552e-03 5.07602283e+00] [ 4.15110325e-02 -3.02579357e-03 9.99133464e-01 2.90036505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.057105681 meters 0.052420789220900814 Centerline is valid? [True, True] Translation: X:81.54, Y:5.10, Z:2.90 [[ 9.57226615e-01 -2.86475327e-01 -4.06090368e-02 8.15372212e+01] [ 2.86350830e-01 9.58082804e-01 -8.97457160e-03 5.09690189e+00] [ 4.14778132e-02 -3.03773258e-03 9.99134807e-01 2.89988247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.087105681 meters 0.051842303298871774 Centerline is valid? [True, True] Translation: X:81.56, Y:5.12, Z:2.90 [[ 9.56264815e-01 -2.89618931e-01 -4.09692492e-02 8.15633561e+01] [ 2.89494805e-01 9.57136699e-01 -9.06072567e-03 5.11939275e+00] [ 4.18373297e-02 -3.19593168e-03 9.99119324e-01 2.89967998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.117105681 meters 0.054083184211224086 Centerline is valid? [True, True] Translation: X:81.59, Y:5.13, Z:2.90 [[ 9.55587796e-01 -2.91836718e-01 -4.10279628e-02 8.15898414e+01] [ 2.91714210e-01 9.56462474e-01 -9.07501916e-03 5.12992611e+00] [ 4.18901306e-02 -3.29646219e-03 9.99116785e-01 2.89944278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14710568099999 meters 0.05653176708286529 Centerline is valid? [True, True] Translation: X:81.62, Y:5.15, Z:2.90 [[ 9.54729018e-01 -2.94960890e-01 -3.86079747e-02 8.16167548e+01] [ 2.94854816e-01 9.55503875e-01 -8.54291060e-03 5.14949382e+00] [ 3.94098940e-02 -3.22758265e-03 9.99217916e-01 2.90355668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17710568099999 meters 0.05666774818697206 Centerline is valid? [True, True] Translation: X:81.64, Y:5.17, Z:2.91 [[ 9.54655357e-01 -2.95302459e-01 -3.78101344e-02 8.16417515e+01] [ 2.95200966e-01 9.55398547e-01 -8.36698183e-03 5.16517639e+00] [ 3.85945378e-02 -3.17400417e-03 9.99249912e-01 2.90618510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20710568099999 meters 0.056383671851437674 Centerline is valid? [True, True] Translation: X:81.67, Y:5.19, Z:2.91 [[ 9.55016885e-01 -2.93866921e-01 -3.98118361e-02 8.16652140e+01] [ 2.93752578e-01 9.55840759e-01 -8.82421764e-03 5.19173902e+00] [ 4.06469213e-02 -3.26755266e-03 9.99168230e-01 2.90648868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23710568099999 meters 0.056819008329706204 Centerline is valid? [True, True] Translation: X:81.69, Y:5.21, Z:2.91 [[ 9.55061005e-01 -2.93550836e-01 -4.10655961e-02 8.16882915e+01] [ 2.93428724e-01 9.55937584e-01 -9.10602300e-03 5.21481656e+00] [ 4.19292274e-02 -3.35301799e-03 9.99114957e-01 2.90556010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.26710568099999 meters 0.05121899415193395 Centerline is valid? [True, True] Translation: X:81.71, Y:5.24, Z:2.91 [[ 9.54622671e-01 -2.95026757e-01 -4.06788500e-02 8.17120957e+01] [ 2.94908089e-01 9.55483008e-01 -9.02447241e-03 5.24358846e+00] [ 4.15304108e-02 -3.38155595e-03 9.99131518e-01 2.90651149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.29710568099999 meters 0.05508717192594758 Centerline is valid? [True, True] Translation: X:81.74, Y:5.25, Z:2.91 [[ 9.54146894e-01 -2.96485416e-01 -4.12323147e-02 8.17392193e+01] [ 2.96364754e-01 9.55031004e-01 -9.14949175e-03 5.25191625e+00] [ 4.20908298e-02 -3.48984568e-03 9.99107693e-01 2.90738327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.32710568099999 meters 0.056867563787968575 Centerline is valid? [True, True] Translation: X:81.77, Y:5.27, Z:2.91 [[ 9.52450761e-01 -3.01572204e-01 -4.34942970e-02 8.17659221e+01] [ 3.01443032e-01 9.53435304e-01 -9.65507904e-03 5.27212256e+00] [ 4.43807018e-02 -3.91506537e-03 9.99007020e-01 2.90728915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.357105681 meters 0.06031779046512161 Centerline is valid? [True, True] Translation: X:81.79, Y:5.29, Z:2.91 [[ 9.50169618e-01 -3.08444526e-01 -4.51627153e-02 8.17932429e+01] [ 3.08312911e-01 9.51232165e-01 -1.00258179e-02 5.29016327e+00] [ 4.60526361e-02 -4.39802065e-03 9.98929333e-01 2.90663011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.387105681 meters 0.06080294659783209 Centerline is valid? [True, True] Translation: X:81.82, Y:5.30, Z:2.91 [[ 9.49291991e-01 -3.11230822e-01 -4.44982200e-02 8.18207220e+01] [ 3.11106040e-01 9.50323858e-01 -9.87912348e-03 5.30322102e+00] [ 4.53624078e-02 -4.46549220e-03 9.98960616e-01 2.90808241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.417105681 meters 0.06053501368257239 Centerline is valid? [True, True] Translation: X:81.85, Y:5.33, Z:2.91 [[ 9.47840977e-01 -3.15828513e-01 -4.30096805e-02 8.18467637e+01] [ 3.15716574e-01 9.48805487e-01 -9.54948878e-03 5.32557683e+00] [ 4.38238217e-02 -4.52747221e-03 9.99029016e-01 2.91050052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.447105681 meters 0.06393461631127502 Centerline is valid? [True, True] Translation: X:81.87, Y:5.34, Z:2.91 [[ 9.46826379e-01 -3.18635751e-01 -4.46213688e-02 8.18728762e+01] [ 3.18518333e-01 9.47864922e-01 -9.90760119e-03 5.34326686e+00] [ 4.54519463e-02 -4.83194588e-03 9.98954840e-01 2.90833568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.477105681 meters 0.0643341142885619 Centerline is valid? [True, True] Translation: X:81.90, Y:5.36, Z:2.91 [[ 9.46400105e-01 -3.19612204e-01 -4.66356160e-02 8.18998928e+01] [ 3.19484926e-01 9.47534735e-01 -1.03589656e-02 5.35635148e+00] [ 4.74997178e-02 -5.09565024e-03 9.98858254e-01 2.90559219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50710568099998 meters 0.0726551499080627 Centerline is valid? [True, True] Translation: X:81.93, Y:5.37, Z:2.90 [[ 9.46051542e-01 -3.19912853e-01 -5.14027765e-02 8.19264369e+01] [ 3.19757905e-01 9.47430301e-01 -1.14326802e-02 5.36534445e+00] [ 5.23580094e-02 -5.62053946e-03 9.98612562e-01 2.89916806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53710568099999 meters 0.06540932257459375 Centerline is valid? [True, True] Translation: X:81.95, Y:5.39, Z:2.90 [[ 9.46527628e-01 -3.17973353e-01 -5.45746821e-02 8.19504596e+01] [ 3.17795228e-01 9.48081605e-01 -1.21434291e-02 5.39411083e+00] [ 5.56025390e-02 -5.84948242e-03 9.98435847e-01 2.89680187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56710568099999 meters 0.06458675437317854 Centerline is valid? [True, True] Translation: X:81.98, Y:5.41, Z:2.90 [[ 9.47023420e-01 -3.16391831e-01 -5.51620422e-02 8.19784211e+01] [ 3.16207039e-01 9.48610765e-01 -1.22770199e-02 5.40718862e+00] [ 5.62116559e-02 -5.81600067e-03 9.98401935e-01 2.89675548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59710568099999 meters 0.06672138272826333 Centerline is valid? [True, True] Translation: X:82.01, Y:5.42, Z:2.90 [[ 9.47753641e-01 -3.14554506e-01 -5.30895373e-02 8.20052291e+01] [ 3.14380318e-01 9.49223542e-01 -1.18187533e-02 5.42072794e+00] [ 5.41114807e-02 -5.48903915e-03 9.98519814e-01 2.89933989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.62710568099999 meters 0.06666834639810496 Centerline is valid? [True, True] Translation: X:82.03, Y:5.44, Z:2.91 [[ 9.47764306e-01 -3.15252656e-01 -4.85652544e-02 8.20302223e+01] [ 3.15107516e-01 9.48994334e-01 -1.08169444e-02 5.43940278e+00] [ 4.94982217e-02 -5.05136292e-03 9.98761438e-01 2.90711924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.65710568099999 meters 0.06781185502001634 Centerline is valid? [True, True] Translation: X:82.06, Y:5.45, Z:2.91 [[ 9.47824877e-01 -3.15378452e-01 -4.65234913e-02 8.20571944e+01] [ 3.15244739e-01 9.48953681e-01 -1.03762043e-02 5.45169449e+00] [ 4.74210696e-02 -4.83146130e-03 9.98863304e-01 2.91124797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.68710568099999 meters 0.059931904133795684 Centerline is valid? [True, True] Translation: X:82.08, Y:5.48, Z:2.91 [[ 9.48169015e-01 -3.14430472e-01 -4.59238188e-02 8.20804007e+01] [ 3.14298425e-01 9.49268826e-01 -1.02564944e-02 5.48266480e+00] [ 4.68190039e-02 -4.70889367e-03 9.98892290e-01 2.91297391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.71710568099999 meters 0.06002262813698063 Centerline is valid? [True, True] Translation: X:82.11, Y:5.50, Z:2.91 [[ 9.48693373e-01 -3.12722813e-01 -4.67474811e-02 8.21061996e+01] [ 3.12583374e-01 9.49832819e-01 -1.04522503e-02 5.50002702e+00] [ 4.76709489e-02 -4.69650471e-03 9.98852053e-01 2.90928899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.747105681 meters 0.06708536553535677 Centerline is valid? [True, True] Translation: X:82.14, Y:5.50, Z:2.91 [[ 9.49207288e-01 -3.11298319e-01 -4.58135457e-02 8.21354067e+01] [ 3.11162645e-01 9.50301444e-01 -1.02456888e-02 5.50216218e+00] [ 4.67261443e-02 -4.53018164e-03 9.98897465e-01 2.90903223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.777105681 meters 0.057754578523680544 Centerline is valid? [True, True] Translation: X:82.16, Y:5.53, Z:2.91 [[ 9.50760267e-01 -3.06425957e-01 -4.64547837e-02 8.21588519e+01] [ 3.06280593e-01 9.51884563e-01 -1.03911572e-02 5.53349730e+00] [ 4.74037118e-02 -4.34869929e-03 9.98866346e-01 2.90884569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.807105681 meters 0.05757005902101232 Centerline is valid? [True, True] Translation: X:82.19, Y:5.55, Z:2.91 [[ 9.51466275e-01 -3.03631218e-01 -5.01997153e-02 8.21851407e+01] [ 3.03457516e-01 9.52778779e-01 -1.12309227e-02 5.55107218e+00] [ 5.12392822e-02 -4.54763674e-03 9.98676051e-01 2.90516593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.837105681 meters 0.05876068716296261 Centerline is valid? [True, True] Translation: X:82.21, Y:5.56, Z:2.90 [[ 9.51324287e-01 -3.03735491e-01 -5.22192678e-02 8.22104650e+01] [ 3.03547437e-01 9.52744644e-01 -1.16875032e-02 5.56354640e+00] [ 5.33015372e-02 -4.73241919e-03 9.98567249e-01 2.90159544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86710568099998 meters 0.0598801067818359 Centerline is valid? [True, True] Translation: X:82.24, Y:5.57, Z:2.90 [[ 9.50821469e-01 -3.05318194e-01 -5.21472440e-02 8.22387769e+01] [ 3.05132612e-01 9.52238253e-01 -1.16789470e-02 5.57310734e+00] [ 5.32223956e-02 -4.80723123e-03 9.98571113e-01 2.90311209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89710568099999 meters 0.05666218305178389 Centerline is valid? [True, True] Translation: X:82.26, Y:5.59, Z:2.91 [[ 9.49992000e-01 -3.08211225e-01 -5.02099712e-02 8.22647720e+01] [ 3.08043075e-01 9.51305929e-01 -1.12469462e-02 5.59376929e+00] [ 5.12314783e-02 -4.78232499e-03 9.98675355e-01 2.90930542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92710568099999 meters 0.0635142316437703 Centerline is valid? [True, True] Translation: X:82.29, Y:5.60, Z:2.91 [[ 9.49769233e-01 -3.09217662e-01 -4.81958693e-02 8.22927891e+01] [ 3.09063929e-01 9.50979970e-01 -1.07974271e-02 5.59799752e+00] [ 4.91720615e-02 -4.64054068e-03 9.98779542e-01 2.91100959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95710568099999 meters 0.057006565430745434 Centerline is valid? [True, True] Translation: X:82.32, Y:5.62, Z:2.91 [[ 9.49728118e-01 -3.09326860e-01 -4.83052228e-02 8.23201837e+01] [ 3.09172475e-01 9.50944386e-01 -1.08238503e-02 5.61755703e+00] [ 4.92836881e-02 -4.65493028e-03 9.98773973e-01 2.91323243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98710568099999 meters 0.06528444685395648 Centerline is valid? [True, True] Translation: X:82.35, Y:5.62, Z:2.91 [[ 9.49480839e-01 -3.09647957e-01 -5.10321456e-02 8.23498034e+01] [ 3.09476188e-01 9.50838454e-01 -1.14334508e-02 5.62259546e+00] [ 5.20636711e-02 -4.93739149e-03 9.98631562e-01 2.90949484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.01710568099999 meters 0.05541393795356695 Centerline is valid? [True, True] Translation: X:82.38, Y:5.65, Z:2.91 [[ 9.49780354e-01 -3.08686887e-01 -5.12804539e-02 8.23771751e+01] [ 3.08512088e-01 9.51151043e-01 -1.14884885e-02 5.64892554e+00] [ 5.23218030e-02 -4.90909916e-03 9.98618210e-01 2.91055708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.04710568099999 meters 0.05779682174174107 Centerline is valid? [True, True] Translation: X:82.41, Y:5.66, Z:2.91 [[ 9.50091988e-01 -3.07683560e-01 -5.15367998e-02 8.24080059e+01] [ 3.07505803e-01 9.51476214e-01 -1.15410666e-02 5.65591548e+00] [ 5.25870356e-02 -4.88279007e-03 9.98604407e-01 2.91085867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.07710568099999 meters 0.05793719441859477 Centerline is valid? [True, True] Translation: X:82.44, Y:5.67, Z:2.91 [[ 9.50552517e-01 -3.06078938e-01 -5.25889418e-02 8.24351062e+01] [ 3.05891708e-01 9.51993540e-01 -1.17712600e-02 5.67236268e+00] [ 5.36672676e-02 -4.89732042e-03 9.98546865e-01 2.91434375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.107105681 meters 0.058004126786520206 Centerline is valid? [True, True] Translation: X:82.46, Y:5.69, Z:2.92 [[ 9.51382528e-01 -3.03743726e-01 -5.10982885e-02 8.24625631e+01] [ 3.03563838e-01 9.52742502e-01 -1.14333674e-02 5.68711118e+00] [ 5.21563248e-02 -4.63408661e-03 9.98628181e-01 2.91715791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.137105681 meters 0.057837895301078135 Centerline is valid? [True, True] Translation: X:82.49, Y:5.70, Z:2.92 [[ 9.51766649e-01 -3.02585664e-01 -5.08149810e-02 8.24922711e+01] [ 3.02406162e-01 9.53111353e-01 -1.13693196e-02 5.69693514e+00] [ 5.18725284e-02 -4.54582421e-03 9.98643368e-01 2.91802166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.167105681 meters 0.055689491624873404 Centerline is valid? [True, True] Translation: X:82.52, Y:5.71, Z:2.92 [[ 9.52328575e-01 -3.01119339e-01 -4.89635432e-02 8.25215540e+01] [ 3.00950875e-01 9.53576746e-01 -1.09526702e-02 5.71221513e+00] [ 4.99885570e-02 -4.30508037e-03 9.98740512e-01 2.92098124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.197105681 meters 0.05624757591872994 Centerline is valid? [True, True] Translation: X:82.55, Y:5.72, Z:2.92 [[ 9.52976908e-01 -2.99254224e-01 -4.77694730e-02 8.25495067e+01] [ 2.99091676e-01 9.54164579e-01 -1.06829733e-02 5.72491498e+00] [ 4.87768640e-02 -4.10682494e-03 9.98801257e-01 2.92304386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.227105681 meters 0.056988404622178655 Centerline is valid? [True, True] Translation: X:82.58, Y:5.73, Z:2.92 [[ 9.53643422e-01 -2.97167685e-01 -4.74930656e-02 8.25794117e+01] [ 2.97004516e-01 9.54817019e-01 -1.06196493e-02 5.73399703e+00] [ 4.85030040e-02 -3.97829632e-03 9.98815114e-01 2.92329454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25710568099998 meters 0.05024933141897766 Centerline is valid? [True, True] Translation: X:82.61, Y:5.76, Z:2.93 [[ 9.55477176e-01 -2.91241776e-01 -4.73454687e-02 8.26053608e+01] [ 2.91072494e-01 9.56642449e-01 -1.05843595e-02 5.75708374e+00] [ 4.83752928e-02 -3.66784976e-03 9.98822496e-01 2.92691140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28710568099999 meters 0.040405818229057505 Centerline is valid? [True, True] Translation: X:82.63, Y:5.78, Z:2.93 [[ 9.57929815e-01 -2.83131663e-01 -4.69779904e-02 8.26308665e+01] [ 2.82955287e-01 9.59075603e-01 -1.05020497e-02 5.78262578e+00] [ 4.80289072e-02 -3.23244418e-03 9.98840716e-01 2.92965403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31710568099999 meters 0.036798159173191264 Centerline is valid? [True, True] Translation: X:82.66, Y:5.80, Z:2.93 [[ 9.61192780e-01 -2.71992734e-01 -4.61345040e-02 8.26579815e+01] [ 2.71809849e-01 9.62295719e-01 -1.03128845e-02 5.79862512e+00] [ 4.72000653e-02 -2.62714243e-03 9.98882001e-01 2.92944444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34710568099999 meters 0.03415123342291118 Centerline is valid? [True, True] Translation: X:82.69, Y:5.81, Z:2.93 [[ 9.63075386e-01 -2.65326627e-01 -4.56900672e-02 8.26865460e+01] [ 2.65139734e-01 9.64155898e-01 -1.02140381e-02 5.81212328e+00] [ 4.67624040e-02 -2.27736362e-03 9.98903444e-01 2.93094710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37710568099999 meters 0.02686234625357477 Centerline is valid? [True, True] Translation: X:82.71, Y:5.84, Z:2.94 [[ 9.66941412e-01 -2.51308318e-01 -4.32253909e-02 8.27124335e+01] [ 2.51127038e-01 9.67905906e-01 -9.66267242e-03 5.83621747e+00] [ 4.42664211e-02 -1.51182626e-03 9.99018618e-01 2.93602520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.40710568099999 meters 0.021678643673280276 Centerline is valid? [True, True] Translation: X:82.74, Y:5.86, Z:2.94 [[ 9.70731372e-01 -2.36451081e-01 -4.20890666e-02 8.27377182e+01] [ 2.36265244e-01 9.71643056e-01 -9.40780575e-03 5.85771080e+00] [ 4.31200351e-02 -8.11731414e-04 9.99069569e-01 2.93896422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.43710568099999 meters 0.01980529202919134 Centerline is valid? [True, True] Translation: X:82.77, Y:5.87, Z:2.94 [[ 9.72584696e-01 -2.28878414e-01 -4.11543518e-02 8.27670396e+01] [ 2.28693999e-01 9.73454906e-01 -9.19786049e-03 5.87240250e+00] [ 4.21670974e-02 -4.66054942e-04 9.99110464e-01 2.94124830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.46710568099999 meters 0.019034561775396624 Centerline is valid? [True, True] Translation: X:82.80, Y:5.89, Z:2.94 [[ 9.76141241e-01 -2.12791446e-01 -4.32212785e-02 8.27964346e+01] [ 2.12572446e-01 9.77097613e-01 -9.65457959e-03 5.89073997e+00] [ 4.42858200e-02 2.36580423e-04 9.99018874e-01 2.93979886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.497105681 meters 0.019970771327375514 Centerline is valid? [True, True] Translation: X:82.83, Y:5.90, Z:2.94 [[ 9.77406547e-01 -2.06167288e-01 -4.65992627e-02 8.28273720e+01] [ 2.05905976e-01 9.78516598e-01 -1.03921173e-02 5.90136296e+00] [ 4.77406667e-02 5.62256885e-04 9.98859606e-01 2.93746187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.527105681 meters 0.021857293100737866 Centerline is valid? [True, True] Translation: X:82.86, Y:5.91, Z:2.93 [[ 9.78565792e-01 -1.99434097e-01 -5.13325530e-02 8.28583941e+01] [ 1.99108676e-01 9.79910768e-01 -1.14290028e-02 5.90833705e+00] [ 5.25806543e-02 9.63274523e-04 9.98616216e-01 2.93235143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.557105681 meters 0.022783560687772503 Centerline is valid? [True, True] Translation: X:82.89, Y:5.91, Z:2.93 [[ 9.79054151e-01 -1.97344174e-01 -5.00824050e-02 8.28915093e+01] [ 1.97032535e-01 9.80333724e-01 -1.11342141e-02 5.90637108e+00] [ 5.12947428e-02 1.03313539e-03 9.98683024e-01 2.92997541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.587105681 meters 0.023099823435884532 Centerline is valid? [True, True] Translation: X:82.92, Y:5.91, Z:2.93 [[ 9.79361132e-01 -1.96220430e-01 -4.84697420e-02 8.29244275e+01] [ 1.95928059e-01 9.80559260e-01 -1.07579218e-02 5.90884581e+00] [ 4.96383784e-02 1.03930801e-03 9.98766715e-01 2.93189247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61710568099998 meters 0.02360216302619722 Centerline is valid? [True, True] Translation: X:82.96, Y:5.91, Z:2.93 [[ 9.79970995e-01 -1.93209093e-01 -4.82399878e-02 8.29573085e+01] [ 1.92916741e-01 9.81156910e-01 -1.06887574e-02 5.90693171e+00] [ 4.93961625e-02 1.16837095e-03 9.98778581e-01 2.93449305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64710568099999 meters 0.02523253096452576 Centerline is valid? [True, True] Translation: X:82.99, Y:5.90, Z:2.93 [[ 9.80581144e-01 -1.89734337e-01 -4.96135202e-02 8.29917816e+01] [ 1.89421498e-01 9.81834516e-01 -1.09762699e-02 5.90238204e+00] [ 5.07948419e-02 1.36525591e-03 9.98708176e-01 2.93309001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67710568099999 meters 0.024643848572445608 Centerline is valid? [True, True] Translation: X:83.03, Y:5.89, Z:2.93 [[ 9.80441329e-01 -1.91150145e-01 -4.68660044e-02 8.30261937e+01] [ 1.90873365e-01 9.81560069e-01 -1.03532131e-02 5.89115962e+00] [ 4.79808167e-02 1.20524602e-03 9.98847530e-01 2.93476056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70710568099999 meters 0.023208128535588304 Centerline is valid? [True, True] Translation: X:83.06, Y:5.89, Z:2.94 [[ 9.79803500e-01 -1.94807757e-01 -4.51114127e-02 8.30600686e+01] [ 1.94555857e-01 9.80840960e-01 -9.95130907e-03 5.88716473e+00] [ 4.61857136e-02 9.73637867e-04 9.98932396e-01 2.93799265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73710568099999 meters 0.02124449240817881 Centerline is valid? [True, True] Translation: X:83.09, Y:5.88, Z:2.94 [[ 9.78835171e-01 -1.99805747e-01 -4.42647815e-02 8.30944801e+01] [ 1.99569002e-01 9.79835272e-01 -9.74951561e-03 5.88198850e+00] [ 4.53202035e-02 7.09290487e-04 9.98972260e-01 2.94088144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.76710568099999 meters 0.02124449240817881 Centerline is valid? [True, True] Translation: X:83.13, Y:5.89, Z:2.94 [[ 9.78910512e-01 -1.99435565e-01 -4.42680936e-02 8.31263842e+01] [ 1.99199123e-01 9.79910685e-01 -9.73445622e-03 5.88878953e+00] [ 4.53201746e-02 7.10996126e-04 9.98972260e-01 2.94208583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.79710568099999 meters 0.018645184760725932 Centerline is valid? [True, True] Translation: X:83.17, Y:5.86, Z:2.94 [[ 9.74631944e-01 -2.19310198e-01 -4.46722576e-02 8.31666222e+01] [ 2.19090888e-01 9.75655157e-01 -9.80804343e-03 5.85561084e+00] [ 4.57357225e-02 -2.28052155e-04 9.98953548e-01 2.94267799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.82710568099999 meters 0.019348489472146964 Centerline is valid? [True, True] Translation: X:83.20, Y:5.85, Z:2.94 [[ 9.73110468e-01 -2.25904457e-01 -4.49799214e-02 8.32005428e+01] [ 2.25689338e-01 9.74149310e-01 -9.87136652e-03 5.84858469e+00] [ 4.60471451e-02 -5.45558580e-04 9.98939119e-01 2.94373439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.857105681 meters 0.022276171235564537 Centerline is valid? [True, True] Translation: X:83.24, Y:5.83, Z:2.94 [[ 9.70508540e-01 -2.36832064e-01 -4.49860699e-02 8.32362178e+01] [ 2.36628716e-01 9.71550018e-01 -9.86985918e-03 5.83087263e+00] [ 4.60437161e-02 -1.06621335e-03 9.98938857e-01 2.94466015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.887105681 meters 0.02381334854685568 Centerline is valid? [True, True] Translation: X:83.27, Y:5.83, Z:2.95 [[ 9.70027873e-01 -2.39033976e-01 -4.36884794e-02 8.32688269e+01] [ 2.38844485e-01 9.71010537e-01 -9.58378755e-03 5.82855076e+00] [ 4.47128247e-02 -1.13821131e-03 9.98999233e-01 2.94718243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.917105681 meters 0.021639147791334926 Centerline is valid? [True, True] Translation: X:83.30, Y:5.83, Z:2.96 [[ 9.71178422e-01 -2.34526043e-01 -4.25441968e-02 8.33007584e+01] [ 2.34342156e-01 9.72109412e-01 -9.32979923e-03 5.83019704e+00] [ 4.35456950e-02 -9.08999101e-04 9.99051023e-01 2.95598310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.947105681 meters 0.01861220426556439 Centerline is valid? [True, True] Translation: X:83.33, Y:5.84, Z:2.96 [[ 9.73814174e-01 -2.23655104e-01 -4.07964251e-02 8.33315368e+01] [ 2.23476587e-01 9.74668266e-01 -8.94354739e-03 5.83829808e+00] [ 4.17632509e-02 -4.07692602e-04 9.99127452e-01 2.96218217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.977105681 meters 0.017781977107751146 Centerline is valid? [True, True] Translation: X:83.36, Y:5.84, Z:2.97 [[ 9.75087414e-01 -2.18207817e-01 -3.98733464e-02 8.33628175e+01] [ 2.18032894e-01 9.75902310e-01 -8.73721608e-03 5.84462268e+00] [ 4.08190197e-02 -1.74151653e-04 9.99166541e-01 2.96500468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00710568099998 meters 0.018179627412250567 Centerline is valid? [True, True] Translation: X:83.39, Y:5.85, Z:2.96 [[ 9.77047632e-01 -2.08900508e-01 -4.16953539e-02 8.33938957e+01] [ 2.08700915e-01 9.77936874e-01 -9.13229944e-03 5.84992027e+00] [ 4.26831660e-02 2.20833031e-04 9.99088634e-01 2.96244450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03710568099999 meters 0.01913159549693156 Centerline is valid? [True, True] Translation: X:83.42, Y:5.86, Z:2.96 [[ 9.77988094e-01 -2.04219856e-01 -4.28198245e-02 8.34241533e+01] [ 2.04005001e-01 9.78924952e-01 -9.37534793e-03 5.85775792e+00] [ 4.38320269e-02 4.33520304e-04 9.99038821e-01 2.96147032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06710568099999 meters 0.020889551564541264 Centerline is valid? [True, True] Translation: X:83.46, Y:5.86, Z:2.96 [[ 9.79587850e-01 -1.96728229e-01 -4.12994828e-02 8.34558848e+01] [ 1.96521832e-01 9.80457780e-01 -9.03942768e-03 5.86325924e+00] [ 4.22707098e-02 7.38663502e-04 9.99105921e-01 2.96307562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09710568099999 meters 0.022320986657338854 Centerline is valid? [True, True] Translation: X:83.49, Y:5.87, Z:2.96 [[ 9.80305986e-01 -1.92912646e-01 -4.22478932e-02 8.34874258e+01] [ 1.92693304e-01 9.81215504e-01 -9.24258802e-03 5.86690869e+00] [ 4.32373000e-02 9.19678207e-04 9.99064407e-01 2.96322878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.12710568099999 meters 0.023247346245983864 Centerline is valid? [True, True] Translation: X:83.52, Y:5.87, Z:2.96 [[ 9.80541343e-01 -1.91239191e-01 -4.43423833e-02 8.35190333e+01] [ 1.90996104e-01 9.81542916e-01 -9.69493263e-03 5.87262521e+00] [ 4.53780033e-02 1.03705981e-03 9.98969350e-01 2.96195432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.15710568099999 meters 0.025059146422957566 Centerline is valid? [True, True] Translation: X:83.55, Y:5.88, Z:2.96 [[ 9.81018731e-01 -1.87959590e-01 -4.76806278e-02 8.35509341e+01] [ 1.87674835e-01 9.82175936e-01 -1.04205361e-02 5.87521881e+00] [ 4.87894050e-02 1.27428717e-03 9.98808275e-01 2.95786110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.18710568099999 meters 0.02614750218796275 Centerline is valid? [True, True] Translation: X:83.58, Y:5.87, Z:2.95 [[ 9.81032843e-01 -1.87058213e-01 -5.08309555e-02 8.35820438e+01] [ 1.86733441e-01 9.82347826e-01 -1.11072056e-02 5.87356646e+00] [ 5.20113726e-02 1.40469420e-03 9.98645505e-01 2.95360783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.21710568099999 meters 0.02403931918682287 Centerline is valid? [True, True] Translation: X:83.61, Y:5.87, Z:2.96 [[ 9.80628286e-01 -1.90626831e-01 -4.50508219e-02 8.36122880e+01] [ 1.90375497e-01 9.81661984e-01 -9.84479166e-03 5.86688468e+00] [ 4.61013606e-02 1.07750857e-03 9.98936186e-01 2.96298647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.247105681 meters 0.022313977543240878 Centerline is valid? [True, True] Translation: X:83.64, Y:5.86, Z:2.97 [[ 9.80171452e-01 -1.93656088e-01 -4.19671873e-02 8.36429627e+01] [ 1.93440661e-01 9.81069089e-01 -9.17355338e-03 5.86378360e+00] [ 4.29492247e-02 8.73494664e-04 9.99076874e-01 2.96854611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.277105681 meters 0.019384486131006635 Centerline is valid? [True, True] Translation: X:83.68, Y:5.85, Z:2.97 [[ 9.78938109e-01 -1.99804313e-01 -4.19334700e-02 8.36754276e+01] [ 1.99594764e-01 9.79835634e-01 -9.16845157e-03 5.84990810e+00] [ 4.29198043e-02 6.05645596e-04 9.99078337e-01 2.97188385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.307105681 meters 0.019040750340458736 Centerline is valid? [True, True] Translation: X:83.70, Y:5.85, Z:2.97 [[ 9.78351345e-01 -2.02550489e-01 -4.24493136e-02 8.37041870e+01] [ 2.02338128e-01 9.79271696e-01 -9.28591389e-03 5.84813303e+00] [ 4.34502777e-02 4.95771689e-04 9.99055468e-01 2.97080540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.337105681 meters 0.017211435780021052 Centerline is valid? [True, True] Translation: X:83.74, Y:5.84, Z:2.97 [[ 9.77287951e-01 -2.07610975e-01 -4.24964066e-02 8.37365424e+01] [ 2.07402548e-01 9.78211432e-01 -9.30475068e-03 5.83720353e+00] [ 4.35022391e-02 2.79557727e-04 9.99053290e-01 2.97062831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36710568099998 meters 0.017090297070204714 Centerline is valid? [True, True] Translation: X:83.77, Y:5.84, Z:2.97 [[ 9.76841176e-01 -2.09720059e-01 -4.24124332e-02 8.37653322e+01] [ 2.09513900e-01 9.77761452e-01 -9.29881194e-03 5.83678238e+00] [ 4.34193896e-02 1.97468100e-04 9.99056914e-01 2.97046563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39710568099999 meters 0.0170208582722474 Centerline is valid? [True, True] Translation: X:83.80, Y:5.83, Z:2.97 [[ 9.76981588e-01 -2.09397087e-01 -4.07410916e-02 8.37950960e+01] [ 2.09206382e-01 9.77830669e-01 -8.93717864e-03 5.83253429e+00] [ 4.17093080e-02 2.08162626e-04 9.99129766e-01 2.97421245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42710568099999 meters 0.01857616453727512 Centerline is valid? [True, True] Translation: X:83.82, Y:5.83, Z:2.98 [[ 9.78191777e-01 -2.03635067e-01 -4.09097362e-02 8.38234871e+01] [ 2.03437545e-01 9.79046754e-01 -8.97873411e-03 5.83485455e+00] [ 4.18809296e-02 4.60347553e-04 9.99122503e-01 2.97807613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45710568099999 meters 0.020489400661205404 Centerline is valid? [True, True] Translation: X:83.85, Y:5.84, Z:2.98 [[ 9.79056789e-01 -1.99051638e-01 -4.27346435e-02 8.38508593e+01] [ 1.98831498e-01 9.79988759e-01 -9.38442000e-03 5.84154852e+00] [ 4.37474545e-02 6.90886909e-04 9.99042383e-01 2.97727261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48710568099999 meters 0.023235326099248405 Centerline is valid? [True, True] Translation: X:83.88, Y:5.85, Z:2.98 [[ 9.80476221e-01 -1.91326872e-01 -4.53917178e-02 8.38805958e+01] [ 1.91069978e-01 9.81525755e-01 -9.97279398e-03 5.84557508e+00] [ 4.64612035e-02 1.10509283e-03 9.98919484e-01 2.97578958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.51710568099999 meters 0.025731572134418283 Centerline is valid? [True, True] Translation: X:83.91, Y:5.85, Z:2.98 [[ 9.81413891e-01 -1.86202272e-01 -4.64272425e-02 8.39098553e+01] [ 1.85927660e-01 9.82510461e-01 -1.02028782e-02 5.84757885e+00] [ 4.75150505e-02 1.38113787e-03 9.98869567e-01 2.97595586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.54710568099999 meters 0.026965442722223745 Centerline is valid? [True, True] Translation: X:83.94, Y:5.84, Z:2.97 [[ 9.82037791e-01 -1.82538191e-01 -4.77659415e-02 8.39407863e+01] [ 1.82243008e-01 9.83197451e-01 -1.05004354e-02 5.84484258e+00] [ 4.88800824e-02 1.60681553e-03 9.98803362e-01 2.97481042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.57710568099999 meters 0.027011586582008473 Centerline is valid? [True, True] Translation: X:83.97, Y:5.85, Z:2.98 [[ 9.82288035e-01 -1.81053416e-01 -4.82688035e-02 8.39694211e+01] [ 1.80750019e-01 9.83471791e-01 -1.06144275e-02 5.84641480e+00] [ 4.93927850e-02 1.70183792e-03 9.98777982e-01 2.97551739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.607105681 meters 0.029377005182078177 Centerline is valid? [True, True] Translation: X:84.00, Y:5.85, Z:2.97 [[ 9.82428831e-01 -1.79867909e-01 -4.98109193e-02 8.39969495e+01] [ 1.79542942e-01 9.83689080e-01 -1.09601595e-02 5.84991324e+00] [ 5.09698384e-02 1.82437770e-03 9.98698527e-01 2.97370069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.637105681 meters 0.030421938933700744 Centerline is valid? [True, True] Translation: X:84.03, Y:5.85, Z:2.97 [[ 9.82572489e-01 -1.78648023e-01 -5.13438137e-02 8.40264999e+01] [ 1.78300541e-01 9.83911103e-01 -1.13074301e-02 5.84994699e+00] [ 5.25377984e-02 1.95573998e-03 9.98617021e-01 2.97241413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.667105681 meters 0.02872334315741491 Centerline is valid? [True, True] Translation: X:84.05, Y:5.85, Z:2.97 [[ 9.82491180e-01 -1.78998678e-01 -5.16774132e-02 8.40549312e+01] [ 1.78646146e-01 9.83847346e-01 -1.13997757e-02 5.84865677e+00] [ 5.28832306e-02 1.96820838e-03 9.98598763e-01 2.97439128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.697105681 meters 0.027611296252436388 Centerline is valid? [True, True] Translation: X:84.08, Y:5.84, Z:2.98 [[ 9.82026650e-01 -1.82017363e-01 -4.99333478e-02 8.40846994e+01] [ 1.81691272e-01 9.83293739e-01 -1.10319495e-02 5.84139630e+00] [ 5.11071546e-02 1.76121498e-03 9.98691623e-01 2.97573745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.727105681 meters 0.02495557419598716 Centerline is valid? [True, True] Translation: X:84.12, Y:5.83, Z:2.98 [[ 9.81137871e-01 -1.87858008e-01 -4.55834003e-02 8.41171760e+01] [ 1.87592279e-01 9.82195288e-01 -1.00773794e-02 5.83318772e+00] [ 4.66649174e-02 1.33620463e-03 9.98909706e-01 2.98356199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75710568099998 meters 0.024946762523678483 Centerline is valid? [True, True] Translation: X:84.15, Y:5.84, Z:2.99 [[ 9.80574281e-01 -1.91053974e-01 -4.44123707e-02 8.41453119e+01] [ 1.90804777e-01 9.81578849e-01 -9.82345783e-03 5.83624834e+00] [ 4.54710543e-02 1.15853762e-03 9.98964985e-01 2.98551199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78710568099999 meters 0.021329349500119152 Centerline is valid? [True, True] Translation: X:84.18, Y:5.83, Z:2.99 [[ 9.79489174e-01 -1.96889092e-01 -4.28444204e-02 8.41762562e+01] [ 1.96662201e-01 9.80425383e-01 -9.48935346e-03 5.82966760e+00] [ 4.38741075e-02 8.68840945e-04 9.99036690e-01 2.98814231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81710568099999 meters 0.02016580478140667 Centerline is valid? [True, True] Translation: X:84.21, Y:5.83, Z:2.99 [[ 9.79015054e-01 -1.99276123e-01 -4.26444618e-02 8.42060194e+01] [ 1.99053351e-01 9.79943081e-01 -9.45095304e-03 5.82864247e+00] [ 4.36724945e-02 7.64102274e-04 9.99045609e-01 2.98915558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84710568099999 meters 0.01878137985471554 Centerline is valid? [True, True] Translation: X:84.24, Y:5.82, Z:2.99 [[ 9.77890117e-01 -2.04368676e-01 -4.43211338e-02 8.42362000e+01] [ 2.04132595e-01 9.78893823e-01 -9.83700679e-03 5.82057383e+00] [ 4.53960602e-02 5.72123676e-04 9.98968904e-01 2.98688362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87710568099999 meters 0.017336250725501618 Centerline is valid? [True, True] Translation: X:84.27, Y:5.81, Z:2.98 [[ 9.76509353e-01 -2.10375764e-01 -4.65995943e-02 8.42675245e+01] [ 2.10121195e-01 9.77620549e-01 -1.03511271e-02 5.81442656e+00] [ 4.77343472e-02 3.16409997e-04 9.98860016e-01 2.98476596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.90710568099999 meters 0.016904009826496223 Centerline is valid? [True, True] Translation: X:84.30, Y:5.81, Z:2.98 [[ 9.75401280e-01 -2.14831442e-01 -4.93942677e-02 8.42973939e+01] [ 2.14550199e-01 9.76651134e-01 -1.09897888e-02 5.81291559e+00] [ 5.06019197e-02 1.21904110e-04 9.98718895e-01 2.98135113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.93710568099999 meters 0.016647815924536728 Centerline is valid? [True, True] Translation: X:84.33, Y:5.81, Z:2.98 [[ 9.74966882e-01 -2.16652398e-01 -5.00131736e-02 8.43261006e+01] [ 2.16365508e-01 9.76248809e-01 -1.11458726e-02 5.81432585e+00] [ 5.12400812e-02 4.57309299e-05 9.98686363e-01 2.98148535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.96710568099999 meters 0.016612189645059096 Centerline is valid? [True, True] Translation: X:84.36, Y:5.81, Z:2.99 [[ 9.74232379e-01 -2.20489962e-01 -4.74915498e-02 8.43551473e+01] [ 2.20235087e-01 9.75389235e-01 -1.05994114e-02 5.80958741e+00] [ 4.86598103e-02 -1.33015873e-04 9.98815401e-01 2.98580409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.997105681 meters 0.016963048063055278 Centerline is valid? [True, True] Translation: X:84.38, Y:5.81, Z:2.99 [[ 9.73427410e-01 -2.24608418e-01 -4.46109323e-02 8.43837410e+01] [ 2.24387511e-01 9.74449056e-01 -9.96409326e-03 5.80853965e+00] [ 4.57091000e-02 -3.10814542e-04 9.98954745e-01 2.99220269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.027105681 meters 0.017295954408429355 Centerline is valid? [True, True] Translation: X:84.41, Y:5.81, Z:2.99 [[ 9.73016232e-01 -2.26630079e-01 -4.33384217e-02 8.44116775e+01] [ 2.26422958e-01 9.73980833e-01 -9.69438296e-03 5.81213842e+00] [ 4.44078308e-02 -3.80021667e-04 9.99013413e-01 2.99446539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.057105681 meters 0.018701916510371567 Centerline is valid? [True, True] Translation: X:84.44, Y:5.81, Z:2.99 [[ 9.71905792e-01 -2.31284021e-01 -4.36673024e-02 8.44399062e+01] [ 2.31078197e-01 9.72886094e-01 -9.77321461e-03 5.81341084e+00] [ 4.47436996e-02 -5.91917594e-04 9.98998324e-01 2.99415120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.087105681 meters 0.024121305222370368 Centerline is valid? [True, True] Translation: X:84.47, Y:5.80, Z:2.99 [[ 9.69137737e-01 -2.42577837e-01 -4.39094405e-02 8.44718151e+01] [ 2.42381063e-01 9.70131306e-01 -9.83204606e-03 5.80467327e+00] [ 4.49829593e-02 -1.11420996e-03 9.98987133e-01 2.99396923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11710568099998 meters 0.02609164749517844 Centerline is valid? [True, True] Translation: X:84.50, Y:5.81, Z:3.00 [[ 9.67302964e-01 -2.49851026e-01 -4.35825606e-02 8.45012272e+01] [ 2.49664431e-01 9.68283220e-01 -9.76106738e-03 5.80660829e+00] [ 4.46390748e-02 -1.43910576e-03 9.99002143e-01 2.99626097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14710568099999 meters 0.03132169006196193 Centerline is valid? [True, True] Translation: X:84.53, Y:5.81, Z:3.00 [[ 9.64379918e-01 -2.60869812e-01 -4.37985594e-02 8.45327238e+01] [ 2.60692536e-01 9.65372010e-01 -9.81239353e-03 5.80527163e+00] [ 4.48416606e-02 -1.95508224e-03 9.98992194e-01 2.99793401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17710568099999 meters 0.034577322580267626 Centerline is valid? [True, True] Translation: X:84.56, Y:5.81, Z:3.00 [[ 9.63134646e-01 -2.65130612e-01 -4.55786294e-02 8.45610537e+01] [ 2.64943275e-01 9.64209908e-01 -1.02134586e-02 5.80816186e+00] [ 4.66552666e-02 -2.23881549e-03 9.98908541e-01 2.99825518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20710568099999 meters 0.03588469663502673 Centerline is valid? [True, True] Translation: X:84.59, Y:5.81, Z:3.00 [[ 9.62931900e-01 -2.65896125e-01 -4.54027070e-02 8.45884878e+01] [ 2.65710838e-01 9.63999032e-01 -1.01792528e-02 5.81461447e+00] [ 4.64747894e-02 -2.26206407e-03 9.98916902e-01 2.99949222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23710568099999 meters 0.03595255956106727 Centerline is valid? [True, True] Translation: X:84.61, Y:5.83, Z:3.00 [[ 9.63781649e-01 -2.63093314e-01 -4.36673975e-02 8.46148866e+01] [ 2.62918747e-01 9.64768237e-01 -9.79699653e-03 5.82714895e+00] [ 4.47064424e-02 -2.03881195e-03 9.98998087e-01 3.00203361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.26710568099999 meters 0.034829793405315314 Centerline is valid? [True, True] Translation: X:84.64, Y:5.84, Z:3.00 [[ 9.64586933e-01 -2.60101572e-01 -4.38089239e-02 8.46411604e+01] [ 2.59922643e-01 9.65579386e-01 -9.83203785e-03 5.83946716e+00] [ 4.48583223e-02 -1.90307607e-03 9.98991546e-01 3.00301767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.29710568099999 meters 0.030404938330046656 Centerline is valid? [True, True] Translation: X:84.67, Y:5.86, Z:3.00 [[ 9.66498607e-01 -2.52435689e-01 -4.64399074e-02 8.46660978e+01] [ 2.52225582e-01 9.67612291e-01 -1.04264202e-02 5.85997326e+00] [ 4.75678258e-02 -1.63621206e-03 9.98866670e-01 3.00106748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.32710568099999 meters 0.023461076239463852 Centerline is valid? [True, True] Translation: X:84.69, Y:5.88, Z:3.00 [[ 9.69018523e-01 -2.42720344e-01 -4.57158129e-02 8.46919364e+01] [ 2.42505837e-01 9.70095633e-01 -1.02655577e-02 5.88340736e+00] [ 4.68403702e-02 -1.13883588e-03 9.98901738e-01 3.00330502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.357105681 meters 0.021443065657528668 Centerline is valid? [True, True] Translation: X:84.72, Y:5.90, Z:3.01 [[ 9.70141560e-01 -2.38406755e-01 -4.45822118e-02 8.47186330e+01] [ 2.38198051e-01 9.71164971e-01 -1.00143248e-02 5.89818060e+00] [ 4.56841652e-02 -9.04083277e-04 9.98955524e-01 3.00561734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.387105681 meters 0.018736157470149187 Centerline is valid? [True, True] Translation: X:84.74, Y:5.92, Z:3.01 [[ 9.72079787e-01 -2.30598649e-01 -4.34183273e-02 8.47425699e+01] [ 2.30392393e-01 9.73048818e-01 -9.76439863e-03 5.92063843e+00] [ 4.44998092e-02 -5.11477797e-04 9.99009262e-01 3.00734067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.417105681 meters 0.017145472431305944 Centerline is valid? [True, True] Translation: X:84.77, Y:5.94, Z:3.01 [[ 9.73712781e-01 -2.23783003e-01 -4.24804496e-02 8.47671420e+01] [ 2.23578838e-01 9.74638975e-01 -9.55885637e-03 5.93981578e+00] [ 4.35422114e-02 -1.90148946e-04 9.99051570e-01 3.00970401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.447105681 meters 0.016884395872635304 Centerline is valid? [True, True] Translation: X:84.79, Y:5.95, Z:3.01 [[ 9.74921434e-01 -2.18681559e-01 -4.13106929e-02 8.47926346e+01] [ 2.18483395e-01 9.75796277e-01 -9.30766819e-03 5.95206283e+00] [ 4.23462357e-02 4.85447933e-05 9.99102995e-01 3.01112251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.477105681 meters 0.017036684463899346 Centerline is valid? [True, True] Translation: X:84.82, Y:5.96, Z:3.01 [[ 9.75267040e-01 -2.17152672e-01 -4.12179287e-02 8.48189602e+01] [ 2.16953779e-01 9.76137645e-01 -9.29273707e-03 5.96019336e+00] [ 4.22523146e-02 1.20514765e-04 9.99106965e-01 3.01238149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50710568099998 meters 0.017608554544622443 Centerline is valid? [True, True] Translation: X:84.85, Y:5.97, Z:3.01 [[ 9.75895641e-01 -2.14449282e-01 -4.04870847e-02 8.48451543e+01] [ 2.14254470e-01 9.76735094e-01 -9.14209151e-03 5.97294798e+00] [ 4.15056714e-02 2.47188379e-04 9.99138238e-01 3.01411109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53710568099999 meters 0.01841269094685117 Centerline is valid? [True, True] Translation: X:84.87, Y:5.99, Z:3.02 [[ 9.76862469e-01 -2.10040397e-01 -4.02833493e-02 8.48713955e+01] [ 2.09843267e-01 9.77692607e-01 -9.10875318e-03 5.98652705e+00] [ 4.12979390e-02 4.44809487e-04 9.99146777e-01 3.01651191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56710568099999 meters 0.019775948542752057 Centerline is valid? [True, True] Translation: X:84.90, Y:6.00, Z:3.02 [[ 9.77706024e-01 -2.06176656e-01 -3.97758286e-02 8.48976096e+01] [ 2.05980746e-01 9.78514594e-01 -9.00673842e-03 5.99606353e+00] [ 4.07782079e-02 6.12887573e-04 9.99168035e-01 3.01744407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59710568099999 meters 0.02334178321785491 Centerline is valid? [True, True] Translation: X:84.92, Y:6.01, Z:3.01 [[ 9.79342735e-01 -1.97366119e-01 -4.39820677e-02 8.49249474e+01] [ 1.97117428e-01 9.80329245e-01 -9.96445053e-03 6.00981688e+00] [ 4.50835522e-02 1.08898017e-03 9.98982626e-01 3.01360299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.62710568099999 meters 0.02547451208123028 Centerline is valid? [True, True] Translation: X:84.95, Y:6.02, Z:3.01 [[ 9.80114424e-01 -1.92706443e-01 -4.73280275e-02 8.49530109e+01] [ 1.92412884e-01 9.81255447e-01 -1.07252387e-02 6.01945502e+00] [ 4.85077074e-02 1.40543893e-03 9.98821819e-01 3.00982508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.65710568099999 meters 0.02547451208123028 Centerline is valid? [True, True] Translation: X:84.98, Y:6.03, Z:3.01 [[ 9.80041411e-01 -1.93077797e-01 -4.73264843e-02 8.49797397e+01] [ 1.92784342e-01 9.81182461e-01 -1.07320428e-02 6.02576445e+00] [ 4.85080355e-02 1.39404128e-03 9.98821820e-01 3.01084240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.68710568099999 meters 0.0299437428277289 Centerline is valid? [True, True] Translation: X:85.01, Y:6.04, Z:3.01 [[ 9.81561522e-01 -1.84088808e-01 -5.14615386e-02 8.50083289e+01] [ 1.83728602e-01 9.82907549e-01 -1.16854858e-02 6.03747178e+00] [ 5.27331019e-02 2.01506674e-03 9.98606609e-01 3.00509327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.71710568099999 meters 0.03474307760723066 Centerline is valid? [True, True] Translation: X:85.04, Y:6.05, Z:3.00 [[ 9.82725255e-01 -1.77030157e-01 -5.39573583e-02 8.50366644e+01] [ 1.76623477e-01 9.84202225e-01 -1.22526950e-02 6.04795425e+00] [ 5.52740486e-02 2.51089658e-03 9.98468064e-01 3.00220824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.747105681 meters 0.035739130288210415 Centerline is valid? [True, True] Translation: X:85.06, Y:6.05, Z:3.00 [[ 9.82849288e-01 -1.76243543e-01 -5.42723695e-02 8.50639255e+01] [ 1.75830696e-01 9.84343228e-01 -1.23278794e-02 6.05368163e+00] [ 5.55953485e-02 2.57369900e-03 9.98450065e-01 3.00308852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.777105681 meters 0.03355972793679572 Centerline is valid? [True, True] Translation: X:85.09, Y:6.05, Z:3.01 [[ 9.81965424e-01 -1.81133719e-01 -5.41708637e-02 8.50942458e+01] [ 1.80729424e-01 9.83455788e-01 -1.23121397e-02 6.04988399e+00] [ 5.55047931e-02 2.29982650e-03 9.98455772e-01 3.00589417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.807105681 meters 0.02770742595888819 Centerline is valid? [True, True] Translation: X:85.13, Y:6.04, Z:3.01 [[ 9.80238646e-01 -1.91025984e-01 -5.13932968e-02 8.51279085e+01] [ 1.90675562e-01 9.81583589e-01 -1.16827824e-02 6.03610078e+00] [ 5.26785317e-02 1.65246905e-03 9.98610155e-01 3.01168960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.837105681 meters 0.021018000546422288 Centerline is valid? [True, True] Translation: X:85.16, Y:6.02, Z:3.02 [[ 9.78133825e-01 -2.02776891e-01 -4.62142043e-02 8.51626442e+01] [ 2.02506614e-01 9.79224535e-01 -1.05062480e-02 6.02014339e+00] [ 4.73845070e-02 9.17834555e-04 9.98876302e-01 3.02138014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86710568099998 meters 0.018843680952568824 Centerline is valid? [True, True] Translation: X:85.19, Y:6.02, Z:3.03 [[ 9.77091348e-01 -2.08245829e-01 -4.38881926e-02 8.51927377e+01] [ 2.08007543e-01 9.78076321e-01 -9.97861787e-03 6.01776293e+00] [ 4.50040075e-02 6.20946070e-04 9.98986613e-01 3.02563383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89710568099999 meters 0.016953604727612873 Centerline is valid? [True, True] Translation: X:85.22, Y:6.01, Z:3.03 [[ 9.75163157e-01 -2.17560038e-01 -4.15264544e-02 8.52236405e+01] [ 2.17354955e-01 9.76046923e-01 -9.44605773e-03 6.00717183e+00] [ 4.25868527e-02 1.85466869e-04 9.99092751e-01 3.02877320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92710568099999 meters 0.016583434933184416 Centerline is valid? [True, True] Translation: X:85.25, Y:6.00, Z:3.03 [[ 9.74254447e-01 -2.21616945e-01 -4.14029321e-02 8.52527954e+01] [ 2.21416370e-01 9.75133801e-01 -9.42664348e-03 6.00344524e+00] [ 4.24625024e-02 1.66624055e-05 9.99098061e-01 3.03057122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95710568099999 meters 0.016754899701458 Centerline is valid? [True, True] Translation: X:85.28, Y:6.00, Z:3.03 [[ 9.73334040e-01 -2.25559190e-01 -4.17600148e-02 8.52824304e+01] [ 2.25358041e-01 9.74229456e-01 -9.52474968e-03 5.99753428e+00] [ 4.28322313e-02 -1.40192054e-04 9.99082269e-01 3.03350252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98710568099999 meters 0.016612712621809494 Centerline is valid? [True, True] Translation: X:85.31, Y:6.00, Z:3.03 [[ 9.73884264e-01 -2.22576885e-01 -4.48215309e-02 8.53109094e+01] [ 2.22341141e-01 9.74915140e-01 -1.02414433e-02 6.00452728e+00] [ 4.59766976e-02 8.31013176e-06 9.98942512e-01 3.03205812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.01710568099999 meters 0.01688875201461896 Centerline is valid? [True, True] Translation: X:85.34, Y:6.01, Z:3.03 [[ 9.74702452e-01 -2.18788833e-01 -4.56790606e-02 8.53371746e+01] [ 2.18539158e-01 9.75772209e-01 -1.04514114e-02 6.01268530e+00] [ 4.68590100e-02 2.04352890e-04 9.98901492e-01 3.03190655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.04710568099999 meters 0.01882426772942892 Centerline is valid? [True, True] Translation: X:85.36, Y:6.02, Z:3.03 [[ 9.76573442e-01 -2.10069685e-01 -4.66373242e-02 8.53643942e+01] [ 2.09799182e-01 9.77686205e-01 -1.06765007e-02 6.02131880e+00] [ 4.78394777e-02 6.41914604e-04 9.98854830e-01 3.03238403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.07710568099999 meters 0.021885736619877517 Centerline is valid? [True, True] Translation: X:85.39, Y:6.03, Z:3.03 [[ 9.78202855e-01 -2.01996543e-01 -4.81307682e-02 8.53927601e+01] [ 2.01698357e-01 9.79385644e-01 -1.10242401e-02 6.02858162e+00] [ 4.93654418e-02 1.07604629e-03 9.98780204e-01 3.03227478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.107105681 meters 0.02363377600269429 Centerline is valid? [True, True] Translation: X:85.42, Y:6.04, Z:3.03 [[ 9.79096696e-01 -1.97810910e-01 -4.73339524e-02 8.54207014e+01] [ 1.97517264e-01 9.80239370e-01 -1.08493186e-02 6.03605278e+00] [ 4.85447172e-02 1.27325917e-03 9.98820199e-01 3.03458471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.137105681 meters 0.029318059353865885 Centerline is valid? [True, True] Translation: X:85.45, Y:6.05, Z:3.03 [[ 9.80617883e-01 -1.89987117e-01 -4.78901068e-02 8.54479258e+01] [ 1.89676549e-01 9.81785123e-01 -1.09899362e-02 6.04817036e+00] [ 4.91057407e-02 1.69329781e-03 9.98792150e-01 3.03335688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.167105681 meters 0.03014375948842487 Centerline is valid? [True, True] Translation: X:85.48, Y:6.05, Z:3.03 [[ 9.81655543e-01 -1.84220764e-01 -4.91437126e-02 8.54777898e+01] [ 1.83886385e-01 9.82882783e-01 -1.12797350e-02 6.05152966e+00] [ 5.03804704e-02 2.03595479e-03 9.98728023e-01 3.03288868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.197105681 meters 0.031873137615936964 Centerline is valid? [True, True] Translation: X:85.51, Y:6.06, Z:3.03 [[ 9.81894083e-01 -1.82816837e-01 -4.96186861e-02 8.55050176e+01] [ 1.82473999e-01 9.83144679e-01 -1.13921066e-02 6.05780217e+00] [ 5.08650161e-02 2.13172201e-03 9.98703262e-01 3.03289332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.227105681 meters 0.02966463016441654 Centerline is valid? [True, True] Translation: X:85.54, Y:6.05, Z:3.03 [[ 9.81415056e-01 -1.85064185e-01 -5.07516956e-02 8.55360156e+01] [ 1.84707879e-01 9.82724249e-01 -1.16640207e-02 6.05337842e+00] [ 5.20335144e-02 2.07300749e-03 9.98643188e-01 3.03278980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25710568099998 meters 0.027336760121400617 Centerline is valid? [True, True] Translation: X:85.57, Y:6.05, Z:3.03 [[ 9.80630967e-01 -1.88608965e-01 -5.28163317e-02 8.55676382e+01] [ 1.88227176e-01 9.82050273e-01 -1.21569979e-02 6.04676508e+00] [ 5.41612117e-02 1.98005967e-03 9.98530241e-01 3.03206073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28710568099999 meters 0.02692749975546701 Centerline is valid? [True, True] Translation: X:85.60, Y:6.05, Z:3.03 [[ 9.80378824e-01 -1.90078317e-01 -5.22263742e-02 8.55971376e+01] [ 1.89706167e-01 9.81767103e-01 -1.20385523e-02 6.04844081e+00] [ 5.35624038e-02 1.89467649e-03 9.98562707e-01 3.03382268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31710568099999 meters 0.026058727736838722 Centerline is valid? [True, True] Translation: X:85.63, Y:6.05, Z:3.04 [[ 9.80017837e-01 -1.92639391e-01 -4.95490061e-02 8.56264169e+01] [ 1.92307018e-01 9.81268184e-01 -1.14350903e-02 6.04502675e+00] [ 5.08237121e-02 1.67797089e-03 9.98706230e-01 3.03831717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34710568099999 meters 0.024946413609399795 Centerline is valid? [True, True] Translation: X:85.66, Y:6.04, Z:3.04 [[ 9.79608942e-01 -1.94885502e-01 -4.88463099e-02 8.56572317e+01] [ 1.94564839e-01 9.80824778e-01 -1.12817733e-02 6.04087537e+00] [ 5.01083251e-02 1.54795162e-03 9.98742589e-01 3.04050728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37710568099999 meters 0.02411736849518012 Centerline is valid? [True, True] Translation: X:85.69, Y:6.04, Z:3.04 [[ 9.78983904e-01 -1.97656152e-01 -5.02251144e-02 8.56864813e+01] [ 1.97319998e-01 9.80270326e-01 -1.16148829e-02 6.03754925e+00] [ 5.15299423e-02 1.46036388e-03 9.98670382e-01 3.03887448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.40710568099999 meters 0.022971423368096086 Centerline is valid? [True, True] Translation: X:85.72, Y:6.04, Z:3.04 [[ 9.78354784e-01 -2.00346900e-01 -5.17980399e-02 8.57156768e+01] [ 1.99992575e-01 9.79724065e-01 -1.19886206e-02 6.03876458e+00] [ 5.31496692e-02 1.36990097e-03 9.98585618e-01 3.03754678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.43710568099999 meters 0.020567921574698184 Centerline is valid? [True, True] Translation: X:85.75, Y:6.03, Z:3.04 [[ 9.77097228e-01 -2.06263091e-01 -5.23119948e-02 8.57462543e+01] [ 2.05909390e-01 9.78495982e-01 -1.21217278e-02 6.03357573e+00] [ 5.36873417e-02 1.07257570e-03 9.98557219e-01 3.03707895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.46710568099999 meters 0.018779657777906515 Centerline is valid? [True, True] Translation: X:85.78, Y:6.03, Z:3.04 [[ 9.75749906e-01 -2.13395806e-01 -4.87273080e-02 8.57777804e+01] [ 2.13097626e-01 9.76965620e-01 -1.12950675e-02 6.02613024e+00] [ 5.00152248e-02 6.37487393e-04 9.98748252e-01 3.04275609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.497105681 meters 0.01767666047162209 Centerline is valid? [True, True] Translation: X:85.81, Y:6.03, Z:3.05 [[ 9.74987535e-01 -2.17105196e-01 -4.75882375e-02 8.58076836e+01] [ 2.16824951e-01 9.76148113e-01 -1.10364022e-02 6.02616767e+00] [ 4.88492285e-02 4.42037316e-04 9.98806066e-01 3.04758744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.527105681 meters 0.01724118788300969 Centerline is valid? [True, True] Translation: X:85.84, Y:6.03, Z:3.05 [[ 9.74026745e-01 -2.21055406e-01 -4.90551459e-02 8.58368892e+01] [ 2.20761752e-01 9.75261214e-01 -1.13935571e-02 6.02623850e+00] [ 5.03601886e-02 2.68129408e-04 9.98731085e-01 3.04887567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.557105681 meters 0.017426425746514217 Centerline is valid? [True, True] Translation: X:85.86, Y:6.03, Z:3.05 [[ 9.74012601e-01 -2.20942566e-01 -4.98381010e-02 8.58641670e+01] [ 2.20638442e-01 9.75286776e-01 -1.15923275e-02 6.02991684e+00] [ 5.11676794e-02 2.94872049e-04 9.98690033e-01 3.04829062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.587105681 meters 0.01740637799820387 Centerline is valid? [True, True] Translation: X:85.89, Y:6.03, Z:3.05 [[ 9.74213055e-01 -2.20200144e-01 -4.92018363e-02 8.58913714e+01] [ 2.19902252e-01 9.75454653e-01 -1.14550670e-02 6.03415122e+00] [ 5.05165676e-02 3.40081168e-04 9.98723165e-01 3.05208338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61710568099998 meters 0.01747039828167251 Centerline is valid? [True, True] Translation: X:85.92, Y:6.04, Z:3.06 [[ 9.74692267e-01 -2.18749822e-01 -4.60814477e-02 8.59185737e+01] [ 2.18486203e-01 9.75780894e-01 -1.07436633e-02 6.03865856e+00] [ 4.73155707e-02 4.03604945e-04 9.98879910e-01 3.05675268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64710568099999 meters 0.017406846846054282 Centerline is valid? [True, True] Translation: X:85.95, Y:6.04, Z:3.06 [[ 9.74644703e-01 -2.19333092e-01 -4.42797740e-02 8.59470388e+01] [ 2.19089965e-01 9.75649968e-01 -1.03309023e-02 6.04217700e+00] [ 4.54674689e-02 3.67705095e-04 9.98965752e-01 3.06081065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67710568099999 meters 0.017235807698657093 Centerline is valid? [True, True] Translation: X:85.98, Y:6.05, Z:3.06 [[ 9.74422405e-01 -2.20271408e-01 -4.45138561e-02 8.59750240e+01] [ 2.20025939e-01 9.75438563e-01 -1.04017223e-02 6.04763235e+00] [ 4.57117339e-02 3.41468214e-04 9.98954614e-01 3.06145115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70710568099999 meters 0.0167541493575247 Centerline is valid? [True, True] Translation: X:86.00, Y:6.05, Z:3.06 [[ 9.73880873e-01 -2.22490201e-01 -4.53227902e-02 8.60033013e+01] [ 2.22237268e-01 9.74934892e-01 -1.06091160e-02 6.05041242e+00] [ 4.65471939e-02 2.59602084e-04 9.98916058e-01 3.06126223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73710568099999 meters 0.0168482995755504 Centerline is valid? [True, True] Translation: X:86.03, Y:6.05, Z:3.06 [[ 9.73749209e-01 -2.23148787e-01 -4.49121009e-02 8.60315977e+01] [ 2.22900412e-01 9.74784366e-01 -1.05283037e-02 6.05291390e+00] [ 4.61289920e-02 2.41001578e-04 9.98935462e-01 3.06330076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.76710568099999 meters 0.017542665960871624 Centerline is valid? [True, True] Translation: X:86.06, Y:6.06, Z:3.07 [[ 9.74657175e-01 -2.19008891e-01 -4.55905363e-02 8.60581913e+01] [ 2.18748156e-01 9.75722760e-01 -1.06930001e-02 6.06353251e+00] [ 4.68255860e-02 4.49163464e-04 9.98902980e-01 3.06516760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.79710568099999 meters 0.018494678216047108 Centerline is valid? [True, True] Translation: X:86.08, Y:6.08, Z:3.07 [[ 9.75449797e-01 -2.15215094e-01 -4.66921591e-02 8.60844076e+01] [ 2.14936945e-01 9.76566453e-01 -1.09577646e-02 6.07559431e+00] [ 4.79562725e-02 6.52879192e-04 9.98849223e-01 3.06598051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.82710568099999 meters 0.021599255625890858 Centerline is valid? [True, True] Translation: X:86.11, Y:6.09, Z:3.07 [[ 9.77572288e-01 -2.05203694e-01 -4.73694649e-02 8.61105770e+01] [ 2.04905274e-01 9.78718590e-01 -1.11243108e-02 6.09290780e+00] [ 4.86441255e-02 1.16856471e-03 9.98815490e-01 3.06634410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.857105681 meters 0.023892783741730796 Centerline is valid? [True, True] Translation: X:86.14, Y:6.10, Z:3.07 [[ 9.78797689e-01 -1.99355342e-01 -4.70375570e-02 8.61382696e+01] [ 1.99054183e-01 9.79926190e-01 -1.10496047e-02 6.10375288e+00] [ 4.82961318e-02 1.45230504e-03 9.98832005e-01 3.06862821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.887105681 meters 0.03180658799733456 Centerline is valid? [True, True] Translation: X:86.16, Y:6.12, Z:3.07 [[ 9.81230768e-01 -1.86587324e-01 -4.86965028e-02 8.61642568e+01] [ 1.86248691e-01 9.82436012e-01 -1.14414944e-02 6.12312810e+00] [ 4.99760358e-02 2.15708646e-03 9.98748088e-01 3.06805349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.917105681 meters 0.03281775753030998 Centerline is valid? [True, True] Translation: X:86.19, Y:6.13, Z:3.07 [[ 9.81486746e-01 -1.84718503e-01 -5.06245136e-02 8.61926442e+01] [ 1.84349916e-01 9.82788676e-01 -1.18964984e-02 6.13068062e+00] [ 5.19507021e-02 2.34363072e-03 9.98646901e-01 3.06721823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.947105681 meters 0.03409864665879874 Centerline is valid? [True, True] Translation: X:86.22, Y:6.14, Z:3.07 [[ 9.81970259e-01 -1.82066068e-01 -5.08562492e-02 8.62218410e+01] [ 1.81690376e-01 9.83283125e-01 -1.19542210e-02 6.13645551e+00] [ 5.21825496e-02 2.49859847e-03 9.98634437e-01 3.06685805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97710568099998 meters 0.034910124729998944 Centerline is valid? [True, True] Translation: X:86.25, Y:6.14, Z:3.07 [[ 9.82153212e-01 -1.81204382e-01 -5.03988150e-02 8.62499840e+01] [ 1.80833957e-01 9.83442211e-01 -1.18531815e-02 6.14283839e+00] [ 5.17121705e-02 2.52782309e-03 9.98658831e-01 3.06782429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00710568099998 meters 0.03617770092348578 Centerline is valid? [True, True] Translation: X:86.28, Y:6.15, Z:3.07 [[ 9.82214316e-01 -1.80649745e-01 -5.11928374e-02 8.62776997e+01] [ 1.80266013e-01 9.83544024e-01 -1.20547802e-02 6.14571650e+00] [ 5.25281022e-02 2.61204902e-03 9.98616030e-01 3.06620970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03710568099999 meters 0.03465446226988627 Centerline is valid? [True, True] Translation: X:86.31, Y:6.14, Z:3.07 [[ 9.81716688e-01 -1.83224205e-01 -5.15871656e-02 8.63081278e+01] [ 1.82837659e-01 9.83067971e-01 -1.21554752e-02 6.14108632e+00] [ 5.29408675e-02 2.50115631e-03 9.98594517e-01 3.06781305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06710568099999 meters 0.03122583869361784 Centerline is valid? [True, True] Translation: X:86.34, Y:6.14, Z:3.07 [[ 9.81525681e-01 -1.84663863e-01 -5.00659058e-02 8.63383194e+01] [ 1.84301245e-01 9.82798905e-01 -1.18051893e-02 6.13871507e+00] [ 5.13847092e-02 2.35988773e-03 9.98676145e-01 3.07222796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09710568099999 meters 0.03336609543742607 Centerline is valid? [True, True] Translation: X:86.37, Y:6.14, Z:3.07 [[ 9.81116617e-01 -1.87225414e-01 -4.85471737e-02 8.63660081e+01] [ 1.86886922e-01 9.82314577e-01 -1.14607773e-02 6.14133090e+00] [ 4.98343452e-02 2.17152719e-03 9.98755136e-01 3.07465218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.12710568099999 meters 0.03176206854066095 Centerline is valid? [True, True] Translation: X:86.40, Y:6.14, Z:3.08 [[ 9.80624487e-01 -1.89972209e-01 -4.78139540e-02 8.63959173e+01] [ 1.89646863e-01 9.81787418e-01 -1.12930920e-02 6.14030930e+00] [ 4.90885121e-02 2.00651614e-03 9.98792417e-01 3.07539717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.15710568099999 meters 0.027343266920901887 Centerline is valid? [True, True] Translation: X:86.43, Y:6.14, Z:3.08 [[ 9.80142588e-01 -1.92550779e-01 -4.73783089e-02 8.64259319e+01] [ 1.92234129e-01 9.81285239e-01 -1.11945866e-02 6.13745556e+00] [ 4.86471616e-02 1.86456314e-03 9.98814286e-01 3.07835922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.18710568099999 meters 0.024549531218907062 Centerline is valid? [True, True] Translation: X:86.46, Y:6.13, Z:3.08 [[ 9.78908063e-01 -1.99060932e-01 -4.59755345e-02 8.64577516e+01] [ 1.98769749e-01 9.79985968e-01 -1.08668717e-02 6.13433565e+00] [ 4.72185483e-02 1.49912285e-03 9.98883457e-01 3.08120088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.21710568099999 meters 0.023037344079443915 Centerline is valid? [True, True] Translation: X:86.49, Y:6.14, Z:3.08 [[ 9.78019460e-01 -2.03457424e-01 -4.56400278e-02 8.64874207e+01] [ 2.03175168e-01 9.79082959e-01 -1.07894038e-02 6.13516003e+00] [ 4.68805577e-02 1.27932656e-03 9.98899683e-01 3.08309967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.247105681 meters 0.020518699834676857 Centerline is valid? [True, True] Translation: X:86.52, Y:6.13, Z:3.08 [[ 9.76489222e-01 -2.10681104e-01 -4.56319159e-02 8.65182881e+01] [ 2.10406626e-01 9.77554395e-01 -1.07915085e-02 6.13130536e+00] [ 4.68812469e-02 9.36534266e-04 9.98900031e-01 3.08430350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.277105681 meters 0.019875060864370055 Centerline is valid? [True, True] Translation: X:86.55, Y:6.13, Z:3.09 [[ 9.75957780e-01 -2.13249249e-01 -4.50684965e-02 8.65474015e+01] [ 2.12984022e-01 9.76997495e-01 -1.06630763e-02 6.13355789e+00] [ 4.63057012e-02 8.07842656e-04 9.98926989e-01 3.08594749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.307105681 meters 0.02005618901947454 Centerline is valid? [True, True] Translation: X:86.57, Y:6.14, Z:3.09 [[ 9.76112179e-01 -2.12945020e-01 -4.31211497e-02 8.65749930e+01] [ 2.12701292e-01 9.77063855e-01 -1.02167963e-02 6.13937036e+00] [ 4.43077327e-02 8.00814995e-04 9.99017609e-01 3.08926771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.337105681 meters 0.021642241718581753 Centerline is valid? [True, True] Translation: X:86.60, Y:6.15, Z:3.09 [[ 9.77161095e-01 -2.08614902e-01 -4.04477036e-02 8.66029195e+01] [ 2.08396152e-01 9.77997403e-01 -9.59808868e-03 6.14771439e+00] [ 4.15600534e-02 9.49733049e-04 9.99135556e-01 3.09345766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36710568099998 meters 0.02432278693444718 Centerline is valid? [True, True] Translation: X:86.63, Y:6.16, Z:3.09 [[ 9.78043229e-01 -2.04294613e-01 -4.11722374e-02 8.66297914e+01] [ 2.04063578e-01 9.78908755e-01 -9.78290527e-03 6.15873649e+00] [ 4.23024585e-02 1.16635017e-03 9.99104170e-01 3.09218475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39710568099999 meters 0.025050811571489678 Centerline is valid? [True, True] Translation: X:86.66, Y:6.16, Z:3.09 [[ 9.78398151e-01 -2.02034768e-01 -4.38065130e-02 8.66581353e+01] [ 2.01770776e-01 9.79377421e-01 -1.04125064e-02 6.16254426e+00] [ 4.50067981e-02 1.34870290e-03 9.98985770e-01 3.09009874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42710568099999 meters 0.024878736029686623 Centerline is valid? [True, True] Translation: X:86.69, Y:6.17, Z:3.09 [[ 9.78102214e-01 -2.02939974e-01 -4.61673741e-02 8.66863087e+01] [ 2.02647355e-01 9.79190199e-01 -1.09819288e-02 6.16616004e+00] [ 4.74353125e-02 1.38575261e-03 9.98873351e-01 3.08812318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45710568099999 meters 0.024614425712845212 Centerline is valid? [True, True] Translation: X:86.71, Y:6.17, Z:3.09 [[ 9.77757205e-01 -2.04291584e-01 -4.74952311e-02 8.67132381e+01] [ 2.03982728e-01 9.78909119e-01 -1.13129777e-02 6.17166900e+00] [ 4.88046610e-02 1.37313862e-03 9.98807399e-01 3.08640194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48710568099999 meters 0.02601445489447509 Centerline is valid? [True, True] Translation: X:86.74, Y:6.18, Z:3.08 [[ 9.77836044e-01 -2.03438550e-01 -4.94916866e-02 8.67401442e+01] [ 2.03101771e-01 9.79086596e-01 -1.17943938e-02 6.17900178e+00] [ 5.08560814e-02 1.48113415e-03 9.98704894e-01 3.08391783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.51710568099999 meters 0.027885157392235838 Centerline is valid? [True, True] Translation: X:86.77, Y:6.19, Z:3.08 [[ 9.78588306e-01 -1.99139555e-01 -5.20419618e-02 8.67692398e+01] [ 1.98760798e-01 9.79969492e-01 -1.24072166e-02 6.18549434e+00] [ 5.34703025e-02 1.79765521e-03 9.98567822e-01 3.08418039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.54710568099999 meters 0.026949303876744032 Centerline is valid? [True, True] Translation: X:86.80, Y:6.19, Z:3.09 [[ 9.79293543e-01 -1.96203832e-01 -4.98819964e-02 8.67980797e+01] [ 1.95851759e-01 9.80561325e-01 -1.18986145e-02 6.18947989e+00] [ 5.12469102e-02 1.88275962e-03 9.98684239e-01 3.08857847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.57710568099999 meters 0.026949303876744032 Centerline is valid? [True, True] Translation: X:86.82, Y:6.20, Z:3.09 [[ 9.79220815e-01 -1.96567504e-01 -4.98779647e-02 8.68248452e+01] [ 1.96215043e-01 9.80488490e-01 -1.19154944e-02 6.19608398e+00] [ 5.12469693e-02 1.88109320e-03 9.98684239e-01 3.08959694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.607105681 meters 0.030860919962957926 Centerline is valid? [True, True] Translation: X:86.85, Y:6.21, Z:3.09 [[ 9.79478574e-01 -1.95572471e-01 -4.87148053e-02 8.68500795e+01] [ 1.95234216e-01 9.80687403e-01 -1.16541149e-02 6.20844865e+00] [ 5.00532199e-02 1.90415901e-03 9.98744737e-01 3.08903365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.637105681 meters 0.030707881273133446 Centerline is valid? [True, True] Translation: X:86.88, Y:6.21, Z:3.09 [[ 9.79536554e-01 -1.95413371e-01 -4.81845717e-02 8.68786353e+01] [ 1.95081687e-01 9.80719121e-01 -1.15386786e-02 6.21451385e+00] [ 4.95103429e-02 1.90263000e-03 9.98771799e-01 3.08849716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.667105681 meters 0.027375261994946096 Centerline is valid? [True, True] Translation: X:86.91, Y:6.22, Z:3.09 [[ 9.79290307e-01 -1.96528331e-01 -4.86529470e-02 8.69082213e+01] [ 1.96190744e-01 9.80496345e-01 -1.16666332e-02 6.21543093e+00] [ 4.99968607e-02 1.87976294e-03 9.98747606e-01 3.08974069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.697105681 meters 0.02557009346649185 Centerline is valid? [True, True] Translation: X:86.94, Y:6.21, Z:3.09 [[ 9.78262325e-01 -2.01215323e-01 -5.01519456e-02 8.69388170e+01] [ 2.00861851e-01 9.79545546e-01 -1.20432393e-02 6.21454377e+00] [ 5.15493993e-02 1.70783465e-03 9.98668986e-01 3.08908888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72710568099998 meters 0.024673230701958582 Centerline is valid? [True, True] Translation: X:86.97, Y:6.22, Z:3.09 [[ 9.76634814e-01 -2.08830825e-01 -5.07358580e-02 8.69686067e+01] [ 2.08478674e-01 9.77950872e-01 -1.21956318e-02 6.21512865e+00] [ 5.21640005e-02 1.33333419e-03 9.98637642e-01 3.08647220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75710568099998 meters 0.02149214527209424 Centerline is valid? [True, True] Translation: X:87.00, Y:6.21, Z:3.09 [[ 9.75824967e-01 -2.12908517e-01 -4.93517771e-02 8.69985825e+01] [ 2.12580387e-01 9.77071533e-01 -1.18658646e-02 6.21424343e+00] [ 5.07465601e-02 1.08778703e-03 9.98710971e-01 3.09037213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78710568099999 meters 0.018984465972035465 Centerline is valid? [True, True] Translation: X:87.03, Y:6.21, Z:3.10 [[ 9.74651412e-01 -2.18944005e-01 -4.60233459e-02 8.70290796e+01] [ 2.18665212e-01 9.75737156e-01 -1.10692286e-02 6.21294914e+00] [ 4.73302298e-02 7.24934608e-04 9.98879034e-01 3.09531267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81710568099999 meters 0.018350344509384286 Centerline is valid? [True, True] Translation: X:87.06, Y:6.22, Z:3.10 [[ 9.73964559e-01 -2.21765856e-01 -4.70419243e-02 8.70575902e+01] [ 2.21477596e-01 9.75099758e-01 -1.13197738e-02 6.21612379e+00] [ 4.83809083e-02 6.06326182e-04 9.98828774e-01 3.09560524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84710568099999 meters 0.018146580246165854 Centerline is valid? [True, True] Translation: X:87.09, Y:6.22, Z:3.10 [[ 9.73779153e-01 -2.22445684e-01 -4.76663263e-02 8.70854503e+01] [ 2.22149696e-01 9.74944902e-01 -1.14870060e-02 6.21939857e+00] [ 4.90272767e-02 5.96747115e-04 9.98797262e-01 3.09611549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87710568099999 meters 0.018395385770247883 Centerline is valid? [True, True] Translation: X:87.11, Y:6.23, Z:3.10 [[ 9.73852645e-01 -2.22083301e-01 -4.78542994e-02 8.71124205e+01] [ 2.21783737e-01 9.75027490e-01 -1.15484885e-02 6.22583237e+00] [ 4.92239838e-02 6.33220728e-04 9.98787564e-01 3.09705515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.90710568099999 meters 0.01817188562410658 Centerline is valid? [True, True] Translation: X:87.14, Y:6.23, Z:3.10 [[ 9.73625856e-01 -2.22772187e-01 -4.92467751e-02 8.71405390e+01] [ 2.22455237e-01 9.74870330e-01 -1.18957007e-02 6.23151147e+00] [ 5.06592511e-02 6.26758699e-04 9.98715799e-01 3.09553217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.93710568099999 meters 0.018383714316414966 Centerline is valid? [True, True] Translation: X:87.17, Y:6.24, Z:3.10 [[ 9.73789645e-01 -2.22084765e-01 -4.91129735e-02 8.71687851e+01] [ 2.21767821e-01 9.75027127e-01 -1.18800055e-02 6.23851096e+00] [ 5.05248497e-02 6.76949215e-04 9.98722575e-01 3.09921122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.96710568099999 meters 0.018913413082869656 Centerline is valid? [True, True] Translation: X:87.19, Y:6.25, Z:3.10 [[ 9.74020139e-01 -2.21303057e-01 -4.80596043e-02 8.71948124e+01] [ 2.20997918e-01 9.75204822e-01 -1.16394064e-02 6.24701384e+00] [ 4.94437941e-02 7.15943770e-04 9.98776651e-01 3.10006774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.997105681 meters 0.019629971154010384 Centerline is valid? [True, True] Translation: X:87.22, Y:6.25, Z:3.10 [[ 9.74553652e-01 -2.19263170e-01 -4.65708310e-02 8.72222319e+01] [ 2.18973874e-01 9.75665423e-01 -1.12883070e-02 6.25486930e+00] [ 4.79126595e-02 8.03265559e-04 9.98851206e-01 3.10436239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.027105681 meters 0.020965635029657096 Centerline is valid? [True, True] Translation: X:87.25, Y:6.26, Z:3.11 [[ 9.75360832e-01 -2.15635822e-01 -4.66094436e-02 8.72495412e+01] [ 2.15341163e-01 9.76473347e-01 -1.13131111e-02 6.26482003e+00] [ 4.79523914e-02 9.97433698e-04 9.98849124e-01 3.10582404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.057105681 meters 0.022042663122464216 Centerline is valid? [True, True] Translation: X:87.28, Y:6.28, Z:3.11 [[ 9.76338027e-01 -2.11386752e-01 -4.56037081e-02 8.72760143e+01] [ 2.11099440e-01 9.77401769e-01 -1.10818754e-02 6.27613415e+00] [ 4.69157066e-02 1.19273914e-03 9.98898140e-01 3.10688842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.087105681 meters 0.022450427049414346 Centerline is valid? [True, True] Translation: X:87.30, Y:6.28, Z:3.11 [[ 9.76487457e-01 -2.10830745e-01 -4.49738048e-02 8.73036717e+01] [ 2.10550389e-01 9.77521833e-01 -1.09361998e-02 6.28363266e+00] [ 4.62685632e-02 1.20980983e-03 9.98928304e-01 3.10881440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11710568099998 meters 0.021548934987297756 Centerline is valid? [True, True] Translation: X:87.33, Y:6.29, Z:3.11 [[ 9.75904794e-01 -2.13956594e-01 -4.28066370e-02 8.73322077e+01] [ 2.13705008e-01 9.76842632e-01 -1.04231550e-02 6.28753923e+00] [ 4.40454507e-02 1.02401421e-03 9.99029003e-01 3.11461315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14710568099999 meters 0.02001001965532538 Centerline is valid? [True, True] Translation: X:87.36, Y:6.29, Z:3.12 [[ 9.75163416e-01 -2.17439407e-01 -4.21475434e-02 8.73611036e+01] [ 2.17198150e-01 9.76073436e-01 -1.02767368e-02 6.29066158e+00] [ 4.33736650e-02 8.67129346e-04 9.99058543e-01 3.11684336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17710568099999 meters 0.017366600636499415 Centerline is valid? [True, True] Translation: X:87.39, Y:6.29, Z:3.12 [[ 9.72981993e-01 -2.27478172e-01 -3.94933141e-02 8.73921444e+01] [ 2.27274125e-01 9.73783096e-01 -9.64130391e-03 6.29023675e+00] [ 4.06511078e-02 4.05006692e-04 9.99173320e-01 3.11972919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20710568099999 meters 0.016757829234379264 Centerline is valid? [True, True] Translation: X:87.42, Y:6.29, Z:3.12 [[ 9.70005764e-01 -2.40419939e-01 -3.58757644e-02 8.74217610e+01] [ 2.40260365e-01 9.70668964e-01 -8.75895966e-03 6.28732862e+00] [ 3.69293196e-02 -1.23282897e-04 9.99317872e-01 3.12421212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23710568099999 meters 0.018010898063204238 Centerline is valid? [True, True] Translation: X:87.45, Y:6.29, Z:3.13 [[ 9.68155593e-01 -2.47994922e-01 -3.42529739e-02 8.74501624e+01] [ 2.47854055e-01 9.68761254e-01 -8.36663342e-03 6.28981504e+00] [ 3.52578365e-02 -3.89535516e-04 9.99378173e-01 3.12840688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.26710568099999 meters 0.01799995917510287 Centerline is valid? [True, True] Translation: X:87.48, Y:6.30, Z:3.13 [[ 9.67944024e-01 -2.48718240e-01 -3.49800513e-02 8.74765686e+01] [ 2.48571575e-01 9.68575791e-01 -8.55044676e-03 6.29874454e+00] [ 3.60074829e-02 -4.18692598e-04 9.99351433e-01 3.12839678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.29710568099999 meters 0.01723563993191614 Centerline is valid? [True, True] Translation: X:87.50, Y:6.31, Z:3.12 [[ 9.68616423e-01 -2.45610836e-01 -3.81777831e-02 8.75025576e+01] [ 2.45433061e-01 9.69368464e-01 -9.34850843e-03 6.31316715e+00] [ 3.93044339e-02 -3.14971374e-04 9.99227233e-01 3.12478282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.32710568099999 meters 0.016793880025262303 Centerline is valid? [True, True] Translation: X:87.53, Y:6.32, Z:3.13 [[ 9.69313141e-01 -2.42685242e-01 -3.91906627e-02 8.75290573e+01] [ 2.42494948e-01 9.70105066e-01 -9.61050674e-03 6.32463684e+00] [ 4.03513886e-02 -1.87947261e-04 9.99185533e-01 3.12508082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.357105681 meters 0.01678584400877143 Centerline is valid? [True, True] Translation: X:87.55, Y:6.34, Z:3.13 [[ 9.71230134e-01 -2.34829177e-01 -3.95889316e-02 8.75532103e+01] [ 2.34627886e-01 9.72036642e-01 -9.72219906e-03 6.34336199e+00] [ 4.07649481e-02 1.53825368e-04 9.99168752e-01 3.12668460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.387105681 meters 0.017555903484930108 Centerline is valid? [True, True] Translation: X:87.58, Y:6.36, Z:3.13 [[ 9.72768987e-01 -2.28506930e-01 -3.87953742e-02 8.75787000e+01] [ 2.28307991e-01 9.73542193e-01 -9.54249338e-03 6.36152628e+00] [ 3.99494596e-02 4.25347667e-04 9.99201611e-01 3.12550178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.417105681 meters 0.018144006655156187 Centerline is valid? [True, True] Translation: X:87.61, Y:6.37, Z:3.12 [[ 9.73247975e-01 -2.26190386e-01 -4.03272693e-02 8.76053700e+01] [ 2.25972820e-01 9.74082954e-01 -9.93396362e-03 6.37277528e+00] [ 4.15290726e-02 5.55343201e-04 9.99137142e-01 3.12358576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.447105681 meters 0.019813064385565512 Centerline is valid? [True, True] Translation: X:87.63, Y:6.39, Z:3.12 [[ 9.74283438e-01 -2.20681022e-01 -4.55155967e-02 8.76308583e+01] [ 2.20397106e-01 9.75345612e-01 -1.12272838e-02 6.38783082e+00] [ 4.68710860e-02 9.07050904e-04 9.98900535e-01 3.11911672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47710568099998 meters 0.02255369034892844 Centerline is valid? [True, True] Translation: X:87.66, Y:6.40, Z:3.12 [[ 9.75533735e-01 -2.14537144e-01 -4.80389974e-02 8.76568022e+01] [ 2.14213169e-01 9.76715000e-01 -1.18543973e-02 6.40286701e+00] [ 4.94636179e-02 1.27377862e-03 9.98775114e-01 3.11692033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50710568099998 meters 0.023702654863540527 Centerline is valid? [True, True] Translation: X:87.68, Y:6.41, Z:3.12 [[ 9.76210179e-01 -2.11348614e-01 -4.84298419e-02 8.76840578e+01] [ 2.11015074e-01 9.77409663e-01 -1.19577974e-02 6.41298538e+00] [ 4.98630593e-02 1.45389682e-03 9.98755006e-01 3.11819717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53710568099999 meters 0.02783764238075778 Centerline is valid? [True, True] Translation: X:87.71, Y:6.43, Z:3.12 [[ 9.77842098e-01 -2.03485587e-01 -4.91777101e-02 8.77104229e+01] [ 2.03131048e-01 9.79076104e-01 -1.21556276e-02 6.42890234e+00] [ 5.06222158e-02 1.89676458e-03 9.98716073e-01 3.11849187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56710568099999 meters 0.030649694668597936 Centerline is valid? [True, True] Translation: X:87.74, Y:6.44, Z:3.12 [[ 9.79336808e-01 -1.96381636e-01 -4.83080717e-02 8.77384419e+01] [ 1.96030800e-01 9.80525011e-01 -1.19426785e-02 6.44221198e+00] [ 4.97125953e-02 2.22603474e-03 9.98761084e-01 3.11998920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59710568099999 meters 0.03285713859924569 Centerline is valid? [True, True] Translation: X:87.77, Y:6.45, Z:3.12 [[ 9.80450505e-01 -1.90890487e-01 -4.77245182e-02 8.77670729e+01] [ 1.90541533e-01 9.81608218e-01 -1.17995665e-02 6.45245404e+00] [ 4.90992042e-02 2.47538803e-03 9.98790839e-01 3.12114241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.62710568099999 meters 0.033276161506236315 Centerline is valid? [True, True] Translation: X:87.80, Y:6.46, Z:3.12 [[ 9.80776175e-01 -1.89272183e-01 -4.74777407e-02 8.77956022e+01] [ 1.88924701e-01 9.81921356e-01 -1.17434621e-02 6.45892311e+00] [ 4.88421182e-02 2.54798991e-03 9.98803262e-01 3.12211172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.65710568099999 meters 0.036592705706082994 Centerline is valid? [True, True] Translation: X:87.82, Y:6.47, Z:3.12 [[ 9.81259087e-01 -1.86697830e-01 -4.76919678e-02 8.78229823e+01] [ 1.86343510e-01 9.82413672e-01 -1.18099136e-02 6.46717696e+00] [ 4.90581264e-02 2.70149639e-03 9.98792272e-01 3.12352366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.68710568099999 meters 0.03660643169711811 Centerline is valid? [True, True] Translation: X:87.85, Y:6.47, Z:3.12 [[ 9.81246828e-01 -1.86611499e-01 -4.82784650e-02 8.78516837e+01] [ 1.86247959e-01 9.82429951e-01 -1.19619841e-02 6.47217650e+00] [ 4.96624538e-02 2.74589340e-03 9.98762284e-01 3.12457003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.71710568099999 meters 0.035545864516826085 Centerline is valid? [True, True] Translation: X:87.88, Y:6.47, Z:3.13 [[ 9.80702524e-01 -1.89352357e-01 -4.86646188e-02 8.78817769e+01] [ 1.88985525e-01 9.81905644e-01 -1.20738120e-02 6.47274328e+00] [ 5.00702686e-02 2.64390939e-03 9.98742198e-01 3.12515116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.747105681 meters 0.032749301561733196 Centerline is valid? [True, True] Translation: X:87.91, Y:6.47, Z:3.13 [[ 9.79732960e-01 -1.94607457e-01 -4.74474967e-02 8.79133642e+01] [ 1.94264350e-01 9.80878445e-01 -1.17829735e-02 6.47098137e+00] [ 4.88332813e-02 2.32681041e-03 9.98804233e-01 3.12657267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.777105681 meters 0.033408668811530186 Centerline is valid? [True, True] Translation: X:87.94, Y:6.48, Z:3.13 [[ 9.79269090e-01 -1.97127554e-01 -4.66130485e-02 8.79411521e+01] [ 1.96799177e-01 9.80375461e-01 -1.15775682e-02 6.47618486e+00] [ 4.79805466e-02 2.16414514e-03 9.98845926e-01 3.12790883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.807105681 meters 0.028327306491060446 Centerline is valid? [True, True] Translation: X:87.97, Y:6.47, Z:3.13 [[ 9.77927805e-01 -2.03558126e-01 -4.71306447e-02 8.79739093e+01] [ 2.03229672e-01 9.79061071e-01 -1.17098013e-02 6.46919147e+00] [ 4.85274047e-02 1.87299482e-03 9.98820095e-01 3.12933731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.837105681 meters 0.023921066484155536 Centerline is valid? [True, True] Translation: X:88.01, Y:6.46, Z:3.13 [[ 9.75759585e-01 -2.14214236e-01 -4.47827452e-02 8.80060375e+01] [ 2.13928831e-01 9.76785866e-01 -1.11277362e-02 6.46070935e+00] [ 4.61268721e-02 1.27767487e-03 9.98934772e-01 3.13380553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86710568099998 meters 0.019321400894431368 Centerline is valid? [True, True] Translation: X:88.04, Y:6.45, Z:3.14 [[ 9.73345482e-01 -2.25173942e-01 -4.35346730e-02 8.80395196e+01] [ 2.24915064e-01 9.74318299e-01 -1.08196652e-02 6.45053016e+00] [ 4.48529352e-02 7.39668509e-04 9.98993327e-01 3.14034005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89710568099999 meters 0.017478967948024265 Centerline is valid? [True, True] Translation: X:88.07, Y:6.45, Z:3.14 [[ 9.71690409e-01 -2.32051389e-01 -4.43835688e-02 8.80698699e+01] [ 2.31789313e-01 9.72703431e-01 -1.10340319e-02 6.45045788e+00] [ 4.57325120e-02 4.34026129e-04 9.98953627e-01 3.13965948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92710568099999 meters 0.016782986875652134 Centerline is valid? [True, True] Translation: X:88.10, Y:6.44, Z:3.13 [[ 9.68333057e-01 -2.45380138e-01 -4.60399663e-02 8.81017737e+01] [ 2.45112441e-01 9.69426920e-01 -1.14603157e-02 6.44424681e+00] [ 4.74445166e-02 -1.87565956e-04 9.98873857e-01 3.13497296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95710568099999 meters 0.018691121838139476 Centerline is valid? [True, True] Translation: X:88.13, Y:6.44, Z:3.14 [[ 9.66040464e-01 -2.54420694e-01 -4.51213104e-02 8.81327069e+01] [ 2.54172736e-01 9.67093452e-01 -1.12461150e-02 6.43742940e+00] [ 4.64977682e-02 -6.04404756e-04 9.98918211e-01 3.14001779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98710568099999 meters 0.01986076787483453 Centerline is valid? [True, True] Translation: X:88.16, Y:6.44, Z:3.14 [[ 9.65392376e-01 -2.57179561e-01 -4.33155233e-02 8.81602940e+01] [ 2.56953266e-01 9.66363384e-01 -1.08087543e-02 6.44017391e+00] [ 4.46383264e-02 -6.95376213e-04 9.99002971e-01 3.14452669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.01710568099999 meters 0.019377047615455154 Centerline is valid? [True, True] Translation: X:88.19, Y:6.45, Z:3.15 [[ 9.65670019e-01 -2.56880623e-01 -3.86491948e-02 8.81864616e+01] [ 2.56699975e-01 9.66442954e-01 -9.65086319e-03 6.45342759e+00] [ 3.98313617e-02 -6.01698095e-04 9.99206235e-01 3.15134943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.04710568099999 meters 0.019047828585622168 Centerline is valid? [True, True] Translation: X:88.21, Y:6.46, Z:3.15 [[ 9.65849209e-01 -2.56140329e-01 -3.90824547e-02 8.82135762e+01] [ 2.55954489e-01 9.66639443e-01 -9.77174760e-03 6.46282096e+00] [ 4.02815809e-02 -5.65295045e-04 9.99188208e-01 3.15263600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.07710568099999 meters 0.018552297796938465 Centerline is valid? [True, True] Translation: X:88.24, Y:6.47, Z:3.16 [[ 9.66198375e-01 -2.54568702e-01 -4.06875534e-02 8.82391735e+01] [ 2.54365359e-01 9.67054558e-01 -1.01855989e-02 6.47377371e+00] [ 4.19400186e-02 -5.08194977e-04 9.99120001e-01 3.15507819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.107105681 meters 0.017745531671757547 Centerline is valid? [True, True] Translation: X:88.27, Y:6.49, Z:3.16 [[ 9.66409731e-01 -2.53647951e-01 -4.14119455e-02 8.82652768e+01] [ 2.53436183e-01 9.67296488e-01 -1.03733084e-02 6.48674172e+00] [ 4.26887978e-02 -4.70419171e-04 9.99088307e-01 3.15583924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.137105681 meters 0.016481895995206292 Centerline is valid? [True, True] Translation: X:88.29, Y:6.51, Z:3.16 [[ 9.68398328e-01 -2.45926701e-01 -4.15299446e-02 8.82881305e+01] [ 2.45705907e-01 9.69288422e-01 -1.04193245e-02 6.51313030e+00] [ 4.28168846e-02 -1.14096273e-04 9.99082930e-01 3.15512349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.167105681 meters 0.016507593841269905 Centerline is valid? [True, True] Translation: X:88.31, Y:6.53, Z:3.15 [[ 9.69261558e-01 -2.42337591e-01 -4.24796987e-02 8.83128016e+01] [ 2.42102480e-01 9.70191985e-01 -1.06724223e-02 6.52840425e+00] [ 4.37997923e-02 5.99282343e-05 9.99040327e-01 3.15256015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.197105681 meters 0.016822443463901448 Centerline is valid? [True, True] Translation: X:88.34, Y:6.54, Z:3.15 [[ 9.70050304e-01 -2.38791604e-01 -4.45081770e-02 8.83385465e+01] [ 2.38529163e-01 9.71070806e-01 -1.11949942e-02 6.54441971e+00] [ 4.58938619e-02 2.43209286e-04 9.98946292e-01 3.15034167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22710568099998 meters 0.019023839027131787 Centerline is valid? [True, True] Translation: X:88.36, Y:6.57, Z:3.14 [[ 9.71590475e-01 -2.31475186e-01 -4.93070657e-02 8.83631135e+01] [ 2.31142963e-01 9.72840581e-01 -1.24151274e-02 6.56756619e+00] [ 5.08417083e-02 6.65438344e-04 9.98706502e-01 3.14453801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25710568099998 meters 0.020065317440617216 Centerline is valid? [True, True] Translation: X:88.39, Y:6.59, Z:3.15 [[ 9.72683082e-01 -2.26493372e-01 -5.08760690e-02 8.83887804e+01] [ 2.26132652e-01 9.74012235e-01 -1.28136898e-02 6.58506337e+00] [ 5.24561295e-02 9.58918920e-04 9.98622769e-01 3.14527108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28710568099999 meters 0.020116314910367816 Centerline is valid? [True, True] Translation: X:88.42, Y:6.60, Z:3.15 [[ 9.72698365e-01 -2.26659159e-01 -4.98348809e-02 8.84153355e+01] [ 2.26312879e-01 9.73973688e-01 -1.25592699e-02 6.59590915e+00] [ 5.13845363e-02 9.38105902e-04 9.98678502e-01 3.14713223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31710568099999 meters 0.018175484669781878 Centerline is valid? [True, True] Translation: X:88.44, Y:6.60, Z:3.15 [[ 9.71767527e-01 -2.31199049e-01 -4.70624488e-02 8.84436884e+01] [ 2.30894757e-01 9.72906236e-01 -1.18771736e-02 6.60326818e+00] [ 4.85333412e-02 6.75378858e-04 9.98821335e-01 3.15204269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34710568099999 meters 0.018359802633375933 Centerline is valid? [True, True] Translation: X:88.47, Y:6.61, Z:3.15 [[ 9.70994584e-01 -2.34625207e-01 -4.60492141e-02 8.84701245e+01] [ 2.34337119e-01 9.72085776e-01 -1.16343494e-02 6.61325165e+00] [ 4.74934977e-02 5.05850086e-04 9.98871419e-01 3.15066529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37710568099999 meters 0.016575323454508024 Centerline is valid? [True, True] Translation: X:88.50, Y:6.62, Z:3.16 [[ 9.69499884e-01 -2.40879517e-01 -4.52441423e-02 8.84988819e+01] [ 2.40607856e-01 9.70555005e-01 -1.14386475e-02 6.61806066e+00] [ 4.66672646e-02 2.03671376e-04 9.98910469e-01 3.15533901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.40710568099999 meters 0.016521738055262292 Centerline is valid? [True, True] Translation: X:88.53, Y:6.62, Z:3.16 [[ 9.68025493e-01 -2.46937174e-01 -4.41438084e-02 8.85268371e+01] [ 2.46684168e-01 9.69031489e-01 -1.11756221e-02 6.62470937e+00] [ 4.55364170e-02 -7.12915125e-05 9.98962677e-01 3.15775647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.43710568099999 meters 0.01699165408247965 Centerline is valid? [True, True] Translation: X:88.55, Y:6.63, Z:3.16 [[ 9.66876209e-01 -2.51534886e-01 -4.33658554e-02 8.85540051e+01] [ 2.51294719e-01 9.67848195e-01 -1.09925119e-02 6.62989200e+00] [ 4.47365651e-02 -2.69212180e-04 9.98998782e-01 3.15918914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.46710568099999 meters 0.01699165408247965 Centerline is valid? [True, True] Translation: X:88.58, Y:6.64, Z:3.16 [[ 9.66782807e-01 -2.51894042e-01 -4.33635399e-02 8.85806508e+01] [ 2.51653827e-01 9.67754781e-01 -1.10016387e-02 6.63688524e+00] [ 4.47365203e-02 -2.76405684e-04 9.98998782e-01 3.16020806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.497105681 meters 0.020387631282334406 Centerline is valid? [True, True] Translation: X:88.61, Y:6.64, Z:3.16 [[ 9.63693301e-01 -2.63887682e-01 -4.07248461e-02 8.86100814e+01] [ 2.63685921e-01 9.64553109e-01 -1.03457422e-02 6.63868463e+00] [ 4.20113909e-02 -7.68446129e-04 9.99116836e-01 3.16305454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.527105681 meters 0.025439758349209054 Centerline is valid? [True, True] Translation: X:88.64, Y:6.64, Z:3.17 [[ 9.60578371e-01 -2.75264329e-01 -3.89710323e-02 8.86403569e+01] [ 2.75088827e-01 9.61367821e-01 -9.90199945e-03 6.64123923e+00] [ 4.01911637e-02 -1.20884905e-03 9.99191278e-01 3.16768648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.557105681 meters 0.029018075000178088 Centerline is valid? [True, True] Translation: X:88.67, Y:6.65, Z:3.17 [[ 9.58809559e-01 -2.81454310e-01 -3.83105834e-02 8.86699642e+01] [ 2.81289582e-01 9.59573547e-01 -9.73544971e-03 6.64625125e+00] [ 3.95019067e-02 -1.44192574e-03 9.99218455e-01 3.16895597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.587105681 meters 0.03606242249849115 Centerline is valid? [True, True] Translation: X:88.70, Y:6.65, Z:3.17 [[ 9.55334998e-01 -2.92981969e-01 -3.86860023e-02 8.86992442e+01] [ 2.92823320e-01 9.56116009e-01 -9.83263169e-03 6.65068126e+00] [ 3.98690899e-02 -1.93470645e-03 9.99203039e-01 3.16757550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61710568099998 meters 0.04183397133126144 Centerline is valid? [True, True] Translation: X:88.73, Y:6.66, Z:3.17 [[ 9.52749094e-01 -3.01269142e-01 -3.88081023e-02 8.87272159e+01] [ 3.01116236e-01 9.53536406e-01 -9.86581769e-03 6.65706296e+00] [ 3.99772048e-02 -2.28610082e-03 9.99197977e-01 3.16762525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64710568099999 meters 0.04489587237002117 Centerline is valid? [True, True] Translation: X:88.75, Y:6.67, Z:3.17 [[ 9.51842465e-01 -3.03967669e-01 -3.99947338e-02 8.87533004e+01] [ 3.03807530e-01 9.52679145e-01 -1.01701142e-02 6.67020716e+00] [ 4.11935347e-02 -2.47035474e-03 9.99148132e-01 3.16683415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67710568099999 meters 0.043859319274376425 Centerline is valid? [True, True] Translation: X:88.78, Y:6.69, Z:3.17 [[ 9.51977138e-01 -3.03497389e-01 -4.03591743e-02 8.87796116e+01] [ 3.03333681e-01 9.52829075e-01 -1.02679798e-02 6.68591055e+00] [ 4.15716998e-02 -2.46741489e-03 9.99132477e-01 3.16638052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70710568099999 meters 0.04094797242986593 Centerline is valid? [True, True] Translation: X:88.80, Y:6.71, Z:3.16 [[ 9.53705935e-01 -2.97548422e-01 -4.37027013e-02 8.88033162e+01] [ 2.97349646e-01 9.54703764e-01 -1.11315123e-02 6.71089055e+00] [ 4.50352973e-02 -2.37879344e-03 9.98982564e-01 3.16184740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73710568099999 meters 0.032454268800031626 Centerline is valid? [True, True] Translation: X:88.83, Y:6.74, Z:3.16 [[ 9.56487066e-01 -2.88015292e-01 -4.66870866e-02 8.88262819e+01] [ 2.87776945e-01 9.57623597e-01 -1.18943757e-02 6.74127184e+00] [ 4.81344179e-02 -2.05865069e-03 9.98838746e-01 3.16064738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.76710568099999 meters 0.029374915279755724 Centerline is valid? [True, True] Translation: X:88.85, Y:6.76, Z:3.16 [[ 9.58071646e-01 -2.82616260e-01 -4.71886702e-02 8.88525405e+01] [ 2.82366129e-01 9.59231355e-01 -1.20239919e-02 6.75943499e+00] [ 4.86630277e-02 -1.80463638e-03 9.98813623e-01 3.16130350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.79710568099999 meters 0.023319970998326143 Centerline is valid? [True, True] Translation: X:88.87, Y:6.79, Z:3.16 [[ 9.61727071e-01 -2.69732484e-01 -4.82226942e-02 8.88742236e+01] [ 2.69454951e-01 9.62934581e-01 -1.22891385e-02 6.79124956e+00] [ 4.97500796e-02 -1.17504656e-03 9.98761007e-01 3.16191392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.82710568099999 meters 0.019779306934995453 Centerline is valid? [True, True] Translation: X:88.90, Y:6.81, Z:3.16 [[ 9.63754150e-01 -2.62192148e-01 -4.93276393e-02 8.88986540e+01] [ 2.61891524e-01 9.65015358e-01 -1.25772667e-02 6.81358712e+00] [ 5.08995901e-02 -7.97097640e-04 9.98703458e-01 3.16277428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.857105681 meters 0.016437950162334982 Centerline is valid? [True, True] Translation: X:88.92, Y:6.85, Z:3.17 [[ 9.67922401e-01 -2.46529678e-01 -4.84700326e-02 8.89184364e+01] [ 2.46219032e-01 9.69135242e-01 -1.23722240e-02 6.84822349e+00] [ 5.00241371e-02 4.11082525e-05 9.98748008e-01 3.16523398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.887105681 meters 0.018543045021344063 Centerline is valid? [True, True] Translation: X:88.94, Y:6.88, Z:3.17 [[ 9.70916742e-01 -2.34946794e-01 -4.60508896e-02 8.89396951e+01] [ 2.34653002e-01 9.72008039e-01 -1.17618566e-02 6.87805045e+00] [ 4.75252454e-02 6.13804026e-04 9.98869849e-01 3.16893859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.917105681 meters 0.01974891558371384 Centerline is valid? [True, True] Translation: X:88.97, Y:6.89, Z:3.17 [[ 9.71760296e-01 -2.31474035e-01 -4.58442767e-02 8.89657327e+01] [ 2.31178648e-01 9.72840763e-01 -1.17167401e-02 6.89292797e+00] [ 4.73113023e-02 7.87644894e-04 9.98879883e-01 3.16975695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.947105681 meters 0.022188830940900725 Centerline is valid? [True, True] Translation: X:88.99, Y:6.91, Z:3.17 [[ 9.72860506e-01 -2.26433128e-01 -4.76495038e-02 8.89910312e+01] [ 2.26107299e-01 9.74026107e-01 -1.21914703e-02 6.91262260e+00] [ 4.91724135e-02 1.08669940e-03 9.98789714e-01 3.16768394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97710568099998 meters 0.024811547047230004 Centerline is valid? [True, True] Translation: X:89.02, Y:6.93, Z:3.17 [[ 9.73927032e-01 -2.21862540e-01 -4.73619050e-02 8.90157865e+01] [ 2.21535053e-01 9.75077068e-01 -1.21215182e-02 6.93208606e+00] [ 4.88708183e-02 1.31315207e-03 9.98804244e-01 3.16838343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00710568099998 meters 0.02620786888368954 Centerline is valid? [True, True] Translation: X:89.04, Y:6.94, Z:3.17 [[ 9.74394933e-01 -2.19779661e-01 -4.74490867e-02 8.90419029e+01] [ 2.19448266e-01 9.75548497e-01 -1.21486033e-02 6.94460249e+00] [ 4.89589011e-02 1.42491775e-03 9.98799778e-01 3.16862682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03710568099999 meters 0.028780086748763072 Centerline is valid? [True, True] Translation: X:89.07, Y:6.96, Z:3.17 [[ 9.75085083e-01 -2.16249334e-01 -4.94500308e-02 8.90689797e+01] [ 2.15884588e-01 9.76336735e-01 -1.26658610e-02 6.95905567e+00] [ 5.10188656e-02 1.67479261e-03 9.98696285e-01 3.16580060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06710568099999 meters 0.02608215041303056 Centerline is valid? [True, True] Translation: X:89.10, Y:6.96, Z:3.17 [[ 9.74903406e-01 -2.16526626e-01 -5.17645583e-02 8.90977486e+01] [ 2.16126903e-01 9.76275153e-01 -1.32660392e-02 6.96153196e+00] [ 5.34089027e-02 1.74539314e-03 9.98571201e-01 3.16602687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09710568099999 meters 0.02872741512761984 Centerline is valid? [True, True] Translation: X:89.12, Y:6.97, Z:3.16 [[ 9.74573312e-01 -2.17935493e-01 -5.20670731e-02 8.91236493e+01] [ 2.17532238e-01 9.75961707e-01 -1.33593355e-02 6.97217727e+00] [ 5.37269429e-02 1.69338487e-03 9.98554229e-01 3.16408816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.12710568099999 meters 0.02696868820124051 Centerline is valid? [True, True] Translation: X:89.15, Y:6.98, Z:3.17 [[ 9.73748945e-01 -2.21675186e-01 -5.17020693e-02 8.91518782e+01] [ 2.21282400e-01 9.75119433e-01 -1.32737032e-02 6.97561282e+00] [ 5.33581432e-02 1.48449649e-03 9.98574336e-01 3.16513074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.15710568099999 meters 0.023158657383959246 Centerline is valid? [True, True] Translation: X:89.18, Y:6.98, Z:3.17 [[ 9.73240260e-01 -2.24359354e-01 -4.96616257e-02 8.91810953e+01] [ 2.24000069e-01 9.74505624e-01 -1.27576639e-02 6.97570774e+00] [ 5.12578347e-02 1.29206451e-03 9.98684617e-01 3.17051480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.18710568099999 meters 0.02061808626747265 Centerline is valid? [True, True] Translation: X:89.21, Y:6.97, Z:3.17 [[ 9.71877426e-01 -2.30710213e-01 -4.71918091e-02 8.92114804e+01] [ 2.30392670e-01 9.73022070e-01 -1.21354485e-02 6.97395463e+00] [ 4.87184437e-02 9.21521521e-04 9.98812126e-01 3.17395089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.21710568099999 meters 0.017194809213438796 Centerline is valid? [True, True] Translation: X:89.24, Y:6.97, Z:3.17 [[ 9.69159230e-01 -2.41991180e-01 -4.65903047e-02 8.92440900e+01] [ 2.41694553e-01 9.70278385e-01 -1.19832672e-02 6.96768281e+00] [ 4.81054106e-02 3.53071161e-04 9.98842202e-01 3.17496662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.247105681 meters 0.0164544981999587 Centerline is valid? [True, True] Translation: X:89.27, Y:6.97, Z:3.18 [[ 9.67604586e-01 -2.48036979e-01 -4.71065060e-02 8.92734659e+01] [ 2.47740573e-01 9.68750563e-01 -1.21225150e-02 6.96761037e+00] [ 4.86412862e-02 5.96083019e-05 9.98816310e-01 3.17558608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.277105681 meters 0.018379493179029323 Centerline is valid? [True, True] Translation: X:89.30, Y:6.96, Z:3.17 [[ 9.64402256e-01 -2.60009448e-01 -4.82014155e-02 8.93035714e+01] [ 2.59713266e-01 9.65605920e-01 -1.24187784e-02 6.96035586e+00] [ 4.97725719e-02 -5.41849107e-04 9.98760430e-01 3.17425016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.307105681 meters 0.02207661465713935 Centerline is valid? [True, True] Translation: X:89.34, Y:6.96, Z:3.17 [[ 9.61599986e-01 -2.70004817e-01 -4.92226121e-02 8.93350694e+01] [ 2.69708683e-01 9.62858371e-01 -1.26879108e-02 6.95796725e+00] [ 5.08202011e-02 -1.07507101e-03 9.98707240e-01 3.17458979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33710568099998 meters 0.024666470304358895 Centerline is valid? [True, True] Translation: X:89.36, Y:6.96, Z:3.17 [[ 9.60350185e-01 -2.74301635e-01 -4.98611697e-02 8.93639563e+01] [ 2.74003379e-01 9.61642803e-01 -1.28556449e-02 6.96050032e+00] [ 5.14749594e-02 -1.31620798e-03 9.98673418e-01 3.17446266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36710568099998 meters 0.02850356497706939 Centerline is valid? [True, True] Translation: X:89.39, Y:6.96, Z:3.18 [[ 9.58411384e-01 -2.81123372e-01 -4.91657375e-02 8.93941419e+01] [ 2.80842083e-01 9.59670211e-01 -1.26811152e-02 6.95991055e+00] [ 5.07478516e-02 -1.65408297e-03 9.98710128e-01 3.17631327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39710568099999 meters 0.030570568829573767 Centerline is valid? [True, True] Translation: X:89.42, Y:6.97, Z:3.18 [[ 9.56696456e-01 -2.86845657e-01 -4.95122196e-02 8.94227590e+01] [ 2.86567753e-01 9.57974793e-01 -1.27757353e-02 6.96625720e+00] [ 5.10961224e-02 -1.96610486e-03 9.98691805e-01 3.17906284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42710568099999 meters 0.034500972947181414 Centerline is valid? [True, True] Translation: X:89.45, Y:6.97, Z:3.18 [[ 9.54798460e-01 -2.93211384e-01 -4.88567868e-02 8.94520356e+01] [ 2.92948874e-01 9.56044938e-01 -1.26108479e-02 6.97376669e+00] [ 5.04069279e-02 -2.27172252e-03 9.98726179e-01 3.18127841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45710568099999 meters 0.038530949491686 Centerline is valid? [True, True] Translation: X:89.48, Y:6.98, Z:3.18 [[ 9.54186348e-01 -2.95408489e-01 -4.75629930e-02 8.94800519e+01] [ 2.95162262e-01 9.55368220e-01 -1.22801725e-02 6.97709490e+00] [ 4.90678392e-02 -2.32122763e-03 9.98792751e-01 3.18267126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48710568099999 meters 0.03849933425455992 Centerline is valid? [True, True] Translation: X:89.51, Y:6.99, Z:3.19 [[ 9.53301695e-01 -2.98482060e-01 -4.60905513e-02 8.95078781e+01] [ 2.98254099e-01 9.54412238e-01 -1.19068327e-02 6.98789593e+00] [ 4.75433621e-02 -2.39589202e-03 9.98866302e-01 3.18783872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51710568099999 meters 0.04106251062869428 Centerline is valid? [True, True] Translation: X:89.53, Y:7.00, Z:3.19 [[ 9.52415339e-01 -3.01335634e-01 -4.58460221e-02 8.95343554e+01] [ 3.01113244e-01 9.53514800e-01 -1.18464897e-02 6.99759420e+00] [ 4.72846301e-02 -2.52206600e-03 9.98878272e-01 3.18968378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.54710568099999 meters 0.041585002027397025 Centerline is valid? [True, True] Translation: X:89.56, Y:7.01, Z:3.19 [[ 9.52239331e-01 -3.01990258e-01 -4.51900471e-02 8.95611231e+01] [ 3.01774597e-01 9.53307703e-01 -1.16839811e-02 7.00755438e+00] [ 4.66084685e-02 -2.51126187e-03 9.98910078e-01 3.19047921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.57710568099999 meters 0.03808941221539194 Centerline is valid? [True, True] Translation: X:89.59, Y:7.03, Z:3.19 [[ 9.52384880e-01 -3.01498444e-01 -4.54062583e-02 8.95860076e+01] [ 3.01279446e-01 9.53463431e-01 -1.17550305e-02 7.02661289e+00] [ 4.68373303e-02 -2.48465903e-03 9.98899440e-01 3.19089018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.607105681 meters 0.04074286311199974 Centerline is valid? [True, True] Translation: X:89.61, Y:7.04, Z:3.19 [[ 9.53004603e-01 -2.99066072e-01 -4.83912312e-02 8.96118177e+01] [ 2.98813458e-01 9.54229113e-01 -1.25425866e-02 7.03818634e+00] [ 4.99273837e-02 -2.50680839e-03 9.98749705e-01 3.18681677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.637105681 meters 0.03620798734658036 Centerline is valid? [True, True] Translation: X:89.64, Y:7.06, Z:3.19 [[ 9.53644702e-01 -2.96822182e-01 -4.95820041e-02 8.96368793e+01] [ 2.96553655e-01 9.54929645e-01 -1.28570586e-02 7.05587544e+00] [ 5.11635858e-02 -2.44265871e-03 9.98687299e-01 3.18788725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.667105681 meters 0.03474907637553592 Centerline is valid? [True, True] Translation: X:89.66, Y:7.07, Z:3.18 [[ 9.55953830e-01 -2.88889628e-01 -5.19139515e-02 8.96621288e+01] [ 2.88583307e-01 9.57360087e-01 -1.34661836e-02 7.07465753e+00] [ 5.35905859e-02 -2.10845000e-03 9.98560766e-01 3.18419422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.697105681 meters 0.025084303430467286 Centerline is valid? [True, True] Translation: X:89.69, Y:7.11, Z:3.18 [[ 9.59291657e-01 -2.77309114e-01 -5.34712275e-02 8.96851576e+01] [ 2.76965986e-01 9.60779579e-01 -1.38723971e-02 7.10666614e+00] [ 5.52210056e-02 -1.50203642e-03 9.98473026e-01 3.18456102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72710568099998 meters 0.023450406186475994 Centerline is valid? [True, True] Translation: X:89.71, Y:7.12, Z:3.18 [[ 9.61402783e-01 -2.70015311e-01 -5.28811999e-02 8.97111348e+01] [ 2.69668575e-01 9.62855435e-01 -1.37211508e-02 7.12188192e+00] [ 5.46218715e-02 -1.06884524e-03 9.98506539e-01 3.18325531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75710568099998 meters 0.0169861250329354 Centerline is valid? [True, True] Translation: X:89.73, Y:7.15, Z:3.19 [[ 9.65798453e-01 -2.54795823e-01 -4.80877965e-02 8.97331418e+01] [ 2.54490088e-01 9.66994857e-01 -1.24796098e-02 7.15343818e+00] [ 4.96804044e-02 -1.85079796e-04 9.98765149e-01 3.19236882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78710568099999 meters 0.01686630689120256 Centerline is valid? [True, True] Translation: X:89.76, Y:7.18, Z:3.20 [[ 9.68234492e-01 -2.46514081e-01 -4.18661814e-02 8.97571277e+01] [ 2.46274461e-01 9.69139186e-01 -1.08686427e-02 7.17534228e+00] [ 4.32534305e-02 2.12823488e-04 9.99064110e-01 3.20145269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81710568099999 meters 0.016958869895602798 Centerline is valid? [True, True] Translation: X:89.78, Y:7.19, Z:3.21 [[ 9.68371384e-01 -2.46314780e-01 -3.98232597e-02 8.97828114e+01] [ 2.46097263e-01 9.69189857e-01 -1.03517225e-02 7.18570407e+00] [ 4.11460816e-02 2.23916676e-04 9.99153116e-01 3.20531977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84710568099999 meters 0.016531314351862694 Centerline is valid? [True, True] Translation: X:89.81, Y:7.19, Z:3.21 [[ 9.67292424e-01 -2.50702487e-01 -3.86475058e-02 8.98111629e+01] [ 2.50500533e-01 9.68064182e-01 -1.00609431e-02 7.19245793e+00] [ 3.99355696e-02 5.06532718e-05 9.99202256e-01 3.20762575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87710568099999 meters 0.017120712447877016 Centerline is valid? [True, True] Translation: X:89.84, Y:7.19, Z:3.21 [[ 9.65539773e-01 -2.57714791e-01 -3.62771635e-02 8.98393625e+01] [ 2.57541340e-01 9.66221010e-01 -9.45605731e-03 7.19423555e+00] [ 3.74887234e-02 -2.12669871e-04 9.99297028e-01 3.21084590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.90710568099999 meters 0.01763589352276314 Centerline is valid? [True, True] Translation: X:89.87, Y:7.20, Z:3.21 [[ 9.64658495e-01 -2.61031079e-01 -3.60106069e-02 8.98677793e+01] [ 2.60862305e-01 9.65330339e-01 -9.39117312e-03 7.19920747e+00] [ 3.72135194e-02 -3.34534996e-04 9.99307281e-01 3.21276103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.93710568099999 meters 0.017763266090551507 Centerline is valid? [True, True] Translation: X:89.90, Y:7.21, Z:3.22 [[ 9.64288325e-01 -2.62534729e-01 -3.49791655e-02 8.98958987e+01] [ 2.62376047e-01 9.64922473e-01 -9.13405068e-03 7.20655729e+00] [ 3.61501884e-02 -3.69836719e-04 9.99346300e-01 3.21524080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.96710568099999 meters 0.01693774417180853 Centerline is valid? [True, True] Translation: X:89.92, Y:7.22, Z:3.22 [[ 9.65584295e-01 -2.57667754e-01 -3.54160793e-02 8.99230819e+01] [ 2.57501325e-01 9.66233562e-01 -9.26123565e-03 7.21789250e+00] [ 3.66065263e-02 -1.77183652e-04 9.99329741e-01 3.21656732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.997105681 meters 0.016635923279901318 Centerline is valid? [True, True] Translation: X:89.95, Y:7.23, Z:3.22 [[ 9.66675519e-01 -2.53142033e-01 -3.81779101e-02 8.99489340e+01] [ 2.52944520e-01 9.67429125e-01 -9.99792444e-03 7.22911876e+00] [ 3.94653170e-02 7.85565562e-06 9.99220941e-01 3.21535847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.027105681 meters 0.01811245721559374 Centerline is valid? [True, True] Translation: X:89.97, Y:7.25, Z:3.21 [[ 9.69004408e-01 -2.42678013e-01 -4.62367782e-02 8.99744615e+01] [ 2.42376016e-01 9.70106746e-01 -1.21147977e-02 7.24571422e+00] [ 4.77946054e-02 5.32606255e-04 9.98857043e-01 3.20729620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.057105681 meters 0.019996900557888827 Centerline is valid? [True, True] Translation: X:90.00, Y:7.26, Z:3.21 [[ 9.70193449e-01 -2.37534454e-01 -4.79797285e-02 9.00000430e+01] [ 2.37202718e-01 9.71378767e-01 -1.25761894e-02 7.25671752e+00] [ 4.95937679e-02 8.20414522e-04 9.98769135e-01 3.20585045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08710568099998 meters 0.02288452300698411 Centerline is valid? [True, True] Translation: X:90.03, Y:7.27, Z:3.21 [[ 9.71986475e-01 -2.29937663e-01 -4.86925423e-02 9.00278204e+01] [ 2.29586100e-01 9.73204578e-01 -1.27699594e-02 7.26641725e+00] [ 5.03240997e-02 1.23309689e-03 9.98732179e-01 3.20584893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11710568099998 meters 0.025084506369066464 Centerline is valid? [True, True] Translation: X:90.06, Y:7.27, Z:3.20 [[ 9.71904423e-01 -2.29745499e-01 -5.11741985e-02 9.00560426e+01] [ 2.29356574e-01 9.73249856e-01 -1.34267995e-02 7.26940253e+00] [ 5.28900281e-02 1.31242701e-03 9.98599481e-01 3.20088693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14710568099999 meters 0.022224129042487623 Centerline is valid? [True, True] Translation: X:90.09, Y:7.27, Z:3.20 [[ 9.71403296e-01 -2.31938274e-01 -5.07963858e-02 9.00859870e+01] [ 2.31557555e-01 9.72729774e-01 -1.33374119e-02 7.26690148e+00] [ 5.25046131e-02 1.19371897e-03 9.98619968e-01 3.20492766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17710568099999 meters 0.020514052012365096 Centerline is valid? [True, True] Translation: X:90.12, Y:7.26, Z:3.21 [[ 9.70474393e-01 -2.36338189e-01 -4.82048990e-02 9.01170917e+01] [ 2.35999965e-01 9.71670422e-01 -1.26730854e-02 7.26294444e+00] [ 4.98344086e-02 9.22550398e-04 9.98757068e-01 3.20992603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20710568099999 meters 0.019809540484340443 Centerline is valid? [True, True] Translation: X:90.15, Y:7.26, Z:3.21 [[ 9.69949852e-01 -2.38562873e-01 -4.78020912e-02 9.01466923e+01] [ 2.38232196e-01 9.71126711e-01 -1.25830257e-02 7.26171828e+00] [ 4.94237303e-02 8.16906712e-04 9.98777567e-01 3.21158601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23710568099999 meters 0.02008505888547151 Centerline is valid? [True, True] Translation: X:90.18, Y:7.26, Z:3.21 [[ 9.69946535e-01 -2.38056776e-01 -5.03258485e-02 9.01766358e+01] [ 2.37688596e-01 9.71250818e-01 -1.32657211e-02 7.26176803e+00] [ 5.20370163e-02 9.05159901e-04 9.98644746e-01 3.21064702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.26710568099999 meters 0.020674943285096555 Centerline is valid? [True, True] Translation: X:90.20, Y:7.27, Z:3.21 [[ 9.69963422e-01 -2.37905740e-01 -5.07131102e-02 9.02040321e+01] [ 2.37530892e-01 9.71287797e-01 -1.33824624e-02 7.26708224e+00] [ 5.24407897e-02 9.34568732e-04 9.98623598e-01 3.21123286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.29710568099999 meters 0.020168907855090887 Centerline is valid? [True, True] Translation: X:90.23, Y:7.27, Z:3.22 [[ 9.69871744e-01 -2.38847221e-01 -4.79667040e-02 9.02336038e+01] [ 2.38512634e-01 9.71056792e-01 -1.26661014e-02 7.26801978e+00] [ 4.96036568e-02 8.43828885e-04 9.98768624e-01 3.21727891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.32710568099999 meters 0.019206855415810277 Centerline is valid? [True, True] Translation: X:90.26, Y:7.27, Z:3.22 [[ 9.69618540e-01 -2.40514632e-01 -4.46385425e-02 9.02632903e+01] [ 2.40225989e-01 9.70645246e-01 -1.18017123e-02 7.26664760e+00] [ 4.61666736e-02 7.19821014e-04 9.98933491e-01 3.22440850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.357105681 meters 0.018433116892548628 Centerline is valid? [True, True] Translation: X:90.29, Y:7.27, Z:3.23 [[ 9.68942784e-01 -2.43198453e-01 -4.47704461e-02 9.02926546e+01] [ 2.42910229e-01 9.69976361e-01 -1.18523972e-02 7.26816800e+00] [ 4.63087590e-02 6.09095429e-04 9.98926988e-01 3.22573974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.387105681 meters 0.018433116892548628 Centerline is valid? [True, True] Translation: X:90.32, Y:7.28, Z:3.23 [[ 9.68850978e-01 -2.43564673e-01 -4.47664319e-02 9.03191605e+01] [ 2.43276140e-01 9.69884468e-01 -1.18675414e-02 7.27544246e+00] [ 4.63087808e-02 6.07274339e-04 9.98926988e-01 3.22675727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.417105681 meters 0.018109124755230285 Centerline is valid? [True, True] Translation: X:90.35, Y:7.28, Z:3.23 [[ 9.68523568e-01 -2.44892127e-01 -4.46087913e-02 9.03472257e+01] [ 2.44606197e-01 9.69550171e-01 -1.18437815e-02 7.27995747e+00] [ 4.61509100e-02 5.59394710e-04 9.98934322e-01 3.22835487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.447105681 meters 0.018280587913249942 Centerline is valid? [True, True] Translation: X:90.38, Y:7.28, Z:3.23 [[ 9.68498278e-01 -2.45132415e-01 -4.38313163e-02 9.03751236e+01] [ 2.44855916e-01 9.69489450e-01 -1.16527784e-02 7.28493968e+00] [ 4.53504724e-02 5.53338740e-04 9.98970985e-01 3.22994474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47710568099998 meters 0.01966048287129929 Centerline is valid? [True, True] Translation: X:90.40, Y:7.29, Z:3.23 [[ 9.69371824e-01 -2.41321840e-01 -4.56293420e-02 9.04025171e+01] [ 2.41017570e-01 9.70444835e-01 -1.21389251e-02 7.29373578e+00] [ 4.72101470e-02 7.69658806e-04 9.98884683e-01 3.22901736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50710568099998 meters 0.020395043215069308 Centerline is valid? [True, True] Translation: X:90.43, Y:7.30, Z:3.23 [[ 9.69814949e-01 -2.39348483e-01 -4.65968634e-02 9.04300218e+01] [ 2.39028091e-01 9.70933311e-01 -1.24128241e-02 7.30136770e+00] [ 4.82134375e-02 9.00183089e-04 9.98836650e-01 3.22901704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53710568099999 meters 0.022735310330618468 Centerline is valid? [True, True] Translation: X:90.46, Y:7.31, Z:3.23 [[ 9.70968928e-01 -2.34465435e-01 -4.73846051e-02 9.04571632e+01] [ 2.34127618e-01 9.72123746e-01 -1.26364993e-02 7.31127848e+00] [ 4.90265222e-02 1.17560345e-03 9.98796785e-01 3.22867661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56710568099999 meters 0.023622264809498122 Centerline is valid? [True, True] Translation: X:90.48, Y:7.32, Z:3.23 [[ 9.71434536e-01 -2.32365014e-01 -4.81813515e-02 9.04846884e+01] [ 2.32012894e-01 9.72627775e-01 -1.28541091e-02 7.31802702e+00] [ 4.98493659e-02 1.30823073e-03 9.98755891e-01 3.22875143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59710568099999 meters 0.025561177977725474 Centerline is valid? [True, True] Translation: X:90.51, Y:7.32, Z:3.23 [[ 9.72306581e-01 -2.28626965e-01 -4.84729190e-02 9.05145049e+01] [ 2.28265673e-01 9.73512927e-01 -1.29369111e-02 7.32128540e+00] [ 5.01467400e-02 1.51394033e-03 9.98740713e-01 3.23214500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.62710568099999 meters 0.027060167521316607 Centerline is valid? [True, True] Translation: X:90.54, Y:7.33, Z:3.23 [[ 9.73013110e-01 -2.25859718e-01 -4.72533190e-02 9.05425747e+01] [ 2.25512980e-01 9.74158493e-01 -1.26144939e-02 7.32542697e+00] [ 4.88813281e-02 1.61783116e-03 9.98803283e-01 3.23495784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.65710568099999 meters 0.02804967992507596 Centerline is valid? [True, True] Translation: X:90.57, Y:7.33, Z:3.23 [[ 9.73158675e-01 -2.25084705e-01 -4.79486094e-02 9.05695541e+01] [ 2.24726450e-01 9.74337739e-01 -1.28059601e-02 7.33241184e+00] [ 4.96005655e-02 1.68691040e-03 9.98767710e-01 3.23400278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.68710568099999 meters 0.027397933553709397 Centerline is valid? [True, True] Translation: X:90.60, Y:7.34, Z:3.23 [[ 9.73325956e-01 -2.24262397e-01 -4.84041481e-02 9.05989366e+01] [ 2.23895844e-01 9.74527220e-01 -1.29363634e-02 7.33542408e+00] [ 5.00722997e-02 1.75381070e-03 9.98744056e-01 3.23393226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.71710568099999 meters 0.027342452315113317 Centerline is valid? [True, True] Translation: X:90.63, Y:7.34, Z:3.24 [[ 9.73589552e-01 -2.23244750e-01 -4.78034127e-02 9.06281300e+01] [ 2.22885200e-01 9.74760762e-01 -1.27923886e-02 7.33601210e+00] [ 4.94527246e-02 1.79986270e-03 9.98774844e-01 3.23604053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.747105681 meters 0.02823087039805734 Centerline is valid? [True, True] Translation: X:90.66, Y:7.34, Z:3.24 [[ 9.73680146e-01 -2.22854109e-01 -4.77809629e-02 9.06561312e+01] [ 2.22493726e-01 9.74850085e-01 -1.28005568e-02 7.34066196e+00] [ 4.94319324e-02 1.83268352e-03 9.98775813e-01 3.23742730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.777105681 meters 0.02850552234024364 Centerline is valid? [True, True] Translation: X:90.69, Y:7.34, Z:3.24 [[ 9.73813914e-01 -2.22441552e-01 -4.69703744e-02 9.06854113e+01] [ 2.22092422e-01 9.74944309e-01 -1.25916642e-02 7.34326446e+00] [ 4.85944085e-02 1.83017363e-03 9.98816917e-01 3.24061475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.807105681 meters 0.026494734133274144 Centerline is valid? [True, True] Translation: X:90.72, Y:7.34, Z:3.24 [[ 9.72873810e-01 -2.26992216e-01 -4.46215498e-02 9.07163539e+01] [ 2.26681370e-01 9.73895364e-01 -1.19740041e-02 7.34442244e+00] [ 4.61747262e-02 1.53432094e-03 9.98932200e-01 3.24434074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83710568099998 meters 0.023037289502742603 Centerline is valid? [True, True] Translation: X:90.75, Y:7.34, Z:3.24 [[ 9.71273303e-01 -2.33987535e-01 -4.33359580e-02 9.07475278e+01] [ 2.33701239e-01 9.72238895e-01 -1.16302494e-02 7.34189404e+00] [ 4.48542373e-02 1.16848372e-03 9.98992859e-01 3.24495940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86710568099998 meters 0.020954224401054388 Centerline is valid? [True, True] Translation: X:90.78, Y:7.34, Z:3.24 [[ 9.70164696e-01 -2.38380809e-01 -4.42159795e-02 9.07775170e+01] [ 2.38087094e-01 9.71171257e-01 -1.18712085e-02 7.34179239e+00] [ 4.57711567e-02 9.89773372e-04 9.98951461e-01 3.24486459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89710568099999 meters 0.018867895061729315 Centerline is valid? [True, True] Translation: X:90.81, Y:7.33, Z:3.24 [[ 9.68275124e-01 -2.45501605e-01 -4.66073681e-02 9.08084408e+01] [ 2.45182733e-01 9.69395929e-01 -1.25283978e-02 7.33446899e+00] [ 4.82567347e-02 7.03614014e-04 9.98834717e-01 3.24269655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92710568099999 meters 0.018578052653783136 Centerline is valid? [True, True] Translation: X:90.84, Y:7.34, Z:3.24 [[ 9.67646884e-01 -2.47775058e-01 -4.76133290e-02 9.08377612e+01] [ 2.47444499e-01 9.68817395e-01 -1.28091812e-02 7.33732327e+00] [ 4.93024170e-02 6.13107910e-04 9.98783708e-01 3.24301391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95710568099999 meters 0.018763476557878644 Centerline is valid? [True, True] Translation: X:90.86, Y:7.35, Z:3.24 [[ 9.67428451e-01 -2.48186176e-01 -4.98579437e-02 9.08641105e+01] [ 2.47823459e-01 9.68712145e-01 -1.34281181e-02 7.34514084e+00] [ 5.16306689e-02 6.34775466e-04 9.98666046e-01 3.24007653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98710568099999 meters 0.019056645727793486 Centerline is valid? [True, True] Translation: X:90.89, Y:7.35, Z:3.24 [[ 9.67859572e-01 -2.46245748e-01 -5.10967715e-02 9.08912850e+01] [ 2.45861490e-01 9.69207121e-01 -1.37726152e-02 7.35392433e+00] [ 5.29148027e-02 7.67229056e-04 9.98598736e-01 3.24013380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01710568099999 meters 0.02115777779066545 Centerline is valid? [True, True] Translation: X:90.92, Y:7.36, Z:3.24 [[ 9.69144134e-01 -2.40758854e-01 -5.28660817e-02 9.09195260e+01] [ 2.40338547e-01 9.70584321e-01 -1.42638830e-02 7.36142109e+00] [ 5.47451461e-02 1.11800125e-03 9.98499734e-01 3.23926116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.04710568099999 meters 0.022465386162926322 Centerline is valid? [True, True] Translation: X:90.95, Y:7.37, Z:3.24 [[ 9.69574830e-01 -2.38705047e-01 -5.42637042e-02 9.09469441e+01] [ 2.38258637e-01 9.71091283e-01 -1.46472252e-02 7.36515146e+00] [ 5.61913768e-02 1.27278465e-03 9.98419205e-01 3.24122833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.07710568099999 meters 0.02280411940495448 Centerline is valid? [True, True] Translation: X:90.97, Y:7.37, Z:3.24 [[ 9.69576293e-01 -2.38801320e-01 -5.38121009e-02 9.09736108e+01] [ 2.38361698e-01 9.71067617e-01 -1.45390603e-02 7.37235220e+00] [ 5.57271354e-02 1.26998439e-03 9.98445228e-01 3.24319925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.107105681 meters 0.022168916048614127 Centerline is valid? [True, True] Translation: X:91.00, Y:7.38, Z:3.25 [[ 9.69611899e-01 -2.39789775e-01 -4.85142242e-02 9.10025668e+01] [ 2.39432906e-01 9.70824203e-01 -1.31244500e-02 7.37632891e+00] [ 5.02458920e-02 1.10972122e-03 9.98736261e-01 3.25126378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.137105681 meters 0.021826351817743703 Centerline is valid? [True, True] Translation: X:91.03, Y:7.38, Z:3.26 [[ 9.69377507e-01 -2.41208659e-01 -4.61045686e-02 9.10300577e+01] [ 2.40887371e-01 9.70472765e-01 -1.24854333e-02 7.38126006e+00] [ 4.77548228e-02 9.97089864e-04 9.98858590e-01 3.25527278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.167105681 meters 0.018606024129677077 Centerline is valid? [True, True] Translation: X:91.06, Y:7.38, Z:3.26 [[ 9.66808963e-01 -2.52253659e-01 -4.06019698e-02 9.10613706e+01] [ 2.52013978e-01 9.67661061e-01 -1.10012074e-02 7.37502597e+00] [ 4.20640400e-02 4.03801990e-04 9.99114835e-01 3.26378256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.197105681 meters 0.017850219092402305 Centerline is valid? [True, True] Translation: X:91.09, Y:7.38, Z:3.26 [[ 9.65438383e-01 -2.57497601e-01 -4.02953396e-02 9.10904920e+01] [ 2.57265951e-01 9.66278922e-01 -1.09213603e-02 7.37695532e+00] [ 4.17487613e-02 1.77281519e-04 9.99128125e-01 3.26463859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22710568099998 meters 0.017973942489447687 Centerline is valid? [True, True] Translation: X:91.12, Y:7.37, Z:3.26 [[ 9.62942662e-01 -2.66629861e-01 -4.06195248e-02 9.11211716e+01] [ 2.66401986e-01 9.63798980e-01 -1.10230538e-02 7.37267155e+00] [ 4.20881318e-02 -2.06553318e-04 9.99113881e-01 3.26491293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25710568099998 meters 0.018736661832723576 Centerline is valid? [True, True] Translation: X:91.15, Y:7.38, Z:3.26 [[ 9.61842974e-01 -2.70322325e-01 -4.22366343e-02 9.11500433e+01] [ 2.70078773e-01 9.62769809e-01 -1.14782516e-02 7.37714912e+00] [ 4.37669840e-02 -3.66942708e-04 9.99041699e-01 3.26383860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28710568099999 meters 0.019641972226598168 Centerline is valid? [True, True] Translation: X:91.18, Y:7.38, Z:3.26 [[ 9.60538052e-01 -2.74557562e-01 -4.45510531e-02 9.11785503e+01] [ 2.74290403e-01 9.61570493e-01 -1.21227532e-02 7.38403484e+00] [ 4.61673716e-02 -5.75560512e-04 9.98933553e-01 3.26148499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31710568099999 meters 0.020954813599486075 Centerline is valid? [True, True] Translation: X:91.21, Y:7.39, Z:3.26 [[ 9.59494730e-01 -2.77576015e-01 -4.81811105e-02 9.12063681e+01] [ 2.77266585e-01 9.60703372e-01 -1.31252124e-02 7.38774786e+00] [ 4.99309995e-02 -7.65439809e-04 9.98752376e-01 3.25854246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34710568099999 meters 0.021866408803197155 Centerline is valid? [True, True] Translation: X:91.23, Y:7.39, Z:3.26 [[ 9.58808220e-01 -2.79542839e-01 -5.04241828e-02 9.12345214e+01] [ 2.79206129e-01 9.60132799e-01 -1.37457196e-02 7.39383756e+00] [ 5.22564293e-02 -8.99231901e-04 9.98633295e-01 3.25814288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37710568099999 meters 0.024545718472632923 Centerline is valid? [True, True] Translation: X:91.26, Y:7.40, Z:3.26 [[ 9.57636342e-01 -2.83192657e-01 -5.22929738e-02 9.12609857e+01] [ 2.82835074e-01 9.59062384e-01 -1.42711018e-02 7.40073310e+00] [ 5.41936954e-02 -1.12376142e-03 9.98529810e-01 3.25574868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.40710568099999 meters 0.023158272270726005 Centerline is valid? [True, True] Translation: X:91.29, Y:7.41, Z:3.26 [[ 9.57797219e-01 -2.82687468e-01 -5.20795789e-02 9.12879038e+01] [ 2.82331350e-01 9.59211464e-01 -1.42258846e-02 7.41319025e+00] [ 5.39768084e-02 -1.07818505e-03 9.98541607e-01 3.25860511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.43710568099999 meters 0.02075701168884943 Centerline is valid? [True, True] Translation: X:91.31, Y:7.43, Z:3.26 [[ 9.59776552e-01 -2.76195141e-01 -5.04501227e-02 9.13127230e+01] [ 2.75851284e-01 9.61101340e-01 -1.37943541e-02 7.42804928e+00] [ 5.22976141e-02 -6.77233515e-04 9.98631314e-01 3.26068647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.46710568099999 meters 0.01839235324565565 Centerline is valid? [True, True] Translation: X:91.34, Y:7.44, Z:3.27 [[ 9.61806211e-01 -2.69302481e-01 -4.90406658e-02 9.13377378e+01] [ 2.68968161e-01 9.63055602e-01 -1.34177470e-02 7.44453906e+00] [ 5.08423205e-02 -2.85105272e-04 9.98706652e-01 3.26649843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.497105681 meters 0.018127318889492657 Centerline is valid? [True, True] Translation: X:91.36, Y:7.46, Z:3.27 [[ 9.62499042e-01 -2.66855385e-01 -4.88241489e-02 9.13632731e+01] [ 2.66520163e-01 9.63736574e-01 -1.33723471e-02 7.45571306e+00] [ 5.06221008e-02 -1.41748810e-04 9.98717869e-01 3.26772465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.527105681 meters 0.017845801675875256 Centerline is valid? [True, True] Translation: X:91.39, Y:7.47, Z:3.27 [[ 9.63089832e-01 -2.65014040e-01 -4.71755577e-02 9.13899262e+01] [ 2.64698494e-01 9.64244553e-01 -1.29286455e-02 7.46947648e+00] [ 4.89150471e-02 -3.58520682e-05 9.98802942e-01 3.26885926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.557105681 meters 0.017878315813034073 Centerline is valid? [True, True] Translation: X:91.42, Y:7.48, Z:3.27 [[ 9.63209969e-01 -2.65017948e-01 -4.46323097e-02 9.14178009e+01] [ 2.64734892e-01 9.64243479e-01 -1.22454083e-02 7.47759575e+00] [ 4.62816666e-02 -2.08303147e-05 9.98928429e-01 3.27427799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58710568099998 meters 0.018108789797967248 Centerline is valid? [True, True] Translation: X:91.44, Y:7.49, Z:3.29 [[ 9.64092642e-01 -2.62685555e-01 -3.90086847e-02 9.14443638e+01] [ 2.62466976e-01 9.64881491e-01 -1.07142871e-02 7.48748958e+00] [ 4.04532463e-02 9.10738871e-05 9.99181428e-01 3.28507774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61710568099998 meters 0.018135522445089466 Centerline is valid? [True, True] Translation: X:91.47, Y:7.50, Z:3.29 [[ 9.64675191e-01 -2.60847097e-01 -3.68858735e-02 9.14704801e+01] [ 2.60649843e-01 9.65380113e-01 -1.01438095e-02 7.49923020e+00] [ 3.82548720e-02 1.71184256e-04 9.99268000e-01 3.28859100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64710568099999 meters 0.018998574214710212 Centerline is valid? [True, True] Translation: X:91.49, Y:7.52, Z:3.29 [[ 9.65970002e-01 -2.55671581e-01 -3.91662960e-02 9.14943591e+01] [ 2.55444266e-01 9.66763606e-01 -1.07868499e-02 7.51835460e+00] [ 4.06224406e-02 4.14967707e-04 9.99174482e-01 3.28536374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67710568099999 meters 0.019450562893055606 Centerline is valid? [True, True] Translation: X:91.52, Y:7.53, Z:3.28 [[ 9.66880399e-01 -2.51778050e-01 -4.18342812e-02 9.15206676e+01] [ 2.51514806e-01 9.67784803e-01 -1.15272523e-02 7.52977969e+00] [ 4.33888907e-02 6.23533215e-04 9.99058064e-01 3.28325190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70710568099999 meters 0.02342340361911216 Centerline is valid? [True, True] Translation: X:91.55, Y:7.55, Z:3.28 [[ 9.69328940e-01 -2.41440810e-01 -4.59101528e-02 9.15459580e+01] [ 2.41111855e-01 9.70414808e-01 -1.26559916e-02 7.54902657e+00] [ 4.76075650e-02 1.19833686e-03 9.98865398e-01 3.27875485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73710568099999 meters 0.02689535121984746 Centerline is valid? [True, True] Translation: X:91.57, Y:7.57, Z:3.28 [[ 9.71448858e-01 -2.32626872e-01 -4.66031694e-02 9.15723886e+01] [ 2.32277651e-01 9.72564646e-01 -1.28491921e-02 7.56680837e+00] [ 4.83136624e-02 1.65745831e-03 9.98830838e-01 3.27841606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.76710568099999 meters 0.02847879327689215 Centerline is valid? [True, True] Translation: X:91.60, Y:7.58, Z:3.28 [[ 9.72058495e-01 -2.29794620e-01 -4.79240543e-02 9.15999462e+01] [ 2.29421792e-01 9.73237385e-01 -1.32149234e-02 7.57833215e+00] [ 4.96781996e-02 1.85085614e-03 9.98763561e-01 3.27736651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.79710568099999 meters 0.030285298483474325 Centerline is valid? [True, True] Translation: X:91.63, Y:7.59, Z:3.28 [[ 9.72838984e-01 -2.26203543e-01 -4.91555498e-02 9.16277554e+01] [ 2.25806547e-01 9.74077815e-01 -1.35577920e-02 7.58758174e+00] [ 5.09481511e-02 2.08990363e-03 9.98699113e-01 3.27718625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.82710568099999 meters 0.031374217365945124 Centerline is valid? [True, True] Translation: X:91.65, Y:7.59, Z:3.28 [[ 9.73109725e-01 -2.24939183e-01 -4.95966474e-02 9.16545353e+01] [ 2.24533098e-01 9.74370365e-01 -1.36850484e-02 7.59430755e+00] [ 5.14038070e-02 2.18096483e-03 9.98675569e-01 3.27793207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.857105681 meters 0.0319913341898535 Centerline is valid? [True, True] Translation: X:91.68, Y:7.60, Z:3.28 [[ 9.73275781e-01 -2.23841822e-01 -5.12746722e-02 9.16841276e+01] [ 2.23405718e-01 9.74622714e-01 -1.41580539e-02 7.59539766e+00] [ 5.31426248e-02 2.32463603e-03 9.98584227e-01 3.27665360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.887105681 meters 0.03208674545155288 Centerline is valid? [True, True] Translation: X:91.71, Y:7.59, Z:3.28 [[ 9.72906314e-01 -2.25155387e-01 -5.25200550e-02 9.17131431e+01] [ 2.24698924e-01 9.74320101e-01 -1.45166907e-02 7.59499932e+00] [ 5.44398564e-02 2.32218017e-03 9.98514351e-01 3.27565411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.917105681 meters 0.030513328758891865 Centerline is valid? [True, True] Translation: X:91.74, Y:7.59, Z:3.28 [[ 9.72519010e-01 -2.27241851e-01 -5.06746131e-02 9.17432837e+01] [ 2.26819454e-01 9.73836018e-01 -1.40123111e-02 7.59390874e+00] [ 5.25329470e-02 2.13325082e-03 9.98616913e-01 3.27901921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.947105681 meters 0.02935691897701748 Centerline is valid? [True, True] Translation: X:91.77, Y:7.60, Z:3.28 [[ 9.72060866e-01 -2.29296045e-01 -5.02095286e-02 9.17722233e+01] [ 2.28883656e-01 9.73354650e-01 -1.38923140e-02 7.59596072e+00] [ 5.20571308e-02 2.01203434e-03 9.98642081e-01 3.28047002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97710568099998 meters 0.028393996625827405 Centerline is valid? [True, True] Translation: X:91.80, Y:7.59, Z:3.28 [[ 9.70497498e-01 -2.36169525e-01 -4.85650339e-02 9.18034339e+01] [ 2.35791662e-01 9.71710548e-01 -1.34500290e-02 7.59198322e+00] [ 5.03676426e-02 1.60198943e-03 9.98729460e-01 3.28199940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00710568099998 meters 0.02141148553770757 Centerline is valid? [True, True] Translation: X:91.84, Y:7.58, Z:3.29 [[ 9.67791511e-01 -2.47282967e-01 -4.72305614e-02 9.18382538e+01] [ 2.46938670e-01 9.68942794e-01 -1.30826364e-02 7.57854695e+00] [ 4.89988252e-02 9.98212454e-04 9.98798337e-01 3.28816471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03710568099999 meters 0.019381615137621495 Centerline is valid? [True, True] Translation: X:91.87, Y:7.58, Z:3.29 [[ 9.65821998e-01 -2.55370142e-01 -4.44292592e-02 9.18685622e+01] [ 2.55073937e-01 9.66843205e-01 -1.23087209e-02 7.57610419e+00] [ 4.60994072e-02 5.55287353e-04 9.98936703e-01 3.29240765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06710568099999 meters 0.018946119653196206 Centerline is valid? [True, True] Translation: X:91.90, Y:7.58, Z:3.30 [[ 9.65247017e-01 -2.57820979e-01 -4.27380197e-02 9.18957096e+01] [ 2.57549135e-01 9.66192611e-01 -1.18440366e-02 7.58113554e+00] [ 4.43467999e-02 4.25280984e-04 9.99016106e-01 3.29503677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09710568099999 meters 0.01869883186284989 Centerline is valid? [True, True] Translation: X:91.92, Y:7.59, Z:3.30 [[ 9.65065805e-01 -2.58839064e-01 -4.06242697e-02 9.19242346e+01] [ 2.58594028e-01 9.65920392e-01 -1.12660938e-02 7.58634413e+00] [ 4.21559157e-02 3.67328320e-04 9.99110977e-01 3.29958932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.12710568099999 meters 0.019095150274427007 Centerline is valid? [True, True] Translation: X:91.95, Y:7.60, Z:3.30 [[ 9.65339669e-01 -2.57751608e-01 -4.10296348e-02 9.19504115e+01] [ 2.57500096e-01 9.66211117e-01 -1.13920621e-02 7.59648198e+00] [ 4.25796116e-02 4.32074551e-04 9.99092984e-01 3.29933308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.15710568099999 meters 0.019594368897309675 Centerline is valid? [True, True] Translation: X:91.98, Y:7.61, Z:3.30 [[ 9.66259250e-01 -2.54314280e-01 -4.08327030e-02 9.19781464e+01] [ 2.54061839e-01 9.67121452e-01 -1.13436915e-02 7.60570943e+00] [ 4.23750458e-02 5.86915201e-04 9.99101602e-01 3.30019752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.18710568099999 meters 0.02075886430508104 Centerline is valid? [True, True] Translation: X:92.01, Y:7.62, Z:3.30 [[ 9.67326758e-01 -2.50153347e-01 -4.12582983e-02 9.20053573e+01] [ 2.49891192e-01 9.68205906e-01 -1.14767576e-02 7.61575152e+00] [ 4.28174774e-02 7.91689388e-04 9.99082598e-01 3.30137667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.21710568099999 meters 0.02191071104560866 Centerline is valid? [True, True] Translation: X:92.03, Y:7.63, Z:3.30 [[ 9.68000375e-01 -2.47378352e-01 -4.21808584e-02 9.20315836e+01] [ 2.47101100e-01 9.68918496e-01 -1.17471190e-02 7.62648512e+00] [ 4.37757969e-02 9.48279091e-04 9.99040930e-01 3.30005229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.247105681 meters 0.023480699711749736 Centerline is valid? [True, True] Translation: X:92.06, Y:7.64, Z:3.30 [[ 9.68858792e-01 -2.43554474e-01 -4.46526647e-02 9.20589980e+01] [ 2.43239433e-01 9.69886486e-01 -1.24411203e-02 7.63754465e+00] [ 4.63381066e-02 1.19239991e-03 9.98925101e-01 3.29530085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.277105681 meters 0.023480699711749736 Centerline is valid? [True, True] Translation: X:92.09, Y:7.65, Z:3.30 [[ 9.68768836e-01 -2.43912377e-01 -4.46508115e-02 9.20854607e+01] [ 2.43597411e-01 9.69796553e-01 -1.24477672e-02 7.64515266e+00] [ 4.63383676e-02 1.18218682e-03 9.98925101e-01 3.29632016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.307105681 meters 0.023640068211842325 Centerline is valid? [True, True] Translation: X:92.11, Y:7.65, Z:3.30 [[ 9.68881301e-01 -2.43526390e-01 -4.43161632e-02 9.21132735e+01] [ 2.43214939e-01 9.69893519e-01 -1.23715811e-02 7.65180116e+00] [ 4.59947659e-02 1.20824063e-03 9.98940950e-01 3.29663861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33710568099998 meters 0.023136028012942726 Centerline is valid? [True, True] Translation: X:92.14, Y:7.65, Z:3.30 [[ 9.68294153e-01 -2.46140321e-01 -4.26775771e-02 9.21421494e+01] [ 2.45853386e-01 9.69233627e-01 -1.19285123e-02 7.65387848e+00] [ 4.43006307e-02 1.05788188e-03 9.99017685e-01 3.29881423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36710568099998 meters 0.02165640939819317 Centerline is valid? [True, True] Translation: X:92.17, Y:7.66, Z:3.30 [[ 9.67363797e-01 -2.49824982e-01 -4.23646420e-02 9.21708286e+01] [ 2.49545133e-01 9.68290594e-01 -1.18554938e-02 7.65752450e+00] [ 4.39830829e-02 8.96685336e-04 9.99031874e-01 3.29945309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39710568099999 meters 0.018061597227765805 Centerline is valid? [True, True] Translation: X:92.20, Y:7.65, Z:3.30 [[ 9.63451607e-01 -2.64160554e-01 -4.44994753e-02 9.22037678e+01] [ 2.63866376e-01 9.64478683e-01 -1.24662112e-02 7.64807754e+00] [ 4.62118765e-02 2.68675942e-04 9.98931624e-01 3.29779846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42710568099999 meters 0.01776163990726776 Centerline is valid? [True, True] Translation: X:92.23, Y:7.65, Z:3.30 [[ 9.62363214e-01 -2.68097930e-01 -4.45033123e-02 9.22330477e+01] [ 2.67807679e-01 9.63391661e-01 -1.24721272e-02 7.65087759e+00] [ 4.62178715e-02 8.43876075e-05 9.98931380e-01 3.29999071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45710568099999 meters 0.01793432961430038 Centerline is valid? [True, True] Translation: X:92.26, Y:7.66, Z:3.30 [[ 9.61836875e-01 -2.69862892e-01 -4.52089167e-02 9.22596454e+01] [ 2.69564653e-01 9.62898759e-01 -1.26837888e-02 7.65796196e+00] [ 4.69544937e-02 1.30098421e-05 9.98897029e-01 3.30056508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48710568099999 meters 0.017963874499581214 Centerline is valid? [True, True] Translation: X:92.29, Y:7.67, Z:3.30 [[ 9.62394977e-01 -2.67863418e-01 -4.52227485e-02 9.22858006e+01] [ 2.67562401e-01 9.63456888e-01 -1.26959307e-02 7.66981466e+00] [ 4.69709439e-02 1.18592747e-04 9.98896249e-01 3.30079197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51710568099999 meters 0.019280943333113722 Centerline is valid? [True, True] Translation: X:92.31, Y:7.69, Z:3.30 [[ 9.65070270e-01 -2.58157625e-01 -4.46543927e-02 9.23100994e+01] [ 2.57852918e-01 9.66102624e-01 -1.25536169e-02 7.69013545e+00] [ 4.63815379e-02 6.00857002e-04 9.98923617e-01 3.30197439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.54710568099999 meters 0.023276069632568307 Centerline is valid? [True, True] Translation: X:92.34, Y:7.71, Z:3.30 [[ 9.68262103e-01 -2.46241913e-01 -4.28184650e-02 9.23353258e+01] [ 2.45949523e-01 9.69207733e-01 -1.20500207e-02 7.71074363e+00] [ 4.44672075e-02 1.13639735e-03 9.99010198e-01 3.30471793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.57710568099999 meters 0.028382485408241676 Centerline is valid? [True, True] Translation: X:92.36, Y:7.73, Z:3.31 [[ 9.69620404e-01 -2.41056845e-01 -4.15676458e-02 9.23596933e+01] [ 2.40776439e-01 9.70510078e-01 -1.17001866e-02 7.72860357e+00] [ 4.31622293e-02 1.33622993e-03 9.99067183e-01 3.30533474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.607105681 meters 0.029198617340688973 Centerline is valid? [True, True] Translation: X:92.39, Y:7.74, Z:3.30 [[ 9.71473280e-01 -2.33127732e-01 -4.34870977e-02 9.23876449e+01] [ 2.32812664e-01 9.72444509e-01 -1.22450119e-02 7.74107422e+00] [ 4.51434412e-02 1.77135478e-03 9.98978945e-01 3.30294874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.637105681 meters 0.03140231815031444 Centerline is valid? [True, True] Translation: X:92.42, Y:7.75, Z:3.29 [[ 9.72175497e-01 -2.28836251e-01 -5.00876508e-02 9.24161688e+01] [ 2.28412414e-01 9.73462278e-01 -1.41053999e-02 7.75190021e+00] [ 5.19862655e-02 2.27228290e-03 9.98645215e-01 3.29353989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.667105681 meters 0.03223164911126915 Centerline is valid? [True, True] Translation: X:92.44, Y:7.76, Z:3.29 [[ 9.72170513e-01 -2.28360609e-01 -5.23060721e-02 9.24426440e+01] [ 2.27897489e-01 9.73573653e-01 -1.47335409e-02 7.75904150e+00] [ 5.42883740e-02 2.40309159e-03 9.98522407e-01 3.29085402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.697105681 meters 0.031126828815330403 Centerline is valid? [True, True] Translation: X:92.47, Y:7.76, Z:3.29 [[ 9.72034064e-01 -2.29241391e-01 -5.09721824e-02 9.24717641e+01] [ 2.28802261e-01 9.73366876e-01 -1.43683329e-02 7.76172980e+00] [ 5.29084506e-02 2.30395840e-03 9.98596709e-01 3.29380787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72710568099998 meters 0.030400600098272872 Centerline is valid? [True, True] Translation: X:92.50, Y:7.76, Z:3.30 [[ 9.72306494e-01 -2.28613257e-01 -4.85392690e-02 9.25008154e+01] [ 2.28213431e-01 9.73514739e-01 -1.36997190e-02 7.76290828e+00] [ 5.03856312e-02 2.24301260e-03 9.98727319e-01 3.29957726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75710568099998 meters 0.03155200454522932 Centerline is valid? [True, True] Translation: X:92.53, Y:7.77, Z:3.30 [[ 9.72600660e-01 -2.27583206e-01 -4.74746342e-02 9.25290223e+01] [ 2.27198604e-01 9.73756006e-01 -1.34177296e-02 7.76971310e+00] [ 4.92823601e-02 2.26392209e-03 9.98782320e-01 3.30166962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78710568099999 meters 0.036735830898359786 Centerline is valid? [True, True] Translation: X:92.55, Y:7.78, Z:3.30 [[ 9.73499137e-01 -2.23897735e-01 -4.65750298e-02 9.25549654e+01] [ 2.23522721e-01 9.74609646e-01 -1.31769346e-02 7.78098700e+00] [ 4.83427591e-02 2.41715705e-03 9.98827881e-01 3.30291139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81710568099999 meters 0.037972741484558564 Centerline is valid? [True, True] Translation: X:92.58, Y:7.79, Z:3.30 [[ 9.73826947e-01 -2.22832589e-01 -4.47963639e-02 9.25818810e+01] [ 2.22484358e-01 9.74853822e-01 -1.26782171e-02 7.78874178e+00] [ 4.64950265e-02 2.37989918e-03 9.98915686e-01 3.30431494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84710568099999 meters 0.039417476522658756 Centerline is valid? [True, True] Translation: X:92.61, Y:7.79, Z:3.31 [[ 9.74178328e-01 -2.21652044e-01 -4.29762312e-02 9.26103288e+01] [ 2.21330176e-01 9.75123011e-01 -1.21682940e-02 7.79159489e+00] [ 4.46042392e-02 2.34215149e-03 9.99001990e-01 3.30561506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87710568099999 meters 0.03462474528476642 Centerline is valid? [True, True] Translation: X:92.64, Y:7.79, Z:3.31 [[ 9.73675943e-01 -2.23885080e-01 -4.27858520e-02 9.26424666e+01] [ 2.23567835e-01 9.74612981e-01 -1.21227413e-02 7.78592570e+00] [ 4.44137476e-02 2.23808127e-03 9.99010716e-01 3.30766044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.90710568099999 meters 0.03412891148683891 Centerline is valid? [True, True] Translation: X:92.67, Y:7.79, Z:3.31 [[ 9.73103985e-01 -2.26445191e-01 -4.23226760e-02 9.26702225e+01] [ 2.26136667e-01 9.74021624e-01 -1.20035298e-02 7.78970493e+00] [ 4.39413432e-02 2.10997383e-03 9.99031885e-01 3.31036375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.93710568099999 meters 0.02934987805347172 Centerline is valid? [True, True] Translation: X:92.70, Y:7.78, Z:3.31 [[ 9.71522766e-01 -2.33283028e-01 -4.15035339e-02 9.27026993e+01] [ 2.32992358e-01 9.72407268e-01 -1.17756649e-02 7.78405773e+00] [ 4.31054008e-02 1.77032032e-03 9.99068962e-01 3.31226720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.96710568099999 meters 0.024468980075595427 Centerline is valid? [True, True] Translation: X:92.74, Y:7.78, Z:3.31 [[ 9.69429808e-01 -2.42009007e-01 -4.04658961e-02 9.27353620e+01] [ 2.41740207e-01 9.70273064e-01 -1.14827275e-02 7.77842844e+00] [ 4.20418925e-02 1.34946421e-03 9.99114937e-01 3.31477252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.997105681 meters 0.023235699046809093 Centerline is valid? [True, True] Translation: X:92.76, Y:7.78, Z:3.31 [[ 9.68318364e-01 -2.46414642e-01 -4.04891315e-02 9.27639158e+01] [ 2.46149316e-01 9.69163804e-01 -1.14907085e-02 7.78212952e+00] [ 4.20720795e-02 1.16029202e-03 9.99113904e-01 3.31481077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.027105681 meters 0.02014394070032327 Centerline is valid? [True, True] Translation: X:92.80, Y:7.78, Z:3.31 [[ 9.66280797e-01 -2.54171729e-01 -4.12086668e-02 9.27952339e+01] [ 2.53903747e-01 9.67158738e-01 -1.16988349e-02 7.78040810e+00] [ 4.28288353e-02 8.41324550e-04 9.99082070e-01 3.31417074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.057105681 meters 0.018889614598321138 Centerline is valid? [True, True] Translation: X:92.82, Y:7.78, Z:3.31 [[ 9.65188403e-01 -2.58351915e-01 -4.08121933e-02 9.28247347e+01] [ 2.58092645e-01 9.66050652e-01 -1.15898632e-02 7.78334420e+00] [ 4.24209093e-02 6.53074642e-04 9.99099615e-01 3.31489586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08710568099998 meters 0.017627412599530743 Centerline is valid? [True, True] Translation: X:92.85, Y:7.78, Z:3.32 [[ 9.63297161e-01 -2.65060288e-01 -4.24455367e-02 9.28545252e+01] [ 2.64785721e-01 9.64231764e-01 -1.20675861e-02 7.78140270e+00] [ 4.41259726e-02 3.85699396e-04 9.99025900e-01 3.31519710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11710568099998 meters 0.016998437104545926 Centerline is valid? [True, True] Translation: X:92.88, Y:7.78, Z:3.31 [[ 9.61122238e-01 -2.71944610e-01 -4.78557614e-02 9.28849544e+01] [ 2.71603591e-01 9.62312902e-01 -1.36149895e-02 7.78106785e+00] [ 4.97547396e-02 8.78725207e-05 9.98761462e-01 3.31068444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14710568099999 meters 0.017160265443603818 Centerline is valid? [True, True] Translation: X:92.91, Y:7.79, Z:3.31 [[ 9.60024778e-01 -2.75660899e-01 -4.86157783e-02 9.29126527e+01] [ 2.75312811e-01 9.61254940e-01 -1.38490333e-02 7.78604964e+00] [ 5.05497940e-02 -8.91314751e-05 9.98721538e-01 3.31022665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17710568099999 meters 0.017823254415954226 Centerline is valid? [True, True] Translation: X:92.94, Y:7.79, Z:3.31 [[ 9.58376651e-01 -2.81911435e-01 -4.51678759e-02 9.29411993e+01] [ 2.81617231e-01 9.59440359e-01 -1.28815038e-02 7.78840919e+00] [ 4.69673262e-02 -3.74719649e-04 9.98896356e-01 3.31469410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20710568099999 meters 0.018470204040878128 Centerline is valid? [True, True] Translation: X:92.97, Y:7.79, Z:3.33 [[ 9.57116890e-01 -2.86975903e-01 -3.96495930e-02 9.29690830e+01] [ 2.86753336e-01 9.57937648e-01 -1.13131046e-02 7.79433743e+00] [ 4.12284263e-02 -5.41689590e-04 9.99149600e-01 3.32526507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23710568099999 meters 0.018849319398496052 Centerline is valid? [True, True] Translation: X:93.00, Y:7.80, Z:3.33 [[ 9.56867996e-01 -2.88153273e-01 -3.70314768e-02 9.29959487e+01] [ 2.87959536e-01 9.57584147e-01 -1.05786203e-02 7.80293101e+00] [ 3.85090191e-02 -5.41223704e-04 9.99258106e-01 3.32990478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.26710568099999 meters 0.019433205270697276 Centerline is valid? [True, True] Translation: X:93.02, Y:7.81, Z:3.33 [[ 9.56270727e-01 -2.90435865e-01 -3.45442557e-02 9.30233417e+01] [ 2.90268301e-01 9.56894286e-01 -9.88123030e-03 7.81335909e+00] [ 3.59250646e-02 -5.77971153e-04 9.99354319e-01 3.33373359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.29710568099999 meters 0.0199292696706979 Centerline is valid? [True, True] Translation: X:93.05, Y:7.83, Z:3.33 [[ 9.55283457e-01 -2.93440479e-01 -3.64170434e-02 9.30496963e+01] [ 2.93255912e-01 9.55977078e-01 -1.04305558e-02 7.82531741e+00] [ 3.78746061e-02 -7.15375844e-04 9.99282244e-01 3.33208125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.32710568099999 meters 0.021401198039768653 Centerline is valid? [True, True] Translation: X:93.08, Y:7.83, Z:3.33 [[ 9.54626511e-01 -2.95616884e-01 -3.60400026e-02 9.30758989e+01] [ 2.95437182e-01 9.55306259e-01 -1.03355363e-02 7.83378582e+00] [ 3.74845991e-02 -7.80979817e-04 9.99296900e-01 3.33215589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.357105681 meters 0.02284451768131678 Centerline is valid? [True, True] Translation: X:93.10, Y:7.85, Z:3.33 [[ 9.52969530e-01 -3.00923743e-01 -3.59718696e-02 9.31026360e+01] [ 3.00748234e-01 9.53647701e-01 -1.03228601e-02 7.84681066e+00] [ 3.74108845e-02 -9.81105135e-04 9.99299486e-01 3.33199033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.387105681 meters 0.024652292638232556 Centerline is valid? [True, True] Translation: X:93.13, Y:7.86, Z:3.33 [[ 9.52052250e-01 -3.03585515e-01 -3.78463826e-02 9.31295233e+01] [ 3.03393204e-01 9.52803514e-01 -1.08639964e-02 7.85500475e+00] [ 3.93583183e-02 -1.13924307e-03 9.99224512e-01 3.33136620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.417105681 meters 0.02764169976657967 Centerline is valid? [True, True] Translation: X:93.16, Y:7.87, Z:3.33 [[ 9.50266220e-01 -3.08582499e-01 -4.20826774e-02 9.31572459e+01] [ 3.08349350e-01 9.51196413e-01 -1.20856181e-02 7.86540218e+00] [ 4.37583020e-02 -1.49161160e-03 9.99041033e-01 3.32759110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44710568099998 meters 0.028910724547261794 Centerline is valid? [True, True] Translation: X:93.18, Y:7.88, Z:3.33 [[ 9.48923476e-01 -3.12417140e-01 -4.40428016e-02 9.31831658e+01] [ 3.12165713e-01 9.49943416e-01 -1.26520525e-02 7.88097604e+00] [ 4.57908874e-02 -1.74282293e-03 9.98949527e-01 3.32597920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47710568099998 meters 0.028397880831126886 Centerline is valid? [True, True] Translation: X:93.21, Y:7.90, Z:3.32 [[ 9.49243655e-01 -3.11356937e-01 -4.46468487e-02 9.32070382e+01] [ 3.11097107e-01 9.50291501e-01 -1.28317297e-02 7.90244862e+00] [ 4.64227689e-02 -1.70906747e-03 9.98920420e-01 3.32461255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50710568099998 meters 0.027589246588957665 Centerline is valid? [True, True] Translation: X:93.23, Y:7.92, Z:3.32 [[ 9.49660530e-01 -3.10055098e-01 -4.48409890e-02 9.32327096e+01] [ 3.09790781e-01 9.50717180e-01 -1.29040616e-02 7.91668339e+00] [ 4.66320687e-02 -1.63684701e-03 9.98910792e-01 3.32499356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53710568099999 meters 0.02619925105284689 Centerline is valid? [True, True] Translation: X:93.26, Y:7.94, Z:3.33 [[ 9.50978573e-01 -3.06023401e-01 -4.46030537e-02 9.32562839e+01] [ 3.05756788e-01 9.52022935e-01 -1.28498396e-02 7.93500828e+00] [ 4.63954817e-02 -1.41776431e-03 9.98922144e-01 3.32720146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56710568099999 meters 0.024659648096773637 Centerline is valid? [True, True] Translation: X:93.28, Y:7.95, Z:3.33 [[ 9.51665865e-01 -3.04001679e-01 -4.37614052e-02 9.32822054e+01] [ 3.03742557e-01 9.52670627e-01 -1.26149300e-02 7.95032891e+00] [ 4.55251652e-02 -1.28700284e-03 9.98962363e-01 3.32888443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59710568099999 meters 0.022799020924274466 Centerline is valid? [True, True] Translation: X:93.30, Y:7.97, Z:3.33 [[ 9.53291286e-01 -2.99141147e-01 -4.18365605e-02 9.33047591e+01] [ 2.98899065e-01 9.54208354e-01 -1.20733575e-02 7.97259775e+00] [ 4.35324335e-02 -9.95482247e-04 9.99051518e-01 3.33175284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.62710568099999 meters 0.020517288195152757 Centerline is valid? [True, True] Translation: X:93.33, Y:7.99, Z:3.33 [[ 9.55091150e-01 -2.93724612e-01 -3.90736198e-02 9.33278094e+01] [ 2.93508733e-01 9.55889832e-01 -1.12806746e-02 7.99497170e+00] [ 4.06634876e-02 -6.94376107e-04 9.99172657e-01 3.33495211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.65710568099999 meters 0.019028469086463856 Centerline is valid? [True, True] Translation: X:93.35, Y:8.01, Z:3.34 [[ 9.56111362e-01 -2.90775579e-01 -3.60641946e-02 9.33522711e+01] [ 2.90589453e-01 9.56791142e-01 -1.04153426e-02 8.01388854e+00] [ 3.75344293e-02 -5.21647165e-04 9.99295199e-01 3.34037675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.68710568099999 meters 0.018710527653078048 Centerline is valid? [True, True] Translation: X:93.38, Y:8.03, Z:3.34 [[ 9.56522403e-01 -2.89448647e-01 -3.58381608e-02 9.33785425e+01] [ 2.89263436e-01 9.57193436e-01 -1.03629410e-02 8.02655184e+00] [ 3.73035916e-02 -4.54284323e-04 9.99303876e-01 3.34231949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.71710568099999 meters 0.017629140653470935 Centerline is valid? [True, True] Translation: X:93.40, Y:8.05, Z:3.34 [[ 9.57688930e-01 -2.85521140e-01 -3.61882756e-02 9.34020112e+01] [ 2.85328997e-01 9.58372367e-01 -1.04771194e-02 8.04588311e+00] [ 3.76732824e-02 -2.91743093e-04 9.99290067e-01 3.34364710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.747105681 meters 0.016576928158638485 Centerline is valid? [True, True] Translation: X:93.43, Y:8.07, Z:3.34 [[ 9.59524341e-01 -2.79203622e-01 -3.68561673e-02 9.34251769e+01] [ 2.78999458e-01 9.60231918e-01 -1.06755297e-02 8.07124259e+00] [ 3.83711148e-02 -3.94201047e-05 9.99263557e-01 3.34271444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.777105681 meters 0.01659919804096451 Centerline is valid? [True, True] Translation: X:93.45, Y:8.09, Z:3.34 [[ 9.60620133e-01 -2.75200415e-01 -3.83886873e-02 9.34493348e+01] [ 2.74975176e-01 9.61386869e-01 -1.11328600e-02 8.08705581e+00] [ 3.99701476e-02 1.38513450e-04 9.99200865e-01 3.34151817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.807105681 meters 0.01792120254282028 Centerline is valid? [True, True] Translation: X:93.47, Y:8.11, Z:3.34 [[ 9.62446025e-01 -2.68281470e-01 -4.15054539e-02 9.34736681e+01] [ 2.68011415e-01 9.63340456e-01 -1.20435440e-02 8.10859280e+00] [ 4.32149426e-02 4.67325662e-04 9.99065689e-01 3.33868119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83710568099998 meters 0.018543397515536346 Centerline is valid? [True, True] Translation: X:93.50, Y:8.12, Z:3.34 [[ 9.62967504e-01 -2.66419020e-01 -4.14064189e-02 9.35000590e+01] [ 2.66147922e-01 9.63857141e-01 -1.20289266e-02 8.12172152e+00] [ 4.31146074e-02 5.63233117e-04 9.99069974e-01 3.33969117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86710568099998 meters 0.018774186195633993 Centerline is valid? [True, True] Translation: X:93.52, Y:8.14, Z:3.34 [[ 9.63109195e-01 -2.66129779e-01 -3.99451985e-02 9.35242535e+01] [ 2.65876721e-01 9.63937041e-01 -1.16168363e-02 8.13501953e+00] [ 4.15962425e-02 5.67783438e-04 9.99134340e-01 3.34231536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89710568099999 meters 0.017811125128325028 Centerline is valid? [True, True] Translation: X:93.55, Y:8.14, Z:3.34 [[ 9.62613737e-01 -2.67572035e-01 -4.21900398e-02 9.35504505e+01] [ 2.67290703e-01 9.63537706e-01 -1.22787710e-02 8.14409339e+00] [ 4.39371500e-02 5.42708244e-04 9.99034150e-01 3.34036189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92710568099999 meters 0.017689905133292723 Centerline is valid? [True, True] Translation: X:93.58, Y:8.15, Z:3.34 [[ 9.62062231e-01 -2.69251465e-01 -4.40444298e-02 9.35777421e+01] [ 2.68945722e-01 9.63069776e-01 -1.28376416e-02 8.15150542e+00] [ 4.58744130e-02 5.05049121e-04 9.98947087e-01 3.33864313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95710568099999 meters 0.01709969826853679 Centerline is valid? [True, True] Translation: X:93.61, Y:8.15, Z:3.34 [[ 9.60791220e-01 -2.73351305e-01 -4.64682317e-02 9.36061919e+01] [ 2.73014765e-01 9.61914208e-01 -1.35644291e-02 8.15497321e+00] [ 4.84063067e-02 3.46071044e-04 9.98827668e-01 3.33742171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98710568099999 meters 0.016685393611145977 Centerline is valid? [True, True] Translation: X:93.63, Y:8.16, Z:3.34 [[ 9.59575013e-01 -2.77687479e-01 -4.58852705e-02 9.36337884e+01] [ 2.77363505e-01 9.60671455e-01 -1.34105302e-02 8.15869303e+00] [ 4.78046058e-02 1.41510230e-04 9.98856696e-01 3.33754222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01710568099999 meters 0.01667235926673869 Centerline is valid? [True, True] Translation: X:93.66, Y:8.16, Z:3.34 [[ 9.58593279e-01 -2.81755213e-01 -4.13875104e-02 9.36627089e+01] [ 2.81495179e-01 9.59486320e-01 -1.21023452e-02 8.16077107e+00] [ 4.31206489e-02 -4.91578864e-05 9.99069871e-01 3.34494280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.04710568099999 meters 0.01675041423425568 Centerline is valid? [True, True] Translation: X:93.69, Y:8.16, Z:3.35 [[ 9.57654061e-01 -2.84964204e-01 -4.11594561e-02 9.36914660e+01] [ 2.84709337e-01 9.58538143e-01 -1.20508368e-02 8.16280908e+00] [ 4.28869657e-02 -1.77948643e-04 9.99079915e-01 3.34800537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.07710568099999 meters 0.017142982299441355 Centerline is valid? [True, True] Translation: X:93.72, Y:8.17, Z:3.35 [[ 9.57006964e-01 -2.86988683e-01 -4.21327245e-02 9.37191696e+01] [ 2.86722861e-01 9.57933937e-01 -1.23520341e-02 8.16871095e+00] [ 4.39052606e-02 -2.59432629e-04 9.99035665e-01 3.34777884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.107105681 meters 0.017986846332726042 Centerline is valid? [True, True] Translation: X:93.75, Y:8.17, Z:3.35 [[ 9.55706986e-01 -2.91384652e-01 -4.14625315e-02 9.37471791e+01] [ 2.91131030e-01 9.56605867e-01 -1.21630083e-02 8.17379425e+00] [ 4.32074148e-02 -4.46757515e-04 9.99066024e-01 3.34879253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.137105681 meters 0.01807866532309266 Centerline is valid? [True, True] Translation: X:93.77, Y:8.18, Z:3.35 [[ 9.55347401e-01 -2.92888619e-01 -3.90845224e-02 9.37742693e+01] [ 2.92664282e-01 9.56146446e-01 -1.14713277e-02 8.18120017e+00] [ 4.07303486e-02 -4.79540572e-04 9.99170060e-01 3.35285349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.167105681 meters 0.01771569794131598 Centerline is valid? [True, True] Translation: X:93.80, Y:8.19, Z:3.36 [[ 9.56179006e-01 -2.90147111e-01 -3.91964661e-02 9.38003253e+01] [ 2.89918533e-01 9.56981992e-01 -1.15200667e-02 8.19160596e+00] [ 4.08528262e-02 -3.48536070e-04 9.99165114e-01 3.35697388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19710568099998 meters 0.01771569794131598 Centerline is valid? [True, True] Translation: X:93.83, Y:8.20, Z:3.36 [[ 9.56068924e-01 -2.90509947e-01 -3.91941735e-02 9.38266491e+01] [ 2.90281354e-01 9.56871906e-01 -1.15278615e-02 8.19959735e+00] [ 4.08527619e-02 -3.55907618e-04 9.99165114e-01 3.35799205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22710568099998 meters 0.016794484949884537 Centerline is valid? [True, True] Translation: X:93.85, Y:8.22, Z:3.36 [[ 9.58867855e-01 -2.80817653e-01 -4.13990714e-02 9.38497014e+01] [ 2.80552848e-01 9.59761137e-01 -1.21925842e-02 8.22046256e+00] [ 4.31571127e-02 7.64496291e-05 9.99068295e-01 3.35699310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25710568099998 meters 0.01738198118787463 Centerline is valid? [True, True] Translation: X:93.88, Y:8.24, Z:3.36 [[ 9.60692749e-01 -2.74568413e-01 -4.10076663e-02 9.38751505e+01] [ 2.74302616e-01 9.61567500e-01 -1.20838114e-02 8.23585316e+00] [ 4.27494721e-02 3.60319911e-04 9.99085758e-01 3.35884217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28710568099999 meters 0.020391910136485128 Centerline is valid? [True, True] Translation: X:93.90, Y:8.26, Z:3.36 [[ 9.63631138e-01 -2.64031593e-01 -4.12595167e-02 9.38998737e+01] [ 2.63752251e-01 9.64513660e-01 -1.21716449e-02 8.25531867e+00] [ 4.30090662e-02 8.46685592e-04 9.99074323e-01 3.35948324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31710568099999 meters 0.022894388885306694 Centerline is valid? [True, True] Translation: X:93.93, Y:8.27, Z:3.36 [[ 9.65160002e-01 -2.58450860e-01 -4.08573646e-02 9.39259177e+01] [ 2.58171802e-01 9.66023793e-01 -1.20561588e-02 8.26941138e+00] [ 4.25851109e-02 1.08790279e-03 9.99092250e-01 3.35973544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34710568099999 meters 0.023074045718449843 Centerline is valid? [True, True] Translation: X:93.95, Y:8.28, Z:3.36 [[ 9.65203048e-01 -2.58385338e-01 -4.02503899e-02 9.39525234e+01] [ 2.58114264e-01 9.66041331e-01 -1.18816677e-02 8.27771184e+00] [ 4.19535890e-02 1.07902209e-03 9.99118978e-01 3.36114334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37710568099999 meters 0.022369300482624987 Centerline is valid? [True, True] Translation: X:93.98, Y:8.28, Z:3.36 [[ 9.64826712e-01 -2.59489605e-01 -4.21255332e-02 9.39799634e+01] [ 2.59192943e-01 9.65745279e-01 -1.24529129e-02 8.28375187e+00] [ 4.39139362e-02 1.09626207e-03 9.99034716e-01 3.35881940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.40710568099999 meters 0.022148472279110435 Centerline is valid? [True, True] Translation: X:94.01, Y:8.29, Z:3.36 [[ 9.64390942e-01 -2.60494964e-01 -4.57436782e-02 9.40088956e+01] [ 2.60145319e-01 9.65474510e-01 -1.35419497e-02 8.28768419e+00] [ 4.76919650e-02 1.15972992e-03 9.98861418e-01 3.35532856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.43710568099999 meters 0.02175167931883633 Centerline is valid? [True, True] Translation: X:94.04, Y:8.29, Z:3.36 [[ 9.63921776e-01 -2.61983209e-01 -4.71127149e-02 9.40367708e+01] [ 2.61613200e-01 9.65071763e-01 -1.39651753e-02 8.29209912e+00] [ 4.91257922e-02 1.13602846e-03 9.98791953e-01 3.35538425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.46710568099999 meters 0.020056672093391164 Centerline is valid? [True, True] Translation: X:94.07, Y:8.29, Z:3.36 [[ 9.62612064e-01 -2.66235039e-01 -4.99691711e-02 9.40676624e+01] [ 2.65823392e-01 9.63907627e-01 -1.48327536e-02 8.29032883e+00] [ 5.21146639e-02 9.95212973e-04 9.98640612e-01 3.35627298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.497105681 meters 0.019299912218443797 Centerline is valid? [True, True] Translation: X:94.10, Y:8.29, Z:3.36 [[ 9.61642531e-01 -2.69820009e-01 -4.94045156e-02 9.40966818e+01] [ 2.69421405e-01 9.62910436e-01 -1.46832809e-02 8.29160161e+00] [ 5.15339666e-02 8.09433410e-04 9.98670914e-01 3.36017059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.527105681 meters 0.019195041323870513 Centerline is valid? [True, True] Translation: X:94.13, Y:8.30, Z:3.37 [[ 9.61684103e-01 -2.70066925e-01 -4.71968460e-02 9.41251763e+01] [ 2.69702658e-01 9.62841240e-01 -1.40436095e-02 8.29812179e+00] [ 4.92357842e-02 7.76401150e-04 9.98786882e-01 3.36536704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.557105681 meters 0.01990602202476074 Centerline is valid? [True, True] Translation: X:94.15, Y:8.31, Z:3.37 [[ 9.62119560e-01 -2.69142404e-01 -4.34547841e-02 9.41515020e+01] [ 2.68832148e-01 9.63100085e-01 -1.29422830e-02 8.30648294e+00] [ 4.53346234e-02 7.69980674e-04 9.98971561e-01 3.37145841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58710568099998 meters 0.019064626800336944 Centerline is valid? [True, True] Translation: X:94.18, Y:8.31, Z:3.37 [[ 9.61373059e-01 -2.71908550e-01 -4.27502220e-02 9.41804057e+01] [ 2.71610696e-01 9.62322886e-01 -1.27394590e-02 8.31029587e+00] [ 4.46034848e-02 6.35955094e-04 9.99004567e-01 3.37269206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61710568099998 meters 0.017759990306726918 Centerline is valid? [True, True] Translation: X:94.21, Y:8.31, Z:3.37 [[ 9.60165619e-01 -2.76184988e-01 -4.24715865e-02 9.42100020e+01] [ 2.75894528e-01 9.61104391e-01 -1.26711768e-02 8.31269032e+00] [ 4.43192171e-02 4.48750007e-04 9.99017320e-01 3.37356608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64710568099999 meters 0.016662402360961025 Centerline is valid? [True, True] Translation: X:94.24, Y:8.31, Z:3.37 [[ 9.57256195e-01 -2.86022920e-01 -4.30286709e-02 9.42406608e+01] [ 2.85734072e-01 9.58222776e-01 -1.28511054e-02 8.30869309e+00] [ 4.49067631e-02 7.04288513e-06 9.98991182e-01 3.37408376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67710568099999 meters 0.017138323676705723 Centerline is valid? [True, True] Translation: X:94.27, Y:8.31, Z:3.37 [[ 9.55682301e-01 -2.91102653e-01 -4.39384117e-02 9.42695738e+01] [ 2.90806467e-01 9.56691796e-01 -1.31303384e-02 8.31216714e+00] [ 4.58577944e-02 -2.29142287e-04 9.98947952e-01 3.37405847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70710568099999 meters 0.0188451045675971 Centerline is valid? [True, True] Translation: X:94.30, Y:8.31, Z:3.37 [[ 9.53298704e-01 -2.98711946e-01 -4.46402762e-02 9.42992203e+01] [ 2.98413894e-01 9.54343137e-01 -1.33538133e-02 8.31252718e+00] [ 4.65910848e-02 -5.91105767e-04 9.98913871e-01 3.37342794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73710568099999 meters 0.020250586030203018 Centerline is valid? [True, True] Translation: X:94.33, Y:8.32, Z:3.38 [[ 9.52290683e-01 -3.02023570e-01 -4.38659078e-02 9.43268760e+01] [ 3.01739035e-01 9.53300175e-01 -1.31275145e-02 8.31564164e+00] [ 4.57821964e-02 -7.34846981e-04 9.98951175e-01 3.37771927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.76710568099999 meters 0.02008585193208355 Centerline is valid? [True, True] Translation: X:94.35, Y:8.32, Z:3.38 [[ 9.52304557e-01 -3.02124937e-01 -4.28550262e-02 9.43534225e+01] [ 3.01853152e-01 9.53268068e-01 -1.28321630e-02 8.32450840e+00] [ 4.47292445e-02 -7.15797489e-04 9.98998890e-01 3.38206776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.79710568099999 meters 0.018500306631774616 Centerline is valid? [True, True] Translation: X:94.38, Y:8.34, Z:3.39 [[ 9.53533795e-01 -2.98598655e-01 -4.01515212e-02 9.43784532e+01] [ 2.98356349e-01 9.54378642e-01 -1.20373398e-02 8.34104405e+00] [ 4.19140878e-02 -5.01450973e-04 9.99121093e-01 3.38966912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.82710568099999 meters 0.017278283010575178 Centerline is valid? [True, True] Translation: X:94.40, Y:8.36, Z:3.39 [[ 9.55022744e-01 -2.94088948e-01 -3.79901216e-02 9.44026866e+01] [ 2.93867989e-01 9.55778015e-01 -1.14013309e-02 8.35729385e+00] [ 3.96631284e-02 -2.75550266e-04 9.99213071e-01 3.39397365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.857105681 meters 0.01678926749975367 Centerline is valid? [True, True] Translation: X:94.43, Y:8.37, Z:3.39 [[ 9.55694217e-01 -2.91723570e-01 -3.93182092e-02 9.44281627e+01] [ 2.91484638e-01 9.56502654e-01 -1.18058930e-02 8.36941187e+00] [ 4.10520288e-02 -1.77830283e-04 9.99156994e-01 3.39313931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.887105681 meters 0.016569937602144154 Centerline is valid? [True, True] Translation: X:94.45, Y:8.39, Z:3.39 [[ 9.57082896e-01 -2.86771460e-01 -4.18862633e-02 9.44523235e+01] [ 2.86494787e-01 9.57999022e-01 -1.25940411e-02 8.38561221e+00] [ 4.37386108e-02 5.33452247e-05 9.99043008e-01 3.39023101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.917105681 meters 0.0173798947210739 Centerline is valid? [True, True] Translation: X:94.48, Y:8.40, Z:3.39 [[ 9.58981746e-01 -2.80482673e-01 -4.10302544e-02 9.44765655e+01] [ 2.80210782e-01 9.59859026e-01 -1.23518830e-02 8.40395713e+00] [ 4.28477492e-02 3.48110668e-04 9.99081553e-01 3.39214334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94710568099998 meters 0.019271346585023278 Centerline is valid? [True, True] Translation: X:94.50, Y:8.42, Z:3.39 [[ 9.60726493e-01 -2.74289675e-01 -4.20687639e-02 9.45009700e+01] [ 2.73997294e-01 9.61646893e-01 -1.26781508e-02 8.42117655e+00] [ 4.39327820e-02 6.53507832e-04 9.99034275e-01 3.39233915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97710568099998 meters 0.01976845174768784 Centerline is valid? [True, True] Translation: X:94.53, Y:8.43, Z:3.39 [[ 9.61324390e-01 -2.71835302e-01 -4.42830303e-02 9.45275304e+01] [ 2.71508247e-01 9.62343444e-01 -1.33554730e-02 8.43313703e+00] [ 4.62459729e-02 8.15734020e-04 9.98929750e-01 3.39174472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00710568099998 meters 0.02358363092839542 Centerline is valid? [True, True] Translation: X:94.55, Y:8.45, Z:3.39 [[ 9.62728632e-01 -2.66309404e-01 -4.72533840e-02 9.45509976e+01] [ 2.65929572e-01 9.63886890e-01 -1.42662796e-02 8.45353133e+00] [ 4.93461618e-02 1.16848367e-03 9.98781053e-01 3.38748389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03710568099999 meters 0.024619215224811558 Centerline is valid? [True, True] Translation: X:94.58, Y:8.47, Z:3.39 [[ 9.63087989e-01 -2.64833322e-01 -4.82165581e-02 9.45778021e+01] [ 2.64435560e-01 9.64293357e-01 -1.45655634e-02 8.46533923e+00] [ 5.03523532e-02 1.27774662e-03 9.98730698e-01 3.38675590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06710568099999 meters 0.024229374558859686 Centerline is valid? [True, True] Translation: X:94.61, Y:8.47, Z:3.39 [[ 9.63644897e-01 -2.62460921e-01 -5.00277761e-02 9.46055458e+01] [ 2.62028581e-01 9.64941501e-01 -1.51302023e-02 8.47327290e+00] [ 5.22449642e-02 1.47143507e-03 9.98633215e-01 3.38733502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09710568099999 meters 0.025958541490495982 Centerline is valid? [True, True] Translation: X:94.63, Y:8.49, Z:3.39 [[ 9.63738011e-01 -2.61605734e-01 -5.26449090e-02 9.46310872e+01] [ 2.61124799e-01 9.65173476e-01 -1.59373666e-02 8.48512023e+00] [ 5.49807763e-02 1.61255467e-03 9.98486111e-01 3.38520805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.12710568099999 meters 0.025580841510301412 Centerline is valid? [True, True] Translation: X:94.66, Y:8.49, Z:3.39 [[ 9.63554491e-01 -2.62337140e-01 -5.23638059e-02 9.46584201e+01] [ 2.61861841e-01 9.64975001e-01 -1.58626476e-02 8.49345941e+00] [ 5.46911253e-02 1.57244274e-03 9.98502082e-01 3.38678005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.15710568099999 meters 0.023670700578944638 Centerline is valid? [True, True] Translation: X:94.69, Y:8.50, Z:3.39 [[ 9.62688445e-01 -2.66180218e-01 -4.87754983e-02 9.46886288e+01] [ 2.65772196e-01 9.63922441e-01 -1.47874256e-02 8.49721906e+00] [ 5.09519175e-02 1.27251254e-03 9.98700297e-01 3.39382592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.18710568099999 meters 0.020953582181913052 Centerline is valid? [True, True] Translation: X:94.72, Y:8.50, Z:3.40 [[ 9.61011764e-01 -2.72748749e-01 -4.54368767e-02 9.47191591e+01] [ 2.72401965e-01 9.62084911e-01 -1.37765492e-02 8.49765843e+00] [ 4.74716701e-02 8.62331373e-04 9.98872213e-01 3.39964310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.21710568099999 meters 0.01986212621204464 Centerline is valid? [True, True] Translation: X:94.75, Y:8.50, Z:3.40 [[ 9.60142890e-01 -2.75974271e-01 -4.43151551e-02 9.47473472e+01] [ 2.75647617e-01 9.61164776e-01 -1.34411758e-02 8.50353516e+00] [ 4.63035848e-02 6.90082492e-04 9.98927175e-01 3.40198065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.247105681 meters 0.01855269666789964 Centerline is valid? [True, True] Translation: X:94.78, Y:8.51, Z:3.41 [[ 9.58934690e-01 -2.80426696e-01 -4.24868053e-02 9.47763827e+01] [ 2.80130193e-01 9.59875329e-01 -1.29006452e-02 8.50707705e+00] [ 4.43997216e-02 4.69039244e-04 9.99013736e-01 3.40585567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.277105681 meters 0.017988712011304107 Centerline is valid? [True, True] Translation: X:94.80, Y:8.51, Z:3.41 [[ 9.57989130e-01 -2.83614834e-01 -4.26550345e-02 9.48043172e+01] [ 2.83318482e-01 9.58938221e-01 -1.29663082e-02 8.51250492e+00] [ 4.45809802e-02 3.36622700e-04 9.99005717e-01 3.40753006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.307105681 meters 0.017948985812462615 Centerline is valid? [True, True] Translation: X:94.83, Y:8.52, Z:3.41 [[ 9.57677798e-01 -2.84697002e-01 -4.24364498e-02 9.48306325e+01] [ 2.84404094e-01 9.58617509e-01 -1.29144617e-02 8.52064431e+00] [ 4.43570323e-02 2.98793175e-04 9.99015698e-01 3.40836453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33710568099998 meters 0.017591631726687405 Centerline is valid? [True, True] Translation: X:94.86, Y:8.53, Z:3.41 [[ 9.56933993e-01 -2.87289215e-01 -4.17401538e-02 9.48571673e+01] [ 2.87007688e-01 9.57843866e-01 -1.27167549e-02 8.52855644e+00] [ 4.36339368e-02 1.89350036e-04 9.99047568e-01 3.41072129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36710568099998 meters 0.01761126370334051 Centerline is valid? [True, True] Translation: X:94.88, Y:8.54, Z:3.41 [[ 9.56435178e-01 -2.88790115e-01 -4.28021058e-02 9.48840106e+01] [ 2.88495256e-01 9.57392423e-01 -1.30474117e-02 8.53767340e+00] [ 4.47463753e-02 1.30799055e-04 9.98998371e-01 3.41104649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39710568099999 meters 0.01762223463352211 Centerline is valid? [True, True] Translation: X:94.91, Y:8.55, Z:3.41 [[ 9.56345156e-01 -2.89020152e-01 -4.32584675e-02 9.49096520e+01] [ 2.88718502e-01 9.57323003e-01 -1.32020336e-02 8.54582913e+00] [ 4.52279798e-02 1.36180985e-04 9.98976682e-01 3.41183119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42710568099999 meters 0.017729080555742013 Centerline is valid? [True, True] Translation: X:94.94, Y:8.56, Z:3.42 [[ 9.56978385e-01 -2.87384182e-01 -4.00337647e-02 9.49361243e+01] [ 2.87123992e-01 9.57815373e-01 -1.22280152e-02 8.55583395e+00] [ 4.18590934e-02 2.07291887e-04 9.99123503e-01 3.41923265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45710568099999 meters 0.019013020329702722 Centerline is valid? [True, True] Translation: X:94.96, Y:8.57, Z:3.42 [[ 9.58584709e-01 -2.82299963e-01 -3.77105560e-02 9.49611053e+01] [ 2.82064635e-01 9.59326095e-01 -1.15319104e-02 8.57116538e+00] [ 3.94321783e-02 4.17498749e-04 9.99222162e-01 3.42424277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48710568099999 meters 0.020091239472030963 Centerline is valid? [True, True] Translation: X:94.99, Y:8.58, Z:3.43 [[ 9.59383158e-01 -2.79583355e-01 -3.76444253e-02 9.49865271e+01] [ 2.79346288e-01 9.60121272e-01 -1.15236946e-02 8.58343172e+00] [ 3.93650467e-02 5.39808077e-04 9.99224750e-01 3.42519343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51710568099999 meters 0.022476923624905713 Centerline is valid? [True, True] Translation: X:95.01, Y:8.60, Z:3.42 [[ 9.60864632e-01 -2.74426209e-01 -3.78076029e-02 9.50113867e+01] [ 2.74182909e-01 9.61607862e-01 -1.15780838e-02 8.59920939e+00] [ 3.95334179e-02 7.58772702e-04 9.99217961e-01 3.42373318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.54710568099999 meters 0.024061056614636016 Centerline is valid? [True, True] Translation: X:95.04, Y:8.61, Z:3.42 [[ 9.61645372e-01 -2.71509644e-01 -3.89960409e-02 9.50380887e+01] [ 2.71248183e-01 9.62435287e-01 -1.19474164e-02 8.60943981e+00] [ 4.07750046e-02 9.11572503e-04 9.99167938e-01 3.42316373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.57710568099999 meters 0.02481009585816448 Centerline is valid? [True, True] Translation: X:95.07, Y:8.62, Z:3.42 [[ 9.61870555e-01 -2.70559450e-01 -4.00327286e-02 9.50661895e+01] [ 2.70282520e-01 9.62702760e-01 -1.22782516e-02 8.61769421e+00] [ 4.18616153e-02 9.89941882e-04 9.99122928e-01 3.42275076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.607105681 meters 0.02681786043273014 Centerline is valid? [True, True] Translation: X:95.09, Y:8.63, Z:3.42 [[ 9.62357600e-01 -2.68016586e-01 -4.51105119e-02 9.50939452e+01] [ 2.67661465e-01 9.63413482e-01 -1.38492632e-02 8.62611567e+00] [ 4.71719076e-02 1.25359800e-03 9.98885999e-01 3.41705203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.637105681 meters 0.025817517317351317 Centerline is valid? [True, True] Translation: X:95.12, Y:8.63, Z:3.41 [[ 9.63186034e-01 -2.64424990e-01 -4.84983396e-02 9.51238241e+01] [ 2.64009724e-01 9.64405024e-01 -1.48934839e-02 8.63034516e+00] [ 5.07102517e-02 1.54116247e-03 9.98712218e-01 3.41436350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.667105681 meters 0.026593877098740133 Centerline is valid? [True, True] Translation: X:95.15, Y:8.64, Z:3.42 [[ 9.63692874e-01 -2.62682235e-01 -4.78966456e-02 9.51518709e+01] [ 2.62274753e-01 9.64881041e-01 -1.47149793e-02 8.63826128e+00] [ 5.00799289e-02 1.61863982e-03 9.98743901e-01 3.41557649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69710568099998 meters 0.03476427124353999 Centerline is valid? [True, True] Translation: X:95.18, Y:8.65, Z:3.42 [[ 9.65133054e-01 -2.57803142e-01 -4.53401430e-02 9.51765911e+01] [ 2.57432026e-01 9.66195817e-01 -1.39425947e-02 8.65408617e+00] [ 4.74019012e-02 1.78445410e-03 9.98874304e-01 3.41675294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72710568099998 meters 0.03236675778486318 Centerline is valid? [True, True] Translation: X:95.21, Y:8.65, Z:3.42 [[ 9.66922842e-01 -2.51118295e-01 -4.47193512e-02 9.52088375e+01] [ 2.50749968e-01 9.67954155e-01 -1.37552317e-02 8.65242162e+00] [ 4.67404722e-02 2.08687187e-03 9.98904887e-01 3.42072922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75710568099998 meters 0.03543975594261059 Centerline is valid? [True, True] Translation: X:95.24, Y:8.66, Z:3.42 [[ 9.67809377e-01 -2.47616881e-01 -4.50653935e-02 9.52361068e+01] [ 2.47239005e-01 9.68855360e-01 -1.38624028e-02 8.66086187e+00] [ 4.70944130e-02 2.27424037e-03 9.98887854e-01 3.42112115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78710568099999 meters 0.03750284060034396 Centerline is valid? [True, True] Translation: X:95.27, Y:8.66, Z:3.42 [[ 9.69255495e-01 -2.42096474e-01 -4.39668460e-02 9.52664993e+01] [ 2.41731010e-01 9.70249005e-01 -1.35273054e-02 8.66429309e+00] [ 4.59337015e-02 2.48326505e-03 9.98941404e-01 3.42311809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81710568099999 meters 0.038140679160596574 Centerline is valid? [True, True] Translation: X:95.30, Y:8.67, Z:3.42 [[ 9.69557590e-01 -2.41075263e-01 -4.29045164e-02 9.52954338e+01] [ 2.40726105e-01 9.70503271e-01 -1.32039443e-02 8.66950226e+00] [ 4.48221179e-02 2.47374732e-03 9.98991921e-01 3.42396144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84710568099999 meters 0.03931816763061953 Centerline is valid? [True, True] Translation: X:95.33, Y:8.67, Z:3.42 [[ 9.69531224e-01 -2.40775974e-01 -4.51235669e-02 9.53254771e+01] [ 2.40388748e-01 9.70577154e-01 -1.39010050e-02 8.66765841e+00] [ 4.71429312e-02 2.63026062e-03 9.98884691e-01 3.42237941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87710568099999 meters 0.04005732305638626 Centerline is valid? [True, True] Translation: X:95.36, Y:8.67, Z:3.42 [[ 9.69061116e-01 -2.42083759e-01 -4.81249145e-02 9.53556915e+01] [ 2.41644559e-01 9.70251475e-01 -1.48317912e-02 8.66566646e+00] [ 5.02838051e-02 2.74378838e-03 9.98731200e-01 3.41852770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.90710568099999 meters 0.038587517960028184 Centerline is valid? [True, True] Translation: X:95.39, Y:8.67, Z:3.42 [[ 9.68718056e-01 -2.43485006e-01 -4.79622711e-02 9.53854624e+01] [ 2.43050054e-01 9.69900985e-01 -1.47902024e-02 8.66745546e+00] [ 5.01198465e-02 2.67030351e-03 9.98739641e-01 3.41907315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.93710568099999 meters 0.038482283436059174 Centerline is valid? [True, True] Translation: X:95.42, Y:8.66, Z:3.42 [[ 9.68407276e-01 -2.45079551e-01 -4.60799472e-02 9.54158937e+01] [ 2.44679252e-01 9.69499752e-01 -1.42230026e-02 8.66216942e+00] [ 4.81602645e-02 2.49885215e-03 9.98836495e-01 3.42182879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.96710568099999 meters 0.03608720502465199 Centerline is valid? [True, True] Translation: X:95.45, Y:8.65, Z:3.42 [[ 9.67098812e-01 -2.50131850e-01 -4.64106198e-02 9.54496843e+01] [ 2.49731274e-01 9.68209124e-01 -1.43312053e-02 8.65465301e+00] [ 4.85198764e-02 2.26950845e-03 9.98819639e-01 3.42387752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.997105681 meters 0.033714812832085085 Centerline is valid? [True, True] Translation: X:95.48, Y:8.66, Z:3.42 [[ 9.66099028e-01 -2.53829892e-01 -4.71492644e-02 9.54804633e+01] [ 2.53420773e-01 9.67246555e-01 -1.45606946e-02 8.65513076e+00] [ 4.93009032e-02 2.11846991e-03 9.98781724e-01 3.42392735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.027105681 meters 0.0276728415028586 Centerline is valid? [True, True] Translation: X:95.51, Y:8.65, Z:3.42 [[ 9.64064614e-01 -2.61217852e-01 -4.84216251e-02 9.55147121e+01] [ 2.60795511e-01 9.65278214e-01 -1.49556732e-02 8.64574557e+00] [ 5.06470286e-02 1.79009283e-03 9.98715011e-01 3.42421630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.057105681 meters 0.02547671607817051 Centerline is valid? [True, True] Translation: X:95.54, Y:8.65, Z:3.42 [[ 9.62986616e-01 -2.65067668e-01 -4.89480254e-02 9.55446780e+01] [ 2.64640929e-01 9.64228473e-01 -1.51205422e-02 8.64615353e+00] [ 5.12050467e-02 1.60722883e-03 9.98686868e-01 3.42471789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08710568099998 meters 0.02547671607817051 Centerline is valid? [True, True] Translation: X:95.57, Y:8.65, Z:3.43 [[ 9.62888040e-01 -2.65426010e-01 -4.89454443e-02 9.55709418e+01] [ 2.64999309e-01 9.64129910e-01 -1.51288924e-02 8.65448513e+00] [ 5.12053684e-02 1.59692067e-03 9.98686868e-01 3.42573778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11710568099998 meters 0.022464735421746266 Centerline is valid? [True, True] Translation: X:95.60, Y:8.65, Z:3.43 [[ 9.60848339e-01 -2.72791345e-01 -4.85319669e-02 9.56041788e+01] [ 2.72380445e-01 9.62072462e-01 -1.50157146e-02 8.64838357e+00] [ 5.07874258e-02 1.20866569e-03 9.98708755e-01 3.42762876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14710568099999 meters 0.02188388000189168 Centerline is valid? [True, True] Translation: X:95.63, Y:8.65, Z:3.43 [[ 9.59042409e-01 -2.79131898e-01 -4.81979303e-02 9.56332886e+01] [ 2.78734496e-01 9.60252377e-01 -1.49148775e-02 8.64786897e+00] [ 5.04453952e-02 8.69574276e-04 9.98726442e-01 3.42789379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17710568099999 meters 0.01994851026730979 Centerline is valid? [True, True] Translation: X:95.66, Y:8.65, Z:3.43 [[ 9.57560521e-01 -2.84333010e-01 -4.72502722e-02 9.56634054e+01] [ 2.83957139e-01 9.58725400e-01 -1.46270570e-02 8.64676819e+00] [ 4.94589913e-02 5.89240213e-04 9.98775981e-01 3.43010192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20710568099999 meters 0.018444816558990284 Centerline is valid? [True, True] Translation: X:95.69, Y:8.65, Z:3.43 [[ 9.56598909e-01 -2.87552061e-01 -4.72476496e-02 9.56923696e+01] [ 2.87179783e-01 9.57764912e-01 -1.46336854e-02 8.64964354e+00] [ 4.94600874e-02 4.29997747e-04 9.98776008e-01 3.43346850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23710568099999 meters 0.017976232204759492 Centerline is valid? [True, True] Translation: X:95.72, Y:8.65, Z:3.43 [[ 9.55183283e-01 -2.92051584e-01 -4.82780330e-02 9.57199273e+01] [ 2.91667874e-01 9.56402544e-01 -1.49674757e-02 8.65465060e+00] [ 5.05445086e-02 2.15531316e-04 9.98721786e-01 3.43150657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.26710568099999 meters 0.017947900072895717 Centerline is valid? [True, True] Translation: X:95.75, Y:8.66, Z:3.43 [[ 9.54642622e-01 -2.93850252e-01 -4.80571984e-02 9.57463591e+01] [ 2.93471922e-01 9.55851460e-01 -1.49069794e-02 8.66071806e+00] [ 5.03159629e-02 1.27399534e-04 9.98733342e-01 3.43241380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.29710568099999 meters 0.01800925414521825 Centerline is valid? [True, True] Translation: X:95.78, Y:8.66, Z:3.44 [[ 9.53223324e-01 -2.98836465e-01 -4.54099369e-02 9.57757501e+01] [ 2.98503730e-01 9.54304330e-01 -1.40985575e-02 8.66201151e+00] [ 4.75480625e-02 -1.15961725e-04 9.98868945e-01 3.44018152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.32710568099999 meters 0.018508795445405953 Centerline is valid? [True, True] Translation: X:95.80, Y:8.67, Z:3.45 [[ 9.51564139e-01 -3.04533872e-01 -4.22470075e-02 9.58043239e+01] [ 3.04250862e-01 9.52501439e-01 -1.31309277e-02 8.66522541e+00] [ 4.42391477e-02 -3.58768561e-04 9.99020905e-01 3.44784715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.357105681 meters 0.018982552183207452 Centerline is valid? [True, True] Translation: X:95.83, Y:8.67, Z:3.45 [[ 9.50646519e-01 -3.07474108e-01 -4.16037062e-02 9.58320317e+01] [ 3.07201753e-01 9.51556330e-01 -1.29473235e-02 8.67337325e+00] [ 4.35692367e-02 -4.72403464e-04 9.99050298e-01 3.44952840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.387105681 meters 0.020373318582449132 Centerline is valid? [True, True] Translation: X:95.86, Y:8.68, Z:3.45 [[ 9.48735908e-01 -3.13249524e-01 -4.21297071e-02 9.58598137e+01] [ 3.12975235e-01 9.49670574e-01 -1.31263958e-02 8.68178638e+00] [ 4.41211803e-02 -7.32071910e-04 9.99025918e-01 3.44795029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.417105681 meters 0.023085036741588 Centerline is valid? [True, True] Translation: X:95.89, Y:8.69, Z:3.45 [[ 9.46358854e-01 -3.20296167e-01 -4.26061469e-02 9.58878134e+01] [ 3.20022139e-01 9.47316865e-01 -1.32886133e-02 8.68650763e+00] [ 4.46178135e-02 -1.05911342e-03 9.99003568e-01 3.44723318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44710568099998 meters 0.02390234209635378 Centerline is valid? [True, True] Translation: X:95.92, Y:8.69, Z:3.45 [[ 9.45072853e-01 -3.24055362e-01 -4.27249856e-02 9.59152651e+01] [ 3.23783403e-01 9.46037313e-01 -1.33308300e-02 8.69400964e+00] [ 4.47393575e-02 -1.23503561e-03 9.98997930e-01 3.44857135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47710568099998 meters 0.028685995424788505 Centerline is valid? [True, True] Translation: X:95.94, Y:8.70, Z:3.45 [[ 9.42899714e-01 -3.29906223e-01 -4.58477291e-02 9.59445256e+01] [ 3.29599648e-01 9.44012324e-01 -1.43109831e-02 8.69716509e+00] [ 4.80021037e-02 -1.61757356e-03 9.98845925e-01 3.44587298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50710568099998 meters 0.029528366163339727 Centerline is valid? [True, True] Translation: X:95.97, Y:8.71, Z:3.44 [[ 9.40820346e-01 -3.35254241e-01 -4.96152169e-02 9.59715862e+01] [ 3.34902371e-01 9.42125483e-01 -1.54911932e-02 8.71022036e+00] [ 5.19372484e-02 -2.04182397e-03 9.98648263e-01 3.44281741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53710568099999 meters 0.032822516191519296 Centerline is valid? [True, True] Translation: X:96.00, Y:8.72, Z:3.44 [[ 9.39331104e-01 -3.39482661e-01 -4.90774876e-02 9.59982850e+01] [ 3.39143893e-01 9.40609630e-01 -1.53278650e-02 8.72011507e+00] [ 5.13663019e-02 -2.24638988e-03 9.98677354e-01 3.44225000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56710568099999 meters 0.03418532810627685 Centerline is valid? [True, True] Translation: X:96.03, Y:8.73, Z:3.44 [[ 9.38525704e-01 -3.41764916e-01 -4.86440718e-02 9.60255925e+01] [ 3.41434725e-01 9.39782558e-01 -1.52010678e-02 8.72920765e+00] [ 5.09100419e-02 -2.34218244e-03 9.98700497e-01 3.44429463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59710568099999 meters 0.03654752988209097 Centerline is valid? [True, True] Translation: X:96.05, Y:8.74, Z:3.45 [[ 9.37377477e-01 -3.45011513e-01 -4.78593845e-02 9.60520328e+01] [ 3.44695403e-01 9.38595217e-01 -1.49698648e-02 8.73859125e+00] [ 5.00853651e-02 -2.46449576e-03 9.98741900e-01 3.44909798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.62710568099999 meters 0.037476047300102754 Centerline is valid? [True, True] Translation: X:96.08, Y:8.75, Z:3.45 [[ 9.37243439e-01 -3.45653196e-01 -4.58105259e-02 9.60751804e+01] [ 3.45364087e-01 9.38359298e-01 -1.43343813e-02 8.75389670e+00] [ 4.79414576e-02 -2.38650564e-03 9.98847296e-01 3.45237056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65710568099999 meters 0.03629960603598244 Centerline is valid? [True, True] Translation: X:96.10, Y:8.77, Z:3.45 [[ 9.37848767e-01 -3.43977224e-01 -4.60365133e-02 9.61006382e+01] [ 3.43682749e-01 9.38975169e-01 -1.44152893e-02 8.76853623e+00] [ 4.81856740e-02 -2.30259412e-03 9.98835742e-01 3.45250784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.68710568099999 meters 0.03209847379292222 Centerline is valid? [True, True] Translation: X:96.12, Y:8.79, Z:3.45 [[ 9.39684995e-01 -3.38690060e-01 -4.77614338e-02 9.61244793e+01] [ 3.38365426e-01 9.40895674e-01 -1.49723041e-02 8.79228174e+00] [ 5.00094970e-02 -2.09156836e-03 9.98746552e-01 3.45076438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.71710568099999 meters 0.030892042647256028 Centerline is valid? [True, True] Translation: X:96.15, Y:8.81, Z:3.45 [[ 9.41444038e-01 -3.33685166e-01 -4.83459732e-02 9.61482344e+01] [ 3.33345349e-01 9.42682786e-01 -1.51671558e-02 8.81451853e+00] [ 5.06359716e-02 -1.83687686e-03 9.98715487e-01 3.44998305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.747105681 meters 0.029425309662231898 Centerline is valid? [True, True] Translation: X:96.17, Y:8.83, Z:3.45 [[ 9.41670649e-01 -3.33033820e-01 -4.84237825e-02 9.61740129e+01] [ 3.32691721e-01 9.42913166e-01 -1.51980163e-02 8.83048076e+00] [ 5.07208755e-02 -1.79866559e-03 9.98711248e-01 3.45168579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.777105681 meters 0.03171281214160126 Centerline is valid? [True, True] Translation: X:96.20, Y:8.84, Z:3.45 [[ 9.40735666e-01 -3.35513702e-01 -4.94667797e-02 9.61992008e+01] [ 3.35159353e-01 9.42033287e-01 -1.55401087e-02 8.84230729e+00] [ 5.18132725e-02 -1.96011935e-03 9.98654867e-01 3.45220932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80710568099998 meters 0.034805626239722214 Centerline is valid? [True, True] Translation: X:96.23, Y:8.86, Z:3.46 [[ 9.39045111e-01 -3.40312365e-01 -4.88034162e-02 9.62253768e+01] [ 3.39973517e-01 9.40309901e-01 -1.53394371e-02 8.85543952e+00] [ 5.11105355e-02 -2.18744560e-03 9.98690607e-01 3.45522673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83710568099998 meters 0.03642887487172531 Centerline is valid? [True, True] Translation: X:96.25, Y:8.87, Z:3.46 [[ 9.38470372e-01 -3.41975140e-01 -4.82324030e-02 9.62507620e+01] [ 3.41646153e-01 9.39706312e-01 -1.51641918e-02 8.86646736e+00] [ 5.05100701e-02 -2.24727026e-03 9.98721023e-01 3.45795915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86710568099998 meters 0.03686083605321908 Centerline is valid? [True, True] Translation: X:96.27, Y:8.88, Z:3.46 [[ 9.38270927e-01 -3.42712418e-01 -4.68600581e-02 9.62748688e+01] [ 3.42402376e-01 9.39437757e-01 -1.47415615e-02 8.88422519e+00] [ 4.90742240e-02 -2.21341661e-03 9.98792682e-01 3.46082937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89710568099999 meters 0.036329770268526906 Centerline is valid? [True, True] Translation: X:96.30, Y:8.90, Z:3.46 [[ 9.38512885e-01 -3.42159608e-01 -4.60474388e-02 9.63005589e+01] [ 3.41858730e-01 9.39639433e-01 -1.45032525e-02 8.89907647e+00] [ 4.82304165e-02 -2.13022955e-03 9.98833965e-01 3.46415106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92710568099999 meters 0.03464384728643456 Centerline is valid? [True, True] Translation: X:96.32, Y:8.92, Z:3.47 [[ 9.39589254e-01 -3.39681009e-01 -4.22947590e-02 9.63235206e+01] [ 3.39424169e-01 9.40538925e-01 -1.33328557e-02 8.92210232e+00] [ 4.43087850e-02 -1.82845549e-03 9.99016210e-01 3.47111514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95710568099999 meters 0.03237109917357721 Centerline is valid? [True, True] Translation: X:96.35, Y:8.95, Z:3.48 [[ 9.41130311e-01 -3.35826173e-01 -3.86589991e-02 9.63460204e+01] [ 3.35608255e-01 9.41922780e-01 -1.21891806e-02 8.94553131e+00] [ 4.05072378e-02 -1.50267184e-03 9.99178115e-01 3.47645444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98710568099999 meters 0.029154999765404106 Centerline is valid? [True, True] Translation: X:96.37, Y:8.97, Z:3.47 [[ 9.42764232e-01 -3.31091651e-01 -3.96726815e-02 9.63698967e+01] [ 3.30857814e-01 9.43597663e-01 -1.25122603e-02 8.97063686e+00] [ 4.15777544e-02 -1.32990525e-03 9.99134386e-01 3.47408758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01710568099999 meters 0.02815934408287076 Centerline is valid? [True, True] Translation: X:96.39, Y:8.99, Z:3.47 [[ 9.43419125e-01 -3.28978119e-01 -4.16383554e-02 9.63942721e+01] [ 3.28718233e-01 9.44336659e-01 -1.31376402e-02 8.98618420e+00] [ 4.36426216e-02 -1.29298559e-03 9.99046370e-01 3.47177664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.04710568099999 meters 0.024521325092165435 Centerline is valid? [True, True] Translation: X:96.42, Y:9.01, Z:3.47 [[ 9.45565664e-01 -3.22785621e-01 -4.14127679e-02 9.64163552e+01] [ 3.22522402e-01 9.46471579e-01 -1.30710186e-02 9.01096264e+00] [ 4.34151446e-02 -9.97038980e-04 9.99056621e-01 3.47186102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.07710568099999 meters 0.019622049569671004 Centerline is valid? [True, True] Translation: X:96.44, Y:9.04, Z:3.48 [[ 9.48718406e-01 -3.13432029e-01 -4.11551930e-02 9.64379476e+01] [ 3.13163130e-01 9.49610471e-01 -1.29925593e-02 9.03691233e+00] [ 4.31536865e-02 -5.62008933e-04 9.99068288e-01 3.47588428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.107105681 meters 0.017708832807756023 Centerline is valid? [True, True] Translation: X:96.46, Y:9.06, Z:3.48 [[ 9.50272660e-01 -3.08617553e-01 -4.16782618e-02 9.64625081e+01] [ 3.08336941e-01 9.51186148e-01 -1.31621734e-02 9.05504845e+00] [ 4.37058631e-02 -3.43294230e-04 9.99044383e-01 3.47736849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.137105681 meters 0.01675979156143355 Centerline is valid? [True, True] Translation: X:96.48, Y:9.08, Z:3.47 [[ 9.53476882e-01 -2.98286913e-01 -4.36663798e-02 9.64835291e+01] [ 2.97967325e-01 9.54476241e-01 -1.38050190e-02 9.08193551e+00] [ 4.57963786e-02 1.51612144e-04 9.98950784e-01 3.47498753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.167105681 meters 0.01767542652864837 Centerline is valid? [True, True] Translation: X:96.51, Y:9.10, Z:3.47 [[ 9.54909782e-01 -2.93473689e-01 -4.49499868e-02 9.65092910e+01] [ 2.93128871e-01 9.55967063e-01 -1.42281164e-02 9.09732735e+00] [ 4.71462847e-02 4.10428620e-04 9.98887911e-01 3.47378342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19710568099998 meters 0.01956786776302199 Centerline is valid? [True, True] Translation: X:96.54, Y:9.11, Z:3.47 [[ 9.56956162e-01 -2.86378966e-01 -4.71380162e-02 9.65354892e+01] [ 2.85990459e-01 9.58116085e-01 -1.49340528e-02 9.11420666e+00] [ 4.94404902e-02 8.10211003e-04 9.98776743e-01 3.47125767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22710568099998 meters 0.02172131747059493 Centerline is valid? [True, True] Translation: X:96.56, Y:9.13, Z:3.47 [[ 9.58240758e-01 -2.81918242e-01 -4.79244600e-02 9.65602112e+01] [ 2.81510900e-01 9.59437845e-01 -1.51866559e-02 9.12880092e+00] [ 5.02619360e-02 1.06121479e-03 9.98735506e-01 3.46908898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25710568099998 meters 0.02208580519797917 Centerline is valid? [True, True] Translation: X:96.59, Y:9.14, Z:3.47 [[ 9.58594017e-01 -2.80575493e-01 -4.87329772e-02 9.65878949e+01] [ 2.80152064e-01 9.59831260e-01 -1.54522988e-02 9.13812888e+00] [ 5.11109713e-02 1.15983704e-03 9.98692307e-01 3.46962395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28710568099999 meters 0.022807657033145298 Centerline is valid? [True, True] Translation: X:96.62, Y:9.15, Z:3.47 [[ 9.58366106e-01 -2.80783566e-01 -5.19133432e-02 9.66154348e+01] [ 2.80302466e-01 9.59770313e-01 -1.64764741e-02 9.14517352e+00] [ 5.44512088e-02 1.23905621e-03 9.98515664e-01 3.46574733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31710568099999 meters 0.02099597368091147 Centerline is valid? [True, True] Translation: X:96.64, Y:9.15, Z:3.47 [[ 9.57215077e-01 -2.84532441e-01 -5.27312642e-02 9.66444610e+01] [ 2.84041125e-01 9.58665835e-01 -1.67468430e-02 9.14825499e+00] [ 5.53166816e-02 1.05248302e-03 9.98468305e-01 3.46655232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34710568099999 meters 0.01913388652416245 Centerline is valid? [True, True] Translation: X:96.67, Y:9.15, Z:3.47 [[ 9.56181421e-01 -2.88747303e-01 -4.83950844e-02 9.66735995e+01] [ 2.88338259e-01 9.57405048e-01 -1.53825333e-02 9.15099661e+00] [ 5.07753631e-02 7.54338100e-04 9.98709814e-01 3.47326560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37710568099999 meters 0.0181362091185933 Centerline is valid? [True, True] Translation: X:96.70, Y:9.16, Z:3.48 [[ 9.55519306e-01 -2.91149836e-01 -4.70598488e-02 9.67029836e+01] [ 2.90765610e-01 9.56677267e-01 -1.49655408e-02 9.15506248e+00] [ 4.93783023e-02 6.16477543e-04 9.98779957e-01 3.47706274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.40710568099999 meters 0.016602879584650638 Centerline is valid? [True, True] Translation: X:96.73, Y:9.15, Z:3.48 [[ 9.53527026e-01 -2.97789402e-01 -4.59095143e-02 9.67334859e+01] [ 2.97430668e-01 9.54631548e-01 -1.46152103e-02 9.15293675e+00] [ 4.81789254e-02 2.81100475e-04 9.98838682e-01 3.47850953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.43710568099999 meters 0.016229352219896118 Centerline is valid? [True, True] Translation: X:96.76, Y:9.16, Z:3.48 [[ 9.52337108e-01 -3.01518919e-01 -4.62641774e-02 9.67612251e+01] [ 3.01158150e-01 9.53460188e-01 -1.47458239e-02 9.15688553e+00] [ 4.85571961e-02 1.10161210e-04 9.98820398e-01 3.47868180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.46710568099999 meters 0.01662623023943465 Centerline is valid? [True, True] Translation: X:96.79, Y:9.15, Z:3.48 [[ 9.49708344e-01 -3.09697266e-01 -4.62781176e-02 9.67920430e+01] [ 3.09345160e-01 9.50835169e-01 -1.47666484e-02 9.15279554e+00] [ 4.85760524e-02 -2.91902469e-04 9.98819444e-01 3.47839482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.497105681 meters 0.01867565201458079 Centerline is valid? [True, True] Translation: X:96.82, Y:9.15, Z:3.48 [[ 9.47210427e-01 -3.17140863e-01 -4.70540216e-02 9.68224118e+01] [ 3.16785689e-01 9.48378201e-01 -1.50204603e-02 9.14881965e+00] [ 4.93886101e-02 -6.78504030e-04 9.98779407e-01 3.47910750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.527105681 meters 0.019377744128359874 Centerline is valid? [True, True] Translation: X:96.85, Y:9.16, Z:3.48 [[ 9.46295190e-01 -3.19892114e-01 -4.68449530e-02 9.68507755e+01] [ 3.19543023e-01 9.47453629e-01 -1.49625305e-02 9.15536662e+00] [ 4.91698163e-02 -8.10007213e-04 9.98790105e-01 3.48121889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55710568099998 meters 0.01986047813112238 Centerline is valid? [True, True] Translation: X:96.88, Y:9.16, Z:3.48 [[ 9.45949974e-01 -3.21094071e-01 -4.55767906e-02 9.68770743e+01] [ 3.20764359e-01 9.47046936e-01 -1.45714429e-02 9.16298941e+00] [ 4.78421638e-02 -8.35554000e-04 9.98854559e-01 3.48482749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58710568099998 meters 0.018186014625195656 Centerline is valid? [True, True] Translation: X:96.90, Y:9.17, Z:3.49 [[ 9.47122643e-01 -3.17748541e-01 -4.46605387e-02 9.69038183e+01] [ 3.17427865e-01 9.48174798e-01 -1.42864584e-02 9.17335068e+00] [ 4.68854986e-02 -6.45471165e-04 9.98900062e-01 3.48936263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61710568099998 meters 0.016303397029409628 Centerline is valid? [True, True] Translation: X:96.93, Y:9.19, Z:3.50 [[ 9.49305787e-01 -3.11693856e-01 -4.08100916e-02 9.69298991e+01] [ 3.11419918e-01 9.50182534e-01 -1.30685437e-02 9.18731013e+00] [ 4.28504211e-02 -3.03031225e-04 9.99081453e-01 3.49537106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64710568099999 meters 0.0158600021892318 Centerline is valid? [True, True] Translation: X:96.96, Y:9.20, Z:3.50 [[ 9.50320019e-01 -3.08661938e-01 -4.02451251e-02 9.69552877e+01] [ 3.08392277e-01 9.51171796e-01 -1.29003477e-02 9.19949049e+00] [ 4.22618743e-02 -1.51827091e-04 9.99106556e-01 3.49567955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67710568099999 meters 0.015602250572629374 Centerline is valid? [True, True] Translation: X:96.98, Y:9.21, Z:3.49 [[ 9.51879400e-01 -3.03748975e-01 -4.07696868e-02 9.69805196e+01] [ 3.03467424e-01 9.52752095e-01 -1.30754477e-02 9.21387181e+00] [ 4.28150584e-02 7.39774527e-05 9.99083012e-01 3.49365403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70710568099999 meters 0.016255539612424395 Centerline is valid? [True, True] Translation: X:97.01, Y:9.22, Z:3.49 [[ 9.53272112e-01 -2.99072576e-01 -4.27536577e-02 9.70078404e+01] [ 2.98757432e-01 9.54230316e-01 -1.37295982e-02 9.22390021e+00] [ 4.49029826e-02 3.15070112e-04 9.98991303e-01 3.49134215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73710568099999 meters 0.016602170787289015 Centerline is valid? [True, True] Translation: X:97.04, Y:9.23, Z:3.49 [[ 9.53635362e-01 -2.97566468e-01 -4.50975914e-02 9.70351714e+01] [ 2.97213303e-01 9.54701009e-01 -1.44994822e-02 9.23359276e+00] [ 4.73692757e-02 4.23614880e-04 9.98877356e-01 3.48964199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.76710568099999 meters 0.017744873598191924 Centerline is valid? [True, True] Translation: X:97.06, Y:9.25, Z:3.48 [[ 9.54312605e-01 -2.94304298e-01 -5.16955697e-02 9.70619787e+01] [ 2.93834479e-01 9.55711519e-01 -1.66370376e-02 9.24612802e+00] [ 5.43024032e-02 6.86993880e-04 9.98524300e-01 3.48229246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.79710568099999 meters 0.01868745585643044 Centerline is valid? [True, True] Translation: X:97.09, Y:9.26, Z:3.48 [[ 9.54518827e-01 -2.93403195e-01 -5.29940915e-02 9.70873101e+01] [ 2.92907718e-01 9.55988485e-01 -1.70612423e-02 9.25757140e+00] [ 5.56675643e-02 7.62898597e-04 9.98449067e-01 3.48018957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.82710568099999 meters 0.018424186712029337 Centerline is valid? [True, True] Translation: X:97.12, Y:9.27, Z:3.48 [[ 9.54691140e-01 -2.93131582e-01 -5.13683085e-02 9.71151694e+01] [ 2.92665001e-01 9.56071801e-01 -1.65502025e-02 9.26623990e+00] [ 5.39631783e-02 7.66625599e-04 9.98542632e-01 3.48430927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.857105681 meters 0.01782965957093285 Centerline is valid? [True, True] Translation: X:97.14, Y:9.27, Z:3.49 [[ 9.53811995e-01 -2.96161960e-01 -5.03067843e-02 9.71420849e+01] [ 2.95717937e-01 9.55137549e-01 -1.62223289e-02 9.27238008e+00] [ 5.28543354e-02 5.96433438e-04 9.98602055e-01 3.48692019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.887105681 meters 0.016470549340673556 Centerline is valid? [True, True] Translation: X:97.17, Y:9.28, Z:3.49 [[ 9.52759629e-01 -2.99696303e-01 -4.93073547e-02 9.71710973e+01] [ 2.99273996e-01 9.54034572e-01 -1.59094388e-02 9.27695216e+00] [ 5.18089210e-02 4.01461931e-04 9.98656935e-01 3.49080387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.917105681 meters 0.015535747559676372 Centerline is valid? [True, True] Translation: X:97.20, Y:9.28, Z:3.50 [[ 9.50291046e-01 -3.07901269e-01 -4.63005071e-02 9.72004242e+01] [ 3.07537985e-01 9.51418314e-01 -1.49525876e-02 9.27695778e+00] [ 4.86550711e-02 -2.98545123e-05 9.98815640e-01 3.49673200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94710568099998 meters 0.017112965086104177 Centerline is valid? [True, True] Translation: X:97.23, Y:9.28, Z:3.50 [[ 9.47148752e-01 -3.17967145e-01 -4.24986767e-02 9.72305091e+01] [ 3.17670893e-01 9.48101603e-01 -1.37314737e-02 9.27556700e+00] [ 4.46592210e-02 -4.94844391e-04 9.99002157e-01 3.50235039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97710568099998 meters 0.0200131364737161 Centerline is valid? [True, True] Translation: X:97.26, Y:9.28, Z:3.51 [[ 9.44418500e-01 -3.26422333e-01 -3.90148397e-02 9.72598171e+01] [ 3.26179344e-01 9.45223681e-01 -1.26185926e-02 9.27790952e+00] [ 4.09967408e-02 -8.08602489e-04 9.99158953e-01 3.50639074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00710568099998 meters 0.0200131364737161 Centerline is valid? [True, True] Translation: X:97.29, Y:9.29, Z:3.51 [[ 9.44296652e-01 -3.26775152e-01 -3.90106806e-02 9.72859162e+01] [ 3.26531934e-01 9.45101763e-01 -1.26314383e-02 9.28662153e+00] [ 4.09967031e-02 -8.10408101e-04 9.99158953e-01 3.50740845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03710568099999 meters 0.021876158426536743 Centerline is valid? [True, True] Translation: X:97.31, Y:9.29, Z:3.51 [[ 9.43081113e-01 -3.30340909e-01 -3.83783624e-02 9.73126063e+01] [ 3.30107863e-01 9.43861223e-01 -1.24414733e-02 9.29275558e+00] [ 4.03337757e-02 -9.35680727e-04 9.99185824e-01 3.50901304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06710568099999 meters 0.02512234162079712 Centerline is valid? [True, True] Translation: X:97.34, Y:9.30, Z:3.51 [[ 9.40921910e-01 -3.36480788e-01 -3.80346903e-02 9.73422138e+01] [ 3.36256679e-01 9.41689588e-01 -1.23355377e-02 9.29746270e+00] [ 3.99675433e-02 -1.18264090e-03 9.99200279e-01 3.50904555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09710568099999 meters 0.028427563933728393 Centerline is valid? [True, True] Translation: X:97.37, Y:9.30, Z:3.51 [[ 9.39972763e-01 -3.39025212e-01 -3.88987170e-02 9.73701166e+01] [ 3.38792881e-01 9.40776365e-01 -1.26180543e-02 9.30118795e+00] [ 4.08728321e-02 -1.31798103e-03 9.99163487e-01 3.50880093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.12710568099999 meters 0.02657455708812836 Centerline is valid? [True, True] Translation: X:97.40, Y:9.32, Z:3.51 [[ 9.39167564e-01 -3.41081858e-01 -4.03416933e-02 9.73957243e+01] [ 3.40833581e-01 9.40032475e-01 -1.30926322e-02 9.31579971e+00] [ 4.23881611e-02 -1.45362828e-03 9.99100161e-01 3.50915169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15710568099999 meters 0.029271992711683164 Centerline is valid? [True, True] Translation: X:97.42, Y:9.33, Z:3.51 [[ 9.39402508e-01 -3.40471102e-01 -4.00294404e-02 9.74216190e+01] [ 3.40225517e-01 9.40253936e-01 -1.30051576e-02 9.32742267e+00] [ 4.20657192e-02 -1.40195936e-03 9.99113862e-01 3.51120361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.18710568099999 meters 0.02631851663644614 Centerline is valid? [True, True] Translation: X:97.45, Y:9.35, Z:3.52 [[ 9.40262074e-01 -3.38318088e-01 -3.80539614e-02 9.74460037e+01] [ 3.38094091e-01 9.41031003e-01 -1.23708282e-02 9.34561279e+00] [ 3.99952324e-02 -1.23399889e-03 9.99199109e-01 3.51604216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.21710568099999 meters 0.02152675568567808 Centerline is valid? [True, True] Translation: X:97.47, Y:9.37, Z:3.52 [[ 9.42963420e-01 -3.30957081e-01 -3.58803365e-02 9.74687819e+01] [ 3.30752175e-01 9.43645418e-01 -1.16757825e-02 9.37294583e+00] [ 3.77224981e-02 -8.57663554e-04 9.99287885e-01 3.51925710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.247105681 meters 0.01968782757896818 Centerline is valid? [True, True] Translation: X:97.49, Y:9.39, Z:3.52 [[ 9.44341569e-01 -3.26906324e-01 -3.67594345e-02 9.74937080e+01] [ 3.26688123e-01 9.45056479e-01 -1.19633246e-02 9.38877570e+00] [ 3.86506282e-02 -7.11405972e-04 9.99252532e-01 3.51923889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.277105681 meters 0.0163685508396754 Centerline is valid? [True, True] Translation: X:97.52, Y:9.41, Z:3.51 [[ 9.47319848e-01 -3.17836241e-01 -3.95629924e-02 9.75161336e+01] [ 3.17574966e-01 9.48145558e-01 -1.28896182e-02 9.41265283e+00] [ 4.16082633e-02 -3.53624807e-04 9.99133939e-01 3.51349599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30710568099998 meters 0.015984415286019175 Centerline is valid? [True, True] Translation: X:97.54, Y:9.43, Z:3.51 [[ 9.47782525e-01 -3.16264318e-01 -4.10507727e-02 9.75410078e+01] [ 3.15981277e-01 9.48671069e-01 -1.33803924e-02 9.42549120e+00] [ 4.31754211e-02 -2.89573479e-04 9.99067465e-01 3.51191081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33710568099998 meters 0.015528165637136066 Centerline is valid? [True, True] Translation: X:97.56, Y:9.44, Z:3.51 [[ 9.48987196e-01 -3.12161711e-01 -4.44788464e-02 9.75644628e+01] [ 3.11823989e-01 9.50028977e-01 -1.45169733e-02 9.44372320e+00] [ 4.67878362e-02 -9.31494848e-05 9.98904845e-01 3.50882684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36710568099998 meters 0.01554509843866251 Centerline is valid? [True, True] Translation: X:97.59, Y:9.46, Z:3.51 [[ 9.49843849e-01 -3.09212771e-01 -4.67346278e-02 9.75908938e+01] [ 3.08835356e-01 9.50992879e-01 -1.52730482e-02 9.45674304e+00] [ 4.91669198e-02 7.37054036e-05 9.98790573e-01 3.50742704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39710568099999 meters 0.016588992909059467 Centerline is valid? [True, True] Translation: X:97.62, Y:9.47, Z:3.50 [[ 9.51274185e-01 -3.03844568e-01 -5.24967038e-02 9.76178513e+01] [ 3.03359237e-01 9.52721528e-01 -1.71715579e-02 9.47160222e+00] [ 5.52322245e-02 4.09499755e-04 9.98473452e-01 3.50154212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42710568099999 meters 0.01856001812842162 Centerline is valid? [True, True] Translation: X:97.64, Y:9.49, Z:3.50 [[ 9.53252579e-01 -2.97430718e-01 -5.33337454e-02 9.76422719e+01] [ 2.96919420e-01 9.54743070e-01 -1.74507562e-02 9.48816404e+00] [ 5.61104147e-02 7.99153599e-04 9.98424250e-01 3.50001558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45710568099999 meters 0.01965235874884441 Centerline is valid? [True, True] Translation: X:97.67, Y:9.50, Z:3.50 [[ 9.54377725e-01 -2.94105361e-01 -5.16255321e-02 9.76683645e+01] [ 2.93620760e-01 9.55772508e-01 -1.69045202e-02 9.50095670e+00] [ 5.43139742e-02 9.74969525e-04 9.98523431e-01 3.50303606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48710568099999 meters 0.022349919544383087 Centerline is valid? [True, True] Translation: X:97.69, Y:9.51, Z:3.51 [[ 9.56341743e-01 -2.88028609e-01 -4.94973758e-02 9.76931110e+01] [ 2.87574277e-01 9.57620949e-01 -1.62219701e-02 9.51414909e+00] [ 5.20721155e-02 1.27957515e-03 9.98642507e-01 3.50766860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51710568099999 meters 0.022707033126565655 Centerline is valid? [True, True] Translation: X:97.72, Y:9.52, Z:3.51 [[ 9.57127153e-01 -2.85740611e-01 -4.75385817e-02 9.77209148e+01] [ 2.85318279e-01 9.58306037e-01 -1.55890456e-02 9.52094418e+00] [ 5.00109333e-02 1.35707255e-03 9.98747748e-01 3.51284540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.54710568099999 meters 0.02215137072257834 Centerline is valid? [True, True] Translation: X:97.75, Y:9.53, Z:3.51 [[ 9.56960906e-01 -2.86446236e-01 -4.66302312e-02 9.77486045e+01] [ 2.86039885e-01 9.58095420e-01 -1.53085083e-02 9.52842873e+00] [ 4.90612756e-02 1.31153805e-03 9.98794909e-01 3.51461217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.57710568099999 meters 0.020529978487416355 Centerline is valid? [True, True] Translation: X:97.78, Y:9.53, Z:3.52 [[ 9.55580828e-01 -2.91288636e-01 -4.49022560e-02 9.77772001e+01] [ 2.90916533e-01 9.56634651e-01 -1.47551893e-02 9.53191495e+00] [ 4.72530729e-02 1.03696740e-03 9.98882411e-01 3.51620007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.607105681 meters 0.01737541597305465 Centerline is valid? [True, True] Translation: X:97.81, Y:9.53, Z:3.52 [[ 9.53211850e-01 -2.99656752e-01 -3.99124181e-02 9.78102288e+01] [ 2.99369952e-01 9.54046918e-01 -1.31191033e-02 9.52619804e+00] [ 4.20095473e-02 5.56706048e-04 9.99117054e-01 3.52246790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.637105681 meters 0.01601879371889406 Centerline is valid? [True, True] Translation: X:97.84, Y:9.53, Z:3.53 [[ 9.51454252e-01 -3.05385835e-01 -3.83965782e-02 9.78407233e+01] [ 3.05124947e-01 9.52228651e-01 -1.26238637e-02 9.52662926e+00] [ 4.04174710e-02 2.95274924e-04 9.99182837e-01 3.52563270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.667105681 meters 0.015278530877325553 Centerline is valid? [True, True] Translation: X:97.87, Y:9.52, Z:3.53 [[ 9.48684318e-01 -3.13877890e-01 -3.84543297e-02 9.78730591e+01] [ 3.13622583e-01 9.49463358e-01 -1.26573370e-02 9.52222035e+00] [ 4.04838352e-02 -5.23290413e-05 9.99180192e-01 3.52663694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69710568099998 meters 0.015398180648061702 Centerline is valid? [True, True] Translation: X:97.90, Y:9.52, Z:3.52 [[ 9.48629874e-01 -3.13733039e-01 -4.09016229e-02 9.79019370e+01] [ 3.13443450e-01 9.49511232e-01 -1.34768064e-02 9.52389323e+00] [ 4.30646698e-02 -3.58446440e-05 9.99072286e-01 3.52424941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72710568099998 meters 0.0155285778992949 Centerline is valid? [True, True] Translation: X:97.93, Y:9.53, Z:3.52 [[ 9.49333412e-01 -3.11466121e-01 -4.18918639e-02 9.79286902e+01] [ 3.11159787e-01 9.50257254e-01 -1.38107732e-02 9.53201532e+00] [ 4.41096356e-02 7.59650525e-05 9.99026693e-01 3.52371810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75710568099998 meters 0.01741054677635457 Centerline is valid? [True, True] Translation: X:97.95, Y:9.54, Z:3.52 [[ 9.51914857e-01 -3.03185434e-01 -4.40079318e-02 9.79542320e+01] [ 3.02837698e-01 9.52931447e-01 -1.45253466e-02 9.54421304e+00] [ 4.63404156e-02 4.99632495e-04 9.98925581e-01 3.52108312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78710568099999 meters 0.019599062447055244 Centerline is valid? [True, True] Translation: X:97.98, Y:9.55, Z:3.52 [[ 9.54088945e-01 -2.96142146e-01 -4.48788777e-02 9.79823467e+01] [ 2.95772451e-01 9.55143488e-01 -1.48180239e-02 9.55283809e+00] [ 4.72540092e-02 8.63777100e-04 9.98882532e-01 3.52151012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81710568099999 meters 0.02081591801689948 Centerline is valid? [True, True] Translation: X:98.01, Y:9.56, Z:3.52 [[ 9.54776446e-01 -2.93552298e-01 -4.72121498e-02 9.80109804e+01] [ 2.93139660e-01 9.55942439e-01 -1.55946392e-02 9.55783261e+00] [ 4.97099398e-02 1.04964065e-03 9.98763145e-01 3.52168147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84710568099999 meters 0.02127978960385162 Centerline is valid? [True, True] Translation: X:98.04, Y:9.57, Z:3.52 [[ 9.54869898e-01 -2.93106929e-01 -4.80812485e-02 9.80385022e+01] [ 2.92677497e-01 9.56079022e-01 -1.58992293e-02 9.56513185e+00] [ 5.06296474e-02 1.10939601e-03 9.98716881e-01 3.52179341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87710568099999 meters 0.022381547022531246 Centerline is valid? [True, True] Translation: X:98.06, Y:9.57, Z:3.53 [[ 9.55409986e-01 -2.91762001e-01 -4.54608948e-02 9.80649580e+01] [ 2.91375952e-01 9.56490282e-01 -1.50464238e-02 9.57055487e+00] [ 4.78728788e-02 1.12929205e-03 9.98852798e-01 3.52528619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.90710568099999 meters 0.021612721521459495 Centerline is valid? [True, True] Translation: X:98.09, Y:9.57, Z:3.53 [[ 9.54806509e-01 -2.93919516e-01 -4.42249685e-02 9.80941367e+01] [ 2.93556068e-01 9.55829647e-01 -1.46465374e-02 9.57348434e+00] [ 4.65764392e-02 1.00210134e-03 9.98914226e-01 3.52845578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.93710568099999 meters 0.020101253208063552 Centerline is valid? [True, True] Translation: X:98.12, Y:9.58, Z:3.53 [[ 9.53737030e-01 -2.97470039e-01 -4.35574743e-02 9.81235286e+01] [ 2.97120494e-01 9.54730792e-01 -1.44404345e-02 9.57709372e+00] [ 4.58812585e-02 8.30558797e-04 9.98946555e-01 3.53059065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.96710568099999 meters 0.016831889140729365 Centerline is valid? [True, True] Translation: X:98.15, Y:9.57, Z:3.53 [[ 9.50592947e-01 -3.07527944e-01 -4.24218534e-02 9.81544930e+01] [ 3.07205799e-01 9.51538986e-01 -1.40767616e-02 9.57272380e+00] [ 4.46950449e-02 3.49030932e-04 9.99000616e-01 3.53176495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.997105681 meters 0.016019891554905765 Centerline is valid? [True, True] Translation: X:98.18, Y:9.57, Z:3.53 [[ 9.47302583e-01 -3.17257007e-01 -4.43374266e-02 9.81846028e+01] [ 3.16915420e-01 9.48339591e-01 -1.47185771e-02 9.57047600e+00] [ 4.67165087e-02 -1.08268061e-04 9.98908182e-01 3.52963109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.027105681 meters 0.016743697744302188 Centerline is valid? [True, True] Translation: X:98.21, Y:9.57, Z:3.53 [[ 9.45777015e-01 -3.21541192e-01 -4.60119520e-02 9.82138535e+01] [ 3.21177856e-01 9.46895537e-01 -1.52848599e-02 9.57470680e+00] [ 4.84832241e-02 -3.21950877e-04 9.98823945e-01 3.52837295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05710568099998 meters 0.018826670636477486 Centerline is valid? [True, True] Translation: X:98.24, Y:9.58, Z:3.53 [[ 9.43638208e-01 -3.27553682e-01 -4.74922959e-02 9.82434964e+01] [ 3.27173477e-01 9.44832355e-01 -1.57904071e-02 9.57517171e+00] [ 5.00444637e-02 -6.37788123e-04 9.98746787e-01 3.52644564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08710568099998 meters 0.01962198888546641 Centerline is valid? [True, True] Translation: X:98.27, Y:9.58, Z:3.53 [[ 9.42969976e-01 -3.29547851e-01 -4.69663497e-02 9.82710287e+01] [ 3.29178218e-01 9.44138592e-01 -1.56211326e-02 9.58192150e+00] [ 4.94906540e-02 -7.30040307e-04 9.98774320e-01 3.52944445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11710568099998 meters 0.020614158449264064 Centerline is valid? [True, True] Translation: X:98.30, Y:9.59, Z:3.53 [[ 9.42238215e-01 -3.31967875e-01 -4.45474553e-02 9.82987944e+01] [ 3.31637813e-01 9.43290346e-01 -1.48217398e-02 9.58755216e+00] [ 4.69415260e-02 -8.08010942e-04 9.98897312e-01 3.53431572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14710568099999 meters 0.018104077208907957 Centerline is valid? [True, True] Translation: X:98.32, Y:9.60, Z:3.54 [[ 9.43770457e-01 -3.27491291e-01 -4.52413501e-02 9.83248411e+01] [ 3.27145338e-01 9.44854015e-01 -1.50604749e-02 9.60135118e+00] [ 4.76786457e-02 -5.86865492e-04 9.98862554e-01 3.53697412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17710568099999 meters 0.016957793553414986 Centerline is valid? [True, True] Translation: X:98.35, Y:9.61, Z:3.54 [[ 9.45578156e-01 -3.22157365e-01 -4.57884527e-02 9.83497954e+01] [ 3.21796049e-01 9.46686082e-01 -1.52566422e-02 9.61494121e+00] [ 4.82623306e-02 -3.08195631e-04 9.98834647e-01 3.53587357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20710568099999 meters 0.016708562387908084 Centerline is valid? [True, True] Translation: X:98.37, Y:9.64, Z:3.54 [[ 9.49418346e-01 -3.10925719e-01 -4.39317833e-02 9.83717619e+01] [ 3.10580818e-01 9.50434180e-01 -1.46432533e-02 9.63611939e+00] [ 4.63072325e-02 2.58204156e-04 9.98927211e-01 3.53740242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23710568099999 meters 0.019090455039085696 Centerline is valid? [True, True] Translation: X:98.40, Y:9.65, Z:3.54 [[ 9.52669318e-01 -3.01090648e-01 -4.20189523e-02 9.83969290e+01] [ 3.00765338e-01 9.53595259e-01 -1.40104470e-02 9.64974129e+00] [ 4.42874883e-02 7.09478621e-04 9.99018576e-01 3.54099576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.26710568099999 meters 0.019947599318902828 Centerline is valid? [True, True] Translation: X:98.42, Y:9.66, Z:3.54 [[ 9.53543265e-01 -2.98219238e-01 -4.26676391e-02 9.84242043e+01] [ 2.97880677e-01 9.54497011e-01 -1.42322882e-02 9.65769151e+00] [ 4.49704761e-02 8.61237378e-04 9.98987945e-01 3.54168113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.29710568099999 meters 0.021772029518389392 Centerline is valid? [True, True] Translation: X:98.45, Y:9.66, Z:3.54 [[ 9.53753287e-01 -2.97331100e-01 -4.41461678e-02 9.84514431e+01] [ 2.96967427e-01 9.54773970e-01 -1.47313908e-02 9.66479954e+00] [ 4.65297126e-02 9.40138535e-04 9.98916464e-01 3.53823308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.32710568099999 meters 0.020086627709695243 Centerline is valid? [True, True] Translation: X:98.48, Y:9.67, Z:3.54 [[ 9.53516419e-01 -2.97876862e-01 -4.55611078e-02 9.84816671e+01] [ 2.97489698e-01 9.54603829e-01 -1.52121277e-02 9.66630101e+00] [ 4.80241488e-02 9.51053290e-04 9.98845722e-01 3.53787942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.357105681 meters 0.020393817441943206 Centerline is valid? [True, True] Translation: X:98.51, Y:9.67, Z:3.54 [[ 9.53603672e-01 -2.97598271e-01 -4.55555306e-02 9.85093344e+01] [ 2.97210190e-01 9.54690689e-01 -1.52247218e-02 9.67271436e+00] [ 4.80222918e-02 9.78782681e-04 9.98845785e-01 3.53818517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.387105681 meters 0.02256253591294481 Centerline is valid? [True, True] Translation: X:98.54, Y:9.68, Z:3.54 [[ 9.54632460e-01 -2.94101885e-01 -4.67006076e-02 9.85357602e+01] [ 2.93689545e-01 9.55773334e-01 -1.56136368e-02 9.68047901e+00] [ 4.92271954e-02 1.18980433e-03 9.98786898e-01 3.53844796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.417105681 meters 0.025336895263618302 Centerline is valid? [True, True] Translation: X:98.56, Y:9.69, Z:3.54 [[ 9.56627471e-01 -2.87389127e-01 -4.76589118e-02 9.85626045e+01] [ 2.86951060e-01 9.57812621e-01 -1.59396346e-02 9.69299325e+00] [ 5.02291849e-02 1.57251703e-03 9.98736480e-01 3.53843997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44710568099998 meters 0.027821232620512205 Centerline is valid? [True, True] Translation: X:98.59, Y:9.71, Z:3.54 [[ 9.58072328e-01 -2.82621173e-01 -4.71453873e-02 9.85891238e+01] [ 2.82186554e-01 9.59229905e-01 -1.57714708e-02 9.70575096e+00] [ 4.96806170e-02 1.80641542e-03 9.98763522e-01 3.54057415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47710568099998 meters 0.032490489231375166 Centerline is valid? [True, True] Translation: X:98.62, Y:9.72, Z:3.54 [[ 9.60388417e-01 -2.74619568e-01 -4.73094212e-02 9.86155702e+01] [ 2.74172046e-01 9.61550369e-01 -1.58296115e-02 9.71972215e+00] [ 4.98375125e-02 2.23165467e-03 9.98754846e-01 3.54097603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50710568099998 meters 0.034892487318339334 Centerline is valid? [True, True] Translation: X:98.64, Y:9.73, Z:3.54 [[ 9.61621351e-01 -2.70235807e-01 -4.75077467e-02 9.86444957e+01] [ 2.69779075e-01 9.62790996e-01 -1.58980898e-02 9.72609681e+00] [ 5.00362639e-02 2.47134663e-03 9.98744344e-01 3.54328508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53710568099999 meters 0.03525893756938497 Centerline is valid? [True, True] Translation: X:98.67, Y:9.73, Z:3.55 [[ 9.61897940e-01 -2.69474011e-01 -4.62180706e-02 9.86719915e+01] [ 2.69040623e-01 9.63004551e-01 -1.54718222e-02 9.73349416e+00] [ 4.86774663e-02 2.44777542e-03 9.98811550e-01 3.54518812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56710568099999 meters 0.035846612113058465 Centerline is valid? [True, True] Translation: X:98.70, Y:9.74, Z:3.55 [[ 9.62009198e-01 -2.69343498e-01 -4.46361175e-02 9.86988328e+01] [ 2.68938530e-01 9.63041225e-01 -1.49554419e-02 9.73958290e+00] [ 4.70145723e-02 2.38290083e-03 9.98891361e-01 3.54653609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59710568099999 meters 0.035412598928432404 Centerline is valid? [True, True] Translation: X:98.73, Y:9.74, Z:3.55 [[ 9.61557358e-01 -2.70871609e-01 -4.51222509e-02 9.87281721e+01] [ 2.70459171e-01 9.62612643e-01 -1.51240112e-02 9.73939222e+00] [ 4.75319145e-02 2.33887768e-03 9.98866982e-01 3.54620766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.62710568099999 meters 0.03584566579229396 Centerline is valid? [True, True] Translation: X:98.76, Y:9.74, Z:3.55 [[ 9.61354695e-01 -2.71393549e-01 -4.62892253e-02 9.87561888e+01] [ 2.70959656e-01 9.62465516e-01 -1.55240136e-02 9.74368596e+00] [ 4.87649003e-02 2.38157084e-03 9.98807445e-01 3.54635295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65710568099999 meters 0.033711121707468754 Centerline is valid? [True, True] Translation: X:98.79, Y:9.74, Z:3.55 [[ 9.61440610e-01 -2.70707507e-01 -4.84706005e-02 9.87874921e+01] [ 2.70229866e-01 9.62658272e-01 -1.62748805e-02 9.74082654e+00] [ 5.10663568e-02 2.54912717e-03 9.98692009e-01 3.54830442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.68710568099999 meters 0.0391003570196103 Centerline is valid? [True, True] Translation: X:98.81, Y:9.75, Z:3.55 [[ 9.62196421e-01 -2.68223116e-01 -4.72695240e-02 9.88144990e+01] [ 2.67765201e-01 9.63353235e-01 -1.58852641e-02 9.74865754e+00] [ 4.97980439e-02 2.62761065e-03 9.98755851e-01 3.55030956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.71710568099999 meters 0.03776071087593863 Centerline is valid? [True, True] Translation: X:98.85, Y:9.75, Z:3.55 [[ 9.63031792e-01 -2.65324762e-01 -4.66104903e-02 9.88457265e+01] [ 2.64875935e-01 9.64155198e-01 -1.56681892e-02 9.74755900e+00] [ 4.90969051e-02 2.74296708e-03 9.98790253e-01 3.55270989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.747105681 meters 0.03973750759249321 Centerline is valid? [True, True] Translation: X:98.87, Y:9.75, Z:3.55 [[ 9.63232356e-01 -2.64708680e-01 -4.59645767e-02 9.88731848e+01] [ 2.64271293e-01 9.64324533e-01 -1.54556877e-02 9.75444405e+00] [ 4.84160236e-02 2.74030034e-03 9.98823498e-01 3.55438894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.777105681 meters 0.036824785314303124 Centerline is valid? [True, True] Translation: X:98.91, Y:9.75, Z:3.56 [[ 9.62852665e-01 -2.66346149e-01 -4.44350605e-02 9.89051655e+01] [ 2.65938693e-01 9.63873996e-01 -1.49509734e-02 9.75063960e+00] [ 4.68119335e-02 2.57858261e-03 9.98900392e-01 3.55781281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80710568099998 meters 0.036374045692355333 Centerline is valid? [True, True] Translation: X:98.93, Y:9.75, Z:3.56 [[ 9.62598479e-01 -2.67429101e-01 -4.34263093e-02 9.89346579e+01] [ 2.67040357e-01 9.63574341e-01 -1.46265933e-02 9.75384393e+00] [ 4.57560541e-02 2.48295933e-03 9.98949557e-01 3.56086998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83710568099998 meters 0.036916189065130035 Centerline is valid? [True, True] Translation: X:98.96, Y:9.75, Z:3.56 [[ 9.62376910e-01 -2.68376481e-01 -4.24823209e-02 9.89639299e+01] [ 2.68004778e-01 9.63311120e-01 -1.43221506e-02 9.75367520e+00] [ 4.47674205e-02 2.39784209e-03 9.98994559e-01 3.56352347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86710568099998 meters 0.03634486247248826 Centerline is valid? [True, True] Translation: X:98.99, Y:9.76, Z:3.56 [[ 9.61693064e-01 -2.70773143e-01 -4.27592738e-02 9.89932292e+01] [ 2.70398605e-01 9.62640419e-01 -1.44228062e-02 9.75516214e+00] [ 4.50671138e-02 2.30826463e-03 9.98981295e-01 3.56305355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89710568099999 meters 0.03634486247248826 Centerline is valid? [True, True] Translation: X:99.02, Y:9.76, Z:3.56 [[ 9.61597582e-01 -2.71112341e-01 -4.27573149e-02 9.90192925e+01] [ 2.70737880e-01 9.62544968e-01 -1.44286106e-02 9.76417874e+00] [ 4.50676127e-02 2.29849226e-03 9.98981295e-01 3.56407433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92710568099999 meters 0.0348841190643048 Centerline is valid? [True, True] Translation: X:99.05, Y:9.76, Z:3.56 [[ 9.60593196e-01 -2.74303116e-01 -4.49278637e-02 9.90496336e+01] [ 2.73892387e-01 9.61640595e-01 -1.51765024e-02 9.76299738e+00] [ 4.73674195e-02 2.27304510e-03 9.98874948e-01 3.56214416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95710568099999 meters 0.033968020959385836 Centerline is valid? [True, True] Translation: X:99.08, Y:9.77, Z:3.56 [[ 9.59884988e-01 -2.76490411e-01 -4.66246906e-02 9.90792126e+01] [ 2.76050268e-01 9.61014033e-01 -1.57568268e-02 9.76752000e+00] [ 4.91635934e-02 2.25398315e-03 9.98788196e-01 3.56110019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98710568099999 meters 0.033097729785645257 Centerline is valid? [True, True] Translation: X:99.11, Y:9.77, Z:3.56 [[ 9.59198511e-01 -2.78793490e-01 -4.70362202e-02 9.91088931e+01] [ 2.78347688e-01 9.60348632e-01 -1.59081481e-02 9.76857764e+00] [ 4.96062578e-02 2.16664881e-03 9.98766502e-01 3.56180539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01710568099999 meters 0.03170550057453873 Centerline is valid? [True, True] Translation: X:99.14, Y:9.77, Z:3.57 [[ 9.58669670e-01 -2.80719357e-01 -4.63584480e-02 9.91397397e+01] [ 2.80288309e-01 9.59787722e-01 -1.56841261e-02 9.76891030e+00] [ 4.88971071e-02 2.04216502e-03 9.98801733e-01 3.56501534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.04710568099999 meters 0.031208506534585137 Centerline is valid? [True, True] Translation: X:99.17, Y:9.78, Z:3.57 [[ 9.58326396e-01 -2.81842055e-01 -4.66430500e-02 9.91683400e+01] [ 2.81406535e-01 9.59458717e-01 -1.57902632e-02 9.77536348e+00] [ 4.92024411e-02 2.00656696e-03 9.98786811e-01 3.56567377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.07710568099999 meters 0.028851409392201828 Centerline is valid? [True, True] Translation: X:99.20, Y:9.78, Z:3.57 [[ 9.57768532e-01 -2.83948513e-01 -4.53065159e-02 9.91986722e+01] [ 2.83539241e-01 9.58837728e-01 -1.53528651e-02 9.77660689e+00] [ 4.78010200e-02 1.85831591e-03 9.98855149e-01 3.56695376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.107105681 meters 0.02680667807368545 Centerline is valid? [True, True] Translation: X:99.23, Y:9.78, Z:3.57 [[ 9.56689837e-01 -2.87828637e-01 -4.35801684e-02 9.92305072e+01] [ 2.87453439e-01 9.57680571e-01 -1.47798801e-02 9.77586331e+00] [ 4.59899533e-02 1.61249182e-03 9.98940601e-01 3.57210904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.137105681 meters 0.025468384896864284 Centerline is valid? [True, True] Translation: X:99.26, Y:9.78, Z:3.57 [[ 9.55627209e-01 -2.91447429e-01 -4.28372815e-02 9.92601319e+01] [ 2.91088394e-01 9.56585797e-01 -1.45313069e-02 9.78001994e+00] [ 4.52126471e-02 1.41707682e-03 9.98976380e-01 3.57468917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.167105681 meters 0.020800773072061126 Centerline is valid? [True, True] Translation: X:99.29, Y:9.78, Z:3.58 [[ 9.52772699e-01 -3.00674141e-01 -4.26525984e-02 9.92928973e+01] [ 3.00326873e-01 9.53726421e-01 -1.44804254e-02 9.77662959e+00] [ 4.50327995e-02 9.86832538e-04 9.98985021e-01 3.57654278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19710568099998 meters 0.017896315915803575 Centerline is valid? [True, True] Translation: X:99.32, Y:9.78, Z:3.58 [[ 9.49787630e-01 -3.09932197e-01 -4.29591705e-02 9.93242588e+01] [ 3.09589217e-01 9.50758500e-01 -1.45873922e-02 9.77638782e+00] [ 4.53648990e-02 5.55228728e-04 9.98970329e-01 3.57796938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22710568099998 meters 0.016806783878180232 Centerline is valid? [True, True] Translation: X:99.35, Y:9.78, Z:3.58 [[ 9.48159659e-01 -3.15084629e-01 -4.14118108e-02 9.93531914e+01] [ 3.14770631e-01 9.49063531e-01 -1.40664136e-02 9.78079346e+00] [ 4.37345501e-02 3.01984065e-04 9.99043141e-01 3.58113155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25710568099998 meters 0.016338745959582315 Centerline is valid? [True, True] Translation: X:99.38, Y:9.78, Z:3.59 [[ 9.45370826e-01 -3.23788524e-01 -3.78812986e-02 9.93825644e+01] [ 3.23532283e-01 9.46129476e-01 -1.28792890e-02 9.78163191e+00] [ 4.00107792e-02 -8.01189241e-05 9.99199245e-01 3.58746162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28710568099999 meters 0.01711377001171407 Centerline is valid? [True, True] Translation: X:99.41, Y:9.79, Z:3.59 [[ 9.43095921e-01 -3.30566795e-01 -3.59955362e-02 9.94119300e+01] [ 3.30340186e-01 9.43782536e-01 -1.22428037e-02 9.78601705e+00] [ 3.80190228e-02 -3.44633922e-04 9.99276956e-01 3.59161187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31710568099999 meters 0.017982628134747523 Centerline is valid? [True, True] Translation: X:99.44, Y:9.79, Z:3.59 [[ 9.41520697e-01 -3.35055326e-01 -3.57310289e-02 9.94394338e+01] [ 3.34834774e-01 9.42198317e-01 -1.21657390e-02 9.79319449e+00] [ 3.77419110e-02 -5.09695897e-04 9.99287390e-01 3.59455936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34710568099999 meters 0.018096463433822915 Centerline is valid? [True, True] Translation: X:99.47, Y:9.80, Z:3.60 [[ 9.41225510e-01 -3.35967102e-01 -3.49377323e-02 9.94652040e+01] [ 3.35756699e-01 9.41873572e-01 -1.19001401e-02 9.80425782e+00] [ 3.69049823e-02 -5.29862229e-04 9.99318639e-01 3.59559609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37710568099999 meters 0.017903918315004114 Centerline is valid? [True, True] Translation: X:99.49, Y:9.82, Z:3.59 [[ 9.41334677e-01 -3.35470794e-01 -3.67201816e-02 9.94898206e+01] [ 3.35237341e-01 9.42050463e-01 -1.25239991e-02 9.81947683e+00] [ 3.87937000e-02 -5.20701409e-04 9.99247105e-01 3.59276051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.40710568099999 meters 0.017496172628088433 Centerline is valid? [True, True] Translation: X:99.52, Y:9.83, Z:3.59 [[ 9.42092556e-01 -3.32807588e-01 -4.12398557e-02 9.95159840e+01] [ 3.32509703e-01 9.42994652e-01 -1.40849003e-02 9.83335283e+00] [ 4.35765251e-02 -4.43372412e-04 9.99049994e-01 3.58903223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.43710568099999 meters 0.01734148857606042 Centerline is valid? [True, True] Translation: X:99.54, Y:9.84, Z:3.59 [[ 9.42121106e-01 -3.32461490e-01 -4.33264283e-02 9.95417363e+01] [ 3.32131520e-01 9.43116732e-01 -1.48149537e-02 9.84496272e+00] [ 4.57872811e-02 -4.32591910e-04 9.98951119e-01 3.58774450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.46710568099999 meters 0.01725098338551865 Centerline is valid? [True, True] Translation: X:99.57, Y:9.86, Z:3.58 [[ 9.42408106e-01 -3.31205155e-01 -4.65844124e-02 9.95663927e+01] [ 3.30821248e-01 9.43558689e-01 -1.59468802e-02 9.86055688e+00] [ 4.92368160e-02 -3.82644269e-04 9.98787059e-01 3.58452758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.497105681 meters 0.017458947317147533 Centerline is valid? [True, True] Translation: X:99.59, Y:9.87, Z:3.58 [[ 9.42238404e-01 -3.31541664e-01 -4.76121299e-02 9.95921779e+01] [ 3.31140723e-01 9.43440493e-01 -1.63051645e-02 9.87236038e+00] [ 5.03250526e-02 -4.02962962e-04 9.98732810e-01 3.58271082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.527105681 meters 0.01774049853951782 Centerline is valid? [True, True] Translation: X:99.62, Y:9.89, Z:3.58 [[ 9.42306811e-01 -3.31017834e-01 -4.98504544e-02 9.96186709e+01] [ 3.30577011e-01 9.43624421e-01 -1.70819324e-02 9.88507146e+00] [ 5.26945304e-02 -3.82992949e-04 9.98610605e-01 3.58213576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55710568099998 meters 0.018545157613057778 Centerline is valid? [True, True] Translation: X:99.65, Y:9.89, Z:3.58 [[ 9.41326020e-01 -3.33389140e-01 -5.25071992e-02 9.96451278e+01] [ 3.32902795e-01 9.42789161e-01 -1.80090472e-02 9.89398030e+00] [ 5.55072390e-02 -5.27408710e-04 9.98458145e-01 3.58312427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58710568099998 meters 0.01912917532987475 Centerline is valid? [True, True] Translation: X:99.67, Y:9.90, Z:3.59 [[ 9.40383250e-01 -3.36145544e-01 -5.18219743e-02 9.96718223e+01] [ 3.35675507e-01 9.41809812e-01 -1.77829426e-02 9.90325706e+00] [ 5.47841007e-02 -6.72586135e-04 9.98497997e-01 3.58666536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61710568099998 meters 0.021720089698264854 Centerline is valid? [True, True] Translation: X:99.70, Y:9.91, Z:3.59 [[ 9.37524208e-01 -3.44529671e-01 -4.84527060e-02 9.96992553e+01] [ 3.44129474e-01 9.38774811e-01 -1.66361052e-02 9.91177171e+00] [ 5.12178118e-02 -1.07725289e-03 9.98686926e-01 3.59106971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64710568099999 meters 0.026521283106894368 Centerline is valid? [True, True] Translation: X:99.73, Y:9.92, Z:3.59 [[ 9.33806013e-01 -3.54364266e-01 -4.93183251e-02 9.97285718e+01] [ 3.53962494e-01 9.35106042e-01 -1.69482613e-02 9.91889719e+00] [ 5.21237219e-02 -1.63044903e-03 9.98639304e-01 3.59042744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67710568099999 meters 0.03277559546441166 Centerline is valid? [True, True] Translation: X:99.76, Y:9.92, Z:3.59 [[ 9.29579164e-01 -3.64887519e-01 -5.23419197e-02 9.97581734e+01] [ 3.64451172e-01 9.31048644e-01 -1.79934898e-02 9.92280532e+00] [ 5.52984733e-02 -2.34970076e-03 9.98467104e-01 3.58903504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70710568099999 meters 0.035711204479855096 Centerline is valid? [True, True] Translation: X:99.79, Y:9.93, Z:3.59 [[ 9.28110456e-01 -3.68563981e-01 -5.26457398e-02 9.97855973e+01] [ 3.68128145e-01 9.29598808e-01 -1.81031938e-02 9.93042367e+00] [ 5.56116021e-02 -2.57861506e-03 9.98449148e-01 3.58974759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73710568099999 meters 0.036022964463135215 Centerline is valid? [True, True] Translation: X:99.81, Y:9.95, Z:3.59 [[ 9.26789409e-01 -3.71978705e-01 -5.18963836e-02 9.98100304e+01] [ 3.71560218e-01 9.28237224e-01 -1.78510694e-02 9.94961232e+00] [ 5.48123727e-02 -2.73844949e-03 9.98492917e-01 3.59229470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.76710568099999 meters 0.03556505007528875 Centerline is valid? [True, True] Translation: X:99.83, Y:9.97, Z:3.59 [[ 9.27662695e-01 -3.70011219e-01 -5.03351015e-02 9.98326011e+01] [ 3.69614359e-01 9.29023819e-01 -1.73196044e-02 9.97122820e+00] [ 5.31709562e-02 -2.53782542e-03 9.98582199e-01 3.59310778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.79710568099999 meters 0.03381824802142384 Centerline is valid? [True, True] Translation: X:99.86, Y:9.99, Z:3.60 [[ 9.28230252e-01 -3.68723416e-01 -4.93116787e-02 9.98574258e+01] [ 3.68340247e-01 9.29536044e-01 -1.69765964e-02 9.98821406e+00] [ 5.20966513e-02 -2.40528553e-03 9.98639151e-01 3.59616214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.82710568099999 meters 0.032622768091626286 Centerline is valid? [True, True] Translation: X:99.88, Y:10.01, Z:3.60 [[ 9.29313413e-01 -3.66145171e-01 -4.81071101e-02 9.98804847e+01] [ 3.65776321e-01 9.30555162e-01 -1.65763083e-02 1.00101270e+01] [ 5.08356549e-02 -2.19185607e-03 9.98704627e-01 3.60091331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.857105681 meters 0.03167566262677504 Centerline is valid? [True, True] Translation: X:99.90, Y:10.03, Z:3.61 [[ 9.30245012e-01 -3.64097073e-01 -4.55800264e-02 9.99027904e+01] [ 3.63763290e-01 9.31358930e-01 -1.57102725e-02 1.00334304e+01] [ 4.81714288e-02 -1.96593768e-03 9.98837148e-01 3.60507890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.887105681 meters 0.030648149726168084 Centerline is valid? [True, True] Translation: X:99.93, Y:10.05, Z:3.61 [[ 9.30017829e-01 -3.64738411e-01 -4.50858031e-02 9.99261366e+01] [ 3.64412190e-01 9.31107948e-01 -1.55481144e-02 1.00513218e+01] [ 4.76507441e-02 -1.96979268e-03 9.98862116e-01 3.60654907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91710568099998 meters 0.033547242744889724 Centerline is valid? [True, True] Translation: X:99.95, Y:10.07, Z:3.60 [[ 9.28471092e-01 -3.68183525e-01 -4.88090522e-02 9.99495871e+01] [ 3.67804969e-01 9.29750272e-01 -1.68503939e-02 1.00702876e+01] [ 5.15842670e-02 -2.30710836e-03 9.98665981e-01 3.60147561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94710568099998 meters 0.036852314702197894 Centerline is valid? [True, True] Translation: X:99.98, Y:10.09, Z:3.60 [[ 9.26426213e-01 -3.73187758e-01 -4.96524735e-02 9.99756997e+01] [ 3.72802833e-01 9.27752127e-01 -1.71475683e-02 1.00866859e+01] [ 5.24644505e-02 -2.62462603e-03 9.98619343e-01 3.60230095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97710568099998 meters 0.03802866198670155 Centerline is valid? [True, True] Translation: X:100.00, Y:10.10, Z:3.60 [[ 9.25580496e-01 -3.75442142e-01 -4.84142873e-02 1.00001583e+02] [ 3.75078742e-01 9.26841975e-01 -1.67299363e-02 1.01005043e+01] [ 5.11535168e-02 -2.67426720e-03 9.98687221e-01 3.60463806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00710568099998 meters 0.04017133563077322 Centerline is valid? [True, True] Translation: X:100.03, Y:10.12, Z:3.61 [[ 9.24449518e-01 -3.78334982e-01 -4.74945240e-02 1.00025113e+02] [ 3.77988361e-01 9.25664617e-01 -1.64260677e-02 1.01199805e+01] [ 5.01785564e-02 -2.76730692e-03 9.98736429e-01 3.60674827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03710568099999 meters 0.040366259370442706 Centerline is valid? [True, True] Translation: X:100.05, Y:10.14, Z:3.60 [[ 9.24003663e-01 -3.79002094e-01 -5.07409515e-02 1.00047901e+02] [ 3.78606969e-01 9.25390992e-01 -1.75577553e-02 1.01430078e+01] [ 5.36096454e-02 -2.98744768e-03 9.98557500e-01 3.60422390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06710568099999 meters 0.04205915215842353 Centerline is valid? [True, True] Translation: X:100.07, Y:10.16, Z:3.60 [[ 9.23872327e-01 -3.79132358e-01 -5.21399884e-02 1.00072873e+02] [ 3.78714469e-01 9.25337383e-01 -1.80576552e-02 1.01568282e+01] [ 5.50933218e-02 -3.06320002e-03 9.98476511e-01 3.60333461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09710568099999 meters 0.04353840292838935 Centerline is valid? [True, True] Translation: X:100.10, Y:10.18, Z:3.60 [[ 9.22874790e-01 -3.81143028e-01 -5.50646329e-02 1.00097197e+02] [ 3.80680057e-01 9.24509996e-01 -1.90777791e-02 1.01783169e+01] [ 5.81791660e-02 -3.35560625e-03 9.98300518e-01 3.60053042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.12710568099999 meters 0.04453548895782788 Centerline is valid? [True, True] Translation: X:100.12, Y:10.19, Z:3.60 [[ 9.22014687e-01 -3.82889717e-01 -5.73095328e-02 1.00123221e+02] [ 3.82391182e-01 9.23787038e-01 -1.98618210e-02 1.01939738e+01] [ 6.05466906e-02 -3.60176929e-03 9.98158868e-01 3.59947409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15710568099999 meters 0.04623746509493584 Centerline is valid? [True, True] Translation: X:100.15, Y:10.21, Z:3.60 [[ 9.20318272e-01 -3.86679141e-01 -5.91060024e-02 1.00147450e+02] [ 3.86156258e-01 9.22205783e-01 -2.04899697e-02 1.02145194e+01] [ 6.24309411e-02 -3.96685917e-03 9.98041403e-01 3.59897897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.18710568099999 meters 0.04456507504232726 Centerline is valid? [True, True] Translation: X:100.17, Y:10.24, Z:3.60 [[ 9.19378344e-01 -3.89036843e-01 -5.82562943e-02 1.00170054e+02] [ 3.88533326e-01 9.21213235e-01 -2.01997588e-02 1.02391162e+01] [ 6.15249197e-02 -4.06329097e-03 9.98097277e-01 3.60450378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.21710568099999 meters 0.05163022484421488 Centerline is valid? [True, True] Translation: X:100.19, Y:10.25, Z:3.61 [[ 9.19062633e-01 -3.90194801e-01 -5.54246692e-02 1.00193680e+02] [ 3.89740892e-01 9.20723919e-01 -1.92224169e-02 1.02545559e+01] [ 5.85313058e-02 -3.93465493e-03 9.98277819e-01 3.60655151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.247105681 meters 0.045807009252385296 Centerline is valid? [True, True] Translation: X:100.22, Y:10.28, Z:3.61 [[ 9.19068057e-01 -3.90473013e-01 -5.33360417e-02 1.00215062e+02] [ 3.90052515e-01 9.20606562e-01 -1.85092674e-02 1.02792561e+01] [ 5.63288794e-02 -3.79258078e-03 9.98405065e-01 3.61269734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.277105681 meters 0.0502296087062155 Centerline is valid? [True, True] Translation: X:100.24, Y:10.30, Z:3.62 [[ 9.19089361e-01 -3.90822466e-01 -5.03244095e-02 1.00237671e+02] [ 3.90447898e-01 9.20459096e-01 -1.74782960e-02 1.02974715e+01] [ 5.31524713e-02 -3.58494397e-03 9.98579973e-01 3.61513230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30710568099998 meters 0.04551469546912645 Centerline is valid? [True, True] Translation: X:100.26, Y:10.33, Z:3.62 [[ 9.18641856e-01 -3.91983159e-01 -4.94605207e-02 1.00257811e+02] [ 3.91622501e-01 9.19965426e-01 -1.71881043e-02 1.03276532e+01] [ 5.22394164e-02 -3.58014075e-03 9.98628172e-01 3.61697610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33710568099998 meters 0.04461586590228801 Centerline is valid? [True, True] Translation: X:100.28, Y:10.35, Z:3.62 [[ 9.18312697e-01 -3.92786006e-01 -4.92030839e-02 1.00281942e+02] [ 3.92429287e-01 9.19622893e-01 -1.71169411e-02 1.03453081e+01] [ 5.19715772e-02 -3.59002681e-03 9.98642112e-01 3.61724962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36710568099998 meters 0.04352761541877011 Centerline is valid? [True, True] Translation: X:100.30, Y:10.37, Z:3.62 [[ 9.18435047e-01 -3.92372969e-01 -5.02047533e-02 1.00303711e+02] [ 3.91999940e-01 9.19799074e-01 -1.74846024e-02 1.03701572e+01] [ 5.30387710e-02 -3.62178871e-03 9.98585886e-01 3.61653034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39710568099999 meters 0.045035133845430314 Centerline is valid? [True, True] Translation: X:100.33, Y:10.38, Z:3.62 [[ 9.18497237e-01 -3.92253406e-01 -5.00009080e-02 1.00328571e+02] [ 3.91882421e-01 9.19850208e-01 -1.74288132e-02 1.03845512e+01] [ 5.28298569e-02 -3.58616011e-03 9.98597089e-01 3.61672450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42710568099999 meters 0.04619995548091033 Centerline is valid? [True, True] Translation: X:100.35, Y:10.41, Z:3.62 [[ 9.18245690e-01 -3.93019513e-01 -4.85851324e-02 1.00350248e+02] [ 3.92669987e-01 9.19523389e-01 -1.69416209e-02 1.04066403e+01] [ 5.13335532e-02 -3.52135290e-03 9.98675356e-01 3.61877410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45710568099999 meters 0.04702449818342888 Centerline is valid? [True, True] Translation: X:100.37, Y:10.43, Z:3.62 [[ 9.16668544e-01 -3.96862101e-01 -4.71089577e-02 1.00372876e+02] [ 3.96538286e-01 9.17871115e-01 -1.64318293e-02 1.04310266e+01] [ 4.97611218e-02 -3.61796429e-03 9.98754595e-01 3.62218335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48710568099999 meters 0.04815873146250845 Centerline is valid? [True, True] Translation: X:100.40, Y:10.45, Z:3.62 [[ 9.15492783e-01 -3.99576337e-01 -4.70288680e-02 1.00398595e+02] [ 3.99257049e-01 9.16692227e-01 -1.64064187e-02 1.04453370e+01] [ 4.96666144e-02 -3.75664910e-03 9.98758787e-01 3.62262488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51710568099999 meters 0.05193852743368612 Centerline is valid? [True, True] Translation: X:100.43, Y:10.46, Z:3.62 [[ 9.12851710e-01 -4.05628059e-01 -4.65578413e-02 1.00425164e+02] [ 4.05322756e-01 9.14029292e-01 -1.62455230e-02 1.04606838e+01] [ 4.91448706e-02 -4.04119906e-03 9.98783485e-01 3.62225519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.54710568099999 meters 0.05637356288873804 Centerline is valid? [True, True] Translation: X:100.45, Y:10.48, Z:3.62 [[ 9.10328845e-01 -4.11289348e-01 -4.62867916e-02 1.00448936e+02] [ 4.10994682e-01 9.11494610e-01 -1.61538501e-02 1.04791075e+01] [ 4.88340676e-02 -4.31830947e-03 9.98797570e-01 3.62261474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.57710568099999 meters 0.05999679997844207 Centerline is valid? [True, True] Translation: X:100.47, Y:10.49, Z:3.62 [[ 9.09445734e-01 -4.13104428e-01 -4.74677573e-02 1.00474778e+02] [ 4.12796820e-01 9.10672416e-01 -1.65691530e-02 1.04922298e+01] [ 5.00723677e-02 -4.52579374e-03 9.98735338e-01 3.62116839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.607105681 meters 0.060841499428165274 Centerline is valid? [True, True] Translation: X:100.50, Y:10.52, Z:3.62 [[ 9.08424915e-01 -4.15178321e-01 -4.88992372e-02 1.00498178e+02] [ 4.14854669e-01 9.09727509e-01 -1.70722942e-02 1.05156630e+01] [ 5.15730277e-02 -4.77717945e-03 9.98657800e-01 3.61773225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.637105681 meters 0.06071937011451932 Centerline is valid? [True, True] Translation: X:100.52, Y:10.54, Z:3.62 [[ 9.08267320e-01 -4.15449194e-01 -4.95221419e-02 1.00520599e+02] [ 4.15117239e-01 9.09603472e-01 -1.72974450e-02 1.05374111e+01] [ 5.22317218e-02 -4.84679081e-03 9.98623230e-01 3.61666142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66710568099998 meters 0.06147682093570375 Centerline is valid? [True, True] Translation: X:100.55, Y:10.55, Z:3.62 [[ 9.08118834e-01 -4.15845514e-01 -4.89151496e-02 1.00545151e+02] [ 4.15521228e-01 9.09422642e-01 -1.71045923e-02 1.05524369e+01] [ 5.15974126e-02 -4.79228058e-03 9.98656468e-01 3.61809701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69710568099998 meters 0.06211688736312857 Centerline is valid? [True, True] Translation: X:100.57, Y:10.57, Z:3.62 [[ 9.08568768e-01 -4.14926261e-01 -4.83631345e-02 1.00567054e+02] [ 4.14607191e-01 9.09843044e-01 -1.69266743e-02 1.05737795e+01] [ 5.10261832e-02 -4.67265572e-03 9.98686385e-01 3.61844763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72710568099998 meters 0.06180991320902809 Centerline is valid? [True, True] Translation: X:100.59, Y:10.59, Z:3.62 [[ 9.09452039e-01 -4.12623650e-01 -5.13684025e-02 1.00590375e+02] [ 4.12259761e-01 9.10888837e-01 -1.79837429e-02 1.05949823e+01] [ 5.42114221e-02 -4.82177372e-03 9.98517838e-01 3.61573573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75710568099998 meters 0.06128502646206813 Centerline is valid? [True, True] Translation: X:100.62, Y:10.61, Z:3.62 [[ 9.09800196e-01 -4.11712957e-01 -5.24980404e-02 1.00615280e+02] [ 4.11330973e-01 9.11300589e-01 -1.83865956e-02 1.06119480e+01] [ 5.54114948e-02 -4.86594175e-03 9.98451746e-01 3.61600328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78710568099999 meters 0.0525965672792149 Centerline is valid? [True, True] Translation: X:100.64, Y:10.65, Z:3.62 [[ 9.11636061e-01 -4.08028643e-01 -4.93185371e-02 1.00635109e+02] [ 4.07685582e-01 9.12958767e-01 -1.72845379e-02 1.06467619e+01] [ 5.20783774e-02 -4.34924845e-03 9.98633530e-01 3.62288210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81710568099999 meters 0.0525965672792149 Centerline is valid? [True, True] Translation: X:100.66, Y:10.66, Z:3.62 [[ 9.11489209e-01 -4.08356892e-01 -4.93160214e-02 1.00661025e+02] [ 4.08013923e-01 9.12811939e-01 -1.72917121e-02 1.06560620e+01] [ 5.20774429e-02 -4.36041438e-03 9.98633530e-01 3.62390210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84710568099999 meters 0.04752021788552874 Centerline is valid? [True, True] Translation: X:100.68, Y:10.68, Z:3.63 [[ 9.14657342e-01 -4.01833069e-01 -4.39560191e-02 1.00683394e+02] [ 4.01552522e-01 9.15706088e-01 -1.54250906e-02 1.06840642e+01] [ 4.64491058e-02 -3.54197796e-03 9.98914378e-01 3.63089934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87710568099999 meters 0.046003035315035315 Centerline is valid? [True, True] Translation: X:100.71, Y:10.70, Z:3.63 [[ 9.16832735e-01 -3.97081712e-01 -4.17594229e-02 1.00708001e+02] [ 3.96823556e-01 9.17777908e-01 -1.46552900e-02 1.07016571e+01] [ 4.41452234e-02 -3.13467307e-03 9.99020207e-01 3.63261187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.90710568099999 meters 0.03862690967192179 Centerline is valid? [True, True] Translation: X:100.73, Y:10.74, Z:3.63 [[ 9.21567633e-01 -3.86067373e-01 -4.08054096e-02 1.00728015e+02] [ 3.85809993e-01 9.22467079e-01 -1.43225911e-02 1.07355151e+01] [ 4.31711321e-02 -2.54389841e-03 9.99064453e-01 3.63383552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.93710568099999 meters 0.03188978297173869 Centerline is valid? [True, True] Translation: X:100.75, Y:10.77, Z:3.63 [[ 9.27360976e-01 -3.71851517e-01 -4.15700483e-02 1.00747018e+02] [ 3.71570028e-01 9.28290249e-01 -1.45920619e-02 1.07707159e+01] [ 4.40151508e-02 -1.91407529e-03 9.99029030e-01 3.63206401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.96710568099999 meters 0.028686435462366197 Centerline is valid? [True, True] Translation: X:100.77, Y:10.79, Z:3.63 [[ 9.30025009e-01 -3.65110948e-01 -4.18028645e-02 1.00771127e+02] [ 3.64819443e-01 9.30962635e-01 -1.46746872e-02 1.07919635e+01] [ 4.42747938e-02 -1.60267165e-03 9.99018105e-01 3.63287323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.997105681 meters 0.025062731477692366 Centerline is valid? [True, True] Translation: X:100.79, Y:10.82, Z:3.63 [[ 9.33373159e-01 -3.56368281e-01 -4.26168416e-02 1.00794019e+02] [ 3.56056130e-01 9.34344790e-01 -1.49614869e-02 1.08185753e+01] [ 4.51506232e-02 -1.20933743e-03 9.98979459e-01 3.62848591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.027105681 meters 0.024279313566229737 Centerline is valid? [True, True] Translation: X:100.82, Y:10.84, Z:3.62 [[ 9.34268110e-01 -3.53412242e-01 -4.73591202e-02 1.00816837e+02] [ 3.53022794e-01 9.35466936e-01 -1.66288678e-02 1.08373331e+01] [ 5.01797365e-02 -1.18302807e-03 9.98739503e-01 3.62255240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05710568099998 meters 0.024085683493745253 Centerline is valid? [True, True] Translation: X:100.84, Y:10.85, Z:3.62 [[ 9.34153039e-01 -3.53459179e-01 -4.92413300e-02 1.00842448e+02] [ 3.53037874e-01 9.35449146e-01 -1.72961079e-02 1.08501051e+01] [ 5.21762282e-02 -1.22684275e-03 9.98637139e-01 3.62148526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08710568099998 meters 0.025339884875896068 Centerline is valid? [True, True] Translation: X:100.87, Y:10.86, Z:3.62 [[ 9.33001304e-01 -3.56574776e-01 -4.86106613e-02 1.00869904e+02] [ 3.56167950e-01 9.34265776e-01 -1.70836605e-02 1.08594246e+01] [ 5.15068796e-02 -1.37448204e-03 9.98671694e-01 3.62201600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11710568099998 meters 0.02719210956886082 Centerline is valid? [True, True] Translation: X:100.90, Y:10.86, Z:3.63 [[ 9.31502318e-01 -3.60811848e-01 -4.60243590e-02 1.00898773e+02] [ 3.60451586e-01 9.32637408e-01 -1.61900963e-02 1.08644666e+01] [ 4.87656174e-02 -1.50844099e-03 9.98809110e-01 3.62617414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14710568099999 meters 0.027323806378350177 Centerline is valid? [True, True] Translation: X:100.93, Y:10.87, Z:3.63 [[ 9.30469504e-01 -3.63592212e-01 -4.50244984e-02 1.00925931e+02] [ 3.63249949e-01 9.31556832e-01 -1.58538014e-02 1.08730577e+01] [ 4.77071979e-02 -1.60366799e-03 9.98860076e-01 3.62915911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17710568099999 meters 0.029874975366770806 Centerline is valid? [True, True] Translation: X:100.96, Y:10.88, Z:3.63 [[ 9.28629660e-01 -3.68429995e-01 -4.36611240e-02 1.00956476e+02] [ 3.68112897e-01 9.29653783e-01 -1.53863289e-02 1.08753313e+01] [ 4.62585141e-02 -1.78402149e-03 9.98927909e-01 3.63176962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20710568099999 meters 0.03323700993096255 Centerline is valid? [True, True] Translation: X:100.99, Y:10.88, Z:3.63 [[ 9.28197076e-01 -3.69495389e-01 -4.38559695e-02 1.00985379e+02] [ 3.69176504e-01 9.29230737e-01 -1.54578868e-02 1.08761623e+01] [ 4.64639328e-02 -1.84262816e-03 9.98918269e-01 3.63096191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23710568099999 meters 0.03029539900980717 Centerline is valid? [True, True] Translation: X:101.01, Y:10.89, Z:3.63 [[ 9.28459758e-01 -3.68772216e-01 -4.43794000e-02 1.01011325e+02] [ 3.68444483e-01 9.29518013e-01 -1.56501061e-02 1.08881009e+01] [ 4.70227760e-02 -1.82085135e-03 9.98892158e-01 3.63172496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.26710568099999 meters 0.027436372865890943 Centerline is valid? [True, True] Translation: X:101.04, Y:10.90, Z:3.63 [[ 9.30616188e-01 -3.63316275e-01 -4.42130618e-02 1.01039628e+02] [ 3.62984256e-01 9.31664613e-01 -1.56038157e-02 1.08990679e+01] [ 4.68608653e-02 -1.52748185e-03 9.98900258e-01 3.63240052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.29710568099999 meters 0.023174746357656626 Centerline is valid? [True, True] Translation: X:101.07, Y:10.91, Z:3.64 [[ 9.33852689e-01 -3.55100245e-01 -4.26962583e-02 1.01066038e+02] [ 3.54781964e-01 9.34827610e-01 -1.50697497e-02 1.09132844e+01] [ 4.52649129e-02 -1.07493617e-03 9.98974440e-01 3.63532293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.32710568099999 meters 0.02284507594689698 Centerline is valid? [True, True] Translation: X:101.09, Y:10.92, Z:3.64 [[ 9.35018319e-01 -3.51985956e-01 -4.29724323e-02 1.01092368e+02] [ 3.51660123e-01 9.36004822e-01 -1.51700827e-02 1.09223118e+01] [ 4.55620599e-02 -9.27385571e-04 9.98961080e-01 3.63574299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.357105681 meters 0.021517610579605786 Centerline is valid? [True, True] Translation: X:101.12, Y:10.93, Z:3.64 [[ 9.35901729e-01 -3.49401181e-01 -4.47969613e-02 1.01120101e+02] [ 3.49043737e-01 9.36972854e-01 -1.58221530e-02 1.09313737e+01] [ 4.75018157e-02 -8.28118421e-04 9.98870808e-01 3.63578975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.387105681 meters 0.021077382870268647 Centerline is valid? [True, True] Translation: X:101.15, Y:10.94, Z:3.63 [[ 9.35781797e-01 -3.49463575e-01 -4.67721931e-02 1.01149110e+02] [ 3.49073150e-01 9.36949563e-01 -1.65364167e-02 1.09353421e+01] [ 4.96020612e-02 -8.52439062e-04 9.98768696e-01 3.63234315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41710568099998 meters 0.02106933243559025 Centerline is valid? [True, True] Translation: X:101.18, Y:10.94, Z:3.63 [[ 9.35910493e-01 -3.49192263e-01 -4.62202538e-02 1.01176885e+02] [ 3.48810008e-01 9.37050745e-01 -1.63547967e-02 1.09401131e+01] [ 4.90216917e-02 -8.15461288e-04 9.98797381e-01 3.63287963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44710568099998 meters 0.0200783645013899 Centerline is valid? [True, True] Translation: X:101.21, Y:10.95, Z:3.64 [[ 9.36283860e-01 -3.48287881e-01 -4.54762024e-02 1.01205202e+02] [ 3.47916386e-01 9.37387323e-01 -1.60995670e-02 1.09464312e+01] [ 4.82360997e-02 -7.48151219e-04 9.98835682e-01 3.63854395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47710568099998 meters 0.01888925437535108 Centerline is valid? [True, True] Translation: X:101.23, Y:10.95, Z:3.64 [[ 9.37397149e-01 -3.45355933e-01 -4.48983776e-02 1.01233366e+02] [ 3.44989701e-01 9.38471603e-01 -1.59108990e-02 1.09537224e+01] [ 4.76307758e-02 -5.74646535e-04 9.98864845e-01 3.64217949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50710568099998 meters 0.017548895863797362 Centerline is valid? [True, True] Translation: X:101.26, Y:10.96, Z:3.64 [[ 9.39146264e-01 -3.40622883e-01 -4.45010851e-02 1.01261417e+02] [ 3.40257033e-01 9.40199953e-01 -1.57860756e-02 1.09600380e+01] [ 4.72170167e-02 -3.16373228e-04 9.98884605e-01 3.64386468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53710568099999 meters 0.017124175095242066 Centerline is valid? [True, True] Translation: X:101.29, Y:10.97, Z:3.65 [[ 9.40086944e-01 -3.38061444e-01 -4.41701125e-02 1.01287692e+02] [ 3.37697525e-01 9.41124025e-01 -1.56828374e-02 1.09678916e+01] [ 4.68713168e-02 -1.72907018e-04 9.98900921e-01 3.64591242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56710568099999 meters 0.01640290840237174 Centerline is valid? [True, True] Translation: X:101.32, Y:10.97, Z:3.65 [[ 9.41750011e-01 -3.33747302e-01 -4.14687349e-02 1.01316071e+02] [ 3.33422067e-01 9.42662578e-01 -1.47305531e-02 1.09745563e+01] [ 4.40073069e-02 4.59072762e-05 9.99031208e-01 3.65154430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59710568099999 meters 0.016618568925841137 Centerline is valid? [True, True] Translation: X:101.34, Y:10.98, Z:3.65 [[ 9.42781978e-01 -3.30947168e-01 -4.04489141e-02 1.01343272e+02] [ 3.30634530e-01 9.43649266e-01 -1.43829913e-02 1.09781280e+01] [ 4.29295984e-02 1.86217270e-04 9.99078082e-01 3.65242776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.62710568099999 meters 0.016470189748078297 Centerline is valid? [True, True] Translation: X:101.37, Y:10.98, Z:3.65 [[ 9.42768922e-01 -3.30918067e-01 -4.09877145e-02 1.01370905e+02] [ 3.30596441e-01 9.43659468e-01 -1.45877076e-02 1.09835145e+01] [ 4.35057808e-02 2.02444778e-04 9.99053155e-01 3.65342818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65710568099999 meters 0.016257129846765122 Centerline is valid? [True, True] Translation: X:101.40, Y:10.98, Z:3.65 [[ 9.41748267e-01 -3.33524255e-01 -4.32639844e-02 1.01401042e+02] [ 3.33167740e-01 9.42741513e-01 -1.54174120e-02 1.09821684e+01] [ 4.59288350e-02 1.05157121e-04 9.98944709e-01 3.65181435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.68710568099999 meters 0.015785570971826483 Centerline is valid? [True, True] Translation: X:101.43, Y:10.98, Z:3.65 [[ 9.40657669e-01 -3.36512216e-01 -4.38483600e-02 1.01430305e+02] [ 3.36148348e-01 9.41679100e-01 -1.56448043e-02 1.09845102e+01] [ 4.65557519e-02 -2.31486192e-05 9.98915693e-01 3.65285806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.71710568099999 meters 0.017080265251636403 Centerline is valid? [True, True] Translation: X:101.46, Y:10.98, Z:3.65 [[ 9.37019734e-01 -3.46354267e-01 -4.50859148e-02 1.01462472e+02] [ 3.45980091e-01 9.38103652e-01 -1.61032436e-02 1.09772953e+01] [ 4.78726885e-02 -5.09771937e-04 9.98853315e-01 3.65167887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.747105681 meters 0.021577443517432106 Centerline is valid? [True, True] Translation: X:101.50, Y:10.97, Z:3.65 [[ 9.32077735e-01 -3.59272331e-01 -4.64164564e-02 1.01497714e+02] [ 3.58891398e-01 9.33231991e-01 -1.65835813e-02 1.09680685e+01] [ 4.92753439e-02 -1.20128005e-03 9.98784510e-01 3.65052076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.777105681 meters 0.02457619390448826 Centerline is valid? [True, True] Translation: X:101.53, Y:10.97, Z:3.65 [[ 9.29336931e-01 -3.66253224e-01 -4.68128761e-02 1.01529413e+02] [ 3.65874507e-01 9.30513874e-01 -1.67264836e-02 1.09691415e+01] [ 4.96861593e-02 -1.58309902e-03 9.98763625e-01 3.65149702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80710568099998 meters 0.033347764253125134 Centerline is valid? [True, True] Translation: X:101.56, Y:10.96, Z:3.65 [[ 9.23091936e-01 -3.81854286e-01 -4.57010087e-02 1.01563634e+02] [ 3.81512233e-01 9.24219525e-01 -1.63305049e-02 1.09584135e+01] [ 4.84736379e-02 -2.36093651e-03 9.98821672e-01 3.65457791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83710568099998 meters 0.0394482469227703 Centerline is valid? [True, True] Translation: X:101.60, Y:10.95, Z:3.66 [[ 9.19087090e-01 -3.91755146e-01 -4.25067824e-02 1.01596618e+02] [ 3.91469698e-01 9.20065611e-01 -1.51903353e-02 1.09544786e+01] [ 4.50599207e-02 -2.67887620e-03 9.98980694e-01 3.66224420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86710568099998 meters 0.04097739033094329 Centerline is valid? [True, True] Translation: X:101.62, Y:10.96, Z:3.67 [[ 9.18218684e-01 -3.93917081e-01 -4.12768908e-02 1.01624769e+02] [ 3.93650014e-01 9.19142007e-01 -1.47525339e-02 1.09608889e+01] [ 4.37505993e-02 -2.70259641e-03 9.99038829e-01 3.66638579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89710568099999 meters 0.03967222823029275 Centerline is valid? [True, True] Translation: X:101.65, Y:10.97, Z:3.67 [[ 9.18659224e-01 -3.93239197e-01 -3.77910613e-02 1.01650725e+02] [ 3.93014631e-01 9.19432964e-01 -1.35101868e-02 1.09724448e+01] [ 4.00590825e-02 -2.44118228e-03 9.99194331e-01 3.67303850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92710568099999 meters 0.04002788348749196 Centerline is valid? [True, True] Translation: X:101.68, Y:10.98, Z:3.67 [[ 9.19355072e-01 -3.91718830e-01 -3.66416398e-02 1.01677344e+02] [ 3.91506037e-01 9.20082120e-01 -1.31116309e-02 1.09820134e+01] [ 3.88493904e-02 -2.29117883e-03 9.99242451e-01 3.67454594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95710568099999 meters 0.03964663981888297 Centerline is valid? [True, True] Translation: X:101.70, Y:11.00, Z:3.67 [[ 9.20075852e-01 -3.89882071e-01 -3.81103199e-02 1.01703093e+02] [ 3.89650140e-01 9.20861926e-01 -1.36411933e-02 1.09952063e+01] [ 4.04127993e-02 -2.29875896e-03 9.99180425e-01 3.67043376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98710568099999 meters 0.039614470844800916 Centerline is valid? [True, True] Translation: X:101.73, Y:11.01, Z:3.67 [[ 9.19877882e-01 -3.90229753e-01 -3.93118492e-02 1.01729224e+02] [ 3.89983055e-01 9.20714432e-01 -1.40766496e-02 1.10061305e+01] [ 4.16881144e-02 -2.38215645e-03 9.99127833e-01 3.66957096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01710568099999 meters 0.03882714816994354 Centerline is valid? [True, True] Translation: X:101.76, Y:11.02, Z:3.67 [[ 9.18972304e-01 -3.92028356e-01 -4.24696583e-02 1.01755419e+02] [ 3.91741630e-01 9.19949323e-01 -1.52229350e-02 1.10220311e+01] [ 4.50377556e-02 -2.64767749e-03 9.98981777e-01 3.66687681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.04710568099999 meters 0.040829068193966124 Centerline is valid? [True, True] Translation: X:101.78, Y:11.03, Z:3.67 [[ 9.18286398e-01 -3.93472270e-01 -4.39279391e-02 1.01781388e+02] [ 3.93167010e-01 9.19332193e-01 -1.57486824e-02 1.10313775e+01] [ 4.65810384e-02 -2.80921565e-03 9.98910564e-01 3.66589148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.07710568099999 meters 0.04257334676381785 Centerline is valid? [True, True] Translation: X:101.81, Y:11.04, Z:3.67 [[ 9.16828992e-01 -3.96891518e-01 -4.36087370e-02 1.01808848e+02] [ 3.96594303e-01 9.17860763e-01 -1.56389883e-02 1.10430998e+01] [ 4.62337305e-02 -2.95669878e-03 9.98926274e-01 3.66815849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.107105681 meters 0.04566425376377546 Centerline is valid? [True, True] Translation: X:101.84, Y:11.05, Z:3.67 [[ 9.14834117e-01 -4.01693573e-01 -4.14826748e-02 1.01836703e+02] [ 4.01429482e-01 9.15769087e-01 -1.48778247e-02 1.10541214e+01] [ 4.39648778e-02 -3.04162701e-03 9.99028447e-01 3.67118817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.137105681 meters 0.04671621313080743 Centerline is valid? [True, True] Translation: X:101.86, Y:11.07, Z:3.67 [[ 9.14172536e-01 -4.03275709e-01 -4.07096767e-02 1.01863030e+02] [ 4.03022801e-01 9.15073417e-01 -1.46035336e-02 1.10654662e+01] [ 4.31415933e-02 -3.05677855e-03 9.99064292e-01 3.67246074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16710568099998 meters 0.04886600284473562 Centerline is valid? [True, True] Translation: X:101.89, Y:11.08, Z:3.67 [[ 9.12967232e-01 -4.05763563e-01 -4.29740033e-02 1.01889297e+02] [ 4.05483851e-01 9.13971982e-01 -1.54292854e-02 1.10810754e+01] [ 4.55376767e-02 -3.33883233e-03 9.98957042e-01 3.66889086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19710568099998 meters 0.05142154309671697 Centerline is valid? [True, True] Translation: X:101.91, Y:11.09, Z:3.67 [[ 9.12559528e-01 -4.06556827e-01 -4.41209028e-02 1.01914892e+02] [ 4.06262735e-01 9.13618923e-01 -1.58446551e-02 1.10909689e+01] [ 4.67514444e-02 -3.46548763e-03 9.98900542e-01 3.66762844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22710568099998 meters 0.050917552644462016 Centerline is valid? [True, True] Translation: X:101.94, Y:11.11, Z:3.67 [[ 9.12170042e-01 -4.07397403e-01 -4.44203817e-02 1.01938727e+02] [ 4.07099896e-01 9.13244180e-01 -1.59606459e-02 1.11095877e+01] [ 4.70689808e-02 -3.52470980e-03 9.98885423e-01 3.66655988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25710568099998 meters 0.051163736796639915 Centerline is valid? [True, True] Translation: X:101.96, Y:11.13, Z:3.67 [[ 9.12306136e-01 -4.07164388e-01 -4.37570073e-02 1.01963247e+02] [ 4.06874753e-01 9.13348390e-01 -1.57370063e-02 1.11267123e+01] [ 4.63729407e-02 -3.44665411e-03 9.98918250e-01 3.66786372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28710568099999 meters 0.05368023848484723 Centerline is valid? [True, True] Translation: X:101.99, Y:11.14, Z:3.67 [[ 9.12704750e-01 -4.06340252e-01 -4.31003305e-02 1.01989541e+02] [ 4.06057758e-01 9.13715727e-01 -1.55134427e-02 1.11361425e+01] [ 4.56851861e-02 -3.34203077e-03 9.98950296e-01 3.66847853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31710568099999 meters 0.05068604348557917 Centerline is valid? [True, True] Translation: X:102.01, Y:11.16, Z:3.67 [[ 9.13425232e-01 -4.04581614e-01 -4.43628458e-02 1.02013178e+02] [ 4.04279920e-01 9.14495786e-01 -1.59751152e-02 1.11567642e+01] [ 4.70328734e-02 -3.34293446e-03 9.98887748e-01 3.66885181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34710568099999 meters 0.04379001191903678 Centerline is valid? [True, True] Translation: X:102.04, Y:11.18, Z:3.67 [[ 9.14980548e-01 -4.01095724e-01 -4.39638176e-02 1.02035487e+02] [ 4.00794919e-01 9.16030815e-01 -1.58423208e-02 1.11843125e+01] [ 4.66264987e-02 -3.12505938e-03 9.98907505e-01 3.67283896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37710568099999 meters 0.04806766784779349 Centerline is valid? [True, True] Translation: X:102.06, Y:11.19, Z:3.68 [[ 9.15876152e-01 -3.99220229e-01 -4.23566192e-02 1.02063169e+02] [ 3.98938969e-01 9.16850423e-01 -1.52643881e-02 1.11932514e+01] [ 4.49285367e-02 -2.91741694e-03 9.98985943e-01 3.67630241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.40710568099999 meters 0.044382925470729674 Centerline is valid? [True, True] Translation: X:102.09, Y:11.22, Z:3.68 [[ 9.18831511e-01 -3.92814581e-01 -3.80178934e-02 1.02085296e+02] [ 3.92582457e-01 9.19614731e-01 -1.37025620e-02 1.12157919e+01] [ 4.03443809e-02 -2.33481230e-03 9.99183106e-01 3.68396857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.43710568099999 meters 0.0320544533147047 Centerline is valid? [True, True] Translation: X:102.11, Y:11.25, Z:3.68 [[ 9.23335385e-01 -3.82216002e-01 -3.69146798e-02 1.02105547e+02] [ 3.81988592e-01 9.24071229e-01 -1.33071092e-02 1.12476342e+01] [ 3.91979836e-02 -1.81406180e-03 9.99229817e-01 3.68379953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.46710568099999 meters 0.028436172457352474 Centerline is valid? [True, True] Translation: X:102.13, Y:11.27, Z:3.68 [[ 9.26103564e-01 -3.75427311e-01 -3.72360474e-02 1.02131055e+02] [ 3.75190375e-01 9.26850564e-01 -1.34243930e-02 1.12654617e+01] [ 3.95521352e-02 -1.53822842e-03 9.99216324e-01 3.68398193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.497105681 meters 0.021315268939717736 Centerline is valid? [True, True] Translation: X:102.15, Y:11.30, Z:3.68 [[ 9.32284615e-01 -3.59668003e-01 -3.85269369e-02 1.02151781e+02] [ 3.59400791e-01 9.33079913e-01 -1.38905619e-02 1.12971294e+01] [ 4.09447016e-02 -8.96654416e-04 9.99161012e-01 3.68379848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.527105681 meters 0.018941748092772125 Centerline is valid? [True, True] Translation: X:102.18, Y:11.32, Z:3.68 [[ 9.35494334e-01 -3.51142947e-01 -3.93571128e-02 1.02175158e+02] [ 3.50856376e-01 9.36321713e-01 -1.41934592e-02 1.13189638e+01] [ 4.18348523e-02 -5.30793300e-04 9.99124398e-01 3.68495541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55710568099998 meters 0.01793412667498181 Centerline is valid? [True, True] Translation: X:102.20, Y:11.35, Z:3.68 [[ 9.41141269e-01 -3.35340782e-01 -4.24225325e-02 1.02195218e+02] [ 3.34990959e-01 9.42096873e-01 -1.53146570e-02 1.13475120e+01] [ 4.51017643e-02 2.02090937e-04 9.98982377e-01 3.68182800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58710568099998 meters 0.019730891261924188 Centerline is valid? [True, True] Translation: X:102.22, Y:11.36, Z:3.67 [[ 9.43275606e-01 -3.28685731e-01 -4.68702551e-02 1.02221081e+02] [ 3.28249652e-01 9.44439168e-01 -1.69358688e-02 1.13595430e+01] [ 4.98326831e-02 5.90046955e-04 9.98757406e-01 3.67437480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61710568099998 meters 0.019268472696499946 Centerline is valid? [True, True] Translation: X:102.25, Y:11.37, Z:3.68 [[ 9.43073846e-01 -3.29267836e-01 -4.68445682e-02 1.02248473e+02] [ 3.28832511e-01 9.44236395e-01 -1.69354514e-02 1.13662780e+01] [ 4.98086456e-02 5.67364272e-04 9.98758618e-01 3.67556181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64710568099999 meters 0.01870339702765241 Centerline is valid? [True, True] Translation: X:102.28, Y:11.37, Z:3.68 [[ 9.42664467e-01 -3.30900947e-01 -4.34541907e-02 1.02277642e+02] [ 3.30527327e-01 9.43665380e-01 -1.57269245e-02 1.13707450e+01] [ 4.62102696e-02 4.62415412e-04 9.98931628e-01 3.68044651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67710568099999 meters 0.01830655045168741 Centerline is valid? [True, True] Translation: X:102.31, Y:11.37, Z:3.68 [[ 9.41724373e-01 -3.33398137e-01 -4.47312847e-02 1.02306315e+02] [ 3.33004321e-01 9.42786057e-01 -1.62041087e-02 1.13735402e+01] [ 4.75744512e-02 3.64093004e-04 9.98867628e-01 3.67984974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70710568099999 meters 0.01830655045168741 Centerline is valid? [True, True] Translation: X:102.33, Y:11.38, Z:3.68 [[ 9.41598015e-01 -3.33755219e-01 -4.47284192e-02 1.02331992e+02] [ 3.33361429e-01 9.42659710e-01 -1.62120145e-02 1.13830810e+01] [ 4.75745231e-02 3.54470938e-04 9.98867628e-01 3.68086519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73710568099999 meters 0.01787453561932817 Centerline is valid? [True, True] Translation: X:102.36, Y:11.38, Z:3.68 [[ 9.40338799e-01 -3.37274195e-01 -4.48225387e-02 1.02362571e+02] [ 3.36881843e-01 9.41406437e-01 -1.62648250e-02 1.13842413e+01] [ 4.76819323e-02 1.94546590e-04 9.98862551e-01 3.68193845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.76710568099999 meters 0.01745923533850562 Centerline is valid? [True, True] Translation: X:102.39, Y:11.39, Z:3.68 [[ 9.39718083e-01 -3.39240317e-01 -4.29643206e-02 1.02391362e+02] [ 3.38881183e-01 9.40699738e-01 -1.56060021e-02 1.13878457e+01] [ 4.57107102e-02 1.05442575e-04 9.98954714e-01 3.68478534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79710568099999 meters 0.0172128257831193 Centerline is valid? [True, True] Translation: X:102.42, Y:11.38, Z:3.69 [[ 9.38280231e-01 -3.43629908e-01 -3.93534638e-02 1.02423871e+02] [ 3.43331914e-01 9.39105148e-01 -1.43079744e-02 1.13827345e+01] [ 4.18736884e-02 -8.64105519e-05 9.99122909e-01 3.68948906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.82710568099999 meters 0.01754187324852723 Centerline is valid? [True, True] Translation: X:102.45, Y:11.38, Z:3.69 [[ 9.36246862e-01 -3.49071139e-01 -3.98892742e-02 1.02454940e+02] [ 3.48769314e-01 9.37096173e-01 -1.45164879e-02 1.13781573e+01] [ 4.24473732e-02 -3.21138522e-04 9.99098652e-01 3.69083010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.857105681 meters 0.018287254488368453 Centerline is valid? [True, True] Translation: X:102.48, Y:11.38, Z:3.69 [[ 9.34761989e-01 -3.52913256e-01 -4.08932581e-02 1.02484604e+02] [ 3.52599410e-01 9.35655910e-01 -1.48887216e-02 1.13813826e+01] [ 4.35164459e-02 -5.01527650e-04 9.99052585e-01 3.69177273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.887105681 meters 0.019888002035848753 Centerline is valid? [True, True] Translation: X:102.52, Y:11.38, Z:3.69 [[ 9.32451523e-01 -3.58734041e-01 -4.29423343e-02 1.02515911e+02] [ 3.58393435e-01 9.33439473e-01 -1.56491246e-02 1.13781646e+01] [ 4.56979437e-02 -7.98200597e-04 9.98954984e-01 3.69140391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91710568099998 meters 0.020325074237212387 Centerline is valid? [True, True] Translation: X:102.55, Y:11.38, Z:3.69 [[ 9.31512367e-01 -3.60715497e-01 -4.65729500e-02 1.02546576e+02] [ 3.60316980e-01 9.32675398e-01 -1.69786734e-02 1.13769142e+01] [ 4.95619153e-02 -9.65180430e-04 9.98770587e-01 3.68955965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94710568099998 meters 0.019576440457446075 Centerline is valid? [True, True] Translation: X:102.57, Y:11.38, Z:3.69 [[ 9.31889686e-01 -3.59644715e-01 -4.73000268e-02 1.02574384e+02] [ 3.59231799e-01 9.33088873e-01 -1.72531361e-02 1.13833643e+01] [ 5.03401279e-02 -9.13654124e-04 9.98731714e-01 3.69053288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97710568099998 meters 0.0176937271880832 Centerline is valid? [True, True] Translation: X:102.60, Y:11.39, Z:3.69 [[ 9.34702017e-01 -3.52629197e-01 -4.45509610e-02 1.02602191e+02] [ 3.52254283e-01 9.35763008e-01 -1.62638315e-02 1.13908074e+01] [ 4.74242432e-02 -4.91430722e-04 9.98874717e-01 3.69393872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00710568099998 meters 0.016646580874483785 Centerline is valid? [True, True] Translation: X:102.63, Y:11.40, Z:3.70 [[ 9.36797806e-01 -3.47169323e-01 -4.33973727e-02 1.02627912e+02] [ 3.46807492e-01 9.37802442e-01 -1.58475341e-02 1.14022097e+01] [ 4.61999398e-02 -2.04598809e-04 9.98932192e-01 3.69758861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03710568099999 meters 0.017757583605466535 Centerline is valid? [True, True] Translation: X:102.65, Y:11.42, Z:3.70 [[ 9.41360931e-01 -3.34867456e-01 -4.12720855e-02 1.02651249e+02] [ 3.34528106e-01 9.42265163e-01 -1.50767574e-02 1.14183290e+01] [ 4.39379638e-02 3.85997820e-04 9.99034187e-01 3.70265220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06710568099999 meters 0.020201278471735477 Centerline is valid? [True, True] Translation: X:102.68, Y:11.43, Z:3.71 [[ 9.44454508e-01 -3.26424173e-01 -3.81174821e-02 1.02676346e+02] [ 3.26127652e-01 9.45223114e-01 -1.39291098e-02 1.14292553e+01] [ 4.05763233e-02 7.24245570e-04 9.99176179e-01 3.70944091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09710568099999 meters 0.020521487201081937 Centerline is valid? [True, True] Translation: X:102.70, Y:11.44, Z:3.71 [[ 9.44902099e-01 -3.25372665e-01 -3.59534653e-02 1.02704371e+02] [ 3.25107925e-01 9.45585584e-01 -1.31431159e-02 1.14365666e+01] [ 3.82734891e-02 7.30201328e-04 9.99267035e-01 3.71410239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.12710568099999 meters 0.0205436539911844 Centerline is valid? [True, True] Translation: X:102.73, Y:11.44, Z:3.72 [[ 9.44569352e-01 -3.26589597e-01 -3.35853140e-02 1.02733076e+02] [ 3.26358936e-01 9.45166026e-01 -1.22893888e-02 1.14380919e+01] [ 3.57572843e-02 6.47312692e-04 9.99360294e-01 3.71947818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15710568099999 meters 0.018799272426333724 Centerline is valid? [True, True] Translation: X:102.76, Y:11.44, Z:3.72 [[ 9.43548404e-01 -3.29557026e-01 -3.32952669e-02 1.02762735e+02] [ 3.29332036e-01 9.44135521e-01 -1.21872498e-02 1.14399643e+01] [ 3.54516379e-02 5.34062094e-04 9.99371250e-01 3.72023856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.18710568099999 meters 0.016207712500798218 Centerline is valid? [True, True] Translation: X:102.80, Y:11.43, Z:3.72 [[ 9.39317151e-01 -3.41329995e-01 -3.43092471e-02 1.02797870e+02] [ 3.41098399e-01 9.39943521e-01 -1.25721423e-02 1.14251655e+01] [ 3.65400038e-02 1.06399600e-04 9.99332185e-01 3.71922250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.21710568099999 meters 0.01613165031789389 Centerline is valid? [True, True] Translation: X:102.83, Y:11.43, Z:3.72 [[ 9.37914754e-01 -3.45169167e-01 -3.42660183e-02 1.02826905e+02] [ 3.44940482e-01 9.38540487e-01 -1.25625909e-02 1.14258827e+01] [ 3.64962645e-02 -3.70975090e-05 9.99333789e-01 3.72053278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.247105681 meters 0.016651132676821914 Centerline is valid? [True, True] Translation: X:102.86, Y:11.42, Z:3.72 [[ 9.35646525e-01 -3.51384656e-01 -3.30817647e-02 1.02858786e+02] [ 3.51174884e-01 9.36231146e-01 -1.21425887e-02 1.14211986e+01] [ 3.52388978e-02 -2.56314026e-04 9.99378884e-01 3.72292837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27710568099998 meters 0.017437070064372923 Centerline is valid? [True, True] Translation: X:102.89, Y:11.42, Z:3.72 [[ 9.33848674e-01 -3.55889798e-01 -3.56245182e-02 1.02889291e+02] [ 3.55649246e-01 9.34527824e-01 -1.30904759e-02 1.14226622e+01] [ 3.79508703e-02 -4.45309499e-04 9.99279507e-01 3.72112889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30710568099998 meters 0.017796631936575994 Centerline is valid? [True, True] Translation: X:102.92, Y:11.43, Z:3.72 [[ 9.33110540e-01 -3.57525258e-01 -3.84760873e-02 1.02917848e+02] [ 3.57245391e-01 9.33903314e-01 -1.41538328e-02 1.14287503e+01] [ 4.09932981e-02 -5.38314228e-04 9.99159276e-01 3.71935935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33710568099998 meters 0.0180030326612481 Centerline is valid? [True, True] Translation: X:102.95, Y:11.43, Z:3.72 [[ 9.32959007e-01 -3.57606015e-01 -4.12968502e-02 1.02947713e+02] [ 3.57283014e-01 9.33872376e-01 -1.52063188e-02 1.14296282e+01] [ 4.40038587e-02 -5.67791015e-04 9.99031200e-01 3.71537499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36710568099998 meters 0.01762954847335471 Centerline is valid? [True, True] Translation: X:102.98, Y:11.44, Z:3.72 [[ 9.33491827e-01 -3.56174959e-01 -4.16221958e-02 1.02975806e+02] [ 3.55845106e-01 9.34419152e-01 -1.53332925e-02 1.14365735e+01] [ 4.43539118e-02 -4.97551480e-04 9.99015757e-01 3.71594383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39710568099999 meters 0.01653508254359753 Centerline is valid? [True, True] Translation: X:103.00, Y:11.44, Z:3.72 [[ 9.35387753e-01 -3.51281202e-01 -4.06358090e-02 1.03002284e+02] [ 3.50961605e-01 9.36269970e-01 -1.49831831e-02 1.14440150e+01] [ 4.33093983e-02 -2.46522826e-04 9.99061677e-01 3.71964834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42710568099999 meters 0.01681793866523115 Centerline is valid? [True, True] Translation: X:103.03, Y:11.46, Z:3.72 [[ 9.39495172e-01 -3.40265698e-01 -3.95989366e-02 1.03025016e+02] [ 3.39952163e-01 9.40329297e-01 -1.46061553e-02 1.14594717e+01] [ 4.22060139e-02 2.60668225e-04 9.99108895e-01 3.72428890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45710568099999 meters 0.018806677491935566 Centerline is valid? [True, True] Translation: X:103.05, Y:11.47, Z:3.73 [[ 9.41884572e-01 -3.33607587e-01 -3.94896325e-02 1.03049798e+02] [ 3.33289615e-01 9.42711864e-01 -1.45730305e-02 1.14741354e+01] [ 4.20890186e-02 5.64628196e-04 9.99113705e-01 3.72584494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48710568099999 meters 0.023802115093439807 Centerline is valid? [True, True] Translation: X:103.08, Y:11.49, Z:3.73 [[ 9.45820550e-01 -3.22517311e-01 -3.74976179e-02 1.03075283e+02] [ 3.22221621e-01 9.46563025e-01 -1.38443743e-02 1.14914005e+01] [ 3.99589089e-02 1.01175048e-03 9.99200812e-01 3.72824995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51710568099999 meters 0.028888768451496665 Centerline is valid? [True, True] Translation: X:103.10, Y:11.50, Z:3.73 [[ 9.48551793e-01 -3.14312596e-01 -3.81718127e-02 1.03101758e+02] [ 3.13999462e-01 9.49318533e-01 -1.40947094e-02 1.15043102e+01] [ 4.06673539e-02 1.38363326e-03 9.99171783e-01 3.72738697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.54710568099999 meters 0.03088389452630657 Centerline is valid? [True, True] Translation: X:103.13, Y:11.51, Z:3.73 [[ 9.49257839e-01 -3.11959848e-01 -3.98824224e-02 1.03129197e+02] [ 3.11615818e-01 9.50094016e-01 -1.47289645e-02 1.15141442e+01] [ 4.24868964e-02 1.55359135e-03 9.99095816e-01 3.72593107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.57710568099999 meters 0.03328033479905839 Centerline is valid? [True, True] Translation: X:103.16, Y:11.52, Z:3.72 [[ 9.49950868e-01 -3.09322724e-01 -4.37355893e-02 1.03157500e+02] [ 3.08905523e-01 9.50955332e-01 -1.61658616e-02 1.15212105e+01] [ 4.65910602e-02 1.84660912e-03 9.98912340e-01 3.72117463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.607105681 meters 0.029908476653160054 Centerline is valid? [True, True] Translation: X:103.19, Y:11.52, Z:3.72 [[ 9.50027800e-01 -3.08774533e-01 -4.58853627e-02 1.03187816e+02] [ 3.08314304e-01 9.51133218e-01 -1.69673952e-02 1.15234928e+01] [ 4.88821922e-02 1.97238348e-03 9.98802604e-01 3.72133002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.637105681 meters 0.029480192594344447 Centerline is valid? [True, True] Translation: X:103.22, Y:11.52, Z:3.72 [[ 9.49600593e-01 -3.09648496e-01 -4.87495911e-02 1.03218374e+02] [ 3.09129114e-01 9.50848852e-01 -1.80458234e-02 1.15239909e+01] [ 5.19413548e-02 2.06640671e-03 9.98647999e-01 3.72102366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66710568099998 meters 0.031832471919733415 Centerline is valid? [True, True] Translation: X:103.25, Y:11.53, Z:3.72 [[ 9.48356719e-01 -3.13535516e-01 -4.81145824e-02 1.03248305e+02] [ 3.13033869e-01 9.49574687e-01 -1.78244468e-02 1.15274856e+01] [ 5.12769866e-02 1.84243998e-03 9.98682770e-01 3.72316831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69710568099998 meters 0.024923201949344793 Centerline is valid? [True, True] Translation: X:103.28, Y:11.52, Z:3.73 [[ 9.46710395e-01 -3.18474659e-01 -4.80969844e-02 1.03284027e+02] [ 3.17979617e-01 9.47930064e-01 -1.78201346e-02 1.15173314e+01] [ 5.12678387e-02 1.57664594e-03 9.98683695e-01 3.72877158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72710568099998 meters 0.02482219201177253 Centerline is valid? [True, True] Translation: X:103.31, Y:11.52, Z:3.73 [[ 9.45954983e-01 -3.20761666e-01 -4.77611081e-02 1.03312091e+02] [ 3.20276291e-01 9.47158838e-01 -1.76983704e-02 1.15207554e+01] [ 5.09143145e-02 1.44511112e-03 9.98701980e-01 3.73092852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75710568099998 meters 0.021702738408832675 Centerline is valid? [True, True] Translation: X:103.34, Y:11.51, Z:3.74 [[ 9.44608971e-01 -3.25103745e-01 -4.49605003e-02 1.03344921e+02] [ 3.24678301e-01 9.45677664e-01 -1.66660516e-02 1.15136298e+01] [ 4.79363367e-02 1.14520308e-03 9.98849737e-01 3.73822976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78710568099999 meters 0.020101250269154554 Centerline is valid? [True, True] Translation: X:103.38, Y:11.51, Z:3.74 [[ 9.43099723e-01 -3.29796697e-01 -4.23916451e-02 1.03375877e+02] [ 3.29423028e-01 9.44051588e-01 -1.57184209e-02 1.15096169e+01] [ 4.52037832e-02 8.59254343e-04 9.98977417e-01 3.74186240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81710568099999 meters 0.01930121751911753 Centerline is valid? [True, True] Translation: X:103.40, Y:11.51, Z:3.74 [[ 9.42119845e-01 -3.32687576e-01 -4.15833305e-02 1.03404120e+02] [ 3.32330594e-01 9.43036834e-01 -1.54242325e-02 1.15128664e+01] [ 4.43460628e-02 7.12062592e-04 9.99015976e-01 3.74420012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84710568099999 meters 0.018036948053405756 Centerline is valid? [True, True] Translation: X:103.43, Y:11.51, Z:3.74 [[ 9.40338814e-01 -3.37582247e-01 -4.24398554e-02 1.03434366e+02] [ 3.37215089e-01 9.41295904e-01 -1.57481687e-02 1.15101423e+01] [ 4.52647642e-02 4.97254672e-04 9.98974902e-01 3.74470025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87710568099999 meters 0.01747920943126755 Centerline is valid? [True, True] Translation: X:103.46, Y:11.51, Z:3.74 [[ 9.39161674e-01 -3.40631770e-01 -4.41060905e-02 1.03463030e+02] [ 3.40238036e-01 9.40196712e-01 -1.63774697e-02 1.15136324e+01] [ 4.70470877e-02 3.74522253e-04 9.98892602e-01 3.74420865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.90710568099999 meters 0.01685151934334708 Centerline is valid? [True, True] Translation: X:103.49, Y:11.51, Z:3.74 [[ 9.37098258e-01 -3.46073722e-01 -4.56051981e-02 1.03492964e+02] [ 3.45658361e-01 9.38207314e-01 -1.69508965e-02 1.15129928e+01] [ 4.86533903e-02 1.20837552e-04 9.98815715e-01 3.74231915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.93710568099999 meters 0.01673843506930187 Centerline is valid? [True, True] Translation: X:103.52, Y:11.52, Z:3.75 [[ 9.36033279e-01 -3.49006446e-01 -4.51242861e-02 1.03522065e+02] [ 3.48602771e-01 9.37120323e-01 -1.67811881e-02 1.15160904e+01] [ 4.81436284e-02 -2.27006747e-05 9.98840423e-01 3.74545709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.96710568099999 meters 0.016792836300437406 Centerline is valid? [True, True] Translation: X:103.55, Y:11.52, Z:3.75 [[ 9.35531853e-01 -3.50452499e-01 -4.43079789e-02 1.03549316e+02] [ 3.50064028e-01 9.36580504e-01 -1.64965753e-02 1.15233603e+01] [ 4.72792553e-02 -7.75579064e-05 9.98881708e-01 3.74863867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.997105681 meters 0.01710913848638454 Centerline is valid? [True, True] Translation: X:103.58, Y:11.53, Z:3.75 [[ 9.34546346e-01 -3.53177702e-01 -4.34584596e-02 1.03575863e+02] [ 3.52806164e-01 9.35556237e-01 -1.61968424e-02 1.15293392e+01] [ 4.63781966e-02 -1.95712536e-04 9.98923933e-01 3.75041944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02710568099998 meters 0.01838423691193694 Centerline is valid? [True, True] Translation: X:103.61, Y:11.53, Z:3.75 [[ 9.32060544e-01 -3.59724972e-01 -4.31403181e-02 1.03605127e+02] [ 3.59365401e-01 9.33058244e-01 -1.60879481e-02 1.15338556e+01] [ 4.60396661e-02 -5.08196109e-04 9.98939483e-01 3.75166967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05710568099998 meters 0.023169247833987158 Centerline is valid? [True, True] Translation: X:103.64, Y:11.53, Z:3.75 [[ 9.27531530e-01 -3.71444025e-01 -4.14077029e-02 1.03635956e+02] [ 3.71123808e-01 9.28454775e-01 -1.54547549e-02 1.15337380e+01] [ 4.41857559e-02 -1.03261196e-03 9.99022799e-01 3.75378183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08710568099998 meters 0.026967539165661993 Centerline is valid? [True, True] Translation: X:103.67, Y:11.54, Z:3.75 [[ 9.24803600e-01 -3.78169638e-01 -4.15454789e-02 1.03666139e+02] [ 3.77853904e-01 9.25735323e-01 -1.55093018e-02 1.15384216e+01] [ 4.43252644e-02 -1.35506331e-03 9.99016233e-01 3.75460144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11710568099998 meters 0.03463481951201458 Centerline is valid? [True, True] Translation: X:103.70, Y:11.54, Z:3.75 [[ 9.19710829e-01 -3.90191121e-01 -4.33921606e-02 1.03697112e+02] [ 3.89859838e-01 9.20731678e-01 -1.62013399e-02 1.15386582e+01] [ 4.62741558e-02 -2.01631293e-03 9.98926743e-01 3.75245865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14710568099999 meters 0.036450737655737565 Centerline is valid? [True, True] Translation: X:103.72, Y:11.55, Z:3.75 [[ 9.16527153e-01 -3.97533245e-01 -4.41055069e-02 1.03724279e+02] [ 3.97199182e-01 9.17584578e-01 -1.64727612e-02 1.15497245e+01] [ 4.70190031e-02 -2.42093835e-03 9.98891061e-01 3.75340829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17710568099999 meters 0.03701379639259293 Centerline is valid? [True, True] Translation: X:103.75, Y:11.56, Z:3.75 [[ 9.15473076e-01 -3.99956412e-01 -4.40898532e-02 1.03750697e+02] [ 3.99624986e-01 9.16530651e-01 -1.64753309e-02 1.15626999e+01] [ 4.69991161e-02 -2.53668516e-03 9.98891710e-01 3.75427186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20710568099999 meters 0.0388861334103439 Centerline is valid? [True, True] Translation: X:103.78, Y:11.58, Z:3.75 [[ 9.14309385e-01 -4.02477470e-01 -4.52795166e-02 1.03776899e+02] [ 4.02130770e-01 9.15425808e-01 -1.69243624e-02 1.15774059e+01] [ 4.82617127e-02 -2.73418353e-03 9.98830982e-01 3.75470828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23710568099999 meters 0.03877895167844381 Centerline is valid? [True, True] Translation: X:103.80, Y:11.59, Z:3.76 [[ 9.13756144e-01 -4.03694426e-01 -4.56127071e-02 1.03801879e+02] [ 4.03343813e-01 9.14889553e-01 -1.70550304e-02 1.15919008e+01] [ 4.86156099e-02 -2.81346437e-03 9.98813600e-01 3.75628036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.26710568099999 meters 0.04385290683412186 Centerline is valid? [True, True] Translation: X:103.83, Y:11.61, Z:3.76 [[ 9.12514037e-01 -4.06633736e-01 -4.43524148e-02 1.03827675e+02] [ 4.06305033e-01 9.13586744e-01 -1.65976224e-02 1.16053774e+01] [ 4.72689314e-02 -2.87504592e-03 9.98878062e-01 3.75801136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29710568099999 meters 0.04414330314858475 Centerline is valid? [True, True] Translation: X:103.85, Y:11.63, Z:3.76 [[ 9.10226414e-01 -4.11986035e-01 -4.18972810e-02 1.03850996e+02] [ 4.11698216e-01 9.11185303e-01 -1.56819146e-02 1.16268669e+01] [ 4.46369165e-02 -2.97494292e-03 9.98998847e-01 3.76318068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.32710568099999 meters 0.043467358962304664 Centerline is valid? [True, True] Translation: X:103.88, Y:11.64, Z:3.77 [[ 9.09025005e-01 -4.14763672e-01 -4.05541227e-02 1.03875603e+02] [ 4.14496665e-01 9.09924195e-01 -1.51813669e-02 1.16441669e+01] [ 4.31978570e-02 -3.00930647e-03 9.99062005e-01 3.76640505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.357105681 meters 0.04751854305671923 Centerline is valid? [True, True] Translation: X:103.90, Y:11.66, Z:3.77 [[ 9.07026711e-01 -4.19408103e-01 -3.74084121e-02 1.03898684e+02] [ 4.19184721e-01 9.07792919e-01 -1.40066647e-02 1.16639744e+01] [ 3.98336002e-02 -2.97661575e-03 9.99201894e-01 3.77014486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.387105681 meters 0.04768979624819549 Centerline is valid? [True, True] Translation: X:103.92, Y:11.69, Z:3.77 [[ 9.06293529e-01 -4.21145928e-01 -3.56110544e-02 1.03920604e+02] [ 4.20944725e-01 9.06988245e-01 -1.33364862e-02 1.16895480e+01] [ 3.79154145e-02 -2.90351434e-03 9.99276734e-01 3.77176191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41710568099998 meters 0.05010336320783692 Centerline is valid? [True, True] Translation: X:103.94, Y:11.70, Z:3.77 [[ 9.06290148e-01 -4.21174250e-01 -3.53612519e-02 1.03944770e+02] [ 4.20975806e-01 9.06975161e-01 -1.32449322e-02 1.17031204e+01] [ 3.76502015e-02 -2.88247993e-03 9.99286823e-01 3.77225296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44710568099998 meters 0.04717887745509416 Centerline is valid? [True, True] Translation: X:103.96, Y:11.73, Z:3.77 [[ 9.07223287e-01 -4.19232598e-01 -3.44954488e-02 1.03964953e+02] [ 4.19042110e-01 9.07874767e-01 -1.29274241e-02 1.17339338e+01] [ 3.67371451e-02 -2.72698543e-03 9.99321243e-01 3.77398777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47710568099998 meters 0.04288090265005374 Centerline is valid? [True, True] Translation: X:103.98, Y:11.77, Z:3.77 [[ 9.10147852e-01 -4.12773902e-01 -3.53354355e-02 1.03984050e+02] [ 4.12569095e-01 9.10830025e-01 -1.32441488e-02 1.17689902e+01] [ 3.76514145e-02 -2.52417510e-03 9.99287746e-01 3.77444546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50710568099998 meters 0.03645182406230551 Centerline is valid? [True, True] Translation: X:104.00, Y:11.81, Z:3.77 [[ 9.13891074e-01 -4.04074647e-01 -3.90740948e-02 1.04002468e+02] [ 4.03816125e-01 9.14722887e-01 -1.46484674e-02 1.18069388e+01] [ 4.16610431e-02 -2.39164595e-03 9.99128939e-01 3.77120376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53710568099999 meters 0.037822467477789876 Centerline is valid? [True, True] Translation: X:104.03, Y:11.82, Z:3.77 [[ 9.15256364e-01 -4.00818958e-01 -4.06195851e-02 1.04026597e+02] [ 4.00536261e-01 9.16154318e-01 -1.52305065e-02 1.18243839e+01] [ 4.33184840e-02 -2.32979878e-03 9.99058597e-01 3.77058671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56710568099999 meters 0.03353480958458832 Centerline is valid? [True, True] Translation: X:104.05, Y:11.86, Z:3.77 [[ 9.18757040e-01 -3.92747605e-01 -4.04329017e-02 1.04045362e+02] [ 3.92459543e-01 9.19644262e-01 -1.51637167e-02 1.18559417e+01] [ 4.31393995e-02 -1.93650671e-03 9.99067186e-01 3.77301774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59710568099999 meters 0.02893271342399252 Centerline is valid? [True, True] Translation: X:104.07, Y:11.88, Z:3.77 [[ 9.21285851e-01 -3.86777383e-01 -4.04429957e-02 1.04068694e+02] [ 3.86483311e-01 9.22171632e-01 -1.51701114e-02 1.18798633e+01] [ 4.31628393e-02 -1.65453388e-03 9.99066680e-01 3.77380961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.62710568099999 meters 0.02893271342399252 Centerline is valid? [True, True] Translation: X:104.09, Y:11.89, Z:3.77 [[ 9.21140444e-01 -3.87123706e-01 -4.04415490e-02 1.04094331e+02] [ 3.86829797e-01 9.22026279e-01 -1.51739665e-02 1.18897168e+01] [ 4.31623730e-02 -1.66664193e-03 9.99066680e-01 3.77482697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65710568099999 meters 0.022179675192865844 Centerline is valid? [True, True] Translation: X:104.11, Y:11.93, Z:3.77 [[ 9.27086600e-01 -3.72377475e-01 -4.29587312e-02 1.04113163e+02] [ 3.72029187e-01 9.28080798e-01 -1.61343292e-02 1.19261534e+01] [ 4.58772343e-02 -1.02398141e-03 9.98946561e-01 3.77228949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.68710568099999 meters 0.01842757943204228 Centerline is valid? [True, True] Translation: X:104.13, Y:11.96, Z:3.77 [[ 9.32899459e-01 -3.57395983e-01 -4.43476032e-02 1.04131939e+02] [ 3.57007746e-01 9.33952903e-01 -1.66566680e-02 1.19616834e+01] [ 4.73715989e-02 -2.93441264e-04 9.98877293e-01 3.76975377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.71710568099999 meters 0.01815546918385853 Centerline is valid? [True, True] Translation: X:104.15, Y:11.98, Z:3.77 [[ 9.34947607e-01 -3.52017687e-01 -4.42325815e-02 1.04154231e+02] [ 3.51625298e-01 9.35993348e-01 -1.66163189e-02 1.19813210e+01] [ 4.72506402e-02 -1.79070964e-05 9.98883065e-01 3.77003039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.747105681 meters 0.018847412577475398 Centerline is valid? [True, True] Translation: X:104.18, Y:12.00, Z:3.77 [[ 9.36991895e-01 -3.46657421e-01 -4.32991951e-02 1.04175958e+02] [ 3.46275208e-01 9.37991773e-01 -1.62761731e-02 1.20031664e+01] [ 4.62565450e-02 2.57204452e-04 9.98929560e-01 3.76952615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77710568099998 meters 0.019142675312896252 Centerline is valid? [True, True] Translation: X:104.20, Y:12.02, Z:3.77 [[ 9.37219211e-01 -3.46023581e-01 -4.34491969e-02 1.04201191e+02] [ 3.45637171e-01 9.38225766e-01 -1.63510928e-02 1.20160964e+01] [ 4.64230197e-02 3.06900769e-04 9.98921823e-01 3.76923331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80710568099998 meters 0.019195014015444264 Centerline is valid? [True, True] Translation: X:104.23, Y:12.03, Z:3.77 [[ 9.37134274e-01 -3.46161136e-01 -4.41794058e-02 1.04227644e+02] [ 3.45761009e-01 9.38175019e-01 -1.66421030e-02 1.20261037e+01] [ 4.72088641e-02 3.20369236e-04 9.98884989e-01 3.76730491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83710568099998 meters 0.018673335499717822 Centerline is valid? [True, True] Translation: X:104.25, Y:12.03, Z:3.77 [[ 9.36009522e-01 -3.49077886e-01 -4.50644366e-02 1.04254534e+02] [ 3.48664483e-01 9.37093696e-01 -1.69847848e-02 1.20346210e+01] [ 4.81586122e-02 1.85551851e-04 9.98839684e-01 3.76953601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86710568099998 meters 0.018611068774532478 Centerline is valid? [True, True] Translation: X:104.28, Y:12.04, Z:3.77 [[ 9.34488993e-01 -3.53462319e-01 -4.23640375e-02 1.04281579e+02] [ 3.53100705e-01 9.35448763e-01 -1.59844892e-02 1.20427508e+01] [ 4.52793011e-02 -2.14423152e-05 9.98974366e-01 3.77266057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89710568099999 meters 0.018745202136141406 Centerline is valid? [True, True] Translation: X:104.31, Y:12.05, Z:3.78 [[ 9.33837334e-01 -3.55420848e-01 -4.02970826e-02 1.04308918e+02] [ 3.55094862e-01 9.34706377e-01 -1.52193180e-02 1.20506528e+01] [ 4.30752031e-02 -9.69195966e-05 9.99071828e-01 3.77620796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92710568099999 meters 0.019236096809325566 Centerline is valid? [True, True] Translation: X:104.34, Y:12.05, Z:3.78 [[ 9.31801634e-01 -3.61084657e-01 -3.69267537e-02 1.04339347e+02] [ 3.60814900e-01 9.32532986e-01 -1.39584367e-02 1.20509953e+01] [ 3.94755932e-02 -3.17228781e-04 9.99220485e-01 3.78186236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95710568099999 meters 0.020290579031796083 Centerline is valid? [True, True] Translation: X:104.37, Y:12.05, Z:3.78 [[ 9.30402635e-01 -3.64859868e-01 -3.50458770e-02 1.04367647e+02] [ 3.64619134e-01 9.31062340e-01 -1.32591848e-02 1.20545279e+01] [ 3.74676407e-02 -4.42016849e-04 9.99297744e-01 3.78479823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98710568099999 meters 0.022061528927055107 Centerline is valid? [True, True] Translation: X:104.40, Y:12.06, Z:3.79 [[ 9.27739358e-01 -3.71695523e-01 -3.37953036e-02 1.04396578e+02] [ 3.71476048e-01 9.28354439e-01 -1.27898996e-02 1.20584434e+01] [ 3.61279685e-02 -6.88452606e-04 9.99346935e-01 3.78716191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01710568099999 meters 0.022439055135605197 Centerline is valid? [True, True] Translation: X:104.42, Y:12.07, Z:3.79 [[ 9.27503381e-01 -3.72315149e-01 -3.34500864e-02 1.04423170e+02] [ 3.72100087e-01 9.28106109e-01 -1.26718735e-02 1.20669070e+01] [ 3.57631600e-02 -6.93574504e-04 9.99360053e-01 3.78855038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.04710568099999 meters 0.0199080953900527 Centerline is valid? [True, True] Translation: X:104.45, Y:12.08, Z:3.79 [[ 9.30965147e-01 -3.63414300e-01 -3.51275112e-02 1.04447544e+02] [ 3.63170584e-01 9.31627562e-01 -1.33121542e-02 1.20820242e+01] [ 3.75635849e-02 -3.64127160e-04 9.99294173e-01 3.78686747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.07710568099999 meters 0.01901777432298028 Centerline is valid? [True, True] Translation: X:104.47, Y:12.10, Z:3.79 [[ 9.32991214e-01 -3.58052880e-01 -3.64078193e-02 1.04473590e+02] [ 3.57786772e-01 9.33701298e-01 -1.38026487e-02 1.20956887e+01] [ 3.89361062e-02 -1.48486199e-04 9.99241691e-01 3.78578671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.107105681 meters 0.019925073570247823 Centerline is valid? [True, True] Translation: X:104.50, Y:12.11, Z:3.78 [[ 9.37239502e-01 -3.46513269e-01 -3.88673338e-02 1.04496787e+02] [ 3.46199438e-01 9.38044999e-01 -1.47488703e-02 1.21128212e+01] [ 4.15699873e-02 3.67374682e-04 9.99135527e-01 3.78290532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.137105681 meters 0.021274143501664837 Centerline is valid? [True, True] Translation: X:104.52, Y:12.13, Z:3.78 [[ 9.38928060e-01 -3.41912594e-01 -3.88571293e-02 1.04522362e+02] [ 3.41594738e-01 9.39731581e-01 -1.47509156e-02 1.21261831e+01] [ 4.15587954e-02 5.76657684e-04 9.99135894e-01 3.78359603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16710568099998 meters 0.023749371235720476 Centerline is valid? [True, True] Translation: X:104.55, Y:12.14, Z:3.78 [[ 9.41780099e-01 -3.33965672e-01 -3.89509326e-02 1.04549383e+02] [ 3.33638938e-01 9.42584767e-01 -1.47992124e-02 1.21366873e+01] [ 4.16569846e-02 9.42055928e-04 9.99131527e-01 3.78464119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19710568099998 meters 0.026914115644374983 Centerline is valid? [True, True] Translation: X:104.58, Y:12.14, Z:3.78 [[ 9.42884470e-01 -3.30551072e-01 -4.12900061e-02 1.04577138e+02] [ 3.30180451e-01 9.43787390e-01 -1.56917918e-02 1.21422616e+01] [ 4.41559257e-02 1.16239401e-03 9.99023975e-01 3.78282525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22710568099998 meters 0.026578207788793 Centerline is valid? [True, True] Translation: X:104.61, Y:12.15, Z:3.78 [[ 9.42998668e-01 -3.30215659e-01 -4.13658042e-02 1.04606557e+02] [ 3.29843039e-01 9.43904767e-01 -1.57276793e-02 1.21469192e+01] [ 4.42389058e-02 1.18695809e-03 9.99020275e-01 3.78422593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25710568099998 meters 0.026190253080564652 Centerline is valid? [True, True] Translation: X:104.64, Y:12.15, Z:3.79 [[ 9.43293798e-01 -3.29514327e-01 -4.02134144e-02 1.04636406e+02] [ 3.29160936e-01 9.44149813e-01 -1.53038684e-02 1.21488006e+01] [ 4.30103316e-02 1.19935904e-03 9.99073908e-01 3.78623747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28710568099999 meters 0.028976352022326658 Centerline is valid? [True, True] Translation: X:104.67, Y:12.15, Z:3.79 [[ 9.45140317e-01 -3.24258102e-01 -3.95785860e-02 1.04665984e+02] [ 3.23910621e-01 9.45967570e-01 -1.50753769e-02 1.21546163e+01] [ 4.23283719e-02 1.42842212e-03 9.99102732e-01 3.78848366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31710568099999 meters 0.03161509879874499 Centerline is valid? [True, True] Translation: X:104.69, Y:12.16, Z:3.79 [[ 9.46423072e-01 -3.20428346e-01 -4.01128817e-02 1.04693577e+02] [ 3.20067877e-01 9.47271365e-01 -1.52811950e-02 1.21635850e+01] [ 4.28943122e-02 1.62363070e-03 9.99078296e-01 3.78828290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34710568099999 meters 0.03606368485861003 Centerline is valid? [True, True] Translation: X:104.72, Y:12.17, Z:3.78 [[ 9.48653377e-01 -3.13285528e-01 -4.36914998e-02 1.04723955e+02] [ 3.12850108e-01 9.49656605e-01 -1.66476235e-02 1.21690850e+01] [ 4.67073809e-02 2.12393388e-03 9.98906357e-01 3.78327353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37710568099999 meters 0.03836947456311846 Centerline is valid? [True, True] Translation: X:104.76, Y:12.17, Z:3.78 [[ 9.49804137e-01 -3.09467397e-01 -4.58479181e-02 1.04755135e+02] [ 3.08983430e-01 9.50906957e-01 -1.74699328e-02 1.21732250e+01] [ 4.90034789e-02 2.42676743e-03 9.98795660e-01 3.78010178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.40710568099999 meters 0.038533703950681064 Centerline is valid? [True, True] Translation: X:104.79, Y:12.17, Z:3.78 [[ 9.49320825e-01 -3.11306564e-01 -4.33381432e-02 1.04785138e+02] [ 3.10876025e-01 9.50306982e-01 -1.65147202e-02 1.21714965e+01] [ 4.63256809e-02 2.20497814e-03 9.98923956e-01 3.78366310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.43710568099999 meters 0.03696994376579765 Centerline is valid? [True, True] Translation: X:104.82, Y:12.17, Z:3.79 [[ 9.48334873e-01 -3.14558285e-01 -4.14011451e-02 1.04816086e+02] [ 3.14168278e-01 9.49236139e-01 -1.57811395e-02 1.21721555e+01] [ 4.42635513e-02 1.95887840e-03 9.99017968e-01 3.78647185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.46710568099999 meters 0.02878747632713188 Centerline is valid? [True, True] Translation: X:104.85, Y:12.16, Z:3.79 [[ 9.45028530e-01 -3.24760695e-01 -3.80994636e-02 1.04854263e+02] [ 3.24438617e-01 9.45795236e-01 -1.45243244e-02 1.21551046e+01] [ 4.07512208e-02 1.36496370e-03 9.99168392e-01 3.79284005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.497105681 meters 0.021321659294222296 Centerline is valid? [True, True] Translation: X:104.89, Y:12.14, Z:3.80 [[ 9.40324613e-01 -3.38392035e-01 -3.57834237e-02 1.04892205e+02] [ 3.38117700e-01 9.41004941e-01 -1.36426700e-02 1.21385578e+01] [ 3.82889494e-02 7.29529490e-04 9.99266443e-01 3.79763052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52710568099998 meters 0.01922427882157889 Centerline is valid? [True, True] Translation: X:104.92, Y:12.14, Z:3.80 [[ 9.38037538e-01 -3.44710157e-01 -3.55033019e-02 1.04923639e+02] [ 3.44444569e-01 9.38709054e-01 -1.35370236e-02 1.21377288e+01] [ 3.79936205e-02 4.69316723e-04 9.99277872e-01 3.79904743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55710568099998 meters 0.01778409422368182 Centerline is valid? [True, True] Translation: X:104.96, Y:12.13, Z:3.80 [[ 9.34602248e-01 -3.53742455e-01 -3.72144188e-02 1.04957798e+02] [ 3.53457572e-01 9.35342859e-01 -1.41944194e-02 1.21277816e+01] [ 3.98294096e-02 1.12418150e-04 9.99206488e-01 3.79745660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58710568099998 meters 0.01766317741696983 Centerline is valid? [True, True] Translation: X:104.99, Y:12.13, Z:3.80 [[ 9.33577034e-01 -3.56285185e-01 -3.86624858e-02 1.04986791e+02] [ 3.55979229e-01 9.34377261e-01 -1.47621859e-02 1.21295470e+01] [ 4.13848957e-02 1.85958666e-05 9.99143278e-01 3.79655373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61710568099998 meters 0.017664655623266756 Centerline is valid? [True, True] Translation: X:105.02, Y:12.13, Z:3.79 [[ 9.32945169e-01 -3.57403330e-01 -4.33147944e-02 1.05018074e+02] [ 3.57019539e-01 9.33950138e-01 -1.65586705e-02 1.21295557e+01] [ 4.63719822e-02 -1.58963042e-05 9.98924241e-01 3.79276269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64710568099999 meters 0.017808395822117754 Centerline is valid? [True, True] Translation: X:105.05, Y:12.14, Z:3.79 [[ 9.32989168e-01 -3.57098589e-01 -4.48532001e-02 1.05045421e+02] [ 3.56685956e-01 9.34066699e-01 -1.71619069e-02 1.21363780e+01] [ 4.80243733e-02 1.33667286e-05 9.98846164e-01 3.79212053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67710568099999 meters 0.01781981068997095 Centerline is valid? [True, True] Translation: X:105.07, Y:12.14, Z:3.79 [[ 9.33642147e-01 -3.55384414e-01 -4.48804975e-02 1.05073316e+02] [ 3.54968860e-01 9.34720229e-01 -1.71814426e-02 1.21403867e+01] [ 4.80567258e-02 1.10139960e-04 9.98844602e-01 3.79356214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70710568099999 meters 0.017853166041899765 Centerline is valid? [True, True] Translation: X:105.10, Y:12.14, Z:3.80 [[ 9.34044699e-01 -3.54535378e-01 -4.31875620e-02 1.05101920e+02] [ 3.54148863e-01 9.35042587e-01 -1.65512542e-02 1.21436917e+01] [ 4.62502148e-02 1.64785302e-04 9.98929873e-01 3.79802986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73710568099999 meters 0.01801263986377883 Centerline is valid? [True, True] Translation: X:105.13, Y:12.15, Z:3.80 [[ 9.33410917e-01 -3.56564435e-01 -4.00732423e-02 1.05129447e+02] [ 3.56232923e-01 9.34270731e-01 -1.53722395e-02 1.21479840e+01] [ 4.29204513e-02 7.32079581e-05 9.99078490e-01 3.80457557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.76710568099999 meters 0.017956541486205 Centerline is valid? [True, True] Translation: X:105.16, Y:12.15, Z:3.81 [[ 9.32903375e-01 -3.58158129e-01 -3.76038249e-02 1.05156400e+02] [ 3.57867336e-01 9.33660942e-01 -1.44296575e-02 1.21547323e+01] [ 4.02773217e-02 4.29547279e-06 9.99188539e-01 3.80847772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79710568099999 meters 0.018489878003019652 Centerline is valid? [True, True] Translation: X:105.19, Y:12.16, Z:3.82 [[ 9.31002700e-01 -3.63363150e-01 -3.46582518e-02 1.05185798e+02] [ 3.63119587e-01 9.31647563e-01 -1.33035403e-02 1.21555335e+01] [ 3.71232921e-02 -1.99458168e-04 9.99310673e-01 3.81524124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.82710568099999 meters 0.020028940743955417 Centerline is valid? [True, True] Translation: X:105.21, Y:12.16, Z:3.82 [[ 9.28273831e-01 -3.70227648e-01 -3.52020269e-02 1.05214698e+02] [ 3.69980735e-01 9.28940940e-01 -1.35271956e-02 1.21567411e+01] [ 3.77087458e-02 -4.67130081e-04 9.99288663e-01 3.81593091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.857105681 meters 0.02108507913670198 Centerline is valid? [True, True] Translation: X:105.24, Y:12.17, Z:3.81 [[ 9.26771761e-01 -3.73896518e-01 -3.59930218e-02 1.05242466e+02] [ 3.73640907e-01 9.27470217e-01 -1.38372239e-02 1.21650003e+01] [ 3.85561456e-02 -6.24516984e-04 9.99256240e-01 3.81485692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.887105681 meters 0.021649709600788863 Centerline is valid? [True, True] Translation: X:105.27, Y:12.17, Z:3.81 [[ 9.25418118e-01 -3.77171502e-01 -3.66464875e-02 1.05270088e+02] [ 3.76908543e-01 9.26143119e-01 -1.41022185e-02 1.21746226e+01] [ 3.92588472e-02 -7.61925678e-04 9.99228784e-01 3.81435974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91710568099998 meters 0.021717507588343392 Centerline is valid? [True, True] Translation: X:105.30, Y:12.18, Z:3.82 [[ 9.25570827e-01 -3.76764858e-01 -3.69714154e-02 1.05296513e+02] [ 3.76496338e-01 9.26308640e-01 -1.42411829e-02 1.21847603e+01] [ 3.96125187e-02 -7.38379095e-04 9.99214843e-01 3.81507288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94710568099998 meters 0.0195158450519017 Centerline is valid? [True, True] Translation: X:105.32, Y:12.20, Z:3.82 [[ 9.28019365e-01 -3.70511433e-01 -3.87470836e-02 1.05319947e+02] [ 3.70210798e-01 9.28827777e-01 -1.49307038e-02 1.22005267e+01] [ 4.15213640e-02 -4.88606476e-04 9.99137497e-01 3.81633912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97710568099998 meters 0.01775956964633794 Centerline is valid? [True, True] Translation: X:105.34, Y:12.22, Z:3.82 [[ 9.32261336e-01 -3.59672500e-01 -3.90447615e-02 1.05342061e+02] [ 3.59357412e-01 9.33078610e-01 -1.50518403e-02 1.22234485e+01] [ 4.18455648e-02 1.22429892e-06 9.99124091e-01 3.81805617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00710568099998 meters 0.018005430191889455 Centerline is valid? [True, True] Translation: X:105.37, Y:12.24, Z:3.82 [[ 9.34479678e-01 -3.54034546e-01 -3.75136305e-02 1.05366593e+02] [ 3.53738578e-01 9.35232310e-01 -1.44756304e-02 1.22403394e+01] [ 4.02088325e-02 2.57164137e-04 9.99191265e-01 3.82066834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03710568099999 meters 0.02091183860892816 Centerline is valid? [True, True] Translation: X:105.39, Y:12.26, Z:3.82 [[ 9.38480732e-01 -3.43475865e-01 -3.57525617e-02 1.05388235e+02] [ 3.43198848e-01 9.39161251e-01 -1.38092518e-02 1.22620710e+01] [ 3.83205653e-02 6.89478731e-04 9.99265260e-01 3.82218315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06710568099999 meters 0.02313166638441601 Centerline is valid? [True, True] Translation: X:105.41, Y:12.28, Z:3.82 [[ 9.41017817e-01 -3.36440801e-01 -3.59590670e-02 1.05414271e+02] [ 3.36155274e-01 9.41704102e-01 -1.38930249e-02 1.22778311e+01] [ 3.85369813e-02 9.85753961e-04 9.99256688e-01 3.82139703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09710568099999 meters 0.0238173008330791 Centerline is valid? [True, True] Translation: X:105.44, Y:12.29, Z:3.82 [[ 9.41411751e-01 -3.35290952e-01 -3.63853462e-02 1.05440507e+02] [ 3.34997652e-01 9.42114048e-01 -1.40603341e-02 1.22890543e+01] [ 3.89934486e-02 1.04755822e-03 9.99238917e-01 3.82198353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.12710568099999 meters 0.024566244445006706 Centerline is valid? [True, True] Translation: X:105.47, Y:12.30, Z:3.82 [[ 9.40865637e-01 -3.36681331e-01 -3.76501486e-02 1.05465917e+02] [ 3.36367815e-01 9.41618078e-01 -1.45632555e-02 1.22994912e+01] [ 4.03552368e-02 1.03776845e-03 9.99184857e-01 3.82043854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15710568099999 meters 0.02242681192022702 Centerline is valid? [True, True] Translation: X:105.49, Y:12.31, Z:3.82 [[ 9.39809848e-01 -3.39515008e-01 -3.85617628e-02 1.05494993e+02] [ 3.39188145e-01 9.40600161e-01 -1.49244385e-02 1.23050703e+01] [ 4.13382711e-02 9.46441469e-04 9.99144760e-01 3.82032962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.18710568099999 meters 0.019712632813305507 Centerline is valid? [True, True] Translation: X:105.53, Y:12.31, Z:3.82 [[ 9.37286119e-01 -3.46336363e-01 -3.93173597e-02 1.05525848e+02] [ 3.46001955e-01 9.38110160e-01 -1.52307094e-02 1.23058762e+01] [ 4.21589631e-02 6.71649186e-04 9.99110690e-01 3.82233695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.21710568099999 meters 0.017956556217346733 Centerline is valid? [True, True] Translation: X:105.56, Y:12.30, Z:3.83 [[ 9.33897898e-01 -3.55496775e-01 -3.81675147e-02 1.05556461e+02] [ 3.55189093e-01 9.34677473e-01 -1.47895260e-02 1.23041473e+01] [ 4.09319450e-02 2.55222321e-04 9.99161904e-01 3.82596928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.247105681 meters 0.017741619857623056 Centerline is valid? [True, True] Translation: X:105.59, Y:12.31, Z:3.83 [[ 9.30523920e-01 -3.64242368e-01 -3.81147111e-02 1.05586837e+02] [ 3.63942592e-01 9.31304183e-01 -1.47752260e-02 1.23050792e+01] [ 4.08781532e-02 -1.22865539e-04 9.99164131e-01 3.82819658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27710568099998 meters 0.0182773210807332 Centerline is valid? [True, True] Translation: X:105.61, Y:12.31, Z:3.83 [[ 9.28888977e-01 -3.68299342e-01 -3.89982523e-02 1.05613722e+02] [ 3.67988473e-01 9.29707216e-01 -1.51319538e-02 1.23125928e+01] [ 4.18300452e-02 -2.95002213e-04 9.99124697e-01 3.82722710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30710568099998 meters 0.019434954897296828 Centerline is valid? [True, True] Translation: X:105.64, Y:12.32, Z:3.82 [[ 9.26829228e-01 -3.73158832e-01 -4.17141231e-02 1.05641994e+02] [ 3.72807696e-01 9.27767315e-01 -1.61935345e-02 1.23194325e+01] [ 4.47437604e-02 -5.42705030e-04 9.98998349e-01 3.82340330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33710568099998 meters 0.019304321368723135 Centerline is valid? [True, True] Translation: X:105.67, Y:12.33, Z:3.82 [[ 9.26569342e-01 -3.73698052e-01 -4.26499775e-02 1.05668911e+02] [ 3.73330787e-01 9.27550239e-01 -1.65734195e-02 1.23286447e+01] [ 4.57534514e-02 -5.66127288e-04 9.98952602e-01 3.82332556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36710568099998 meters 0.01904554367609866 Centerline is valid? [True, True] Translation: X:105.69, Y:12.34, Z:3.82 [[ 9.27167221e-01 -3.71773868e-01 -4.63155966e-02 1.05694578e+02] [ 3.71337473e-01 9.28323190e-01 -1.80148821e-02 1.23397395e+01] [ 4.96933048e-02 -4.95908452e-04 9.98764401e-01 3.82010435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39710568099999 meters 0.018499570431673926 Centerline is valid? [True, True] Translation: X:105.72, Y:12.36, Z:3.82 [[ 9.28500805e-01 -3.68003323e-01 -4.95964594e-02 1.05717933e+02] [ 3.67496967e-01 9.29824425e-01 -1.93007368e-02 1.23567116e+01] [ 5.32187346e-02 -3.05798773e-04 9.98582832e-01 3.81738046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42710568099999 meters 0.018204237435721866 Centerline is valid? [True, True] Translation: X:105.74, Y:12.37, Z:3.82 [[ 9.29428397e-01 -3.65652905e-01 -4.96065318e-02 1.05742882e+02] [ 3.65142638e-01 9.30751270e-01 -1.93113592e-02 1.23700361e+01] [ 5.32325971e-02 -1.64934207e-04 9.98582127e-01 3.81793610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45710568099999 meters 0.01793654818471507 Centerline is valid? [True, True] Translation: X:105.77, Y:12.38, Z:3.82 [[ 9.30314881e-01 -3.63811704e-01 -4.64248444e-02 1.05769190e+02] [ 3.63362116e-01 9.31472513e-01 -1.80812329e-02 1.23827434e+01] [ 4.98216307e-02 -4.77896408e-05 9.98758130e-01 3.82322022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48710568099999 meters 0.01798935865493011 Centerline is valid? [True, True] Translation: X:105.80, Y:12.39, Z:3.83 [[ 9.29472853e-01 -3.66301343e-01 -4.36295979e-02 1.05796428e+02] [ 3.65906341e-01 9.30496266e-01 -1.70072903e-02 1.23912832e+01] [ 4.68269712e-02 -1.56531854e-04 9.98903003e-01 3.82802741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51710568099999 meters 0.01798935865493011 Centerline is valid? [True, True] Translation: X:105.82, Y:12.40, Z:3.83 [[ 9.29337376e-01 -3.66645598e-01 -4.36239323e-02 1.05821958e+02] [ 3.66250294e-01 9.30360672e-01 -1.70218116e-02 1.24015090e+01] [ 4.68269633e-02 -1.58272332e-04 9.98903004e-01 3.82904491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.54710568099999 meters 0.018401134025746665 Centerline is valid? [True, True] Translation: X:105.85, Y:12.41, Z:3.83 [[ 9.28265762e-01 -3.69343015e-01 -4.36853894e-02 1.05850334e+02] [ 3.68948726e-01 9.29293097e-01 -1.70639174e-02 1.24093335e+01] [ 4.68989695e-02 -2.77818514e-04 9.98899599e-01 3.83080365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.57710568099999 meters 0.019392751339217522 Centerline is valid? [True, True] Translation: X:105.88, Y:12.41, Z:3.84 [[ 9.26510504e-01 -3.74061291e-01 -4.06993385e-02 1.05878114e+02] [ 3.73723054e-01 9.27403866e-01 -1.59106195e-02 1.24131097e+01] [ 4.36962708e-02 -4.68924993e-04 9.99044752e-01 3.83619616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.607105681 meters 0.020301694011150513 Centerline is valid? [True, True] Translation: X:105.91, Y:12.42, Z:3.84 [[ 9.25031659e-01 -3.77828289e-01 -3.95248473e-02 1.05905114e+02] [ 3.77512373e-01 9.25875477e-01 -1.54599107e-02 1.24233157e+01] [ 4.24362785e-02 -6.20212126e-04 9.99098983e-01 3.83869177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.637105681 meters 0.021128565442927995 Centerline is valid? [True, True] Translation: X:105.93, Y:12.43, Z:3.84 [[ 9.24499801e-01 -3.79137988e-01 -3.94272104e-02 1.05931563e+02] [ 3.78824252e-01 9.25339906e-01 -1.54351330e-02 1.24323228e+01] [ 4.23356165e-02 -6.66206165e-04 9.99103224e-01 3.83872803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66710568099998 meters 0.021062591405279857 Centerline is valid? [True, True] Translation: X:105.96, Y:12.44, Z:3.84 [[ 9.23598266e-01 -3.81458346e-01 -3.81545949e-02 1.05958810e+02] [ 3.81166283e-01 9.24385731e-01 -1.49427195e-02 1.24424693e+01] [ 4.09695882e-02 -7.42175298e-04 9.99160118e-01 3.84211460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69710568099998 meters 0.022202051700244536 Centerline is valid? [True, True] Translation: X:105.98, Y:12.45, Z:3.84 [[ 9.23607466e-01 -3.81434639e-01 -3.81689000e-02 1.05984801e+02] [ 3.81141762e-01 9.24395525e-01 -1.49623440e-02 1.24509456e+01] [ 4.09903166e-02 -7.28429195e-04 9.99159278e-01 3.84235185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72710568099998 meters 0.020285337918134076 Centerline is valid? [True, True] Translation: X:106.01, Y:12.47, Z:3.84 [[ 9.24302235e-01 -3.79392269e-01 -4.15557922e-02 1.06008617e+02] [ 3.79042581e-01 9.25235665e-01 -1.62998669e-02 1.24698504e+01] [ 4.46329445e-02 -6.85411308e-04 9.99003218e-01 3.83883892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75710568099998 meters 0.01870985631823868 Centerline is valid? [True, True] Translation: X:106.03, Y:12.49, Z:3.83 [[ 9.26267028e-01 -3.74281813e-01 -4.40739995e-02 1.06031219e+02] [ 3.73881924e-01 9.27314898e-01 -1.73027950e-02 1.24879665e+01] [ 4.73465978e-02 -4.51463214e-04 9.98878419e-01 3.83489805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78710568099999 meters 0.018054718257270553 Centerline is valid? [True, True] Translation: X:106.06, Y:12.50, Z:3.84 [[ 9.27580313e-01 -3.71022204e-01 -4.40146216e-02 1.06056210e+02] [ 3.70619331e-01 9.28623954e-01 -1.72876764e-02 1.25031033e+01] [ 4.72871438e-02 -2.76961312e-04 9.98881299e-01 3.83681096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81710568099999 meters 0.017476935024249 Centerline is valid? [True, True] Translation: X:106.08, Y:12.52, Z:3.84 [[ 9.29979845e-01 -3.65163658e-01 -4.23437263e-02 1.06078450e+02] [ 3.64784113e-01 9.30943340e-01 -1.66447912e-02 1.25219599e+01] [ 4.54976828e-02 3.30016870e-05 9.98964444e-01 3.84002541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84710568099999 meters 0.017613285310179142 Centerline is valid? [True, True] Translation: X:106.10, Y:12.54, Z:3.84 [[ 9.30637659e-01 -3.63567857e-01 -4.16168307e-02 1.06102509e+02] [ 3.63199307e-01 9.31567711e-01 -1.63665322e-02 1.25360809e+01] [ 4.47192407e-02 1.16107147e-04 9.98999588e-01 3.84145565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87710568099999 meters 0.017972420183230902 Centerline is valid? [True, True] Translation: X:106.13, Y:12.55, Z:3.84 [[ 9.31964016e-01 -3.60058344e-01 -4.24389267e-02 1.06125543e+02] [ 3.59670695e-01 9.32929738e-01 -1.67061467e-02 1.25542902e+01] [ 4.56077242e-02 3.05489284e-04 9.98959380e-01 3.83961252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.90710568099999 meters 0.018034579095516298 Centerline is valid? [True, True] Translation: X:106.15, Y:12.57, Z:3.84 [[ 9.31858779e-01 -3.60259278e-01 -4.30403065e-02 1.06151386e+02] [ 3.59860411e-01 9.32852163e-01 -1.69507031e-02 1.25654195e+01] [ 4.62568911e-02 3.07159084e-04 9.98929530e-01 3.84006187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.93710568099999 meters 0.017443195275249984 Centerline is valid? [True, True] Translation: X:106.18, Y:12.57, Z:3.84 [[ 9.30754584e-01 -3.63233261e-01 -4.19225694e-02 1.06179419e+02] [ 3.62857538e-01 9.31698219e-01 -1.65177392e-02 1.25720632e+01] [ 4.50589755e-02 1.62041133e-04 9.98984315e-01 3.84356448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.96710568099999 meters 0.017550668359980266 Centerline is valid? [True, True] Translation: X:106.21, Y:12.58, Z:3.85 [[ 9.29881913e-01 -3.65484621e-01 -4.17207387e-02 1.06205892e+02] [ 3.65114118e-01 9.30817376e-01 -1.64527847e-02 1.25799310e+01] [ 4.48476283e-02 6.63162126e-05 9.98993837e-01 3.84511254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.997105681 meters 0.01774960532529104 Centerline is valid? [True, True] Translation: X:106.23, Y:12.59, Z:3.85 [[ 9.27515181e-01 -3.71419953e-01 -4.19857968e-02 1.06234267e+02] [ 3.71050435e-01 9.28464955e-01 -1.65651012e-02 1.25870730e+01] [ 4.51349500e-02 -2.14465282e-04 9.98980876e-01 3.84574525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02710568099998 meters 0.018921256614927204 Centerline is valid? [True, True] Translation: X:106.26, Y:12.59, Z:3.85 [[ 9.24928568e-01 -3.77845589e-01 -4.17115674e-02 1.06262178e+02] [ 3.77486666e-01 9.25868485e-01 -1.64731670e-02 1.25948347e+01] [ 4.48437392e-02 -5.09057770e-04 9.98993884e-01 3.84646959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05710568099998 meters 0.020013554505899863 Centerline is valid? [True, True] Translation: X:106.29, Y:12.60, Z:3.85 [[ 9.23804588e-01 -3.80665752e-01 -4.09715579e-02 1.06288901e+02] [ 3.80321566e-01 9.24712496e-01 -1.61958684e-02 1.26023779e+01] [ 4.40521240e-02 -6.20549491e-04 9.99029041e-01 3.84819812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08710568099998 meters 0.022476407352087814 Centerline is valid? [True, True] Translation: X:106.32, Y:12.61, Z:3.85 [[ 9.21364060e-01 -3.86571874e-01 -4.06257972e-02 1.06316633e+02] [ 3.86238843e-01 9.22258857e-01 -1.60672629e-02 1.26072255e+01] [ 4.36786532e-02 -8.87462363e-04 9.99045238e-01 3.85068651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11710568099998 meters 0.023180792274066258 Centerline is valid? [True, True] Translation: X:106.34, Y:12.62, Z:3.85 [[ 9.19963418e-01 -3.89906207e-01 -4.05025894e-02 1.06343929e+02] [ 3.89578109e-01 9.20853993e-01 -1.60256256e-02 1.26162155e+01] [ 4.35454620e-02 -1.03593289e-03 9.99050909e-01 3.85299737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14710568099999 meters 0.02649307375444946 Centerline is valid? [True, True] Translation: X:106.37, Y:12.62, Z:3.86 [[ 9.17229908e-01 -3.96358933e-01 -3.98609039e-02 1.06372192e+02] [ 3.96046619e-01 9.18094705e-01 -1.57857279e-02 1.26214736e+01] [ 4.28528990e-02 -1.30763444e-03 9.99080537e-01 3.85593081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17710568099999 meters 0.03062475567959632 Centerline is valid? [True, True] Translation: X:106.40, Y:12.63, Z:3.86 [[ 9.14426710e-01 -4.02880998e-01 -3.88676363e-02 1.06399717e+02] [ 4.02589749e-01 9.15251026e-01 -1.53965453e-02 1.26283978e+01] [ 4.17766196e-02 -1.56869972e-03 9.99125744e-01 3.85889324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20710568099999 meters 0.032586823346796585 Centerline is valid? [True, True] Translation: X:106.43, Y:12.64, Z:3.86 [[ 9.13299703e-01 -4.05480235e-01 -3.83331524e-02 1.06425420e+02] [ 4.05199064e-01 9.14102303e-01 -1.51887335e-02 1.26378784e+01] [ 4.11991542e-02 -1.66069167e-03 9.99149574e-01 3.86037307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23710568099999 meters 0.032979718369693094 Centerline is valid? [True, True] Translation: X:106.45, Y:12.65, Z:3.86 [[ 9.11976112e-01 -4.08471121e-01 -3.80908648e-02 1.06452471e+02] [ 4.08195859e-01 9.12769510e-01 -1.50984423e-02 1.26507474e+01] [ 4.09354576e-02 -1.77911456e-03 9.99160209e-01 3.86269531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.26710568099999 meters 0.035480650923125814 Centerline is valid? [True, True] Translation: X:106.48, Y:12.66, Z:3.86 [[ 9.10554367e-01 -4.11577481e-01 -3.86616310e-02 1.06479029e+02] [ 4.11296590e-01 9.11372697e-01 -1.53271538e-02 1.26608214e+01] [ 4.15434663e-02 -1.94519021e-03 9.99134804e-01 3.86341289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29710568099999 meters 0.037484721874260135 Centerline is valid? [True, True] Translation: X:106.51, Y:12.67, Z:3.86 [[ 9.09534082e-01 -4.13798377e-01 -3.89699408e-02 1.06505459e+02] [ 4.13514818e-01 9.10366226e-01 -1.54541249e-02 1.26719352e+01] [ 4.18718098e-02 -2.05859467e-03 9.99120870e-01 3.86286270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.32710568099999 meters 0.04014251557365448 Centerline is valid? [True, True] Translation: X:106.53, Y:12.68, Z:3.86 [[ 9.07998201e-01 -4.17126444e-01 -3.93039066e-02 1.06530887e+02] [ 4.16840967e-01 9.08845733e-01 -1.55898255e-02 1.26844698e+01] [ 4.22241163e-02 -2.22794494e-03 9.99105680e-01 3.86140669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.357105681 meters 0.03920455649324447 Centerline is valid? [True, True] Translation: X:106.56, Y:12.70, Z:3.86 [[ 9.07135144e-01 -4.18880402e-01 -4.05590732e-02 1.06555986e+02] [ 4.18577875e-01 9.08038300e-01 -1.60937343e-02 1.26993586e+01] [ 4.35705418e-02 -2.37793866e-03 9.99047523e-01 3.86133154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38710568099998 meters 0.04086780595176854 Centerline is valid? [True, True] Translation: X:106.58, Y:12.72, Z:3.86 [[ 9.05720335e-01 -4.21672091e-01 -4.31662235e-02 1.06580373e+02] [ 4.21331882e-01 9.06744489e-01 -1.71428357e-02 1.27170325e+01] [ 4.63693907e-02 -2.66069126e-03 9.98920818e-01 3.86053379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41710568099998 meters 0.04160924106550851 Centerline is valid? [True, True] Translation: X:106.60, Y:12.74, Z:3.86 [[ 9.04428350e-01 -4.24215898e-01 -4.52794835e-02 1.06604538e+02] [ 4.23844548e-01 9.05556358e-01 -1.79855981e-02 1.27374677e+01] [ 4.86329008e-02 -2.92477737e-03 9.98812438e-01 3.85916981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44710568099998 meters 0.04225189905246281 Centerline is valid? [True, True] Translation: X:106.63, Y:12.75, Z:3.86 [[ 9.03925809e-01 -4.25301244e-01 -4.51329577e-02 1.06629926e+02] [ 4.24933349e-01 9.05046984e-01 -1.79333729e-02 1.27524655e+01] [ 4.84745330e-02 -2.96806026e-03 9.98820009e-01 3.86112643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47710568099998 meters 0.04112941838181083 Centerline is valid? [True, True] Translation: X:106.65, Y:12.77, Z:3.87 [[ 9.04154296e-01 -4.24958723e-01 -4.37617677e-02 1.06651629e+02] [ 4.24611682e-01 9.05208258e-01 -1.74048865e-02 1.27746026e+01] [ 4.70098719e-02 -2.84505483e-03 9.98890373e-01 3.86566737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50710568099998 meters 0.04103014500080209 Centerline is valid? [True, True] Translation: X:106.68, Y:12.79, Z:3.87 [[ 9.05031046e-01 -4.23322724e-01 -4.14328105e-02 1.06675082e+02] [ 4.23009323e-01 9.05975226e-01 -1.64924946e-02 1.27904774e+01] [ 4.45187476e-02 -2.60024547e-03 9.99005165e-01 3.86940868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53710568099999 meters 0.035224487273015054 Centerline is valid? [True, True] Translation: X:106.70, Y:12.82, Z:3.88 [[ 9.09684079e-01 -4.13607725e-01 -3.74636503e-02 1.06695074e+02] [ 4.13343017e-01 9.10453176e-01 -1.49185961e-02 1.28207672e+01] [ 4.02793460e-02 -1.91412888e-03 9.99186624e-01 3.87650430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56710568099999 meters 0.027716580637452127 Centerline is valid? [True, True] Translation: X:106.71, Y:12.86, Z:3.88 [[ 9.16225332e-01 -3.99047377e-01 -3.59490231e-02 1.06712094e+02] [ 3.98792340e-01 9.16929499e-01 -1.43165842e-02 1.28553130e+01] [ 3.86757151e-02 -1.21897789e-03 9.99251071e-01 3.87821729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59710568099999 meters 0.019857704122988228 Centerline is valid? [True, True] Translation: X:106.73, Y:12.89, Z:3.88 [[ 9.23277811e-01 -3.82330220e-01 -3.71710593e-02 1.06729583e+02] [ 3.82043815e-01 9.24025606e-01 -1.48054888e-02 1.28934646e+01] [ 4.00075964e-02 -5.31394036e-04 9.99199234e-01 3.87607801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.62710568099999 meters 0.0180169640358198 Centerline is valid? [True, True] Translation: X:106.75, Y:12.92, Z:3.88 [[ 9.26552074e-01 -3.74181663e-01 -3.85919232e-02 1.06751902e+02] [ 3.73865725e-01 9.27355406e-01 -1.53743316e-02 1.29166124e+01] [ 4.15412216e-02 -1.83078487e-04 9.99136774e-01 3.87552304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65710568099999 meters 0.019107187869466254 Centerline is valid? [True, True] Translation: X:106.77, Y:12.95, Z:3.87 [[ 9.31788121e-01 -3.60674950e-01 -4.10423814e-02 1.06769927e+02] [ 3.60303824e-01 9.32691465e-01 -1.63641574e-02 1.29475068e+01] [ 4.41820205e-02 4.60200517e-04 9.99023392e-01 3.87362740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.68710568099999 meters 0.021348516122058032 Centerline is valid? [True, True] Translation: X:106.79, Y:12.97, Z:3.87 [[ 9.33874944e-01 -3.55016655e-01 -4.29041332e-02 1.06792399e+02] [ 3.54604824e-01 9.34859662e-01 -1.71123291e-02 1.29667738e+01] [ 4.61845053e-02 7.66762774e-04 9.98932632e-01 3.87240405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.71710568099999 meters 0.024756707610562444 Centerline is valid? [True, True] Translation: X:106.82, Y:12.99, Z:3.87 [[ 9.36729773e-01 -3.47372969e-01 -4.32360177e-02 1.06815363e+02] [ 3.46946335e-01 9.37726335e-01 -1.72499465e-02 1.29874608e+01] [ 4.65357175e-02 1.15796055e-03 9.98915955e-01 3.87237587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.747105681 meters 0.026197535949525726 Centerline is valid? [True, True] Translation: X:106.84, Y:13.00, Z:3.87 [[ 9.37452195e-01 -3.45394125e-01 -4.34313365e-02 1.06840581e+02] [ 3.44961221e-01 9.38456867e-01 -1.73339075e-02 1.30012660e+01] [ 4.67454658e-02 1.26758277e-03 9.98906029e-01 3.87334674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77710568099998 meters 0.027267866957854853 Centerline is valid? [True, True] Translation: X:106.87, Y:13.01, Z:3.88 [[ 9.37877892e-01 -3.44352332e-01 -4.25033097e-02 1.06865752e+02] [ 3.43936061e-01 9.38839588e-01 -1.69768797e-02 1.30131251e+01] [ 4.57498179e-02 1.30381922e-03 9.98952078e-01 3.87522976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80710568099998 meters 0.026266756141433204 Centerline is valid? [True, True] Translation: X:106.90, Y:13.02, Z:3.88 [[ 9.37306975e-01 -3.46153215e-01 -4.04176591e-02 1.06895156e+02] [ 3.45778216e-01 9.38177276e-01 -1.61500356e-02 1.30179562e+01] [ 4.35093160e-02 1.16199494e-03 9.99052346e-01 3.87844603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83710568099998 meters 0.025200099773395063 Centerline is valid? [True, True] Translation: X:106.92, Y:13.02, Z:3.88 [[ 9.36600298e-01 -3.48131773e-01 -3.98013882e-02 1.06924015e+02] [ 3.47769387e-01 9.37445003e-01 -1.59160166e-02 1.30247125e+01] [ 4.28524836e-02 1.06524148e-03 9.99080843e-01 3.87970101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86710568099998 meters 0.022933286569287063 Centerline is valid? [True, True] Translation: X:106.95, Y:13.03, Z:3.88 [[ 9.34900887e-01 -3.52724336e-01 -3.93175980e-02 1.06953355e+02] [ 3.52374465e-01 9.35726893e-01 -1.57295293e-02 1.30260435e+01] [ 4.23387216e-02 8.51033340e-04 9.99102952e-01 3.88125888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89710568099999 meters 0.02098287624328871 Centerline is valid? [True, True] Translation: X:106.99, Y:13.02, Z:3.88 [[ 9.33443690e-01 -3.56725152e-01 -3.78159225e-02 1.06985202e+02] [ 3.56404565e-01 9.34209155e-01 -1.51341061e-02 1.30240700e+01] [ 4.07266973e-02 6.49068422e-04 9.99170113e-01 3.88275497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92710568099999 meters 0.01969528086031072 Centerline is valid? [True, True] Translation: X:107.01, Y:13.03, Z:3.88 [[ 9.32920491e-01 -3.58108498e-01 -3.76518477e-02 1.07014949e+02] [ 3.57791281e-01 9.33679787e-01 -1.50815663e-02 1.30268233e+01] [ 4.05556062e-02 5.98399399e-04 9.99177104e-01 3.88452252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95710568099999 meters 0.019908650028756213 Centerline is valid? [True, True] Translation: X:107.04, Y:13.03, Z:3.88 [[ 9.32094958e-01 -3.60159282e-01 -3.85263596e-02 1.07043004e+02] [ 3.59828325e-01 9.32890672e-01 -1.54457190e-02 1.30326391e+01] [ 4.15038006e-02 5.34001419e-04 9.99138203e-01 3.88359269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98710568099999 meters 0.017843967535724984 Centerline is valid? [True, True] Translation: X:107.07, Y:13.03, Z:3.88 [[ 9.30465966e-01 -3.64132812e-01 -4.05016209e-02 1.07073568e+02] [ 3.63770471e-01 9.31346954e-01 -1.62448472e-02 1.30338786e+01] [ 4.36363431e-02 3.81983743e-04 9.99047408e-01 3.88082657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01710568099999 meters 0.01744474320785823 Centerline is valid? [True, True] Translation: X:107.10, Y:13.04, Z:3.88 [[ 9.29552496e-01 -3.66418141e-01 -4.08644468e-02 1.07101598e+02] [ 3.66050765e-01 9.30450246e-01 -1.64066195e-02 1.30384305e+01] [ 4.40340176e-02 2.92352103e-04 9.99029989e-01 3.88078373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.04710568099999 meters 0.017193870818767654 Centerline is valid? [True, True] Translation: X:107.13, Y:13.04, Z:3.88 [[ 9.28586447e-01 -3.68812833e-01 -4.12832288e-02 1.07130503e+02] [ 3.68439528e-01 9.29503661e-01 -1.65908990e-02 1.30406678e+01] [ 4.44918487e-02 1.95710619e-04 9.99009728e-01 3.88223216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.07710568099999 meters 0.017181660496263403 Centerline is valid? [True, True] Translation: X:107.16, Y:13.05, Z:3.88 [[ 9.28478991e-01 -3.69112454e-01 -4.10214493e-02 1.07156725e+02] [ 3.68743832e-01 9.29384722e-01 -1.64931902e-02 1.30497128e+01] [ 4.42125501e-02 1.87174217e-04 9.99022130e-01 3.88493766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.107105681 meters 0.018435485543384936 Centerline is valid? [True, True] Translation: X:107.18, Y:13.06, Z:3.89 [[ 9.30710080e-01 -3.63552607e-01 -4.01029747e-02 1.07182516e+02] [ 3.63194427e-01 9.31573557e-01 -1.61404971e-02 1.30613197e+01] [ 4.32267907e-02 4.56946473e-04 9.99065181e-01 3.88990082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13710568099998 meters 0.021360773547729257 Centerline is valid? [True, True] Translation: X:107.21, Y:13.08, Z:3.89 [[ 9.34199506e-01 -3.54590351e-01 -3.92041670e-02 1.07208730e+02] [ 3.54239598e-01 9.35021356e-01 -1.57915198e-02 1.30753915e+01] [ 4.22562539e-02 8.64761714e-04 9.99106431e-01 3.89303442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16710568099998 meters 0.02414172165762171 Centerline is valid? [True, True] Translation: X:107.23, Y:13.09, Z:3.89 [[ 9.36018535e-01 -3.49654257e-01 -4.01397913e-02 1.07234270e+02] [ 3.49281907e-01 9.36878143e-01 -1.61707890e-02 1.30896847e+01] [ 4.32602784e-02 1.11605532e-03 9.99063213e-01 3.89256056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19710568099998 meters 0.027860539379038353 Centerline is valid? [True, True] Translation: X:107.26, Y:13.10, Z:3.90 [[ 9.38993732e-01 -3.41737046e-01 -3.88144662e-02 1.07262062e+02] [ 3.41382002e-01 9.39794516e-01 -1.56395827e-02 1.31021395e+01] [ 4.18222473e-02 1.43490999e-03 9.99124037e-01 3.89507931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22710568099998 meters 0.03015147062131241 Centerline is valid? [True, True] Translation: X:107.29, Y:13.11, Z:3.90 [[ 9.40546461e-01 -3.37761581e-01 -3.59091853e-02 1.07291055e+02] [ 3.37454815e-01 9.41230520e-01 -1.44691702e-02 1.31089960e+01] [ 3.86859510e-02 1.49119929e-03 9.99250306e-01 3.89953912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25710568099998 meters 0.030263626954018623 Centerline is valid? [True, True] Translation: X:107.32, Y:13.12, Z:3.90 [[ 9.40419921e-01 -3.38075404e-01 -3.62683593e-02 1.07318495e+02] [ 3.37762596e-01 9.41117838e-01 -1.46165816e-02 1.31152871e+01] [ 3.90743066e-02 1.49562933e-03 9.99235188e-01 3.90007622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28710568099999 meters 0.030826505882406 Centerline is valid? [True, True] Translation: X:107.35, Y:13.12, Z:3.90 [[ 9.40346331e-01 -3.37840209e-01 -4.01593264e-02 1.07347360e+02] [ 3.37455692e-01 9.41201976e-01 -1.62017301e-02 1.31184450e+01] [ 4.32716333e-02 1.68324415e-03 9.99061926e-01 3.89554517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31710568099999 meters 0.030493451624721384 Centerline is valid? [True, True] Translation: X:107.38, Y:13.12, Z:3.89 [[ 9.40434285e-01 -3.37361742e-01 -4.20762522e-02 1.07376132e+02] [ 3.36938794e-01 9.41373378e-01 -1.69827263e-02 1.31249200e+01] [ 4.53387858e-02 1.79401641e-03 9.98970058e-01 3.89441856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34710568099999 meters 0.03245585872970549 Centerline is valid? [True, True] Translation: X:107.41, Y:13.13, Z:3.89 [[ 9.41340939e-01 -3.34552654e-01 -4.41787099e-02 1.07406919e+02] [ 3.34082596e-01 9.42374853e-01 -1.78453191e-02 1.31281108e+01] [ 4.76031041e-02 2.03919137e-03 9.98864248e-01 3.89377129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37710568099999 meters 0.033373483884136634 Centerline is valid? [True, True] Translation: X:107.44, Y:13.13, Z:3.90 [[ 9.42528457e-01 -3.31197443e-01 -4.41402492e-02 1.07437216e+02] [ 3.30724407e-01 9.43558887e-01 -1.78323908e-02 1.31305330e+01] [ 4.75549666e-02 2.20927811e-03 9.98866179e-01 3.89592025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.40710568099999 meters 0.035067434188225964 Centerline is valid? [True, True] Translation: X:107.46, Y:13.14, Z:3.90 [[ 9.43191749e-01 -3.29480635e-01 -4.27999417e-02 1.07463810e+02] [ 3.29033968e-01 9.44159700e-01 -1.72947501e-02 1.31392972e+01] [ 4.61082654e-02 2.22963093e-03 9.98933960e-01 3.89947818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.43710568099999 meters 0.035067434188225964 Centerline is valid? [True, True] Translation: X:107.49, Y:13.15, Z:3.90 [[ 9.43071535e-01 -3.29824937e-01 -4.27970934e-02 1.07489225e+02] [ 3.29378304e-01 9.44039502e-01 -1.73017954e-02 1.31498189e+01] [ 4.61087103e-02 2.22039667e-03 9.98933960e-01 3.90049689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.46710568099999 meters 0.03571639764776051 Centerline is valid? [True, True] Translation: X:107.52, Y:13.15, Z:3.91 [[ 9.44932259e-01 -3.24638073e-01 -4.13901965e-02 1.07520547e+02] [ 3.24214742e-01 9.45835258e-01 -1.67471174e-02 1.31530690e+01] [ 4.45850591e-02 2.40557960e-03 9.99002696e-01 3.90592106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.497105681 meters 0.037886164463372944 Centerline is valid? [True, True] Translation: X:107.55, Y:13.16, Z:3.91 [[ 9.45783085e-01 -3.22054640e-01 -4.21327028e-02 1.07547766e+02] [ 3.21613381e-01 9.46717585e-01 -1.70484084e-02 1.31609798e+01] [ 4.53782896e-02 2.57365529e-03 9.98966560e-01 3.90687092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52710568099998 meters 0.038729196367148985 Centerline is valid? [True, True] Translation: X:107.58, Y:13.16, Z:3.91 [[ 9.46961307e-01 -3.18730134e-01 -4.09314628e-02 1.07579432e+02] [ 3.18310400e-01 9.47841775e-01 -1.65668047e-02 1.31601763e+01] [ 4.40768903e-02 2.65921275e-03 9.99024602e-01 3.90916800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55710568099998 meters 0.0421342015995014 Centerline is valid? [True, True] Translation: X:107.61, Y:13.16, Z:3.91 [[ 9.46778696e-01 -3.19446802e-01 -3.95454241e-02 1.07607753e+02] [ 3.19055452e-01 9.47600803e-01 -1.60104822e-02 1.31640082e+01] [ 4.25877730e-02 2.54120030e-03 9.99089497e-01 3.91138503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58710568099998 meters 0.0407561409239269 Centerline is valid? [True, True] Translation: X:107.64, Y:13.17, Z:3.91 [[ 9.46521123e-01 -3.20105884e-01 -4.03730883e-02 1.07637511e+02] [ 3.19698263e-01 9.47378284e-01 -1.63525843e-02 1.31674263e+01] [ 4.34831456e-02 2.57086024e-03 9.99050853e-01 3.91198341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61710568099998 meters 0.04032271121479758 Centerline is valid? [True, True] Translation: X:107.67, Y:13.17, Z:3.91 [[ 9.46335856e-01 -3.20360769e-01 -4.26312804e-02 1.07669301e+02] [ 3.19905739e-01 9.47291713e-01 -1.72837881e-02 1.31669891e+01] [ 4.59213062e-02 2.71827715e-03 9.98941362e-01 3.91027811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64710568099999 meters 0.04144191719445207 Centerline is valid? [True, True] Translation: X:107.70, Y:13.17, Z:3.91 [[ 9.46292608e-01 -3.20147200e-01 -4.51228303e-02 1.07698907e+02] [ 3.19636384e-01 9.47363363e-01 -1.83095860e-02 1.31674655e+01] [ 4.86094790e-02 2.90332761e-03 9.98813641e-01 3.90759702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67710568099999 meters 0.04053108916987195 Centerline is valid? [True, True] Translation: X:107.73, Y:13.17, Z:3.91 [[ 9.46075347e-01 -3.20790877e-01 -4.51071110e-02 1.07727887e+02] [ 3.20280620e-01 9.47145671e-01 -1.83139928e-02 1.31717657e+01] [ 4.85979668e-02 2.87948362e-03 9.98814270e-01 3.90937591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70710568099999 meters 0.04020786789210483 Centerline is valid? [True, True] Translation: X:107.76, Y:13.17, Z:3.91 [[ 9.45304723e-01 -3.23179762e-01 -4.42020544e-02 1.07758725e+02] [ 3.22691764e-01 9.46333703e-01 -1.79596259e-02 1.31728864e+01] [ 4.76340815e-02 2.71368024e-03 9.98861167e-01 3.91177532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73710568099999 meters 0.035512898325316046 Centerline is valid? [True, True] Translation: X:107.79, Y:13.17, Z:3.91 [[ 9.43343715e-01 -3.28964180e-01 -4.34189347e-02 1.07792463e+02] [ 3.28499325e-01 9.44339399e-01 -1.76435179e-02 1.31699279e+01] [ 4.68062961e-02 2.38081103e-03 9.98901147e-01 3.91347794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.76710568099999 meters 0.032853007486477216 Centerline is valid? [True, True] Translation: X:107.82, Y:13.17, Z:3.91 [[ 9.41925437e-01 -3.32900113e-01 -4.42039223e-02 1.07823331e+02] [ 3.32422532e-01 9.42959468e-01 -1.79639033e-02 1.31734676e+01] [ 4.76626925e-02 2.22627771e-03 9.98861007e-01 3.91357500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79710568099999 meters 0.02763019760485431 Centerline is valid? [True, True] Translation: X:107.86, Y:13.17, Z:3.91 [[ 9.37216528e-01 -3.45806094e-01 -4.52031497e-02 1.07856890e+02] [ 3.45321475e-01 9.38304619e-01 -1.83717588e-02 1.31668515e+01] [ 4.87673903e-02 1.60869771e-03 9.98808867e-01 3.91301282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.82710568099999 meters 0.02319093612854896 Centerline is valid? [True, True] Translation: X:107.89, Y:13.17, Z:3.92 [[ 9.34297313e-01 -3.53712041e-01 -4.44558583e-02 1.07889667e+02] [ 3.53252047e-01 9.35353622e-01 -1.80718678e-02 1.31664533e+01] [ 4.79741854e-02 1.18037453e-03 9.98847878e-01 3.91596381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.857105681 meters 0.017642981716814655 Centerline is valid? [True, True] Translation: X:107.93, Y:13.16, Z:3.92 [[ 9.27887266e-01 -3.70330810e-01 -4.33625785e-02 1.07925293e+02] [ 3.69910883e-01 9.28899880e-01 -1.76338060e-02 1.31574084e+01] [ 4.68098356e-02 3.21894405e-04 9.98903767e-01 3.91848069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88710568099998 meters 0.017138034727137458 Centerline is valid? [True, True] Translation: X:107.96, Y:13.16, Z:3.92 [[ 9.24646078e-01 -3.78280099e-01 -4.39749675e-02 1.07955624e+02] [ 3.77856593e-01 9.25691181e-01 -1.78950711e-02 1.31595542e+01] [ 4.74765889e-02 -6.96240427e-05 9.98872349e-01 3.91827909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91710568099998 meters 0.01931294843806298 Centerline is valid? [True, True] Translation: X:107.99, Y:13.16, Z:3.92 [[ 9.19947022e-01 -3.89397392e-01 -4.54659080e-02 1.07987736e+02] [ 3.88957428e-01 9.21069622e-01 -1.85167423e-02 1.31563940e+01] [ 4.90876379e-02 -6.49880697e-04 9.98794264e-01 3.91687620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94710568099998 meters 0.021119486557750703 Centerline is valid? [True, True] Translation: X:108.02, Y:13.16, Z:3.92 [[ 9.17736649e-01 -3.94418513e-01 -4.68345955e-02 1.08017267e+02] [ 3.93957678e-01 9.18930443e-01 -1.90837389e-02 1.31600029e+01] [ 5.05647155e-02 -9.37001883e-04 9.98720347e-01 3.91850696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97710568099998 meters 0.020329054094091508 Centerline is valid? [True, True] Translation: X:108.04, Y:13.17, Z:3.92 [[ 9.18745592e-01 -3.91589848e-01 -5.06352440e-02 1.08042279e+02] [ 3.91045665e-01 9.20139506e-01 -2.06537503e-02 1.31732005e+01] [ 5.46792873e-02 -8.25150581e-04 9.98503628e-01 3.91575710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00710568099998 meters 0.019676285123851417 Centerline is valid? [True, True] Translation: X:108.07, Y:13.19, Z:3.91 [[ 9.20756950e-01 -3.86658802e-01 -5.19770235e-02 1.08065921e+02] [ 3.86076512e-01 9.22222690e-01 -2.12187663e-02 1.31882178e+01] [ 5.61388132e-02 -5.29781487e-04 9.98422833e-01 3.91313149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03710568099999 meters 0.018180861480678257 Centerline is valid? [True, True] Translation: X:108.09, Y:13.21, Z:3.92 [[ 9.26375170e-01 -3.73200586e-01 -5.05011630e-02 1.08086029e+02] [ 3.72630264e-01 9.27750634e-01 -2.06263852e-02 1.32141061e+01] [ 5.45502650e-02 2.89509399e-04 9.98510984e-01 3.91822383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06710568099999 meters 0.01959035148097778 Centerline is valid? [True, True] Translation: X:108.11, Y:13.23, Z:3.92 [[ 9.28996616e-01 -3.66799681e-01 -4.92268443e-02 1.08109694e+02] [ 3.66247900e-01 9.30299711e-01 -2.01227065e-02 1.32317353e+01] [ 5.31767214e-02 6.64697913e-04 9.98584896e-01 3.92163420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09710568099999 meters 0.022973886648593754 Centerline is valid? [True, True] Translation: X:108.13, Y:13.25, Z:3.93 [[ 9.32943380e-01 -3.56962257e-01 -4.68465277e-02 1.08132720e+02] [ 3.56449535e-01 9.34118065e-01 -1.91616922e-02 1.32537406e+01] [ 5.06001887e-02 1.17835090e-03 9.98718295e-01 3.92618658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.12710568099999 meters 0.02454701851408387 Centerline is valid? [True, True] Translation: X:108.16, Y:13.27, Z:3.93 [[ 9.34107916e-01 -3.54015145e-01 -4.59965085e-02 1.08157260e+02] [ 3.53517003e-01 9.35238759e-01 -1.88199951e-02 1.32692970e+01] [ 4.96802808e-02 1.31935859e-03 9.98764301e-01 3.92736589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15710568099999 meters 0.02660111687080574 Centerline is valid? [True, True] Translation: X:108.18, Y:13.28, Z:3.93 [[ 9.35430892e-01 -3.50644883e-01 -4.49133954e-02 1.08181751e+02] [ 3.50165354e-01 9.36507333e-01 -1.83912979e-02 1.32818577e+01] [ 4.85105386e-02 1.47667319e-03 9.98821579e-01 3.92954006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.18710568099999 meters 0.027143309306571287 Centerline is valid? [True, True] Translation: X:108.21, Y:13.29, Z:3.93 [[ 9.35550841e-01 -3.50594521e-01 -4.27563579e-02 1.08208363e+02] [ 3.50159508e-01 9.36526281e-01 -1.75169517e-02 1.32911393e+01] [ 4.61838001e-02 1.41645372e-03 9.98931955e-01 3.93345127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.21710568099999 meters 0.026848169229630726 Centerline is valid? [True, True] Translation: X:108.23, Y:13.30, Z:3.93 [[ 9.35304072e-01 -3.51267993e-01 -4.26273322e-02 1.08234327e+02] [ 3.50835850e-01 9.36273929e-01 -1.74738731e-02 1.33015346e+01] [ 4.60488721e-02 1.38818838e-03 9.98938223e-01 3.93444879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.247105681 meters 0.02801428012931791 Centerline is valid? [True, True] Translation: X:108.26, Y:13.31, Z:3.93 [[ 9.35414617e-01 -3.50598076e-01 -4.56123109e-02 1.08258769e+02] [ 3.50101606e-01 9.36524760e-01 -1.87146708e-02 1.33145913e+01] [ 4.92783861e-02 1.53703329e-03 9.98783900e-01 3.92991327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27710568099998 meters 0.029576324788915226 Centerline is valid? [True, True] Translation: X:108.29, Y:13.33, Z:3.93 [[ 9.35959913e-01 -3.48812024e-01 -4.80542824e-02 1.08285025e+02] [ 3.48258102e-01 9.37191116e-01 -1.97257620e-02 1.33253074e+01] [ 5.19166296e-02 1.72722928e-03 9.98649929e-01 3.92766249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30710568099998 meters 0.030486271632011543 Centerline is valid? [True, True] Translation: X:108.31, Y:13.34, Z:3.93 [[ 9.36327720e-01 -3.47733407e-01 -4.87019254e-02 1.08311527e+02] [ 3.47162549e-01 9.37591686e-01 -1.99998866e-02 1.33362795e+01] [ 5.26171490e-02 1.81896366e-03 9.98613102e-01 3.92865771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33710568099998 meters 0.033118419985225855 Centerline is valid? [True, True] Translation: X:108.34, Y:13.35, Z:3.93 [[ 9.37338549e-01 -3.44992553e-01 -4.87502153e-02 1.08336711e+02] [ 3.44416186e-01 9.38603319e-01 -2.00324740e-02 1.33497562e+01] [ 5.26681682e-02 1.98684686e-03 9.98610092e-01 3.92912595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36710568099998 meters 0.03508075110639879 Centerline is valid? [True, True] Translation: X:108.36, Y:13.36, Z:3.93 [[ 9.38152071e-01 -3.42570233e-01 -5.01630002e-02 1.08363333e+02] [ 3.41956310e-01 9.39489675e-01 -2.06163233e-02 1.33626920e+01] [ 5.41901594e-02 2.18769194e-03 9.98528237e-01 3.92631121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39710568099999 meters 0.03518805696745169 Centerline is valid? [True, True] Translation: X:108.39, Y:13.37, Z:3.92 [[ 9.37762284e-01 -3.43403733e-01 -5.17278881e-02 1.08390449e+02] [ 3.42751677e-01 9.39185271e-01 -2.12676900e-02 1.33719528e+01] [ 5.58854748e-02 2.21421718e-03 9.98434730e-01 3.92431633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42710568099999 meters 0.028379765223388715 Centerline is valid? [True, True] Translation: X:108.42, Y:13.37, Z:3.93 [[ 9.35599172e-01 -3.48908414e-01 -5.40102661e-02 1.08424103e+02] [ 3.48205739e-01 9.37154729e-01 -2.22211252e-02 1.33693233e+01] [ 5.83691138e-02 1.98338176e-03 9.98293100e-01 3.92633316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45710568099999 meters 0.029153978929892077 Centerline is valid? [True, True] Translation: X:108.45, Y:13.38, Z:3.92 [[ 9.33863312e-01 -3.53639779e-01 -5.32749580e-02 1.08450939e+02] [ 3.52963545e-01 9.35380202e-01 -2.19229038e-02 1.33792175e+01] [ 5.75851518e-02 1.66887751e-03 9.98339203e-01 3.92473575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48710568099999 meters 0.02152666615083675 Centerline is valid? [True, True] Translation: X:108.49, Y:13.37, Z:3.93 [[ 9.29979846e-01 -3.63930352e-01 -5.18862689e-02 1.08485405e+02] [ 3.63304644e-01 9.31425617e-01 -2.13554698e-02 1.33725011e+01] [ 5.61001036e-02 1.00963409e-03 9.98424639e-01 3.93168306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51710568099999 meters 0.018914936551205564 Centerline is valid? [True, True] Translation: X:108.52, Y:13.37, Z:3.93 [[ 9.25388560e-01 -3.75171124e-01 -5.38761665e-02 1.08518446e+02] [ 3.74515166e-01 9.26955505e-01 -2.21784291e-02 1.33695214e+01] [ 5.82615153e-02 3.46223125e-04 9.98301295e-01 3.93098915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.54710568099999 meters 0.019630715754516918 Centerline is valid? [True, True] Translation: X:108.55, Y:13.37, Z:3.92 [[ 9.23255852e-01 -3.80202885e-01 -5.51760707e-02 1.08546791e+02] [ 3.79523541e-01 9.24903111e-01 -2.27181988e-02 1.33746494e+01] [ 5.96700442e-02 3.40922351e-05 9.98218155e-01 3.92498231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.57710568099999 meters 0.0200332185818314 Centerline is valid? [True, True] Translation: X:108.58, Y:13.38, Z:3.93 [[ 9.19976118e-01 -3.88230987e-01 -5.40429812e-02 1.08575973e+02] [ 3.87592333e-01 9.21561981e-01 -2.22642803e-02 1.33761119e+01] [ 5.84476403e-02 -4.64038974e-04 9.98290368e-01 3.93312080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.607105681 meters 0.021103574290321062 Centerline is valid? [True, True] Translation: X:108.60, Y:13.39, Z:3.94 [[ 9.18339623e-01 -3.92277620e-01 -5.26365419e-02 1.08602261e+02] [ 3.91677513e-01 9.19846615e-01 -2.17009342e-02 1.33856612e+01] [ 5.69303357e-02 -6.87722099e-04 9.98377916e-01 3.93681591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63710568099998 meters 0.021239315514759407 Centerline is valid? [True, True] Translation: X:108.63, Y:13.40, Z:3.94 [[ 9.17817636e-01 -3.93508231e-01 -5.25552995e-02 1.08628044e+02] [ 3.92911352e-01 9.19320785e-01 -2.16786374e-02 1.33992719e+01] [ 5.68459015e-02 -7.52538028e-04 9.98382681e-01 3.94018338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66710568099998 meters 0.021327537260468186 Centerline is valid? [True, True] Translation: X:108.65, Y:13.41, Z:3.95 [[ 9.17780077e-01 -3.93916613e-01 -5.00942303e-02 1.08651661e+02] [ 3.93374201e-01 9.19145892e-01 -2.06776849e-02 1.34141908e+01] [ 5.41891897e-02 -7.28210550e-04 9.98530421e-01 3.94505888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69710568099998 meters 0.020959005122374277 Centerline is valid? [True, True] Translation: X:108.67, Y:13.43, Z:3.95 [[ 9.17477320e-01 -3.94628584e-01 -5.00364602e-02 1.08674941e+02] [ 3.94087865e-01 9.18840413e-01 -2.06651885e-02 1.34324442e+01] [ 5.41305958e-02 -7.58920042e-04 9.98533576e-01 3.94682750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72710568099998 meters 0.021645713047158892 Centerline is valid? [True, True] Translation: X:108.70, Y:13.45, Z:3.95 [[ 9.16521197e-01 -3.96866698e-01 -4.98569942e-02 1.08700457e+02] [ 3.96332042e-01 9.17875846e-01 -2.06117267e-02 1.34463426e+01] [ 5.39426386e-02 -8.68839868e-04 9.98543658e-01 3.94731269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75710568099998 meters 0.025022280319620067 Centerline is valid? [True, True] Translation: X:108.73, Y:13.46, Z:3.95 [[ 9.13458791e-01 -4.04076492e-01 -4.81167903e-02 1.08727165e+02] [ 4.03587759e-01 9.14724364e-01 -1.99062562e-02 1.34576103e+01] [ 5.20572506e-02 -1.23580282e-03 9.98643337e-01 3.94859774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78710568099999 meters 0.02746158772399178 Centerline is valid? [True, True] Translation: X:108.75, Y:13.47, Z:3.95 [[ 9.11429820e-01 -4.08635651e-01 -4.80893729e-02 1.08754551e+02] [ 4.08153548e-01 9.12696381e-01 -1.98997056e-02 1.34672842e+01] [ 5.20227257e-02 -1.49066308e-03 9.98644789e-01 3.95027335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81710568099999 meters 0.03131934231122061 Centerline is valid? [True, True] Translation: X:108.78, Y:13.48, Z:3.95 [[ 9.07339760e-01 -4.17672455e-01 -4.77941488e-02 1.08782257e+02] [ 4.17208377e-01 9.08595489e-01 -1.97840060e-02 1.34776556e+01] [ 5.16887824e-02 -1.98930403e-03 9.98661260e-01 3.95285550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84710568099999 meters 0.03705842339168733 Centerline is valid? [True, True] Translation: X:108.81, Y:13.49, Z:3.95 [[ 9.04946626e-01 -4.22763313e-01 -4.84023308e-02 1.08808902e+02] [ 4.22293986e-01 9.06237220e-01 -2.00471986e-02 1.34882580e+01] [ 5.23392138e-02 -2.29836849e-03 9.98626719e-01 3.95193797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87710568099999 meters 0.034429569232110636 Centerline is valid? [True, True] Translation: X:108.83, Y:13.51, Z:3.95 [[ 9.05156437e-01 -4.22080695e-01 -5.03955486e-02 1.08829089e+02] [ 4.21570193e-01 9.06555241e-01 -2.08846290e-02 1.35126835e+01] [ 5.45013474e-02 -2.34140482e-03 9.98510952e-01 3.95203443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.90710568099999 meters 0.03290435744637819 Centerline is valid? [True, True] Translation: X:108.85, Y:13.53, Z:3.95 [[ 9.06221887e-01 -4.19748444e-01 -5.07260793e-02 1.08852634e+02] [ 4.19226634e-01 9.07637815e-01 -2.10386642e-02 1.35308599e+01] [ 5.48718544e-02 -2.20002549e-03 9.98490981e-01 3.95269329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93710568099999 meters 0.03111423159984055 Centerline is valid? [True, True] Translation: X:108.87, Y:13.56, Z:3.95 [[ 9.09285668e-01 -4.12823194e-01 -5.26933034e-02 1.08872896e+02] [ 4.12248143e-01 9.10809313e-01 -2.18601060e-02 1.35574858e+01] [ 5.70179103e-02 -1.84563539e-03 9.98371450e-01 3.94977417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.96710568099999 meters 0.027185768845119383 Centerline is valid? [True, True] Translation: X:108.89, Y:13.58, Z:3.95 [[ 9.11098139e-01 -4.08616606e-01 -5.41539539e-02 1.08894592e+02] [ 4.08001190e-01 9.12704692e-01 -2.24760861e-02 1.35821314e+01] [ 5.86106698e-02 -1.61695740e-03 9.98279608e-01 3.95005121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.997105681 meters 0.022496074394308382 Centerline is valid? [True, True] Translation: X:108.91, Y:13.62, Z:3.95 [[ 9.15289772e-01 -3.98793630e-01 -5.66416205e-02 1.08913175e+02] [ 3.98100552e-01 9.17040132e-01 -2.35233364e-02 1.36152989e+01] [ 6.13235958e-02 -1.01839110e-03 9.98117418e-01 3.94790972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02710568099998 meters 0.019489122124340494 Centerline is valid? [True, True] Translation: X:108.93, Y:13.65, Z:3.95 [[ 9.18685306e-01 -3.90913157e-01 -5.66057645e-02 1.08931335e+02] [ 3.90205264e-01 9.20427440e-01 -2.35197610e-02 1.36483582e+01] [ 6.12956830e-02 -4.80608451e-04 9.98119536e-01 3.94882475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05710568099998 meters 0.018716493107515136 Centerline is valid? [True, True] Translation: X:108.95, Y:13.67, Z:3.95 [[ 9.19790477e-01 -3.88554452e-01 -5.48718180e-02 1.08954161e+02] [ 3.87883960e-01 9.21425716e-01 -2.28184830e-02 1.36687783e+01] [ 5.94265273e-02 -2.95674697e-04 9.98232638e-01 3.95117830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08710568099998 meters 0.018062307416916914 Centerline is valid? [True, True] Translation: X:108.98, Y:13.69, Z:3.96 [[ 9.20301048e-01 -3.87861309e-01 -5.10841010e-02 1.08976071e+02] [ 3.87278169e-01 9.21717722e-01 -2.12617309e-02 1.36896940e+01] [ 5.53317240e-02 -2.16563916e-04 9.98468003e-01 3.95694265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11710568099998 meters 0.01827374477230149 Centerline is valid? [True, True] Translation: X:109.00, Y:13.70, Z:3.96 [[ 9.19675776e-01 -3.89338445e-01 -5.11081508e-02 1.09000097e+02] [ 3.88755887e-01 9.21094725e-01 -2.12924185e-02 1.37046896e+01] [ 5.53654052e-02 -2.86473013e-04 9.98466119e-01 3.95719166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14710568099999 meters 0.018680306048771887 Centerline is valid? [True, True] Translation: X:109.02, Y:13.72, Z:3.95 [[ 9.19384695e-01 -3.89861961e-01 -5.23396048e-02 1.09024683e+02] [ 3.89250804e-01 9.20873257e-01 -2.18232908e-02 1.37180395e+01] [ 5.67062132e-02 -3.09233692e-04 9.98390860e-01 3.95367267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17710568099999 meters 0.018571226590806223 Centerline is valid? [True, True] Translation: X:109.05, Y:13.74, Z:3.95 [[ 9.19857287e-01 -3.88614729e-01 -5.33025716e-02 1.09047718e+02] [ 3.87978352e-01 9.21400314e-01 -2.22319332e-02 1.37362331e+01] [ 5.77526629e-02 -2.30038129e-04 9.98330896e-01 3.95216836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20710568099999 meters 0.018194608450163203 Centerline is valid? [True, True] Translation: X:109.07, Y:13.75, Z:3.95 [[ 9.20351403e-01 -3.87636067e-01 -5.18803903e-02 1.09072530e+02] [ 3.87031080e-01 9.21812484e-01 -2.16491826e-02 1.37503225e+01] [ 5.62159954e-02 -1.54467924e-04 9.98418619e-01 3.95492607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23710568099999 meters 0.017680466747236924 Centerline is valid? [True, True] Translation: X:109.10, Y:13.76, Z:3.96 [[ 9.20263029e-01 -3.88137162e-01 -4.96538096e-02 1.09098015e+02] [ 3.87582811e-01 9.21601604e-01 -2.07375890e-02 1.37632437e+01] [ 5.38100595e-02 -1.60926612e-04 9.98551176e-01 3.96267127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.26710568099999 meters 0.018237223589679462 Centerline is valid? [True, True] Translation: X:109.12, Y:13.77, Z:3.96 [[ 9.18498748e-01 -3.92285776e-01 -4.97184091e-02 1.09124084e+02] [ 3.91735149e-01 9.19843312e-01 -2.07811189e-02 1.37725420e+01] [ 5.38852835e-02 -3.89016737e-04 9.98547057e-01 3.96222574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29710568099999 meters 0.01893902301215357 Centerline is valid? [True, True] Translation: X:109.15, Y:13.78, Z:3.96 [[ 9.17405721e-01 -3.94715535e-01 -5.06595513e-02 1.09151377e+02] [ 3.94146802e-01 9.18803225e-01 -2.11880212e-02 1.37828234e+01] [ 5.49094002e-02 -5.29288279e-04 9.98491201e-01 3.96178472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.32710568099999 meters 0.01893902301215357 Centerline is valid? [True, True] Translation: X:109.18, Y:13.79, Z:3.96 [[ 9.17257961e-01 -3.95059717e-01 -5.06522738e-02 1.09176646e+02] [ 3.94490548e-01 9.18655288e-01 -2.12054072e-02 1.37936734e+01] [ 5.49093813e-02 -5.31014707e-04 9.98491201e-01 3.96280234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.357105681 meters 0.020298071889208243 Centerline is valid? [True, True] Translation: X:109.20, Y:13.80, Z:3.96 [[ 9.15065462e-01 -4.00086146e-01 -5.08554373e-02 1.09204374e+02] [ 3.99518946e-01 9.16477174e-01 -2.13120196e-02 1.38018120e+01] [ 5.51344913e-02 -8.15817635e-04 9.98478604e-01 3.96183413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38710568099998 meters 0.023688897421097057 Centerline is valid? [True, True] Translation: X:109.24, Y:13.80, Z:3.96 [[ 9.11603193e-01 -4.08075504e-01 -4.95378781e-02 1.09235151e+02] [ 4.07548309e-01 9.12947324e-01 -2.07739954e-02 1.38039744e+01] [ 5.37028319e-02 -1.25143791e-03 9.98556178e-01 3.96473680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41710568099998 meters 0.029903706527387046 Centerline is valid? [True, True] Translation: X:109.27, Y:13.81, Z:3.97 [[ 9.06330016e-01 -4.19687604e-01 -4.92769353e-02 1.09267056e+02] [ 4.19182569e-01 9.07666584e-01 -2.06723349e-02 1.38057695e+01] [ 5.34029503e-02 -1.92007475e-03 9.98571198e-01 3.96600576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44710568099998 meters 0.033365300572285955 Centerline is valid? [True, True] Translation: X:109.30, Y:13.81, Z:3.97 [[ 9.03645059e-01 -4.25367101e-01 -4.98842359e-02 1.09295310e+02] [ 4.24857468e-01 9.05018049e-01 -2.09395146e-02 1.38141965e+01] [ 5.40531145e-02 -2.27180130e-03 9.98535477e-01 3.96577329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47710568099998 meters 0.03645860835895232 Centerline is valid? [True, True] Translation: X:109.32, Y:13.82, Z:3.97 [[ 9.00199422e-01 -4.32874004e-01 -4.75509974e-02 1.09323031e+02] [ 4.32421071e-01 9.01450716e-01 -1.99655823e-02 1.38247031e+01] [ 5.15074622e-02 -2.58904758e-03 9.98669254e-01 3.96963275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50710568099998 meters 0.03929347219845058 Centerline is valid? [True, True] Translation: X:109.35, Y:13.83, Z:3.97 [[ 8.99459826e-01 -4.34516905e-01 -4.65519120e-02 1.09349241e+02] [ 4.34084495e-01 9.00659874e-01 -1.95561449e-02 1.38327694e+01] [ 5.04249147e-02 -2.61749654e-03 9.98724425e-01 3.97242401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53710568099999 meters 0.037698036710391236 Centerline is valid? [True, True] Translation: X:109.37, Y:13.85, Z:3.98 [[ 9.00307361e-01 -4.33148543e-01 -4.27667524e-02 1.09372701e+02] [ 4.32781797e-01 9.01319543e-01 -1.79721205e-02 1.38502096e+01] [ 4.63311075e-02 -2.32823961e-03 9.98923424e-01 3.97950084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56710568099999 meters 0.03469920066994809 Centerline is valid? [True, True] Translation: X:109.39, Y:13.88, Z:3.98 [[ 9.03388911e-01 -4.26983077e-01 -3.96727443e-02 1.09393408e+02] [ 4.26661382e-01 9.04257698e-01 -1.66757519e-02 1.38758727e+01] [ 4.29946483e-02 -1.86213858e-03 9.99073567e-01 3.98363165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59710568099999 meters 0.030590882841640597 Centerline is valid? [True, True] Translation: X:109.42, Y:13.90, Z:3.98 [[ 9.05466823e-01 -4.22525373e-01 -4.00267601e-02 1.09415556e+02] [ 4.22193416e-01 9.06349572e-01 -1.68277227e-02 1.38990291e+01] [ 4.33883767e-02 -1.66208997e-03 9.99056898e-01 3.98335668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.62710568099999 meters 0.026515324509668897 Centerline is valid? [True, True] Translation: X:109.44, Y:13.93, Z:3.98 [[ 9.09100013e-01 -4.14380574e-01 -4.27306270e-02 1.09435089e+02] [ 4.13993059e-01 9.10102688e-01 -1.79678854e-02 1.39260963e+01] [ 4.63348011e-02 -1.35557812e-03 9.98925047e-01 3.97767717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65710568099999 meters 0.024430391362248397 Centerline is valid? [True, True] Translation: X:109.46, Y:13.95, Z:3.98 [[ 9.10196059e-01 -4.11865546e-01 -4.37024624e-02 1.09458626e+02] [ 4.11456989e-01 9.11243771e-01 -1.83830400e-02 1.39460638e+01] [ 4.73949374e-02 -1.24951301e-03 9.98875447e-01 3.97668483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.68710568099999 meters 0.022332693259749202 Centerline is valid? [True, True] Translation: X:109.48, Y:13.97, Z:3.98 [[ 9.11229513e-01 -4.09557011e-01 -4.38614898e-02 1.09478491e+02] [ 4.09142038e-01 9.12283839e-01 -1.84659027e-02 1.39728656e+01] [ 4.75769682e-02 -1.11890384e-03 9.98866948e-01 3.97672110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.71710568099999 meters 0.0226662890484389 Centerline is valid? [True, True] Translation: X:109.50, Y:13.99, Z:3.98 [[ 9.11088978e-01 -4.09758023e-01 -4.48913831e-02 1.09499836e+02] [ 4.09322819e-01 9.12193542e-01 -1.89148443e-02 1.39941259e+01] [ 4.87001390e-02 -1.14196124e-03 9.98812791e-01 3.97593932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74710568099998 meters 0.022775749339815958 Centerline is valid? [True, True] Translation: X:109.52, Y:14.01, Z:3.98 [[ 9.10518541e-01 -4.11198678e-01 -4.32623730e-02 1.09522836e+02] [ 4.10795739e-01 9.11544999e-01 -1.82366703e-02 1.40139513e+01] [ 4.69344945e-02 -1.16717206e-03 9.98897287e-01 3.98027559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77710568099998 meters 0.02316418845050628 Centerline is valid? [True, True] Translation: X:109.55, Y:14.03, Z:3.98 [[ 9.10490481e-01 -4.11424183e-01 -4.16800511e-02 1.09547128e+02] [ 4.11049796e-01 9.11443296e-01 -1.75836425e-02 1.40278796e+01] [ 4.52233388e-02 -1.12283735e-03 9.98976270e-01 3.98407691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80710568099998 meters 0.02159650242317048 Centerline is valid? [True, True] Translation: X:109.57, Y:14.05, Z:3.99 [[ 9.11347550e-01 -4.09793337e-01 -3.89238243e-02 1.09570290e+02] [ 4.09465093e-01 9.12177881e-01 -1.64271601e-02 1.40475203e+01] [ 4.22371923e-02 -9.67095213e-04 9.99107144e-01 3.98841186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83710568099998 meters 0.020915278090760377 Centerline is valid? [True, True] Translation: X:109.59, Y:14.06, Z:3.99 [[ 9.12274171e-01 -4.07797879e-01 -3.81670849e-02 1.09594618e+02] [ 4.07479963e-01 9.13071835e-01 -1.61215299e-02 1.40623093e+01] [ 4.14236159e-02 -8.45067054e-04 9.99141316e-01 3.98980642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86710568099998 meters 0.018473471773076386 Centerline is valid? [True, True] Translation: X:109.62, Y:14.08, Z:3.99 [[ 9.14874989e-01 -4.02098481e-01 -3.63396010e-02 1.09616847e+02] [ 4.01805576e-01 9.15596257e-01 -1.53549300e-02 1.40848934e+01] [ 3.94465966e-02 -5.53612862e-04 9.99221527e-01 3.99202846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89710568099999 meters 0.01754554202769276 Centerline is valid? [True, True] Translation: X:109.64, Y:14.10, Z:3.99 [[ 9.16338381e-01 -3.98751908e-01 -3.63440160e-02 1.09640032e+02] [ 3.98455796e-01 9.17058754e-01 -1.53694783e-02 1.41013868e+01] [ 3.94582068e-02 -3.97840954e-04 9.99221143e-01 3.99229096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92710568099999 meters 0.016226262939847202 Centerline is valid? [True, True] Translation: X:109.66, Y:14.12, Z:3.99 [[ 9.19192095e-01 -3.91953049e-01 -3.81929182e-02 1.09662625e+02] [ 3.91619874e-01 9.19985215e-01 -1.61579099e-02 1.41211084e+01] [ 4.14700621e-02 -1.04882733e-04 9.99139741e-01 3.98912050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95710568099999 meters 0.01634015842242819 Centerline is valid? [True, True] Translation: X:109.69, Y:14.14, Z:3.99 [[ 9.21566870e-01 -3.86073103e-01 -4.07684142e-02 1.09687046e+02] [ 3.85686931e-01 9.22468170e-01 -1.72646055e-02 1.41372370e+01] [ 4.42729642e-02 1.86643844e-04 9.99019454e-01 3.98676526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98710568099999 meters 0.01670701957044222 Centerline is valid? [True, True] Translation: X:109.71, Y:14.15, Z:3.99 [[ 9.22273689e-01 -3.84161796e-01 -4.27896870e-02 1.09712179e+02] [ 3.83733483e-01 9.23265736e-01 -1.81382083e-02 1.41514477e+01] [ 4.64742585e-02 3.08556631e-04 9.98919440e-01 3.98579534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01710568099999 meters 0.017954911008313097 Centerline is valid? [True, True] Translation: X:109.73, Y:14.17, Z:3.99 [[ 9.24231094e-01 -3.79512026e-01 -4.20417360e-02 1.09734761e+02] [ 3.79093091e-01 9.25186643e-01 -1.78354893e-02 1.41694208e+01] [ 4.56652352e-02 5.46382091e-04 9.98956650e-01 3.98867884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.04710568099999 meters 0.018467960522010163 Centerline is valid? [True, True] Translation: X:109.76, Y:14.18, Z:3.99 [[ 9.24995832e-01 -3.77896107e-01 -3.97145096e-02 1.09759087e+02] [ 3.77520497e-01 9.25847814e-01 -1.68552599e-02 1.41823341e+01] [ 4.31391290e-02 5.98003761e-04 9.99068895e-01 3.99287645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.07710568099999 meters 0.01935491772877485 Centerline is valid? [True, True] Translation: X:109.78, Y:14.19, Z:4.00 [[ 9.26076684e-01 -3.75510901e-01 -3.70612735e-02 1.09784802e+02] [ 3.75181314e-01 9.26817731e-01 -1.57440240e-02 1.41932786e+01] [ 4.02610980e-02 6.75476223e-04 9.99188965e-01 3.99712878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.107105681 meters 0.020926089962167927 Centerline is valid? [True, True] Translation: X:109.81, Y:14.20, Z:4.00 [[ 9.27283707e-01 -3.72567932e-01 -3.65795361e-02 1.09809889e+02] [ 3.72244369e-01 9.28004580e-01 -1.55444403e-02 1.42046082e+01] [ 3.97373370e-02 7.97579928e-04 9.99209842e-01 3.99773024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13710568099998 meters 0.021681971436822652 Centerline is valid? [True, True] Translation: X:109.84, Y:14.22, Z:4.00 [[ 9.27929405e-01 -3.71027602e-01 -3.58544080e-02 1.09836587e+02] [ 3.70715390e-01 9.28621448e-01 -1.52415859e-02 1.42164561e+01] [ 3.89502213e-02 8.51334850e-04 9.99240790e-01 3.99849468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16710568099998 meters 0.023899507488542932 Centerline is valid? [True, True] Translation: X:109.86, Y:14.23, Z:4.00 [[ 9.29545788e-01 -3.67056117e-01 -3.48487531e-02 1.09862096e+02] [ 3.66757901e-01 9.30198261e-01 -1.48269367e-02 1.42279294e+01] [ 3.78585673e-02 1.00126102e-03 9.99282606e-01 3.99918317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19710568099998 meters 0.026616678442145915 Centerline is valid? [True, True] Translation: X:109.89, Y:14.24, Z:4.00 [[ 9.31412892e-01 -3.62235691e-01 -3.54306326e-02 1.09888447e+02] [ 3.61923753e-01 9.32085732e-01 -1.50793081e-02 1.42403562e+01] [ 3.84866507e-02 1.22187449e-03 9.99258367e-01 3.99929152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22710568099998 meters 0.028103927804997448 Centerline is valid? [True, True] Translation: X:109.91, Y:14.25, Z:4.00 [[ 9.32321710e-01 -3.59845666e-01 -3.58793156e-02 1.09914318e+02] [ 3.59523887e-01 9.33010879e-01 -1.52733065e-02 1.42519640e+01] [ 3.89718250e-02 1.34016417e-03 9.99239411e-01 3.99943078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25710568099998 meters 0.03150255983673452 Centerline is valid? [True, True] Translation: X:109.94, Y:14.26, Z:4.00 [[ 9.33611342e-01 -3.56270596e-01 -3.79621488e-02 1.09940855e+02] [ 3.55907184e-01 9.34381487e-01 -1.61651945e-02 1.42616707e+01] [ 4.12303125e-02 1.58100744e-03 9.99148418e-01 3.99690146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28710568099999 meters 0.028757313207599507 Centerline is valid? [True, True] Translation: X:109.97, Y:14.27, Z:4.00 [[ 9.34151131e-01 -3.54627440e-01 -4.00130428e-02 1.09969759e+02] [ 3.54221971e-01 9.35006056e-01 -1.70431732e-02 1.42660910e+01] [ 4.34564142e-02 1.74740063e-03 9.99053796e-01 3.99593183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31710568099999 meters 0.03138225969550994 Centerline is valid? [True, True] Translation: X:110.00, Y:14.28, Z:3.99 [[ 9.35289287e-01 -3.51426106e-01 -4.16370143e-02 1.09996402e+02] [ 3.50983596e-01 9.36213531e-01 -1.77409062e-02 1.42765812e+01] [ 4.52157537e-02 1.97897050e-03 9.98975285e-01 3.99330671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34710568099999 meters 0.03381771305869742 Centerline is valid? [True, True] Translation: X:110.02, Y:14.28, Z:3.99 [[ 9.36193011e-01 -3.48916312e-01 -4.24270493e-02 1.10024483e+02] [ 3.48454040e-01 9.37151432e-01 -1.80824449e-02 1.42847272e+01] [ 4.60698300e-02 2.14478183e-03 9.98935919e-01 3.99120847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37710568099999 meters 0.03486188195458447 Centerline is valid? [True, True] Translation: X:110.05, Y:14.29, Z:3.99 [[ 9.35796455e-01 -3.49910463e-01 -4.29844559e-02 1.10051128e+02] [ 3.49436810e-01 9.36780734e-01 -1.83241031e-02 1.42931553e+01] [ 4.66788055e-02 2.12727950e-03 9.98907685e-01 3.99117018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.40710568099999 meters 0.029415195790212616 Centerline is valid? [True, True] Translation: X:110.08, Y:14.29, Z:4.00 [[ 9.33992054e-01 -3.55060364e-01 -3.98871114e-02 1.10084749e+02] [ 3.54657023e-01 9.34841758e-01 -1.70083415e-02 1.42890995e+01] [ 4.33271252e-02 1.73941164e-03 9.99059425e-01 3.99735851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43710568099999 meters 0.027579448881342134 Centerline is valid? [True, True] Translation: X:110.11, Y:14.29, Z:4.00 [[ 9.32868524e-01 -3.58224563e-01 -3.78348838e-02 1.10114019e+02] [ 3.57864180e-01 9.33634230e-01 -1.61354792e-02 1.42937244e+01] [ 4.11040675e-02 1.51253101e-03 9.99153726e-01 4.00220870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.46710568099999 meters 0.024583188378769542 Centerline is valid? [True, True] Translation: X:110.15, Y:14.29, Z:4.01 [[ 9.30223026e-01 -3.65279494e-01 -3.54402837e-02 1.10146317e+02] [ 3.64968262e-01 9.30897211e-01 -1.51178818e-02 1.42910862e+01] [ 3.85135135e-02 1.12842305e-03 9.99257442e-01 4.00766011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49710568099998 meters 0.020339039310364296 Centerline is valid? [True, True] Translation: X:110.18, Y:14.29, Z:4.01 [[ 9.27468363e-01 -3.71997625e-01 -3.76855886e-02 1.10181098e+02] [ 3.71651125e-01 9.28233240e-01 -1.60777601e-02 1.42865659e+01] [ 4.09619046e-02 9.05722455e-04 9.99160298e-01 4.00776640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52710568099998 meters 0.019500056305571768 Centerline is valid? [True, True] Translation: X:110.21, Y:14.29, Z:4.01 [[ 9.25897481e-01 -3.75698115e-01 -3.95573072e-02 1.10209508e+02] [ 3.75319553e-01 9.26741774e-01 -1.68795253e-02 1.42922644e+01] [ 4.30010149e-02 7.82079093e-04 9.99074722e-01 4.00632197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55710568099998 meters 0.017342201306864105 Centerline is valid? [True, True] Translation: X:110.24, Y:14.29, Z:4.01 [[ 9.23094928e-01 -3.82364280e-01 -4.11498637e-02 1.10241046e+02] [ 3.81960448e-01 9.24011526e-01 -1.75760049e-02 1.42906661e+01] [ 4.47433848e-02 5.06700650e-04 9.98998385e-01 4.00512174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58710568099998 meters 0.016365230311622098 Centerline is valid? [True, True] Translation: X:110.27, Y:14.29, Z:4.00 [[ 9.21582453e-01 -3.85793648e-01 -4.30004961e-02 1.10271325e+02] [ 3.85355566e-01 9.22585022e-01 -1.83838260e-02 1.42932995e+01] [ 4.67639769e-02 3.71730994e-04 9.98905898e-01 4.00495867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61710568099998 meters 0.0164590910850015 Centerline is valid? [True, True] Translation: X:110.30, Y:14.30, Z:4.01 [[ 9.21275058e-01 -3.86520894e-01 -4.30565402e-02 1.10296817e+02] [ 3.86081724e-01 9.22280584e-01 -1.84235205e-02 1.43028723e+01] [ 4.68312867e-02 3.49786696e-04 9.98902752e-01 4.00520948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64710568099999 meters 0.016508642690746998 Centerline is valid? [True, True] Translation: X:110.32, Y:14.31, Z:4.01 [[ 9.21173874e-01 -3.86676890e-01 -4.38141169e-02 1.10323214e+02] [ 3.86221750e-01 9.22215189e-01 -1.87591436e-02 1.43114352e+01] [ 4.76597714e-02 3.58468070e-04 9.98863563e-01 4.00550347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67710568099999 meters 0.01638899794668122 Centerline is valid? [True, True] Translation: X:110.35, Y:14.32, Z:4.01 [[ 9.20834737e-01 -3.87385223e-01 -4.46774741e-02 1.10348043e+02] [ 3.86911860e-01 9.21917876e-01 -1.91479346e-02 1.43210570e+01] [ 4.86065889e-02 3.45838752e-04 9.98817941e-01 4.00609055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70710568099999 meters 0.015927279792353026 Centerline is valid? [True, True] Translation: X:110.38, Y:14.33, Z:4.01 [[ 9.18687460e-01 -3.92447173e-01 -4.47053413e-02 1.10375527e+02] [ 3.91978478e-01 9.19774542e-01 -1.91746027e-02 1.43286479e+01] [ 4.86438535e-02 9.19354098e-05 9.98816183e-01 4.00855444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73710568099999 meters 0.01646941782114782 Centerline is valid? [True, True] Translation: X:110.40, Y:14.33, Z:4.01 [[ 9.15263553e-01 -4.00718298e-01 -4.14424194e-02 1.10404025e+02] [ 4.00323397e-01 9.16201260e-01 -1.77884314e-02 1.43327586e+01] [ 4.50977469e-02 -3.09267207e-04 9.98982531e-01 4.01397235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.76710568099999 meters 0.017954737751128453 Centerline is valid? [True, True] Translation: X:110.43, Y:14.34, Z:4.02 [[ 9.12918316e-01 -4.06171987e-01 -4.00557721e-02 1.10432415e+02] [ 4.05808015e-01 9.13796483e-01 -1.72000944e-02 1.43392850e+01] [ 4.35890202e-02 -5.52672119e-04 9.99049394e-01 4.01790318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79710568099999 meters 0.023064058233225583 Centerline is valid? [True, True] Translation: X:110.46, Y:14.34, Z:4.02 [[ 9.08049533e-01 -4.17094730e-01 -3.84451842e-02 1.10462910e+02] [ 4.16768640e-01 9.08862445e-01 -1.65213898e-02 1.43405968e+01] [ 4.18323687e-02 -1.02050681e-03 9.99124122e-01 4.02311703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.82710568099999 meters 0.0285297044911246 Centerline is valid? [True, True] Translation: X:110.49, Y:14.35, Z:4.02 [[ 9.03981888e-01 -4.25934677e-01 -3.73684126e-02 1.10491091e+02] [ 4.25633990e-01 9.04752856e-01 -1.60616179e-02 1.43481250e+01] [ 4.06503780e-02 -1.38585489e-03 9.99172471e-01 4.02490659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.857105681 meters 0.030462885323746466 Centerline is valid? [True, True] Translation: X:110.52, Y:14.36, Z:4.02 [[ 9.02497920e-01 -4.28968745e-01 -3.85138966e-02 1.10517789e+02] [ 4.28651908e-01 9.03317976e-01 -1.65582691e-02 1.43611120e+01] [ 4.18932750e-02 -1.56525183e-03 9.99120865e-01 4.02358490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88710568099998 meters 0.03294313925981669 Centerline is valid? [True, True] Translation: X:110.54, Y:14.38, Z:4.01 [[ 9.00951524e-01 -4.31731835e-01 -4.35198214e-02 1.10543046e+02] [ 4.31329898e-01 9.02000000e-01 -1.87221717e-02 1.43750177e+01] [ 4.73378364e-02 -1.90363104e-03 9.98877122e-01 4.01495270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91710568099998 meters 0.033581601417390326 Centerline is valid? [True, True] Translation: X:110.57, Y:14.39, Z:4.01 [[ 9.00463273e-01 -4.32483114e-01 -4.60895825e-02 1.10568568e+02] [ 4.32032926e-01 9.01639698e-01 -1.98344539e-02 1.43877367e+01] [ 5.01342637e-02 -2.05201985e-03 9.98740379e-01 4.01217128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94710568099998 meters 0.03328163804098312 Centerline is valid? [True, True] Translation: X:110.59, Y:14.41, Z:4.01 [[ 9.00363547e-01 -4.32447022e-01 -4.83224277e-02 1.10592252e+02] [ 4.31951441e-01 9.01656808e-01 -2.08075196e-02 1.44060384e+01] [ 5.25683958e-02 -2.13861012e-03 9.98615036e-01 4.01144591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97710568099998 meters 0.03083519393630099 Centerline is valid? [True, True] Translation: X:110.61, Y:14.43, Z:4.01 [[ 9.02453039e-01 -4.28000342e-01 -4.89307635e-02 1.10612526e+02] [ 4.27484929e-01 9.03776595e-01 -2.10832210e-02 1.44318772e+01] [ 5.32461046e-02 -1.89054713e-03 9.98579630e-01 4.01263270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00710568099998 meters 0.027121689616799012 Centerline is valid? [True, True] Translation: X:110.63, Y:14.45, Z:4.01 [[ 9.03879314e-01 -4.24970562e-01 -4.90123038e-02 1.10634508e+02] [ 4.24448552e-01 9.05205560e-01 -2.11263217e-02 1.44548439e+01] [ 5.33442748e-02 -1.70755618e-03 9.98574721e-01 4.01476304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03710568099999 meters 0.02442925439476775 Centerline is valid? [True, True] Translation: X:110.66, Y:14.48, Z:4.02 [[ 9.07653013e-01 -4.17108383e-01 -4.67611428e-02 1.10655249e+02] [ 4.16622142e-01 9.08855993e-01 -2.01686749e-02 1.44781086e+01] [ 5.09116682e-02 -1.17556890e-03 9.98702468e-01 4.01539215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06710568099999 meters 0.022276391559758562 Centerline is valid? [True, True] Translation: X:110.68, Y:14.50, Z:4.02 [[ 9.09108895e-01 -4.14083336e-01 -4.53432200e-02 1.10679398e+02] [ 4.13622046e-01 9.10238459e-01 -1.95640449e-02 1.44955707e+01] [ 4.93742877e-02 -9.69108163e-04 9.98779876e-01 4.01883605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09710568099999 meters 0.018563283772531924 Centerline is valid? [True, True] Translation: X:110.70, Y:14.52, Z:4.02 [[ 9.11669359e-01 -4.08621504e-01 -4.34447588e-02 1.10700343e+02] [ 4.08191184e-01 9.12703713e-01 -1.87587263e-02 1.45208205e+01] [ 4.73174116e-02 -6.32011528e-04 9.98879704e-01 4.02341977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.12710568099999 meters 0.016611228116838028 Centerline is valid? [True, True] Translation: X:110.72, Y:14.55, Z:4.02 [[ 9.14166829e-01 -4.03066968e-01 -4.28488958e-02 1.10720128e+02] [ 4.02641575e-01 9.15170428e-01 -1.85161929e-02 1.45465723e+01] [ 4.66773080e-02 -3.25857520e-04 9.98909967e-01 4.02454196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15710568099999 meters 0.01600849981773559 Centerline is valid? [True, True] Translation: X:110.74, Y:14.57, Z:4.03 [[ 9.15769025e-01 -3.99391432e-01 -4.30532008e-02 1.10743669e+02] [ 3.98957161e-01 9.16780491e-01 -1.86202859e-02 1.45654113e+01] [ 4.69071172e-02 -1.24501725e-04 9.98899248e-01 4.02554794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.18710568099999 meters 0.01679599820251587 Centerline is valid? [True, True] Translation: X:110.76, Y:14.59, Z:4.02 [[ 9.19582472e-01 -3.90376866e-01 -4.44294920e-02 1.10763459e+02] [ 3.89903128e-01 9.20655078e-01 -1.92296072e-02 1.45899452e+01] [ 4.84110312e-02 3.60011865e-04 9.98827434e-01 4.02333973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21710568099999 meters 0.017877907266797968 Centerline is valid? [True, True] Translation: X:110.79, Y:14.61, Z:4.02 [[ 9.21047922e-01 -3.86927772e-01 -4.42450581e-02 1.10787337e+02] [ 3.86453674e-01 9.22109864e-01 -1.91560863e-02 1.46058979e+01] [ 4.82108264e-02 5.45008186e-04 9.98837033e-01 4.02410706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24710568099998 meters 0.017877907266797968 Centerline is valid? [True, True] Translation: X:110.81, Y:14.62, Z:4.03 [[ 9.20915173e-01 -3.87244061e-01 -4.42411629e-02 1.10812427e+02] [ 3.86769896e-01 9.21977086e-01 -1.91650785e-02 1.46170542e+01] [ 4.82109013e-02 5.38261650e-04 9.98837033e-01 4.02512424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27710568099998 meters 0.020477181198715853 Centerline is valid? [True, True] Translation: X:110.84, Y:14.64, Z:4.03 [[ 9.23162571e-01 -3.81914276e-01 -4.37304558e-02 1.10835401e+02] [ 3.81444194e-01 9.24197386e-01 -1.89609919e-02 1.46353593e+01] [ 4.76570465e-02 8.23349602e-04 9.98863418e-01 4.02867112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30710568099998 meters 0.021704744723284212 Centerline is valid? [True, True] Translation: X:110.86, Y:14.65, Z:4.03 [[ 9.23907665e-01 -3.80243303e-01 -4.25400796e-02 1.10860264e+02] [ 3.79796024e-01 9.24886060e-01 -1.84595930e-02 1.46503470e+01] [ 4.63638632e-02 8.98406386e-04 9.98924214e-01 4.03190992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33710568099998 meters 0.023388357912606527 Centerline is valid? [True, True] Translation: X:110.88, Y:14.67, Z:4.04 [[ 9.25092781e-01 -3.77539544e-01 -4.08318390e-02 1.10883423e+02] [ 3.77124300e-01 9.25992918e-01 -1.77306976e-02 1.46665542e+01] [ 4.45040332e-02 1.00386164e-03 9.99008700e-01 4.03514379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36710568099998 meters 0.025735049853823282 Centerline is valid? [True, True] Translation: X:110.91, Y:14.68, Z:4.03 [[ 9.26349272e-01 -3.74372441e-01 -4.15006110e-02 1.10909024e+02] [ 3.73939983e-01 9.27277671e-01 -1.80280262e-02 1.46804243e+01] [ 4.52317861e-02 1.18151119e-03 9.98975820e-01 4.03443591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39710568099999 meters 0.02298051694838332 Centerline is valid? [True, True] Translation: X:110.94, Y:14.69, Z:4.04 [[ 9.27267765e-01 -3.72029631e-01 -4.20529023e-02 1.10937636e+02] [ 3.71582569e-01 9.28219908e-01 -1.82810672e-02 1.46855942e+01] [ 4.58354398e-02 1.32531888e-03 9.98948125e-01 4.03681288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42710568099999 meters 0.030865656897833226 Centerline is valid? [True, True] Translation: X:110.96, Y:14.71, Z:4.03 [[ 9.28733448e-01 -3.68210884e-01 -4.33004269e-02 1.10960182e+02] [ 3.67732454e-01 9.29740984e-01 -1.88293613e-02 1.47058106e+01] [ 4.71913573e-02 1.56448533e-03 9.98884642e-01 4.03384324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45710568099999 meters 0.02617937636012955 Centerline is valid? [True, True] Translation: X:110.99, Y:14.71, Z:4.04 [[ 9.28669200e-01 -3.68349887e-01 -4.34957076e-02 1.10990142e+02] [ 3.67866937e-01 9.29685910e-01 -1.89215559e-02 1.47071430e+01] [ 4.74070995e-02 1.57123351e-03 9.98874416e-01 4.03546319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48710568099999 meters 0.026186288494487946 Centerline is valid? [True, True] Translation: X:111.02, Y:14.72, Z:4.04 [[ 9.28235435e-01 -3.69364347e-01 -4.41469792e-02 1.11017216e+02] [ 3.68867025e-01 9.29283350e-01 -1.92242899e-02 1.47159418e+01] [ 4.81258201e-02 1.56030221e-03 9.98840063e-01 4.03584964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51710568099999 meters 0.022853051013316226 Centerline is valid? [True, True] Translation: X:111.05, Y:14.72, Z:4.04 [[ 9.26059722e-01 -3.74757307e-01 -4.43886470e-02 1.11048860e+02] [ 3.74259862e-01 9.27122032e-01 -1.93466691e-02 1.47168462e+01] [ 4.84039982e-02 1.30328214e-03 9.98826989e-01 4.03717009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.54710568099999 meters 0.021214661889867974 Centerline is valid? [True, True] Translation: X:111.08, Y:14.72, Z:4.04 [[ 9.24521655e-01 -3.78495507e-01 -4.47309905e-02 1.11077953e+02] [ 3.77993887e-01 9.25602436e-01 -1.95128489e-02 1.47218939e+01] [ 4.87886394e-02 1.13201039e-03 9.98808484e-01 4.03886052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.57710568099999 meters 0.017502146780250194 Centerline is valid? [True, True] Translation: X:111.11, Y:14.72, Z:4.04 [[ 9.20632669e-01 -3.87961265e-01 -4.38354306e-02 1.11112058e+02] [ 3.87489554e-01 9.21675462e-01 -1.91360212e-02 1.47176605e+01] [ 4.78260758e-02 6.31474774e-04 9.98855479e-01 4.04120610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.607105681 meters 0.015340084969897517 Centerline is valid? [True, True] Translation: X:111.15, Y:14.71, Z:4.04 [[ 9.15473396e-01 -3.99987919e-01 -4.37964213e-02 1.11146622e+02] [ 3.99530445e-01 9.16520411e-01 -1.91248253e-02 1.47108334e+01] [ 4.77900131e-02 1.02650333e-05 9.98857405e-01 4.04175687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63710568099998 meters 0.01600444350801082 Centerline is valid? [True, True] Translation: X:111.18, Y:14.71, Z:4.04 [[ 9.12580296e-01 -4.06532698e-01 -4.39131987e-02 1.11176636e+02] [ 4.06079489e-01 9.13636178e-01 -1.91933125e-02 1.47143028e+01] [ 4.79233961e-02 -3.16810501e-04 9.98850964e-01 4.04239835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66710568099998 meters 0.019876601655678058 Centerline is valid? [True, True] Translation: X:111.21, Y:14.71, Z:4.04 [[ 9.07367639e-01 -4.17968059e-01 -4.45720627e-02 1.11209640e+02] [ 4.17514140e-01 9.08461257e-01 -1.94958246e-02 1.47118596e+01] [ 4.86406241e-02 -9.19586073e-04 9.98815921e-01 4.04241038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69710568099998 meters 0.02185810793704301 Centerline is valid? [True, True] Translation: X:111.24, Y:14.72, Z:4.04 [[ 9.05374065e-01 -4.22177018e-01 -4.54353152e-02 1.11238531e+02] [ 4.21710251e-01 9.06512668e-01 -1.98808059e-02 1.47179790e+01] [ 4.95809082e-02 -1.16097213e-03 9.98769436e-01 4.04308302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72710568099998 meters 0.023502274290123467 Centerline is valid? [True, True] Translation: X:111.27, Y:14.73, Z:4.05 [[ 9.03888912e-01 -4.25398648e-01 -4.49535909e-02 1.11266312e+02] [ 4.24944986e-01 9.05005124e-01 -1.96846303e-02 1.47250892e+01] [ 4.90570452e-02 -1.31008398e-03 9.98795119e-01 4.04663079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75710568099998 meters 0.023505622106247362 Centerline is valid? [True, True] Translation: X:111.29, Y:14.74, Z:4.05 [[ 9.04137825e-01 -4.25001107e-01 -4.36904221e-02 1.11291396e+02] [ 4.24571849e-01 9.05191971e-01 -1.91374116e-02 1.47365260e+01] [ 4.76816404e-02 -1.24686557e-03 9.98861806e-01 4.04969353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78710568099999 meters 0.022344570681849907 Centerline is valid? [True, True] Translation: X:111.32, Y:14.75, Z:4.05 [[ 9.04578493e-01 -4.24155150e-01 -4.27803629e-02 1.11316748e+02] [ 4.23742278e-01 9.05588781e-01 -1.87467650e-02 1.47512007e+01] [ 4.66929536e-02 -1.16992808e-03 9.98908604e-01 4.05290575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81710568099999 meters 0.024631314875323003 Centerline is valid? [True, True] Translation: X:111.34, Y:14.76, Z:4.06 [[ 9.02955448e-01 -4.27786312e-01 -4.08696671e-02 1.11343560e+02] [ 4.27412618e-01 9.03878986e-01 -1.79229740e-02 1.47593856e+01] [ 4.46084362e-02 -1.28456440e-03 9.99003722e-01 4.05669655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84710568099999 meters 0.027326124994533182 Centerline is valid? [True, True] Translation: X:111.37, Y:14.77, Z:4.06 [[ 9.01305377e-01 -4.31447188e-01 -3.87548823e-02 1.11369683e+02] [ 4.31114318e-01 9.02137133e-01 -1.70011209e-02 1.47673466e+01] [ 4.22973042e-02 -1.38458291e-03 9.99104109e-01 4.06030072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87710568099999 meters 0.03247377553983106 Centerline is valid? [True, True] Translation: X:111.40, Y:14.78, Z:4.06 [[ 8.97270385e-01 -4.39810618e-01 -3.83728754e-02 1.11398003e+02] [ 4.39491484e-01 8.98088833e-01 -1.68429331e-02 1.47755213e+01] [ 4.18699517e-02 -1.75188688e-03 9.99121533e-01 4.06208269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.90710568099999 meters 0.032720382507460205 Centerline is valid? [True, True] Translation: X:111.42, Y:14.79, Z:4.06 [[ 8.94708789e-01 -4.44956727e-01 -3.88547793e-02 1.11423109e+02] [ 4.44633865e-01 8.95549821e-01 -1.70658647e-02 1.47923824e+01] [ 4.23899619e-02 -2.00717152e-03 9.99099125e-01 4.06226443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93710568099999 meters 0.03318847685930242 Centerline is valid? [True, True] Translation: X:111.45, Y:14.81, Z:4.06 [[ 8.94308663e-01 -4.45816993e-01 -3.81998031e-02 1.11448329e+02] [ 4.45505508e-01 8.95121876e-01 -1.67830188e-02 1.48067778e+01] [ 4.16756344e-02 -2.00902357e-03 9.99129173e-01 4.06325613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96710568099999 meters 0.036466947532554285 Centerline is valid? [True, True] Translation: X:111.47, Y:14.82, Z:4.06 [[ 8.95036417e-01 -4.44316935e-01 -3.86299559e-02 1.11472819e+02] [ 4.43996399e-01 8.95867549e-01 -1.69862311e-02 1.48204426e+01] [ 4.21545941e-02 -1.94826593e-03 9.99109200e-01 4.06197116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99710568099998 meters 0.0320935130222997 Centerline is valid? [True, True] Translation: X:111.50, Y:14.84, Z:4.06 [[ 8.95050970e-01 -4.44263051e-01 -3.89114699e-02 1.11495471e+02] [ 4.43937487e-01 8.95894260e-01 -1.71167659e-02 1.48415632e+01] [ 4.24649092e-02 -1.95388225e-03 9.99096048e-01 4.06315423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02710568099998 meters 0.03290510521808485 Centerline is valid? [True, True] Translation: X:111.52, Y:14.86, Z:4.06 [[ 8.95318192e-01 -4.43642505e-01 -3.98329369e-02 1.11518166e+02] [ 4.43300092e-01 8.96201706e-01 -1.75365705e-02 1.48594224e+01] [ 4.34783140e-02 -1.95713400e-03 9.99052454e-01 4.06272266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05710568099998 meters 0.03163690437235151 Centerline is valid? [True, True] Translation: X:111.54, Y:14.88, Z:4.06 [[ 8.96174353e-01 -4.41642350e-01 -4.27032086e-02 1.11539572e+02] [ 4.41246130e-01 8.97188992e-01 -1.88086423e-02 1.48816735e+01] [ 4.66195417e-02 -1.98680275e-03 9.98910742e-01 4.06079373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08710568099998 meters 0.030207281733741716 Centerline is valid? [True, True] Translation: X:111.56, Y:14.90, Z:4.06 [[ 8.96586531e-01 -4.40793461e-01 -4.28219185e-02 1.11563440e+02] [ 4.40393297e-01 8.97606477e-01 -1.88774099e-02 1.48990276e+01] [ 4.67582703e-02 -1.93325440e-03 9.98904363e-01 4.06145546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11710568099998 meters 0.02935607746015576 Centerline is valid? [True, True] Translation: X:111.59, Y:14.92, Z:4.07 [[ 8.97678482e-01 -4.38819639e-01 -4.01331351e-02 1.11585740e+02] [ 4.38465625e-01 8.98573549e-01 -1.77051620e-02 1.49199472e+01] [ 4.38319464e-02 -1.70345718e-03 9.99037466e-01 4.06782646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14710568099999 meters 0.02612406116523069 Centerline is valid? [True, True] Translation: X:111.61, Y:14.95, Z:4.07 [[ 9.00020929e-01 -4.34125169e-01 -3.86996875e-02 1.11607354e+02] [ 4.33791471e-01 9.00851446e-01 -1.70772408e-02 1.49455863e+01] [ 4.22763295e-02 -1.41772020e-03 9.99104950e-01 4.07302600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17710568099999 meters 0.02755172993557159 Centerline is valid? [True, True] Translation: X:111.63, Y:14.96, Z:4.08 [[ 9.01850550e-01 -4.30352633e-01 -3.82386750e-02 1.11631568e+02] [ 4.30023166e-01 9.02660027e-01 -1.68805599e-02 1.49594530e+01] [ 4.17811168e-02 -1.21977385e-03 9.99126043e-01 4.07513424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20710568099999 meters 0.019606419526644447 Centerline is valid? [True, True] Translation: X:111.65, Y:14.99, Z:4.08 [[ 9.06165312e-01 -4.21201909e-01 -3.81232140e-02 1.11648787e+02] [ 4.20866082e-01 9.06966553e-01 -1.68348759e-02 1.49937559e+01] [ 4.16673618e-02 -7.89587151e-04 9.99131226e-01 4.07836020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23710568099999 meters 0.01648588829805565 Centerline is valid? [True, True] Translation: X:111.67, Y:15.02, Z:4.08 [[ 9.10183532e-01 -4.12458232e-01 -3.80019189e-02 1.11668912e+02] [ 4.12116658e-01 9.10976433e-01 -1.67868657e-02 1.50200108e+01] [ 4.15427334e-02 -3.82095081e-04 9.99136655e-01 4.07988139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.26710568099999 meters 0.015597051375612217 Centerline is valid? [True, True] Translation: X:111.69, Y:15.04, Z:4.08 [[ 9.11689483e-01 -4.09137164e-01 -3.78030017e-02 1.11692859e+02] [ 4.08796085e-01 9.12472865e-01 -1.67042210e-02 1.50368154e+01] [ 4.13285310e-02 -2.24656444e-04 9.99145586e-01 4.08103296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29710568099999 meters 0.015479971634159564 Centerline is valid? [True, True] Translation: X:111.71, Y:15.06, Z:4.08 [[ 9.14667932e-01 -4.02471192e-01 -3.74100817e-02 1.11714497e+02] [ 4.02130977e-01 9.15432647e-01 -1.65452488e-02 1.50570931e+01] [ 4.09053961e-02 8.96557973e-05 9.99163020e-01 4.08215385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.32710568099999 meters 0.01615367792110541 Centerline is valid? [True, True] Translation: X:111.74, Y:15.07, Z:4.08 [[ 9.16014701e-01 -3.99380378e-01 -3.75816567e-02 1.11737187e+02] [ 3.99033784e-01 9.16785283e-01 -1.66368301e-02 1.50733673e+01] [ 4.10987332e-02 2.43230304e-04 9.99155061e-01 4.08273031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.357105681 meters 0.01798788873150367 Centerline is valid? [True, True] Translation: X:111.76, Y:15.10, Z:4.08 [[ 9.18670253e-01 -3.93001401e-01 -3.99357710e-02 1.11759404e+02] [ 3.92603601e-01 9.19537696e-01 -1.76872282e-02 1.50953701e+01] [ 4.36735523e-02 5.69802915e-04 9.99045693e-01 4.08134052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38710568099998 meters 0.019867959281992566 Centerline is valid? [True, True] Translation: X:111.78, Y:15.11, Z:4.08 [[ 9.20079179e-01 -3.89427364e-01 -4.24338646e-02 1.11783788e+02] [ 3.88973709e-01 9.21056832e-01 -1.88086413e-02 1.51094042e+01] [ 4.64086005e-02 7.99781544e-04 9.98922220e-01 4.07711548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41710568099998 meters 0.020094612800149847 Centerline is valid? [True, True] Translation: X:111.81, Y:15.12, Z:4.08 [[ 9.20270435e-01 -3.88910668e-01 -4.30211344e-02 1.11810295e+02] [ 3.88443410e-01 9.21275083e-01 -1.90771692e-02 1.51197425e+01] [ 4.70536137e-02 8.44878655e-04 9.98892008e-01 4.07687565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44710568099998 meters 0.019634019600947916 Centerline is valid? [True, True] Translation: X:111.84, Y:15.13, Z:4.08 [[ 9.20183130e-01 -3.88995391e-01 -4.41088752e-02 1.11837541e+02] [ 3.88503442e-01 9.21239282e-01 -1.95770561e-02 1.51283142e+01] [ 4.82502131e-02 8.78026883e-04 9.98834894e-01 4.07669973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47710568099998 meters 0.01948394592922772 Centerline is valid? [True, True] Translation: X:111.86, Y:15.14, Z:4.08 [[ 9.19729440e-01 -3.89964536e-01 -4.50046371e-02 1.11864049e+02] [ 3.89452603e-01 9.20829473e-01 -1.99938104e-02 1.51379443e+01] [ 4.92384733e-02 8.61723024e-04 9.98786679e-01 4.07665447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50710568099998 meters 0.018033400344368226 Centerline is valid? [True, True] Translation: X:111.89, Y:15.14, Z:4.08 [[ 9.18103266e-01 -3.93848628e-01 -4.43807527e-02 1.11893612e+02] [ 3.93354365e-01 9.19175076e-01 -1.97363607e-02 1.51410897e+01] [ 4.85668203e-02 6.62654413e-04 9.98819716e-01 4.07989076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53710568099999 meters 0.016596184330243194 Centerline is valid? [True, True] Translation: X:111.92, Y:15.14, Z:4.08 [[ 9.15802204e-01 -3.99326462e-01 -4.29499757e-02 1.11924020e+02] [ 3.98868774e-01 9.16808723e-01 -1.91171593e-02 1.51426740e+01] [ 4.70109000e-02 3.76132453e-04 9.98894306e-01 4.08416200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56710568099999 meters 0.01615224685205554 Centerline is valid? [True, True] Translation: X:111.95, Y:15.15, Z:4.08 [[ 9.14529490e-01 -4.02239260e-01 -4.28880962e-02 1.11952825e+02] [ 4.01785361e-01 9.15534554e-01 -1.91050652e-02 1.51461665e+01] [ 4.69503413e-02 2.40336305e-04 9.98897196e-01 4.08491079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59710568099999 meters 0.01629643499036363 Centerline is valid? [True, True] Translation: X:111.98, Y:15.15, Z:4.09 [[ 9.14446635e-01 -4.02423183e-01 -4.29294110e-02 1.11978668e+02] [ 4.01968291e-01 9.15453727e-01 -1.91302698e-02 1.51540277e+01] [ 4.69983534e-02 2.37348860e-04 9.98894939e-01 4.08557408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.62710568099999 meters 0.016613650847880284 Centerline is valid? [True, True] Translation: X:112.01, Y:15.16, Z:4.09 [[ 9.14876275e-01 -4.01363736e-01 -4.36869846e-02 1.12006573e+02] [ 4.00890916e-01 9.15918696e-01 -1.94786086e-02 1.51611646e+01] [ 4.78317331e-02 3.06801644e-04 9.98855360e-01 4.08533276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65710568099999 meters 0.016608755166293072 Centerline is valid? [True, True] Translation: X:112.03, Y:15.17, Z:4.08 [[ 9.14609658e-01 -4.01817368e-01 -4.50774530e-02 1.12033707e+02] [ 4.01313598e-01 9.15719776e-01 -2.01168723e-02 1.51705447e+01] [ 4.93616238e-02 3.08890794e-04 9.98780924e-01 4.08459077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.68710568099999 meters 0.01652677802887221 Centerline is valid? [True, True] Translation: X:112.06, Y:15.18, Z:4.08 [[ 9.13971016e-01 -4.02985598e-01 -4.75351430e-02 1.12062114e+02] [ 4.02426075e-01 9.15206279e-01 -2.12302124e-02 1.51765692e+01] [ 5.20599311e-02 2.74417836e-04 9.98643925e-01 4.08241828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71710568099999 meters 0.01664969612754929 Centerline is valid? [True, True] Translation: X:112.09, Y:15.19, Z:4.08 [[ 9.13847925e-01 -4.03239187e-01 -4.77506865e-02 1.12088109e+02] [ 4.02674319e-01 9.15094577e-01 -2.13379579e-02 1.51857899e+01] [ 5.23006950e-02 2.71673399e-04 9.98631345e-01 4.08360492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74710568099998 meters 0.016735656594102814 Centerline is valid? [True, True] Translation: X:112.11, Y:15.19, Z:4.09 [[ 9.13973611e-01 -4.03075647e-01 -4.67146813e-02 1.12114293e+02] [ 4.02533720e-01 9.15166617e-01 -2.08966146e-02 1.51947195e+01] [ 5.11746333e-02 2.94719827e-04 9.98689677e-01 4.08854993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77710568099998 meters 0.01675210979066912 Centerline is valid? [True, True] Translation: X:112.14, Y:15.20, Z:4.09 [[ 9.13700230e-01 -4.03956342e-01 -4.43977918e-02 1.12141677e+02] [ 4.03466949e-01 9.14778230e-01 -1.98799017e-02 1.52024242e+01] [ 4.86447458e-02 2.51229164e-04 9.98816112e-01 4.09368816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80710568099998 meters 0.01666760137229579 Centerline is valid? [True, True] Translation: X:112.17, Y:15.21, Z:4.10 [[ 9.13365295e-01 -4.04802723e-01 -4.35728527e-02 1.12167906e+02] [ 4.04331452e-01 9.14404018e-01 -1.95286780e-02 1.52112637e+01] [ 4.77484536e-02 2.18941907e-04 9.98859368e-01 4.09638575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83710568099998 meters 0.01636345004122112 Centerline is valid? [True, True] Translation: X:112.20, Y:15.22, Z:4.10 [[ 9.11713904e-01 -4.08848019e-01 -4.02623342e-02 1.12196713e+02] [ 4.08448866e-01 9.12602486e-01 -1.80617504e-02 1.52169002e+01] [ 4.41280171e-02 2.20442119e-05 9.99025884e-01 4.10196100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86710568099998 meters 0.0168524964445364 Centerline is valid? [True, True] Translation: X:112.23, Y:15.22, Z:4.11 [[ 9.08704885e-01 -4.15899086e-01 -3.58243184e-02 1.12225491e+02] [ 4.15588064e-01 9.09410730e-01 -1.60836799e-02 1.52200894e+01] [ 3.92682073e-02 -2.72840573e-04 9.99228669e-01 4.10737240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89710568099999 meters 0.017924503944081113 Centerline is valid? [True, True] Translation: X:112.25, Y:15.23, Z:4.11 [[ 9.06885928e-01 -4.19961775e-01 -3.44966952e-02 1.12253579e+02] [ 4.19675763e-01 9.07541697e-01 -1.55023025e-02 1.52265873e+01] [ 3.78175638e-02 -4.18606872e-04 9.99284572e-01 4.11017731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92710568099999 meters 0.020656054172042006 Centerline is valid? [True, True] Translation: X:112.28, Y:15.23, Z:4.11 [[ 9.03240146e-01 -4.27757532e-01 -3.43618018e-02 1.12284263e+02] [ 4.27479105e-01 9.03893220e-01 -1.54486606e-02 1.52296711e+01] [ 3.76676806e-02 -7.35101800e-04 9.99290051e-01 4.11172623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95710568099999 meters 0.023363328331241242 Centerline is valid? [True, True] Translation: X:112.31, Y:15.24, Z:4.11 [[ 9.00380775e-01 -4.33514470e-01 -3.71438269e-02 1.12313322e+02] [ 4.33193822e-01 9.01145993e-01 -1.67036505e-02 1.52378890e+01] [ 4.07132850e-02 -1.05083053e-03 9.99170318e-01 4.10778459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98710568099999 meters 0.024804391261055346 Centerline is valid? [True, True] Translation: X:112.34, Y:15.25, Z:4.10 [[ 8.99727760e-01 -4.34700257e-01 -3.90594943e-02 1.12339412e+02] [ 4.34346669e-01 9.00574452e-01 -1.75678171e-02 1.52471227e+01] [ 4.28127173e-02 -1.15910857e-03 9.99082443e-01 4.10459442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01710568099999 meters 0.02329264665339561 Centerline is valid? [True, True] Translation: X:112.36, Y:15.26, Z:4.10 [[ 9.00017783e-01 -4.33809775e-01 -4.21552973e-02 1.12363825e+02] [ 4.33396510e-01 9.01003688e-01 -1.89689281e-02 1.52606808e+01] [ 4.62109847e-02 -1.19758607e-03 9.98930984e-01 4.10096286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.04710568099999 meters 0.02275076644356083 Centerline is valid? [True, True] Translation: X:112.39, Y:15.27, Z:4.10 [[ 9.00868475e-01 -4.31994430e-01 -4.26239835e-02 1.12388257e+02] [ 4.31569121e-01 9.01875600e-01 -1.91962322e-02 1.52734667e+01] [ 4.67341961e-02 -1.10191465e-03 9.98906753e-01 4.10187943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.07710568099999 meters 0.020039389820737715 Centerline is valid? [True, True] Translation: X:112.41, Y:15.29, Z:4.11 [[ 9.03356857e-01 -4.26692219e-01 -4.33605748e-02 1.12410659e+02] [ 4.26245565e-01 9.04396514e-01 -1.95362217e-02 1.52944821e+01] [ 4.75511065e-02 -8.34072851e-04 9.98868458e-01 4.10512764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.107105681 meters 0.017549456810365564 Centerline is valid? [True, True] Translation: X:112.43, Y:15.32, Z:4.11 [[ 9.07202448e-01 -4.18484884e-01 -4.30594861e-02 1.12431124e+02] [ 4.18034495e-01 9.08223679e-01 -1.94141710e-02 1.53161495e+01] [ 4.72321820e-02 -3.87767052e-04 9.98883862e-01 4.10516641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13710568099998 meters 0.017549456810365564 Centerline is valid? [True, True] Translation: X:112.46, Y:15.33, Z:4.11 [[ 9.07049591e-01 -4.18816433e-01 -4.30561790e-02 1.12456058e+02] [ 4.18366069e-01 9.08070833e-01 -1.94215027e-02 1.53276646e+01] [ 4.72321048e-02 -3.96978278e-04 9.98883862e-01 4.10618370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16710568099998 meters 0.016948456971724247 Centerline is valid? [True, True] Translation: X:112.48, Y:15.34, Z:4.11 [[ 9.08774482e-01 -4.15049643e-01 -4.31594161e-02 1.12480393e+02] [ 4.14591997e-01 9.09798747e-01 -1.94863311e-02 1.53449193e+01] [ 4.73541774e-02 -1.84868005e-04 9.98878145e-01 4.10713994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19710568099998 meters 0.017345833230514533 Centerline is valid? [True, True] Translation: X:112.50, Y:15.37, Z:4.11 [[ 9.12187855e-01 -4.07427736e-01 -4.37716445e-02 1.12502088e+02] [ 4.06947426e-01 9.13237421e-01 -1.97789019e-02 1.53667817e+01] [ 4.80323770e-02 2.29316066e-04 9.98845753e-01 4.10585384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22710568099998 meters 0.019330948284231476 Centerline is valid? [True, True] Translation: X:112.53, Y:15.39, Z:4.11 [[ 9.15297288e-01 -4.00399460e-01 -4.37166727e-02 1.12525401e+02] [ 3.99911512e-01 9.16340492e-01 -1.97708466e-02 1.53858979e+01] [ 4.79755936e-02 6.13401613e-04 9.98848320e-01 4.10511071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25710568099998 meters 0.02009325754021362 Centerline is valid? [True, True] Translation: X:112.55, Y:15.40, Z:4.11 [[ 9.16355639e-01 -3.97908773e-01 -4.42826276e-02 1.12550760e+02] [ 3.97404352e-01 9.17424665e-01 -2.00440707e-02 1.54006444e+01] [ 4.86016864e-02 7.69388351e-04 9.98817943e-01 4.10557063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28710568099999 meters 0.022050476019733093 Centerline is valid? [True, True] Translation: X:112.57, Y:15.42, Z:4.11 [[ 9.18043678e-01 -3.93905352e-01 -4.51040979e-02 1.12574651e+02] [ 3.93376298e-01 9.19150445e-01 -2.04339708e-02 1.54174656e+01] [ 4.95065021e-02 1.01639460e-03 9.98773284e-01 4.10666153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31710568099999 meters 0.023612747433680404 Centerline is valid? [True, True] Translation: X:112.60, Y:15.43, Z:4.11 [[ 9.19326668e-01 -3.91065456e-01 -4.36610433e-02 1.12599178e+02] [ 3.90565843e-01 9.20362156e-01 -1.97945464e-02 1.54301257e+01] [ 4.79249352e-02 1.14514221e-03 9.98850284e-01 4.11104717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34710568099999 meters 0.02455233022140812 Centerline is valid? [True, True] Translation: X:112.62, Y:15.44, Z:4.11 [[ 9.19957073e-01 -3.89712260e-01 -4.24657350e-02 1.12623822e+02] [ 3.89237934e-01 9.20935907e-01 -1.92584149e-02 1.54421817e+01] [ 4.66134606e-02 1.18764008e-03 9.98912296e-01 4.11425587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37710568099999 meters 0.02562120346285409 Centerline is valid? [True, True] Translation: X:112.65, Y:15.45, Z:4.12 [[ 9.21155615e-01 -3.87365627e-01 -3.76855861e-02 1.12649675e+02] [ 3.86989925e-01 9.21925439e-01 -1.70962857e-02 1.54535140e+01] [ 4.13658139e-02 1.16439739e-03 9.99143390e-01 4.12265213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.40710568099999 meters 0.026510339665052448 Centerline is valid? [True, True] Translation: X:112.68, Y:15.46, Z:4.13 [[ 9.21941592e-01 -3.85688385e-01 -3.56113838e-02 1.12677505e+02] [ 3.85351151e-01 9.22628348e-01 -1.61685293e-02 1.54621667e+01] [ 3.90920862e-02 1.18355192e-03 9.99234911e-01 4.12692812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43710568099999 meters 0.026284043664965423 Centerline is valid? [True, True] Translation: X:112.71, Y:15.47, Z:4.13 [[ 9.22243902e-01 -3.84975475e-01 -3.54974522e-02 1.12705513e+02] [ 3.84639327e-01 9.22925993e-01 -1.61306925e-02 1.54709211e+01] [ 3.89714423e-02 1.22271669e-03 9.99239577e-01 4.12881287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46710568099999 meters 0.029369469256221404 Centerline is valid? [True, True] Translation: X:112.73, Y:15.48, Z:4.13 [[ 9.23575693e-01 -3.81675446e-01 -3.64937496e-02 1.12732623e+02] [ 3.81317012e-01 9.24295330e-01 -1.65976028e-02 1.54811101e+01] [ 4.00658997e-02 1.41345497e-03 9.99196040e-01 4.12899137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49710568099998 meters 0.02918239102118848 Centerline is valid? [True, True] Translation: X:112.76, Y:15.49, Z:4.13 [[ 9.24114846e-01 -3.80330532e-01 -3.68841074e-02 1.12760233e+02] [ 3.79963147e-01 9.24849427e-01 -1.67792982e-02 1.54900287e+01] [ 4.04939251e-02 1.49139704e-03 9.99178672e-01 4.12896156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52710568099998 meters 0.030023220709707085 Centerline is valid? [True, True] Translation: X:112.79, Y:15.50, Z:4.13 [[ 9.25455321e-01 -3.76839016e-01 -3.90487457e-02 1.12789635e+02] [ 3.76423489e-01 9.26277106e-01 -1.77786246e-02 1.54959626e+01] [ 4.28696386e-02 1.75445765e-03 9.99079134e-01 4.12576161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55710568099998 meters 0.03285987474372747 Centerline is valid? [True, True] Translation: X:112.82, Y:15.51, Z:4.12 [[ 9.25535897e-01 -3.75993980e-01 -4.48534234e-02 1.12816743e+02] [ 3.75444404e-01 9.26619804e-01 -2.04264261e-02 1.55050303e+01] [ 4.92422837e-02 2.06542380e-03 9.98784727e-01 4.11738509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58710568099998 meters 0.03251427206904423 Centerline is valid? [True, True] Translation: X:112.84, Y:15.51, Z:4.11 [[ 9.24998974e-01 -3.77034615e-01 -4.71359490e-02 1.12844396e+02] [ 3.76428412e-01 9.26196736e-01 -2.14769056e-02 1.55130195e+01] [ 5.17546989e-02 2.12280518e-03 9.98657571e-01 4.11464361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61710568099998 meters 0.030903059049986872 Centerline is valid? [True, True] Translation: X:112.87, Y:15.52, Z:4.12 [[ 9.24304173e-01 -3.78699961e-01 -4.74145102e-02 1.12874615e+02] [ 3.78087689e-01 9.25517203e-01 -2.16241910e-02 1.55151412e+01] [ 5.20720251e-02 2.06048737e-03 9.98641206e-01 4.11685506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64710568099999 meters 0.029453463281261888 Centerline is valid? [True, True] Translation: X:112.91, Y:15.52, Z:4.12 [[ 9.23252870e-01 -3.81308139e-01 -4.69919375e-02 1.12905058e+02] [ 3.80709349e-01 9.24446026e-01 -2.14461083e-02 1.55172100e+01] [ 5.16190855e-02 1.90991107e-03 9.98665020e-01 4.12007629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67710568099999 meters 0.026485788965851114 Centerline is valid? [True, True] Translation: X:112.94, Y:15.51, Z:4.12 [[ 9.20748275e-01 -3.87501923e-01 -4.54408818e-02 1.12938141e+02] [ 3.86949329e-01 9.21867650e-01 -2.07425535e-02 1.55146953e+01] [ 4.99282582e-02 1.51535160e-03 9.98751657e-01 4.12487615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70710568099999 meters 0.02409260598782344 Centerline is valid? [True, True] Translation: X:112.97, Y:15.52, Z:4.13 [[ 9.19410461e-01 -3.90869524e-01 -4.36511103e-02 1.12967869e+02] [ 3.90363273e-01 9.20445202e-01 -1.99284992e-02 1.55178921e+01] [ 4.79678981e-02 1.28268033e-03 9.98848054e-01 4.12938406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73710568099999 meters 0.021648277567101776 Centerline is valid? [True, True] Translation: X:113.00, Y:15.52, Z:4.13 [[ 9.16660244e-01 -3.97358142e-01 -4.29011052e-02 1.12999215e+02] [ 3.96876025e-01 9.17663141e-01 -1.95903257e-02 1.55197569e+01] [ 4.71531384e-02 9.31252655e-04 9.98887238e-01 4.13146980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.76710568099999 meters 0.02000345327314098 Centerline is valid? [True, True] Translation: X:113.03, Y:15.53, Z:4.13 [[ 9.15288660e-01 -4.00419471e-01 -4.37140314e-02 1.13028126e+02] [ 3.99922100e-01 9.16331609e-01 -1.99673951e-02 1.55259624e+01] [ 4.80518825e-02 7.93723055e-04 9.98844526e-01 4.13144835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79710568099999 meters 0.01868299470665861 Centerline is valid? [True, True] Translation: X:113.06, Y:15.53, Z:4.13 [[ 9.13705904e-01 -4.04136323e-01 -4.26069623e-02 1.13060010e+02] [ 4.03667113e-01 9.14698571e-01 -1.94778587e-02 1.55266622e+01] [ 4.68442377e-02 5.98005053e-04 9.98902027e-01 4.13330971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.82710568099999 meters 0.018455605152467608 Centerline is valid? [True, True] Translation: X:113.09, Y:15.53, Z:4.14 [[ 9.13108279e-01 -4.05523232e-01 -4.22395438e-02 1.13089498e+02] [ 4.05062847e-01 9.14084581e-01 -1.93253565e-02 1.55301647e+01] [ 4.64473967e-02 5.36473198e-04 9.98920593e-01 4.13858885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85710568099998 meters 0.018448264503305414 Centerline is valid? [True, True] Translation: X:113.12, Y:15.54, Z:4.14 [[ 9.12819988e-01 -4.06154841e-01 -4.24018290e-02 1.13115599e+02] [ 4.05690795e-01 9.13804122e-01 -1.94166381e-02 1.55407538e+01] [ 4.66331277e-02 5.21863667e-04 9.98911948e-01 4.14006304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88710568099998 meters 0.017913533061562258 Centerline is valid? [True, True] Translation: X:113.14, Y:15.55, Z:4.14 [[ 9.11817596e-01 -4.08383300e-01 -4.25646721e-02 1.13143454e+02] [ 4.07917244e-01 9.12810440e-01 -1.95095595e-02 1.55485187e+01] [ 4.68208554e-02 4.26295908e-04 9.98903211e-01 4.14108672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91710568099998 meters 0.017644215788703108 Centerline is valid? [True, True] Translation: X:113.17, Y:15.56, Z:4.14 [[ 9.11186764e-01 -4.09825319e-01 -4.22124201e-02 1.13172311e+02] [ 4.09367742e-01 9.12163952e-01 -1.93642938e-02 1.55552133e+01] [ 4.64406258e-02 3.64085087e-04 9.98920986e-01 4.14362292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94710568099998 meters 0.017710653583250267 Centerline is valid? [True, True] Translation: X:113.20, Y:15.57, Z:4.15 [[ 9.10975461e-01 -4.10318240e-01 -4.19839523e-02 1.13198155e+02] [ 4.09865480e-01 9.11942333e-01 -1.92735310e-02 1.55651864e+01] [ 4.61952248e-02 3.49941027e-04 9.98932369e-01 4.14565319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97710568099998 meters 0.017743241131368683 Centerline is valid? [True, True] Translation: X:113.23, Y:15.57, Z:4.15 [[ 9.11001415e-01 -4.10529499e-01 -3.92677139e-02 1.13225403e+02] [ 4.10133373e-01 9.11847260e-01 -1.80330202e-02 1.55735070e+01] [ 4.32092441e-02 3.23106969e-04 9.99065992e-01 4.15159750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00710568099998 meters 0.01770480143534475 Centerline is valid? [True, True] Translation: X:113.25, Y:15.58, Z:4.16 [[ 9.11074941e-01 -4.10560336e-01 -3.71841591e-02 1.13251486e+02] [ 4.10204617e-01 9.11833379e-01 -1.70898203e-02 1.55830139e+01] [ 4.09221598e-02 3.16993282e-04 9.99162287e-01 4.15644491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03710568099999 meters 0.018251176346715973 Centerline is valid? [True, True] Translation: X:113.28, Y:15.59, Z:4.16 [[ 9.11461965e-01 -4.09908332e-01 -3.48173151e-02 1.13275943e+02] [ 4.09595442e-01 9.12126661e-01 -1.60165093e-02 1.55947794e+01] [ 3.83231020e-02 3.37425455e-04 9.99265343e-01 4.16066802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06710568099999 meters 0.017833186367116186 Centerline is valid? [True, True] Translation: X:113.30, Y:15.60, Z:4.16 [[ 9.10653801e-01 -4.11544276e-01 -3.66191725e-02 1.13302310e+02] [ 4.11199176e-01 9.11389722e-01 -1.68526777e-02 1.56034630e+01] [ 4.03099605e-02 2.89181478e-04 9.99187181e-01 4.15773337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09710568099999 meters 0.01736013254775003 Centerline is valid? [True, True] Translation: X:113.33, Y:15.61, Z:4.16 [[ 9.09804433e-01 -4.13284941e-01 -3.80979138e-02 1.13331398e+02] [ 4.12912643e-01 9.10601727e-01 -1.75397780e-02 1.56077276e+01] [ 4.19409522e-02 2.26657567e-04 9.99120065e-01 4.15773600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.12710568099999 meters 0.017405720205498965 Centerline is valid? [True, True] Translation: X:113.36, Y:15.62, Z:4.16 [[ 9.09796334e-01 -4.13227693e-01 -3.89037910e-02 1.13356883e+02] [ 4.12838648e-01 9.10627701e-01 -1.79287426e-02 1.56196969e+01] [ 4.28355227e-02 2.50515753e-04 9.99082106e-01 4.15833175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15710568099999 meters 0.01827700468000953 Centerline is valid? [True, True] Translation: X:113.38, Y:15.64, Z:4.15 [[ 9.11527619e-01 -4.09196564e-01 -4.09337609e-02 1.13379532e+02] [ 4.08760900e-01 9.12446131e-01 -1.88834669e-02 1.56399355e+01] [ 4.50769015e-02 4.80680628e-04 9.98983404e-01 4.15475421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.18710568099999 meters 0.022171688849668733 Centerline is valid? [True, True] Translation: X:113.40, Y:15.66, Z:4.15 [[ 9.15660645e-01 -3.99722789e-01 -4.22761680e-02 1.13399957e+02] [ 3.99247229e-01 9.16635536e-01 -1.95177951e-02 1.56634822e+01] [ 4.65535454e-02 9.93033976e-04 9.98915302e-01 4.15447677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21710568099999 meters 0.024856399502492767 Centerline is valid? [True, True] Translation: X:113.42, Y:15.68, Z:4.16 [[ 9.17963861e-01 -3.94418892e-01 -4.21436644e-02 1.13423932e+02] [ 3.93940503e-01 9.18929891e-01 -1.94611513e-02 1.56806312e+01] [ 4.64029187e-02 1.26253728e-03 9.98922007e-01 4.15675380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24710568099998 meters 0.029838280385808085 Centerline is valid? [True, True] Translation: X:113.45, Y:15.70, Z:4.16 [[ 9.21389971e-01 -3.86204222e-01 -4.34375397e-02 1.13445423e+02] [ 3.85686669e-01 9.22411676e-01 -2.00622597e-02 1.57021133e+01] [ 4.78154232e-02 1.73188490e-03 9.98854687e-01 4.15688961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27710568099998 meters 0.03259770445365289 Centerline is valid? [True, True] Translation: X:113.47, Y:15.72, Z:4.16 [[ 9.24166917e-01 -3.79323670e-01 -4.50451173e-02 1.13469451e+02] [ 3.78758721e-01 9.25261503e-01 -2.08082271e-02 1.57211669e+01] [ 4.95715660e-02 2.16904402e-03 9.98768219e-01 4.15633638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30710568099998 meters 0.03432641970312668 Centerline is valid? [True, True] Translation: X:113.50, Y:15.74, Z:4.16 [[ 9.26593093e-01 -3.73389683e-01 -4.47815266e-02 1.13495327e+02] [ 3.72824289e-01 9.27671289e-01 -2.06888498e-02 1.57377385e+01] [ 4.92675395e-02 2.47450450e-03 9.98782552e-01 4.15820219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33710568099998 meters 0.03689562855724971 Centerline is valid? [True, True] Translation: X:113.52, Y:15.75, Z:4.16 [[ 9.27279271e-01 -3.71664893e-01 -4.49261751e-02 1.13519062e+02] [ 3.71093724e-01 9.28363382e-01 -2.07576014e-02 1.57520938e+01] [ 4.94226876e-02 2.57627181e-03 9.98774630e-01 4.15746458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36710568099998 meters 0.03749284389604621 Centerline is valid? [True, True] Translation: X:113.55, Y:15.76, Z:4.16 [[ 9.27365938e-01 -3.71445417e-01 -4.49524160e-02 1.13545721e+02] [ 3.70873010e-01 9.28451165e-01 -2.07760550e-02 1.57605983e+01] [ 4.94532934e-02 2.59536789e-03 9.98773065e-01 4.15858899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39710568099999 meters 0.035577088522045504 Centerline is valid? [True, True] Translation: X:113.57, Y:15.77, Z:4.16 [[ 9.26828804e-01 -3.72878559e-01 -4.41582168e-02 1.13574260e+02] [ 3.72327408e-01 9.27876833e-01 -2.04177175e-02 1.57682306e+01] [ 4.85867154e-02 2.48241433e-03 9.98815883e-01 4.16191984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42710568099999 meters 0.032320556393418895 Centerline is valid? [True, True] Translation: X:113.60, Y:15.77, Z:4.16 [[ 9.24155339e-01 -3.79583570e-01 -4.30490784e-02 1.13604977e+02] [ 3.79066373e-01 9.25155095e-01 -1.99182223e-02 1.57716707e+01] [ 4.73877041e-02 2.08907353e-03 9.98874387e-01 4.16412306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45710568099999 meters 0.03170232657347485 Centerline is valid? [True, True] Translation: X:113.63, Y:15.78, Z:4.16 [[ 9.22438520e-01 -3.83656282e-01 -4.37610945e-02 1.13633367e+02] [ 3.83126291e-01 9.23473983e-01 -2.02496294e-02 1.57800966e+01] [ 4.81811298e-02 1.91301238e-03 9.98836783e-01 4.16325667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48710568099999 meters 0.025507661798364216 Centerline is valid? [True, True] Translation: X:113.67, Y:15.78, Z:4.16 [[ 9.19058495e-01 -3.91366445e-01 -4.65165458e-02 1.13667555e+02] [ 3.90777235e-01 9.20233515e-01 -2.15274400e-02 1.57766333e+01] [ 5.12312021e-02 1.60736943e-03 9.98685526e-01 4.16118376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51710568099999 meters 0.024079797936198397 Centerline is valid? [True, True] Translation: X:113.70, Y:15.78, Z:4.16 [[ 9.16697422e-01 -3.96974362e-01 -4.55762364e-02 1.13697719e+02] [ 3.96415514e-01 9.17828819e-01 -2.10949804e-02 1.57809509e+01] [ 5.02053496e-02 1.27058692e-03 9.98738108e-01 4.16298779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.54710568099999 meters 0.023080716137873575 Centerline is valid? [True, True] Translation: X:113.73, Y:15.79, Z:4.17 [[ 9.15834597e-01 -3.99062712e-01 -4.46759852e-02 1.13725690e+02] [ 3.98527915e-01 9.16922928e-01 -2.06844326e-02 1.57884644e+01] [ 4.92188209e-02 1.13889178e-03 9.98787370e-01 4.16565897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.57710568099999 meters 0.022602027402617842 Centerline is valid? [True, True] Translation: X:113.75, Y:15.79, Z:4.17 [[ 9.14993968e-01 -4.01028610e-01 -4.42955124e-02 1.13754223e+02] [ 4.00504492e-01 9.16064942e-01 -2.05225339e-02 1.57938700e+01] [ 4.88076893e-02 1.03744306e-03 9.98807656e-01 4.16778034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60710568099998 meters 0.020434419632582412 Centerline is valid? [True, True] Translation: X:113.78, Y:15.80, Z:4.17 [[ 9.13646111e-01 -4.04078133e-01 -4.44032262e-02 1.13784269e+02] [ 4.03554612e-01 9.14724045e-01 -2.05814408e-02 1.57981965e+01] [ 4.89332089e-02 8.85026623e-04 9.98801661e-01 4.16982121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63710568099998 meters 0.019888410173513036 Centerline is valid? [True, True] Translation: X:113.81, Y:15.81, Z:4.17 [[ 9.12593135e-01 -4.06547023e-01 -4.35119374e-02 1.13811293e+02] [ 4.06046408e-01 9.13629550e-01 -2.01831741e-02 1.58054079e+01] [ 4.79592011e-02 7.51160165e-04 9.98849013e-01 4.17157987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66710568099998 meters 0.019824394435903565 Centerline is valid? [True, True] Translation: X:113.84, Y:15.82, Z:4.17 [[ 9.12209691e-01 -4.07412135e-01 -4.34607021e-02 1.13837314e+02] [ 4.06913349e-01 9.13244133e-01 -2.01662935e-02 1.58153117e+01] [ 4.79062239e-02 7.11148490e-04 9.98851585e-01 4.17344280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69710568099998 meters 0.020809687884451936 Centerline is valid? [True, True] Translation: X:113.86, Y:15.83, Z:4.17 [[ 9.12940811e-01 -4.05595917e-01 -4.50669157e-02 1.13862835e+02] [ 4.05056904e-01 9.14052099e-01 -2.09204634e-02 1.58270451e+01] [ 4.96787634e-02 8.44479509e-04 9.98764891e-01 4.17317883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72710568099998 meters 0.021316442927681194 Centerline is valid? [True, True] Translation: X:113.89, Y:15.84, Z:4.17 [[ 9.13754864e-01 -4.03721508e-01 -4.53981563e-02 1.13888692e+02] [ 4.03171756e-01 9.14881423e-01 -2.10835505e-02 1.58400176e+01] [ 5.00458126e-02 9.61942479e-04 9.98746460e-01 4.17402081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75710568099998 meters 0.023843528840211955 Centerline is valid? [True, True] Translation: X:113.91, Y:15.86, Z:4.18 [[ 9.16818745e-01 -3.96757790e-01 -4.50182736e-02 1.13913088e+02] [ 3.96208105e-01 9.17922355e-01 -2.09209894e-02 1.58582001e+01] [ 4.96238453e-02 1.34415036e-03 9.98767074e-01 4.17731703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78710568099999 meters 0.02842425348730654 Centerline is valid? [True, True] Translation: X:113.94, Y:15.88, Z:4.18 [[ 9.20735590e-01 -3.87685853e-01 -4.41095587e-02 1.13935360e+02] [ 3.87147579e-01 9.21789803e-01 -2.05014760e-02 1.58772855e+01] [ 4.86078736e-02 1.79952971e-03 9.98816318e-01 4.18086502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81710568099999 meters 0.03066490755377477 Centerline is valid? [True, True] Translation: X:113.96, Y:15.89, Z:4.18 [[ 9.22302707e-01 -3.83963650e-01 -4.39275797e-02 1.13960641e+02] [ 3.83425416e-01 9.23346063e-01 -2.04205475e-02 1.58919632e+01] [ 4.84011057e-02 1.99097567e-03 9.98825995e-01 4.18229427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84710568099999 meters 0.03382213922316859 Centerline is valid? [True, True] Translation: X:113.99, Y:15.91, Z:4.18 [[ 9.24870024e-01 -3.77551271e-01 -4.55024970e-02 1.13986054e+02] [ 3.76965787e-01 9.25985535e-01 -2.11561902e-02 1.59075761e+01] [ 5.01222005e-02 2.41384152e-03 9.98740176e-01 4.18087013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87710568099999 meters 0.03643412823060576 Centerline is valid? [True, True] Translation: X:114.01, Y:15.92, Z:4.18 [[ 9.26006036e-01 -3.74664062e-01 -4.62564745e-02 1.14011918e+02] [ 3.74055268e-01 9.27156945e-01 -2.15094402e-02 1.59208390e+01] [ 5.09458258e-02 2.61539355e-03 9.98697994e-01 4.17850650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.90710568099999 meters 0.035621622526772374 Centerline is valid? [True, True] Translation: X:114.04, Y:15.93, Z:4.18 [[ 9.26134013e-01 -3.74403381e-01 -4.58028208e-02 1.14039476e+02] [ 3.73805772e-01 9.27262256e-01 -2.13061829e-02 1.59289765e+01] [ 5.04483339e-02 2.61102188e-03 9.98723259e-01 4.17931787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93710568099999 meters 0.03527198190650458 Centerline is valid? [True, True] Translation: X:114.07, Y:15.94, Z:4.18 [[ 9.25464426e-01 -3.75938752e-01 -4.67509517e-02 1.14068341e+02] [ 3.75317103e-01 9.26640874e-01 -2.17660935e-02 1.59352103e+01] [ 5.15040608e-02 2.59731345e-03 9.98669408e-01 4.17695397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96710568099999 meters 0.03532795462724462 Centerline is valid? [True, True] Translation: X:114.10, Y:15.94, Z:4.17 [[ 9.24477008e-01 -3.78123722e-01 -4.86283160e-02 1.14096529e+02] [ 3.77453259e-01 9.25751447e-01 -2.26560125e-02 1.59405831e+01] [ 5.35845097e-02 2.59004627e-03 9.98559959e-01 4.17377921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99710568099998 meters 0.034187050614925975 Centerline is valid? [True, True] Translation: X:114.13, Y:15.95, Z:4.18 [[ 9.24019258e-01 -3.79454641e-01 -4.69317127e-02 1.14125970e+02] [ 3.78831388e-01 9.25207140e-01 -2.18752769e-02 1.59454403e+01] [ 5.17222310e-02 2.43397130e-03 9.98658544e-01 4.17843666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02710568099998 meters 0.03341989674508225 Centerline is valid? [True, True] Translation: X:114.15, Y:15.95, Z:4.18 [[ 9.23778598e-01 -3.80172314e-01 -4.58488059e-02 1.14153966e+02] [ 3.79577518e-01 9.24912682e-01 -2.13878418e-02 1.59544978e+01] [ 5.05372073e-02 2.35445459e-03 9.98719404e-01 4.18160387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05710568099998 meters 0.03341989674508225 Centerline is valid? [True, True] Translation: X:114.18, Y:15.97, Z:4.18 [[ 9.23635988e-01 -3.80519490e-01 -4.58419063e-02 1.14178838e+02] [ 3.79924388e-01 9.24769910e-01 -2.14026216e-02 1.59663480e+01] [ 5.05373302e-02 2.35177337e-03 9.98719404e-01 4.18262273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08710568099998 meters 0.032797566767734584 Centerline is valid? [True, True] Translation: X:114.21, Y:15.97, Z:4.18 [[ 9.22635510e-01 -3.82993983e-01 -4.53797846e-02 1.14207190e+02] [ 3.82412964e-01 9.23748195e-01 -2.12037231e-02 1.59718851e+01] [ 5.00403924e-02 2.20948992e-03 9.98744751e-01 4.18317389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11710568099998 meters 0.030997625794520887 Centerline is valid? [True, True] Translation: X:114.24, Y:15.98, Z:4.18 [[ 9.21345119e-01 -3.86054545e-01 -4.56624642e-02 1.14236064e+02] [ 3.85469695e-01 9.22473651e-01 -2.13419161e-02 1.59777700e+01] [ 5.03615638e-02 2.06177414e-03 9.98728923e-01 4.18425889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14710568099999 meters 0.026544887843345428 Centerline is valid? [True, True] Translation: X:114.27, Y:15.98, Z:4.19 [[ 9.17820649e-01 -3.94545475e-01 -4.40354928e-02 1.14269436e+02] [ 3.94011083e-01 9.18875119e-01 -2.05859591e-02 1.59771531e+01] [ 4.85852157e-02 1.54374620e-03 9.98817848e-01 4.18749843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17710568099999 meters 0.02524936354146639 Centerline is valid? [True, True] Translation: X:114.30, Y:15.98, Z:4.19 [[ 9.16124121e-01 -3.98461607e-01 -4.41015083e-02 1.14297257e+02] [ 3.97929940e-01 9.17184031e-01 -2.06207705e-02 1.59843453e+01] [ 4.86657846e-02 1.34187471e-03 9.98814217e-01 4.18904487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20710568099999 meters 0.02252193629886128 Centerline is valid? [True, True] Translation: X:114.33, Y:15.99, Z:4.19 [[ 9.13317739e-01 -4.04832735e-01 -4.42850367e-02 1.14328664e+02] [ 4.04303726e-01 9.14390195e-01 -2.07139621e-02 1.59873843e+01] [ 4.88794933e-02 1.01382369e-03 9.98804169e-01 4.19062278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23710568099999 meters 0.021343789752198115 Centerline is valid? [True, True] Translation: X:114.36, Y:16.00, Z:4.19 [[ 9.12325644e-01 -4.06961379e-01 -4.52145422e-02 1.14356479e+02] [ 4.06411713e-01 9.13444889e-01 -2.11649568e-02 1.59962359e+01] [ 4.99143125e-02 9.33613266e-04 9.98753067e-01 4.19075417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.26710568099999 meters 0.020653353270464272 Centerline is valid? [True, True] Translation: X:114.38, Y:16.01, Z:4.19 [[ 9.11146733e-01 -4.09230686e-01 -4.83929301e-02 1.14384588e+02] [ 4.08603074e-01 9.12430525e-01 -2.26730210e-02 1.60058005e+01] [ 5.34336826e-02 8.84949022e-04 9.98571008e-01 4.18705082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29710568099999 meters 0.020639162121859712 Centerline is valid? [True, True] Translation: X:114.41, Y:16.02, Z:4.19 [[ 9.10645588e-01 -4.09930677e-01 -5.17827574e-02 1.14410904e+02] [ 4.09211867e-01 9.12116214e-01 -2.42829024e-02 1.60174006e+01] [ 5.71861993e-02 9.22999065e-04 9.98363104e-01 4.18524644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.32710568099999 meters 0.020825637921764693 Centerline is valid? [True, True] Translation: X:114.44, Y:16.03, Z:4.18 [[ 9.10559114e-01 -4.09952236e-01 -5.31155746e-02 1.14436754e+02] [ 4.09194677e-01 9.12106481e-01 -2.49295668e-02 1.60306857e+01] [ 5.86669915e-02 9.65233877e-04 9.98277142e-01 4.18385581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35710568099998 meters 0.02127760124849562 Centerline is valid? [True, True] Translation: X:114.46, Y:16.04, Z:4.18 [[ 9.10621547e-01 -4.09533576e-01 -5.52326736e-02 1.14461284e+02] [ 4.08712519e-01 9.12294444e-01 -2.59407817e-02 1.60430954e+01] [ 6.10120824e-02 1.04794962e-03 9.98136477e-01 4.18140540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38710568099998 meters 0.0209996273641909 Centerline is valid? [True, True] Translation: X:114.49, Y:16.05, Z:4.19 [[ 9.11081826e-01 -4.08655304e-01 -5.41363824e-02 1.14486881e+02] [ 4.07864094e-01 9.12688137e-01 -2.54410088e-02 1.60539246e+01] [ 5.98062371e-02 1.09855418e-03 9.98209400e-01 4.18683713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41710568099998 meters 0.020597042923131074 Centerline is valid? [True, True] Translation: X:114.51, Y:16.07, Z:4.19 [[ 9.10569096e-01 -4.10089094e-01 -5.18734699e-02 1.14512728e+02] [ 4.09363750e-01 9.12044938e-01 -2.43998208e-02 1.60655566e+01] [ 5.73170361e-02 9.82604577e-04 9.98355544e-01 4.19138948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44710568099998 meters 0.019348919056655638 Centerline is valid? [True, True] Translation: X:114.54, Y:16.07, Z:4.20 [[ 9.08710551e-01 -4.14715272e-01 -4.75013350e-02 1.14540068e+02] [ 4.14112719e-01 9.09951002e-01 -2.23568592e-02 1.60740857e+01] [ 5.24956184e-02 6.45006857e-04 9.98620946e-01 4.19820428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47710568099998 meters 0.01816689482799028 Centerline is valid? [True, True] Translation: X:114.57, Y:16.08, Z:4.21 [[ 9.06904178e-01 -4.19103997e-01 -4.33203318e-02 1.14567718e+02] [ 4.18607712e-01 9.07938164e-01 -2.03929807e-02 1.60825393e+01] [ 4.78789623e-02 3.60254445e-04 9.98853080e-01 4.20649312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50710568099998 meters 0.017795077831613798 Centerline is valid? [True, True] Translation: X:114.59, Y:16.09, Z:4.21 [[ 9.06091532e-01 -4.21097284e-01 -4.09293661e-02 1.14593667e+02] [ 4.20656035e-01 9.07015445e-01 -1.92738960e-02 1.60939673e+01] [ 4.52397525e-02 2.46729091e-04 9.98976128e-01 4.21177346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53710568099999 meters 0.017437534598906405 Centerline is valid? [True, True] Translation: X:114.62, Y:16.10, Z:4.22 [[ 9.04367400e-01 -4.25086368e-01 -3.76986220e-02 1.14620524e+02] [ 4.24714933e-01 9.05152792e-01 -1.77665357e-02 1.61049500e+01] [ 4.16753250e-02 5.63079850e-05 9.99131205e-01 4.21801854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56710568099999 meters 0.017538260417120293 Centerline is valid? [True, True] Translation: X:114.65, Y:16.12, Z:4.22 [[ 9.02579473e-01 -4.28857265e-01 -3.78383696e-02 1.14645555e+02] [ 4.28485725e-01 9.03372258e-01 -1.78479011e-02 1.61182221e+01] [ 4.18363354e-02 -1.04052134e-04 9.99124472e-01 4.21861743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59710568099999 meters 0.017630996723906937 Centerline is valid? [True, True] Translation: X:114.67, Y:16.13, Z:4.22 [[ 9.02154500e-01 -4.29640863e-01 -3.90638858e-02 1.14669551e+02] [ 4.29244864e-01 9.02999841e-01 -1.84427351e-02 1.61325563e+01] [ 4.31984353e-02 -1.29775843e-04 9.99066503e-01 4.21683440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.62710568099999 meters 0.017797820347813086 Centerline is valid? [True, True] Translation: X:114.69, Y:16.15, Z:4.21 [[ 9.02051177e-01 -4.29657885e-01 -4.12040753e-02 1.14691924e+02] [ 4.29217022e-01 9.02991741e-01 -1.94592809e-02 1.61508342e+01] [ 4.55677732e-02 -1.32223234e-04 9.98961241e-01 4.21428162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65710568099999 meters 0.017793809646136725 Centerline is valid? [True, True] Translation: X:114.71, Y:16.17, Z:4.21 [[ 9.02988571e-01 -4.27527316e-01 -4.28022811e-02 1.14713680e+02] [ 4.27048769e-01 9.04002430e-01 -2.02226352e-02 1.61724758e+01] [ 4.73390951e-02 -1.78530586e-05 9.98878876e-01 4.21271098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.68710568099999 meters 0.017940171886735308 Centerline is valid? [True, True] Translation: X:114.74, Y:16.19, Z:4.21 [[ 9.03535101e-01 -4.26276973e-01 -4.37294291e-02 1.14736261e+02] [ 4.25775276e-01 9.04592692e-01 -2.06754875e-02 1.61890904e+01] [ 4.83708062e-02 6.21189760e-05 9.98829446e-01 4.21079573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71710568099999 meters 0.018126737903541947 Centerline is valid? [True, True] Translation: X:114.76, Y:16.21, Z:4.21 [[ 9.04156529e-01 -4.24667131e-01 -4.64628752e-02 1.14759327e+02] [ 4.24098072e-01 9.05349546e-01 -2.19778248e-02 1.62078901e+01] [ 5.13984028e-02 1.66577983e-04 9.98678215e-01 4.20713754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74710568099998 meters 0.017854859642567562 Centerline is valid? [True, True] Translation: X:114.78, Y:16.22, Z:4.21 [[ 9.04087221e-01 -4.24897688e-01 -4.56973970e-02 1.14782911e+02] [ 4.24346598e-01 9.05241364e-01 -2.16342000e-02 1.62243756e+01] [ 5.05594955e-02 1.67668805e-04 9.98721037e-01 4.20871483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77710568099998 meters 0.017770519493998434 Centerline is valid? [True, True] Translation: X:114.81, Y:16.24, Z:4.21 [[ 9.03208019e-01 -4.26813632e-01 -4.52260810e-02 1.14807839e+02] [ 4.26275200e-01 9.04339603e-01 -2.14321258e-02 1.62378126e+01] [ 5.00472595e-02 7.89111403e-05 9.98746848e-01 4.21006700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80710568099998 meters 0.017822686533627848 Centerline is valid? [True, True] Translation: X:114.83, Y:16.25, Z:4.21 [[ 9.00705715e-01 -4.32233447e-01 -4.36286799e-02 1.14833917e+02] [ 4.31737919e-01 9.01761724e-01 -2.06920771e-02 1.62484504e+01] [ 4.82864815e-02 -1.98683322e-04 9.98833508e-01 4.21238920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83710568099998 meters 0.01883442589692586 Centerline is valid? [True, True] Translation: X:114.86, Y:16.26, Z:4.22 [[ 8.98786716e-01 -4.36558305e-01 -3.99910575e-02 1.14860333e+02] [ 4.36146027e-01 8.99675883e-01 -1.89723194e-02 1.62568978e+01] [ 4.42615135e-02 -3.89872146e-04 9.99019903e-01 4.21726477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86710568099998 meters 0.019152667347474256 Centerline is valid? [True, True] Translation: X:114.89, Y:16.27, Z:4.22 [[ 8.98029573e-01 -4.38185718e-01 -3.91939136e-02 1.14885381e+02] [ 4.37790953e-01 8.98884348e-01 -1.86013688e-02 1.62690722e+01] [ 4.33816496e-02 -4.54161498e-04 9.99058470e-01 4.21991016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89710568099999 meters 0.019049690950417295 Centerline is valid? [True, True] Translation: X:114.91, Y:16.29, Z:4.22 [[ 8.97480032e-01 -4.39053028e-01 -4.19765459e-02 1.14908991e+02] [ 4.38600262e-01 8.98461003e-01 -1.99408132e-02 1.62873055e+01] [ 4.64693640e-02 -5.14442328e-04 9.98919583e-01 4.21669272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92710568099999 meters 0.01859909250085461 Centerline is valid? [True, True] Translation: X:114.93, Y:16.30, Z:4.22 [[ 8.98057659e-01 -4.37793436e-01 -4.27708816e-02 1.14932103e+02] [ 4.37321215e-01 8.99075475e-01 -2.03333379e-02 1.63030279e+01] [ 4.73560526e-02 -4.44104119e-04 9.98877974e-01 4.21593370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95710568099999 meters 0.017656111569927635 Centerline is valid? [True, True] Translation: X:114.95, Y:16.33, Z:4.22 [[ 9.00259996e-01 -4.33142739e-01 -4.38098956e-02 1.14953819e+02] [ 4.32641319e-01 9.01325318e-01 -2.08364938e-02 1.63253677e+01] [ 4.85121441e-02 -1.95709156e-04 9.98822574e-01 4.21877561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98710568099999 meters 0.017419036457539012 Centerline is valid? [True, True] Translation: X:114.97, Y:16.35, Z:4.22 [[ 9.02591216e-01 -4.28155592e-01 -4.48540601e-02 1.14973119e+02] [ 4.27623014e-01 9.03705030e-01 -2.13489206e-02 1.63500692e+01] [ 4.96754995e-02 8.87198665e-05 9.98765406e-01 4.21836462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01710568099999 meters 0.017189838379476727 Centerline is valid? [True, True] Translation: X:115.00, Y:16.37, Z:4.22 [[ 9.03026919e-01 -4.27278866e-01 -4.44426953e-02 1.14995543e+02] [ 4.26754477e-01 9.04119876e-01 -2.11628675e-02 1.63675030e+01] [ 4.92239702e-02 1.44519834e-04 9.98787755e-01 4.22000560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.04710568099999 meters 0.017157813383864812 Centerline is valid? [True, True] Translation: X:115.02, Y:16.39, Z:4.22 [[ 9.03850840e-01 -4.25536215e-01 -4.44138265e-02 1.15016423e+02] [ 4.25009426e-01 9.04941359e-01 -2.11689446e-02 1.63879446e+01] [ 4.92000610e-02 2.57273437e-04 9.98788911e-01 4.22226521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07710568099999 meters 0.017505406858609168 Centerline is valid? [True, True] Translation: X:115.04, Y:16.41, Z:4.23 [[ 9.05259213e-01 -4.22674073e-01 -4.30393491e-02 1.15038567e+02] [ 4.22175267e-01 9.06281664e-01 -2.05326457e-02 1.64061452e+01] [ 4.76843898e-02 4.17217966e-04 9.98862365e-01 4.22523900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10710568099998 meters 0.01801187127029723 Centerline is valid? [True, True] Translation: X:115.06, Y:16.42, Z:4.23 [[ 9.06076945e-01 -4.21015163e-01 -4.20808965e-02 1.15063379e+02] [ 4.20535704e-01 9.07053456e-01 -2.00935146e-02 1.64219725e+01] [ 4.66292969e-02 5.09750912e-04 9.98912133e-01 4.22781096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13710568099998 meters 0.019068932148485523 Centerline is valid? [True, True] Translation: X:115.09, Y:16.44, Z:4.23 [[ 9.07674089e-01 -4.17621510e-01 -4.14731549e-02 1.15085711e+02] [ 4.17151522e-01 9.08620823e-01 -1.98193854e-02 1.64421053e+01] [ 4.59603737e-02 6.88952918e-04 9.98943026e-01 4.22972507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16710568099998 meters 0.018875862681206484 Centerline is valid? [True, True] Translation: X:115.11, Y:16.46, Z:4.23 [[ 9.07888033e-01 -4.17181239e-01 -4.12205519e-02 1.15111170e+02] [ 4.16715772e-01 9.08823026e-01 -1.97147787e-02 1.64560089e+01] [ 4.56868226e-02 7.21557555e-04 9.98955551e-01 4.23100378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19710568099998 meters 0.017954450912948484 Centerline is valid? [True, True] Translation: X:115.14, Y:16.47, Z:4.24 [[ 9.06741404e-01 -4.19972216e-01 -3.79916180e-02 1.15138317e+02] [ 4.19578692e-01 9.07536796e-01 -1.81847304e-02 1.64656515e+01] [ 4.21158728e-02 5.48374555e-04 9.99112583e-01 4.23608746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22710568099998 meters 0.017220950900522947 Centerline is valid? [True, True] Translation: X:115.17, Y:16.47, Z:4.24 [[ 9.05412940e-01 -4.22971531e-01 -3.63660940e-02 1.15165281e+02] [ 4.22612820e-01 9.06142881e-01 -1.74207725e-02 1.64749169e+01] [ 4.03213680e-02 4.04215310e-04 9.99186681e-01 4.23963419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25710568099998 meters 0.016148478609195237 Centerline is valid? [True, True] Translation: X:115.19, Y:16.48, Z:4.25 [[ 9.02129699e-01 -4.30214428e-01 -3.28260998e-02 1.15194667e+02] [ 4.29926519e-01 9.02726725e-01 -1.57368685e-02 1.64799848e+01] [ 3.64032254e-02 8.38855575e-05 9.99337179e-01 4.24645165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28710568099999 meters 0.016534460941431597 Centerline is valid? [True, True] Translation: X:115.22, Y:16.49, Z:4.25 [[ 8.98783101e-01 -4.37323294e-01 -3.06149211e-02 1.15223549e+02] [ 4.37076593e-01 8.99304345e-01 -1.46883251e-02 1.64866240e+01] [ 3.39556783e-02 -1.79447085e-04 9.99423324e-01 4.25285756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31710568099999 meters 0.016594085380041167 Centerline is valid? [True, True] Translation: X:115.25, Y:16.50, Z:4.26 [[ 8.98009037e-01 -4.38946566e-01 -3.00945357e-02 1.15248995e+02] [ 4.38708695e-01 8.98513139e-01 -1.44505820e-02 1.64995118e+01] [ 3.33833691e-02 -2.25981225e-04 9.99442594e-01 4.25550031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34710568099999 meters 0.01607428329318345 Centerline is valid? [True, True] Translation: X:115.27, Y:16.52, Z:4.26 [[ 8.99721254e-01 -4.35387159e-01 -3.06543104e-02 1.15270085e+02] [ 4.35137855e-01 9.00243308e-01 -1.47320417e-02 1.65212566e+01] [ 3.40104796e-02 -8.41198146e-05 9.99421473e-01 4.25541296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37710568099999 meters 0.016604559529234664 Centerline is valid? [True, True] Translation: X:115.29, Y:16.55, Z:4.25 [[ 9.04273056e-01 -4.25724269e-01 -3.23896062e-02 1.15288425e+02] [ 4.25439174e-01 9.04852889e-01 -1.55807132e-02 1.65466563e+01] [ 3.59409165e-02 3.09411887e-04 9.99353869e-01 4.25282394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.40710568099999 meters 0.018110813744481532 Centerline is valid? [True, True] Translation: X:115.31, Y:16.57, Z:4.25 [[ 9.06670129e-01 -4.20404936e-01 -3.47702144e-02 1.15311560e+02] [ 4.20072227e-01 9.07336416e-01 -1.67317771e-02 1.65657983e+01] [ 3.85824034e-02 5.64201055e-04 9.99255263e-01 4.25097836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43710568099999 meters 0.022928461076663072 Centerline is valid? [True, True] Translation: X:115.33, Y:16.59, Z:4.25 [[ 9.11248207e-01 -4.10127739e-01 -3.77086528e-02 1.15331589e+02] [ 4.09726914e-01 9.12027428e-01 -1.81610970e-02 1.65894775e+01] [ 4.18396953e-02 1.09901711e-03 9.99123732e-01 4.24729537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46710568099999 meters 0.025134208352482795 Centerline is valid? [True, True] Translation: X:115.36, Y:16.61, Z:4.24 [[ 9.13866941e-01 -4.03942824e-01 -4.09561790e-02 1.15356145e+02] [ 4.03463532e-01 9.14782995e-01 -1.97294330e-02 1.66066789e+01] [ 4.54355790e-02 1.50575197e-03 9.98966136e-01 4.24344949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49710568099998 meters 0.02703683059402537 Centerline is valid? [True, True] Translation: X:115.38, Y:16.62, Z:4.24 [[ 9.14326967e-01 -4.02653458e-01 -4.33173133e-02 1.15379431e+02] [ 4.02115577e-01 9.15350982e-01 -2.08720729e-02 1.66216213e+01] [ 4.80547576e-02 1.66533271e-03 9.98843315e-01 4.24038661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52710568099998 meters 0.02714694832701688 Centerline is valid? [True, True] Translation: X:115.41, Y:16.63, Z:4.24 [[ 9.13787158e-01 -4.03588607e-01 -4.59267473e-02 1.15405910e+02] [ 4.02984694e-01 9.14938946e-01 -2.21373470e-02 1.66321167e+01] [ 5.09545508e-02 1.72104715e-03 9.98699490e-01 4.23657519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55710568099998 meters 0.024606067041787295 Centerline is valid? [True, True] Translation: X:115.44, Y:16.64, Z:4.24 [[ 9.11815323e-01 -4.08015090e-01 -4.60054699e-02 1.15436144e+02] [ 4.07414413e-01 9.12973981e-01 -2.21812050e-02 1.66354791e+01] [ 5.10520634e-02 1.48187106e-03 9.98694894e-01 4.23750003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58710568099998 meters 0.022839177993467397 Centerline is valid? [True, True] Translation: X:115.46, Y:16.64, Z:4.24 [[ 9.10341194e-01 -4.11136090e-01 -4.73922585e-02 1.15464634e+02] [ 4.10502392e-01 9.11572971e-01 -2.28583624e-02 1.66421752e+01] [ 5.25993997e-02 1.35427344e-03 9.98614775e-01 4.23817585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61710568099998 meters 0.019967525650433485 Centerline is valid? [True, True] Translation: X:115.50, Y:16.65, Z:4.24 [[ 9.07640743e-01 -4.16883077e-01 -4.89569349e-02 1.15495039e+02] [ 4.16214351e-01 9.08959492e-01 -2.36274491e-02 1.66461960e+01] [ 5.43497543e-02 1.06865664e-03 9.98521388e-01 4.23772985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64710568099999 meters 0.019203135307612293 Centerline is valid? [True, True] Translation: X:115.52, Y:16.66, Z:4.24 [[ 9.06606591e-01 -4.19161189e-01 -4.86660747e-02 1.15521549e+02] [ 4.18503122e-01 9.07911352e-01 -2.34971254e-02 1.66564979e+01] [ 5.40335646e-02 9.35744547e-04 9.98538681e-01 4.23972217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67710568099999 meters 0.019645079846731934 Centerline is valid? [True, True] Translation: X:115.55, Y:16.67, Z:4.25 [[ 9.06948204e-01 -4.18753276e-01 -4.57236206e-02 1.15546669e+02] [ 4.18171181e-01 9.08099585e-01 -2.20908782e-02 1.66689120e+01] [ 5.07722285e-02 9.14981919e-04 9.98709840e-01 4.24630326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70710568099999 meters 0.0197586552225216 Centerline is valid? [True, True] Translation: X:115.57, Y:16.68, Z:4.25 [[ 9.07352650e-01 -4.18177168e-01 -4.28838563e-02 1.15572140e+02] [ 4.17664138e-01 9.08365044e-01 -2.07271284e-02 1.66823095e+01] [ 4.76218079e-02 8.95765975e-04 9.98865036e-01 4.25268962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73710568099999 meters 0.018470299708126685 Centerline is valid? [True, True] Translation: X:115.60, Y:16.69, Z:4.25 [[ 9.06125897e-01 -4.20929252e-01 -4.18858534e-02 1.15599807e+02] [ 4.20442090e-01 9.07093163e-01 -2.02593630e-02 1.66925102e+01] [ 4.65221298e-02 7.46957733e-04 9.98916980e-01 4.25469627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.76710568099999 meters 0.01802041043165957 Centerline is valid? [True, True] Translation: X:115.63, Y:16.70, Z:4.25 [[ 9.04992125e-01 -4.23359489e-01 -4.19046185e-02 1.15625434e+02] [ 4.22874122e-01 9.05961559e-01 -2.02763554e-02 1.67031894e+01] [ 4.65481610e-02 6.29563156e-04 9.98915848e-01 4.25462253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79710568099999 meters 0.017140941697478044 Centerline is valid? [True, True] Translation: X:115.65, Y:16.71, Z:4.25 [[ 9.03680894e-01 -4.26152110e-01 -4.18953553e-02 1.15652257e+02] [ 4.25669573e-01 9.04651389e-01 -2.02799915e-02 1.67130242e+01] [ 4.65430525e-02 4.93062812e-04 9.98916163e-01 4.25470573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.82710568099999 meters 0.015835611750591748 Centerline is valid? [True, True] Translation: X:115.68, Y:16.72, Z:4.25 [[ 9.00507437e-01 -4.32663085e-01 -4.34627523e-02 1.15680683e+02] [ 4.32150453e-01 9.01555668e-01 -2.10561753e-02 1.67202879e+01] [ 4.82943204e-02 1.78794384e-04 9.98833133e-01 4.25364533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85710568099998 meters 0.015711161187313215 Centerline is valid? [True, True] Translation: X:115.71, Y:16.73, Z:4.25 [[ 8.98460661e-01 -4.36789677e-01 -4.45333357e-02 1.15707019e+02] [ 4.36255596e-01 8.99563659e-01 -2.15934774e-02 1.67302049e+01] [ 4.94923785e-02 -2.70269210e-05 9.98774501e-01 4.25250884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88710568099998 meters 0.017451385665387734 Centerline is valid? [True, True] Translation: X:115.74, Y:16.73, Z:4.25 [[ 8.94135909e-01 -4.45470718e-01 -4.55721008e-02 1.15735752e+02] [ 4.44921709e-01 8.95296369e-01 -2.21152788e-02 1.67342687e+01] [ 5.06522455e-02 -5.01952085e-04 9.98716225e-01 4.25227080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91710568099998 meters 0.02058516058989186 Centerline is valid? [True, True] Translation: X:115.77, Y:16.74, Z:4.26 [[ 8.89888866e-01 -4.53894032e-01 -4.55852328e-02 1.15766221e+02] [ 4.53355204e-01 8.91055140e-01 -2.21313386e-02 1.67400103e+01] [ 5.06642386e-02 -9.71870672e-04 9.98715270e-01 4.25537099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94710568099998 meters 0.02058516058989186 Centerline is valid? [True, True] Translation: X:115.79, Y:16.75, Z:4.26 [[ 8.89721294e-01 -4.54222924e-01 -4.55802038e-02 1.15790867e+02] [ 4.53683996e-01 8.90887522e-01 -2.21416917e-02 1.67522605e+01] [ 5.06640988e-02 -9.79074430e-04 9.98715270e-01 4.25638950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97710568099998 meters 0.023631003126491718 Centerline is valid? [True, True] Translation: X:115.82, Y:16.76, Z:4.26 [[ 8.87639019e-01 -4.58383404e-01 -4.45154822e-02 1.15818267e+02] [ 4.57873773e-01 8.88753779e-01 -2.16409060e-02 1.67596862e+01] [ 4.94831351e-02 -1.17315926e-03 9.98774270e-01 4.25816557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00710568099998 meters 0.026355603415661233 Centerline is valid? [True, True] Translation: X:115.85, Y:16.77, Z:4.26 [[ 8.84156748e-01 -4.65277623e-01 -4.22324355e-02 1.15845833e+02] [ 4.64826527e-01 8.85163580e-01 -2.05362366e-02 1.67692305e+01] [ 4.69376651e-02 -1.47350413e-03 9.98896734e-01 4.26329319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03710568099999 meters 0.02727371888747363 Centerline is valid? [True, True] Translation: X:115.87, Y:16.79, Z:4.26 [[ 8.82006214e-01 -4.69180985e-01 -4.39800046e-02 1.15870960e+02] [ 4.68696286e-01 8.83100310e-01 -2.13923754e-02 1.67852538e+01] [ 4.88756515e-02 -1.74505674e-03 9.98803347e-01 4.26237873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06710568099999 meters 0.027922217922303358 Centerline is valid? [True, True] Translation: X:115.90, Y:16.80, Z:4.26 [[ 8.81373000e-01 -4.70237919e-01 -4.53644560e-02 1.15895632e+02] [ 4.69722801e-01 8.82537756e-01 -2.20816724e-02 1.68008196e+01] [ 5.04194848e-02 -1.84652948e-03 9.98726422e-01 4.26125226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09710568099999 meters 0.030760734522798098 Centerline is valid? [True, True] Translation: X:115.92, Y:16.82, Z:4.26 [[ 8.80811295e-01 -4.71171029e-01 -4.65759977e-02 1.15919200e+02] [ 4.70628471e-01 8.82039745e-01 -2.26876642e-02 1.68172661e+01] [ 5.17716512e-02 -1.93643968e-03 9.98657071e-01 4.25813220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.12710568099999 meters 0.028855996944830656 Centerline is valid? [True, True] Translation: X:115.94, Y:16.84, Z:4.26 [[ 8.80942161e-01 -4.71009035e-01 -4.57318031e-02 1.15940529e+02] [ 4.70485256e-01 8.82126375e-01 -2.22863435e-02 1.68391362e+01] [ 5.08382989e-02 -1.88315956e-03 9.98705122e-01 4.26079341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15710568099999 meters 0.029243185326698163 Centerline is valid? [True, True] Translation: X:115.96, Y:16.85, Z:4.26 [[ 8.80867699e-01 -4.71253190e-01 -4.46377400e-02 1.15964053e+02] [ 4.70753759e-01 8.81996060e-01 -2.17680545e-02 1.68545229e+01] [ 4.96285759e-02 -1.83860784e-03 9.98766051e-01 4.26289016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.18710568099999 meters 0.028286356216614458 Centerline is valid? [True, True] Translation: X:115.98, Y:16.88, Z:4.26 [[ 8.80705028e-01 -4.71541816e-01 -4.47992215e-02 1.15983687e+02] [ 4.71038622e-01 8.81841757e-01 -2.18570893e-02 1.68776401e+01] [ 4.98123557e-02 -1.85251511e-03 9.98756876e-01 4.26394050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21710568099998 meters 0.028357994887685877 Centerline is valid? [True, True] Translation: X:116.01, Y:16.89, Z:4.26 [[ 8.80732449e-01 -4.71404312e-01 -4.56982358e-02 1.16006246e+02] [ 4.70879406e-01 8.81915249e-01 -2.23176758e-02 1.68949939e+01] [ 5.08226196e-02 -1.86245694e-03 9.98705959e-01 4.26256069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24710568099998 meters 0.030248967142846032 Centerline is valid? [True, True] Translation: X:116.03, Y:16.91, Z:4.26 [[ 8.81005027e-01 -4.70723714e-01 -4.74270845e-02 1.16027899e+02] [ 4.70156321e-01 8.82278679e-01 -2.31811530e-02 1.69135729e+01] [ 5.27558239e-02 -1.87543124e-03 9.98605681e-01 4.25764592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27710568099998 meters 0.026131504654543076 Centerline is valid? [True, True] Translation: X:116.05, Y:16.94, Z:4.26 [[ 8.82807632e-01 -4.67472886e-01 -4.60411235e-02 1.16046188e+02] [ 4.66933353e-01 8.84005917e-01 -2.25118249e-02 1.69410057e+01] [ 5.12242934e-02 -1.62452527e-03 9.98685853e-01 4.26173228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30710568099998 meters 0.024747365266189196 Centerline is valid? [True, True] Translation: X:116.07, Y:16.96, Z:4.27 [[ 8.84394148e-01 -4.64657876e-01 -4.40459822e-02 1.16068620e+02] [ 4.64160376e-01 8.85489196e-01 -2.15413203e-02 1.69599050e+01] [ 4.90115855e-02 -1.39338207e-03 9.98797238e-01 4.26606781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33710568099998 meters 0.0228412266989298 Centerline is valid? [True, True] Translation: X:116.09, Y:16.98, Z:4.27 [[ 8.87539205e-01 -4.58948060e-01 -4.05072643e-02 1.16088575e+02] [ 4.58521174e-01 8.88462551e-01 -1.98148507e-02 1.69846221e+01] [ 4.50831746e-02 -9.86981519e-04 9.98982749e-01 4.27214150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36710568099998 meters 0.019787853559573472 Centerline is valid? [True, True] Translation: X:116.11, Y:17.01, Z:4.27 [[ 8.91007061e-01 -4.52189765e-01 -4.03835750e-02 1.16106998e+02] [ 4.51758359e-01 8.91921525e-01 -1.97579727e-02 1.70127426e+01] [ 4.49533328e-02 -6.39124415e-04 9.98988884e-01 4.27271900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39710568099999 meters 0.018157174008393444 Centerline is valid? [True, True] Translation: X:116.13, Y:17.04, Z:4.27 [[ 8.93235114e-01 -4.47789981e-01 -4.01891005e-02 1.16127706e+02] [ 4.47357972e-01 8.94138672e-01 -1.96692664e-02 1.70352823e+01] [ 4.47423294e-02 -4.09635121e-04 9.98998477e-01 4.27417879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42710568099999 meters 0.017254320751914434 Centerline is valid? [True, True] Translation: X:116.14, Y:17.07, Z:4.28 [[ 8.98607364e-01 -4.37053234e-01 -3.85911276e-02 1.16143976e+02] [ 4.36644316e-01 8.99435630e-01 -1.89020856e-02 1.70665547e+01] [ 4.29714528e-02 1.34956789e-04 9.99076291e-01 4.27685475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45710568099999 meters 0.0181057386633538 Centerline is valid? [True, True] Translation: X:116.17, Y:17.09, Z:4.28 [[ 9.00671756e-01 -4.32806339e-01 -3.83283342e-02 1.16165965e+02] [ 4.32398473e-01 9.01486856e-01 -1.87885388e-02 1.70866637e+01] [ 4.26842881e-02 3.49193026e-04 9.99088549e-01 4.27826861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48710568099999 meters 0.020351763180666692 Centerline is valid? [True, True] Translation: X:116.19, Y:17.11, Z:4.28 [[ 9.03420371e-01 -4.26876659e-01 -4.00992765e-02 1.16186083e+02] [ 4.26423620e-01 9.04309606e-01 -1.96731226e-02 1.71112010e+01] [ 4.46601578e-02 6.73821080e-04 9.99002010e-01 4.27699280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51710568099999 meters 0.022884018321460683 Centerline is valid? [True, True] Translation: X:116.21, Y:17.13, Z:4.27 [[ 9.06308568e-01 -4.20466581e-01 -4.25750407e-02 1.16208244e+02] [ 4.19948066e-01 9.07307401e-01 -2.09021805e-02 1.71339105e+01] [ 4.74173180e-02 1.06451929e-03 9.98874599e-01 4.27478095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.54710568099999 meters 0.025418799665806572 Centerline is valid? [True, True] Translation: X:116.23, Y:17.15, Z:4.27 [[ 9.07748615e-01 -4.17161309e-01 -4.43722289e-02 1.16231087e+02] [ 4.16593967e-01 9.08831542e-01 -2.17874754e-02 1.71521387e+01] [ 4.94157729e-02 1.29234777e-03 9.98777458e-01 4.27314991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57710568099999 meters 0.027945812123067397 Centerline is valid? [True, True] Translation: X:116.26, Y:17.17, Z:4.27 [[ 9.09732934e-01 -4.12398156e-01 -4.81014477e-02 1.16255114e+02] [ 4.11724479e-01 9.11002151e-01 -2.36227499e-02 1.71699813e+01] [ 5.35625008e-02 1.68585011e-03 9.98563076e-01 4.26882894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60710568099998 meters 0.02882666538106805 Centerline is valid? [True, True] Translation: X:116.28, Y:17.18, Z:4.27 [[ 9.10153924e-01 -4.11298597e-01 -4.95307820e-02 1.16280315e+02] [ 4.10582132e-01 9.11498867e-01 -2.43336767e-02 1.71845096e+01] [ 5.51556587e-02 1.81093724e-03 9.98476126e-01 4.26752296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63710568099998 meters 0.028422371673663453 Centerline is valid? [True, True] Translation: X:116.31, Y:17.20, Z:4.27 [[ 9.10149552e-01 -4.11377186e-01 -4.89551185e-02 1.16305642e+02] [ 4.10676291e-01 9.11463415e-01 -2.40712780e-02 1.71963912e+01] [ 5.45231741e-02 1.80375637e-03 9.98510876e-01 4.26767507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66710568099998 meters 0.028577343490807997 Centerline is valid? [True, True] Translation: X:116.33, Y:17.21, Z:4.27 [[ 9.09781697e-01 -4.12336347e-01 -4.77074547e-02 1.16330772e+02] [ 4.11671156e-01 9.11030070e-01 -2.34749141e-02 1.72075515e+01] [ 5.31424861e-02 1.71726411e-03 9.98585463e-01 4.26914966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69710568099998 meters 0.025581543123036243 Centerline is valid? [True, True] Translation: X:116.36, Y:17.21, Z:4.27 [[ 9.07464373e-01 -4.17477397e-01 -4.71278648e-02 1.16361606e+02] [ 4.16834896e-01 9.08686223e-01 -2.31952245e-02 1.72115191e+01] [ 5.25079234e-02 1.40430119e-03 9.98619520e-01 4.27235329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72710568099998 meters 0.022753464687169097 Centerline is valid? [True, True] Translation: X:116.39, Y:17.21, Z:4.27 [[ 9.04784697e-01 -4.23361170e-01 -4.61516174e-02 1.16393272e+02] [ 4.22752519e-01 9.05960391e-01 -2.27173365e-02 1.72143186e+01] [ 5.14291755e-02 1.04358596e-03 9.98676099e-01 4.27477374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75710568099998 meters 0.020075308707444926 Centerline is valid? [True, True] Translation: X:116.42, Y:17.22, Z:4.28 [[ 9.02824843e-01 -4.27725388e-01 -4.42526348e-02 1.16423691e+02] [ 4.27170894e-01 9.03908406e-01 -2.17857711e-02 1.72170707e+01] [ 4.93186560e-02 7.65297771e-04 9.98782801e-01 4.28069891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78710568099999 meters 0.020850887525253162 Centerline is valid? [True, True] Translation: X:116.45, Y:17.23, Z:4.28 [[ 9.02292846e-01 -4.28891596e-01 -4.38134504e-02 1.16449023e+02] [ 4.28349155e-01 9.03355694e-01 -2.15752555e-02 1.72295354e+01] [ 4.88325756e-02 6.99744198e-04 9.98806733e-01 4.28058990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81710568099999 meters 0.019495070909424924 Centerline is valid? [True, True] Translation: X:116.48, Y:17.23, Z:4.28 [[ 9.01294065e-01 -4.31070781e-01 -4.29766233e-02 1.16478341e+02] [ 4.30550917e-01 9.02317930e-01 -2.11721832e-02 1.72349530e+01] [ 4.79052873e-02 5.78738457e-04 9.98851715e-01 4.28317137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84710568099999 meters 0.01898379739969618 Centerline is valid? [True, True] Translation: X:116.51, Y:17.24, Z:4.28 [[ 9.00442679e-01 -4.32784640e-01 -4.35940119e-02 1.16505624e+02] [ 4.32250828e-01 9.01497196e-01 -2.14948162e-02 1.72440717e+01] [ 4.86025058e-02 5.11302071e-04 9.98818069e-01 4.28341211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87710568099999 meters 0.018594724276213368 Centerline is valid? [True, True] Translation: X:116.53, Y:17.25, Z:4.28 [[ 8.99234538e-01 -4.35252752e-01 -4.39577982e-02 1.16533723e+02] [ 4.34712078e-01 9.00308216e-01 -2.16915830e-02 1.72505978e+01] [ 4.90168881e-02 3.96834860e-04 9.98797871e-01 4.28353754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.90710568099999 meters 0.018253911239720696 Centerline is valid? [True, True] Translation: X:116.56, Y:17.26, Z:4.28 [[ 8.98461860e-01 -4.36849626e-01 -4.39168580e-02 1.16560215e+02] [ 4.36311429e-01 8.99534493e-01 -2.16802428e-02 1.72603404e+01] [ 4.89757345e-02 3.17444167e-04 9.98799918e-01 4.28469411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93710568099999 meters 0.01774318884883121 Centerline is valid? [True, True] Translation: X:116.59, Y:17.27, Z:4.29 [[ 8.96448389e-01 -4.41114241e-01 -4.24088765e-02 1.16589190e+02] [ 4.40616751e-01 8.97450956e-01 -2.09442067e-02 1.72670294e+01] [ 4.72986746e-02 8.93389880e-05 9.98880787e-01 4.28802311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96710568099998 meters 0.01761572023133499 Centerline is valid? [True, True] Translation: X:116.62, Y:17.27, Z:4.29 [[ 8.95382783e-01 -4.43224195e-01 -4.29183430e-02 1.16615641e+02] [ 4.42716331e-01 8.96410795e-01 -2.12117379e-02 1.72746323e+01] [ 4.78740214e-02 -8.02644822e-06 9.98853382e-01 4.28959188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99710568099998 meters 0.01768534483870487 Centerline is valid? [True, True] Translation: X:116.64, Y:17.29, Z:4.29 [[ 8.95561959e-01 -4.42838237e-01 -4.31633304e-02 1.16641355e+02] [ 4.42323548e-01 8.96601525e-01 -2.13444099e-02 1.72866225e+01] [ 4.81524287e-02 2.30841246e-05 9.98839999e-01 4.29169895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02710568099998 meters 0.017878750157617675 Centerline is valid? [True, True] Translation: X:116.67, Y:17.30, Z:4.29 [[ 8.97104054e-01 -4.39698247e-01 -4.32408020e-02 1.16665494e+02] [ 4.39177087e-01 8.98145538e-01 -2.14027705e-02 1.73025342e+01] [ 4.82472941e-02 2.10142668e-04 9.98835399e-01 4.29415437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05710568099998 meters 0.018534115767459614 Centerline is valid? [True, True] Translation: X:116.69, Y:17.32, Z:4.30 [[ 8.98423548e-01 -4.37011075e-01 -4.30865280e-02 1.16689403e+02] [ 4.36489681e-01 8.99456049e-01 -2.13442041e-02 1.73185754e+01] [ 4.80820918e-02 3.69310778e-04 9.98843319e-01 4.29587904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08710568099998 meters 0.020554749707280006 Centerline is valid? [True, True] Translation: X:116.71, Y:17.34, Z:4.30 [[ 9.02154302e-01 -4.29354019e-01 -4.21039382e-02 1.16711132e+02] [ 4.28847091e-01 9.03135941e-01 -2.08720914e-02 1.73387128e+01] [ 4.69870962e-02 7.73695593e-04 9.98895197e-01 4.29749590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11710568099998 meters 0.022590993451950453 Centerline is valid? [True, True] Translation: X:116.73, Y:17.36, Z:4.30 [[ 9.03898720e-01 -4.25709777e-01 -4.16928017e-02 1.16733941e+02] [ 4.25208537e-01 9.04859252e-01 -2.06744907e-02 1.73552491e+01] [ 4.65274501e-02 9.59510489e-04 9.98916551e-01 4.29772540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14710568099999 meters 0.02471947511502535 Centerline is valid? [True, True] Translation: X:116.76, Y:17.37, Z:4.30 [[ 9.06081804e-01 -4.21111487e-01 -4.09985299e-02 1.16759091e+02] [ 4.20621834e-01 9.07008115e-01 -2.03359858e-02 1.73699615e+01] [ 4.57497165e-02 1.18118988e-03 9.98952235e-01 4.29885536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17710568099999 meters 0.025688067910422056 Centerline is valid? [True, True] Translation: X:116.78, Y:17.38, Z:4.30 [[ 9.06817083e-01 -4.19545398e-01 -4.07975056e-02 1.16784274e+02] [ 4.19058638e-01 9.07733480e-01 -2.02432016e-02 1.73841169e+01] [ 4.55262038e-02 1.26033393e-03 9.98962350e-01 4.30084790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20710568099999 meters 0.025999024242122155 Centerline is valid? [True, True] Translation: X:116.81, Y:17.40, Z:4.30 [[ 9.06735443e-01 -4.19763151e-01 -4.03699681e-02 1.16808130e+02] [ 4.19286125e-01 9.07632821e-01 -2.00451526e-02 1.73978655e+01] [ 4.50553245e-02 1.24908282e-03 9.98983712e-01 4.30130142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23710568099999 meters 0.02379018898193575 Centerline is valid? [True, True] Translation: X:116.84, Y:17.41, Z:4.30 [[ 9.05271722e-01 -4.22817213e-01 -4.13365923e-02 1.16836716e+02] [ 4.22319867e-01 9.06214283e-01 -2.05329871e-02 1.74063082e+01] [ 4.61415107e-02 1.13066838e-03 9.98934273e-01 4.30231122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.26710568099999 meters 0.021417212523439554 Centerline is valid? [True, True] Translation: X:116.87, Y:17.41, Z:4.30 [[ 9.02430588e-01 -4.28814310e-01 -4.16811894e-02 1.16867088e+02] [ 4.28314357e-01 9.03392260e-01 -2.07180091e-02 1.74076002e+01] [ 4.65386427e-02 8.43913253e-04 9.98916134e-01 4.30454444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29710568099999 meters 0.01957736571771072 Centerline is valid? [True, True] Translation: X:116.90, Y:17.41, Z:4.31 [[ 9.00634059e-01 -4.32716233e-01 -4.01864887e-02 1.16895609e+02] [ 4.32255046e-01 9.01529960e-01 -1.99826374e-02 1.74138622e+01] [ 4.48761351e-02 6.26231325e-04 9.98992362e-01 4.30775125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.32710568099999 meters 0.018695550345365457 Centerline is valid? [True, True] Translation: X:116.92, Y:17.42, Z:4.31 [[ 8.98510592e-01 -4.37279789e-01 -3.82766541e-02 1.16923562e+02] [ 4.36864937e-01 8.99325432e-01 -1.90471527e-02 1.74202290e+01] [ 4.27521034e-02 3.92340356e-04 9.99085634e-01 4.31140840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35710568099998 meters 0.018476838545771156 Centerline is valid? [True, True] Translation: X:116.95, Y:17.43, Z:4.31 [[ 8.98161324e-01 -4.38060661e-01 -3.75378825e-02 1.16949159e+02] [ 4.37662065e-01 8.98945344e-01 -1.86865099e-02 1.74311441e+01] [ 4.19303296e-02 3.54593332e-04 9.99120474e-01 4.31411049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38710568099998 meters 0.01919370048982838 Centerline is valid? [True, True] Translation: X:116.97, Y:17.44, Z:4.32 [[ 8.99446284e-01 -4.35600842e-01 -3.53311308e-02 1.16974783e+02] [ 4.35245229e-01 9.00139822e-01 -1.76037588e-02 1.74443470e+01] [ 3.94711700e-02 4.55929324e-04 9.99220606e-01 4.31806447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41710568099998 meters 0.02042693315993851 Centerline is valid? [True, True] Translation: X:117.00, Y:17.46, Z:4.32 [[ 9.00951583e-01 -4.32515951e-01 -3.48740259e-02 1.16998758e+02] [ 4.32166630e-01 9.01626085e-01 -1.73898648e-02 1.74592588e+01] [ 3.89647254e-02 5.96035927e-04 9.99240409e-01 4.31908029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44710568099998 meters 0.02358569821136074 Centerline is valid? [True, True] Translation: X:117.02, Y:17.47, Z:4.32 [[ 9.04811716e-01 -4.24247875e-01 -3.64622910e-02 1.17024549e+02] [ 4.23858942e-01 9.05545545e-01 -1.81896470e-02 1.74736912e+01] [ 4.07351842e-02 1.00333761e-03 9.99169474e-01 4.31691008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47710568099998 meters 0.027674494407388877 Centerline is valid? [True, True] Translation: X:117.05, Y:17.49, Z:4.32 [[ 9.08761671e-01 -4.15556424e-01 -3.82764177e-02 1.17050283e+02] [ 4.15119935e-01 9.09566220e-01 -1.90979288e-02 1.74882482e+01] [ 4.27512035e-02 1.46616162e-03 9.99084674e-01 4.31553724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50710568099998 meters 0.029716350773041925 Centerline is valid? [True, True] Translation: X:117.08, Y:17.50, Z:4.31 [[ 9.10351735e-01 -4.11931722e-01 -3.96481362e-02 1.17075214e+02] [ 4.11459831e-01 9.11213134e-01 -1.97846433e-02 1.75037771e+01] [ 4.42778246e-02 1.69736898e-03 9.99017814e-01 4.31368843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53710568099999 meters 0.033143408525953225 Centerline is valid? [True, True] Translation: X:117.10, Y:17.52, Z:4.31 [[ 9.12490033e-01 -4.06645457e-01 -4.47371469e-02 1.17100227e+02] [ 4.06038003e-01 9.13583380e-01 -2.23282114e-02 1.75190765e+01] [ 4.99507796e-02 2.20928860e-03 9.98749237e-01 4.30667325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56710568099999 meters 0.03414007782781262 Centerline is valid? [True, True] Translation: X:117.13, Y:17.53, Z:4.30 [[ 9.12607282e-01 -4.05760255e-01 -5.00656006e-02 1.17129547e+02] [ 4.04997777e-01 9.13976044e-01 -2.49918494e-02 1.75258671e+01] [ 5.58994587e-02 2.53128681e-03 9.98433194e-01 4.30068967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59710568099999 meters 0.033462566907754246 Centerline is valid? [True, True] Translation: X:117.16, Y:17.53, Z:4.30 [[ 9.11837137e-01 -4.07428397e-01 -5.05483718e-02 1.17158073e+02] [ 4.06653123e-01 9.13233838e-01 -2.52427286e-02 1.75337945e+01] [ 5.64470880e-02 2.46160411e-03 9.98402557e-01 4.30155590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.62710568099999 meters 0.030526569558232824 Centerline is valid? [True, True] Translation: X:117.19, Y:17.54, Z:4.31 [[ 9.10594757e-01 -4.10467960e-01 -4.83036397e-02 1.17190901e+02] [ 4.09763457e-01 9.11872399e-01 -2.41378916e-02 1.75351749e+01] [ 5.39545870e-02 2.18677118e-03 9.98540996e-01 4.30835981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65710568099999 meters 0.03018139714983506 Centerline is valid? [True, True] Translation: X:117.22, Y:17.54, Z:4.31 [[ 9.10186030e-01 -4.11565681e-01 -4.66377679e-02 1.17218229e+02] [ 4.10909746e-01 9.11377774e-01 -2.33181012e-02 1.75438456e+01] [ 5.21015553e-02 2.05989657e-03 9.98639667e-01 4.31215410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.68710568099999 meters 0.02953446694499314 Centerline is valid? [True, True] Translation: X:117.25, Y:17.55, Z:4.32 [[ 9.09700456e-01 -4.12823947e-01 -4.49607579e-02 1.17247527e+02] [ 4.12215006e-01 9.10808792e-01 -2.24974277e-02 1.75501019e+01] [ 5.02381305e-02 1.93242116e-03 9.98735398e-01 4.31542037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71710568099998 meters 0.02934093967339395 Centerline is valid? [True, True] Translation: X:117.28, Y:17.56, Z:4.31 [[ 9.08941511e-01 -4.14434151e-01 -4.54935577e-02 1.17275986e+02] [ 4.13811865e-01 9.10077359e-01 -2.27802748e-02 1.75555490e+01] [ 5.08435807e-02 1.88016350e-03 9.98704859e-01 4.31377336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74710568099998 meters 0.028043652112790023 Centerline is valid? [True, True] Translation: X:117.30, Y:17.56, Z:4.31 [[ 9.08374380e-01 -4.15695105e-01 -4.53162776e-02 1.17304438e+02] [ 4.15078619e-01 9.09502221e-01 -2.27034984e-02 1.75634772e+01] [ 5.06529883e-02 1.81345837e-03 9.98714667e-01 4.31465555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77710568099998 meters 0.027434416646820958 Centerline is valid? [True, True] Translation: X:117.33, Y:17.57, Z:4.32 [[ 9.07017371e-01 -4.18732102e-01 -4.45299330e-02 1.17332230e+02] [ 4.18139741e-01 9.08108349e-01 -2.23245045e-02 1.75696113e+01] [ 4.97859906e-02 1.62897871e-03 9.98758580e-01 4.31550162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80710568099998 meters 0.026257909513128293 Centerline is valid? [True, True] Translation: X:117.36, Y:17.57, Z:4.32 [[ 9.05520624e-01 -4.22064450e-01 -4.35201084e-02 1.17361648e+02] [ 4.21502220e-01 9.06564718e-01 -2.18240757e-02 1.75735779e+01] [ 4.86649614e-02 1.41832832e-03 9.98814152e-01 4.31890777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83710568099998 meters 0.023743222491785475 Centerline is valid? [True, True] Translation: X:117.39, Y:17.58, Z:4.32 [[ 9.04313257e-01 -4.24760547e-01 -4.23793837e-02 1.17390925e+02] [ 4.24230024e-01 9.05304879e-01 -2.12594076e-02 1.75787095e+01] [ 4.73964205e-02 1.24655714e-03 9.98875380e-01 4.32273137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86710568099998 meters 0.023743222491785475 Centerline is valid? [True, True] Translation: X:117.42, Y:17.59, Z:4.32 [[ 9.04153317e-01 -4.25101609e-01 -4.23721783e-02 1.17415416e+02] [ 4.24570789e-01 9.05144780e-01 -2.12737604e-02 1.75912583e+01] [ 4.73964658e-02 1.24475187e-03 9.98875380e-01 4.32374926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89710568099999 meters 0.021520485709297984 Centerline is valid? [True, True] Translation: X:117.45, Y:17.59, Z:4.33 [[ 9.01347952e-01 -4.31308856e-01 -3.93006248e-02 1.17446077e+02] [ 4.30857461e-01 9.02203925e-01 -1.97465607e-02 1.75946313e+01] [ 4.39740444e-02 8.65554613e-04 9.99032299e-01 4.32833673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92710568099999 meters 0.020586002820341644 Centerline is valid? [True, True] Translation: X:117.47, Y:17.60, Z:4.33 [[ 8.99920029e-01 -4.34395769e-01 -3.80033740e-02 1.17474003e+02] [ 4.33976259e-01 9.00721840e-01 -1.90990702e-02 1.76032253e+01] [ 4.25270242e-02 6.95073744e-04 9.99095075e-01 4.33134337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95710568099999 meters 0.019167738609685923 Centerline is valid? [True, True] Translation: X:117.50, Y:17.61, Z:4.33 [[ 8.98031505e-01 -4.38451954e-01 -3.60457917e-02 1.17504003e+02] [ 4.38077268e-01 8.98754496e-01 -1.81290817e-02 1.76071478e+01] [ 4.03450486e-02 4.89644603e-04 9.99185687e-01 4.33429507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98710568099999 meters 0.019027397671394258 Centerline is valid? [True, True] Translation: X:117.53, Y:17.62, Z:4.33 [[ 8.97487057e-01 -4.39506514e-01 -3.67560352e-02 1.17529590e+02] [ 4.39117138e-01 8.98239282e-01 -1.85022199e-02 1.76180472e+01] [ 4.11475609e-02 4.65297925e-04 9.99152972e-01 4.33402954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01710568099999 meters 0.01944809624154405 Centerline is valid? [True, True] Translation: X:117.56, Y:17.63, Z:4.33 [[ 8.98026126e-01 -4.38150708e-01 -3.96614879e-02 1.17555428e+02] [ 4.37695108e-01 8.98901336e-01 -1.99844849e-02 1.76303840e+01] [ 4.44079807e-02 5.86950299e-04 9.99013307e-01 4.33011631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.04710568099999 meters 0.01995587887692283 Centerline is valid? [True, True] Translation: X:117.58, Y:17.64, Z:4.33 [[ 8.98717720e-01 -4.36647878e-01 -4.05597162e-02 1.17580540e+02] [ 4.36169172e-01 8.99632233e-01 -2.04523525e-02 1.76434855e+01] [ 4.54193044e-02 6.89993737e-04 9.98967773e-01 4.33051059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07710568099999 meters 0.021421065613636648 Centerline is valid? [True, True] Translation: X:117.60, Y:17.66, Z:4.33 [[ 9.00700316e-01 -4.32563809e-01 -4.03421774e-02 1.17603905e+02] [ 4.32085830e-01 9.01602876e-01 -2.03491931e-02 1.76591642e+01] [ 4.51749476e-02 8.97241501e-04 9.98978688e-01 4.33323163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10710568099998 meters 0.026098939664803013 Centerline is valid? [True, True] Translation: X:117.62, Y:17.68, Z:4.33 [[ 9.04275407e-01 -4.25037022e-01 -4.03672966e-02 1.17624630e+02] [ 4.24550556e-01 9.05175058e-01 -2.03700705e-02 1.76806057e+01] [ 4.51975041e-02 1.28219562e-03 9.98977248e-01 4.33413182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13710568099998 meters 0.028011690802354022 Centerline is valid? [True, True] Translation: X:117.65, Y:17.70, Z:4.33 [[ 9.07023318e-01 -4.19070248e-01 -4.10953500e-02 1.17649246e+02] [ 4.18559724e-01 9.07952381e-01 -2.07420164e-02 1.76974013e+01] [ 4.60049829e-02 1.61263420e-03 9.98939909e-01 4.33292205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16710568099998 meters 0.028272590645121574 Centerline is valid? [True, True] Translation: X:117.67, Y:17.71, Z:4.33 [[ 9.08010402e-01 -4.16941257e-01 -4.09523885e-02 1.17674507e+02] [ 4.16431845e-01 9.08931807e-01 -2.06758011e-02 1.77111247e+01] [ 4.58435230e-02 1.71996381e-03 9.98947152e-01 4.33292939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19710568099998 meters 0.029584742794376014 Centerline is valid? [True, True] Translation: X:117.70, Y:17.73, Z:4.33 [[ 9.08905342e-01 -4.15055981e-01 -4.02444131e-02 1.17699145e+02] [ 4.14561452e-01 9.09794096e-01 -2.03348183e-02 1.77256679e+01] [ 4.50542174e-02 1.79864262e-03 9.98982924e-01 4.33422105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22710568099998 meters 0.03058141143812314 Centerline is valid? [True, True] Translation: X:117.73, Y:17.74, Z:4.34 [[ 9.10415538e-01 -4.11772587e-01 -3.98357198e-02 1.17726322e+02] [ 4.11284290e-01 9.11284543e-01 -2.01423669e-02 1.77366905e+01] [ 4.45957503e-02 1.95411802e-03 9.99003203e-01 4.33598536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25710568099998 meters 0.03236623736672079 Centerline is valid? [True, True] Translation: X:117.75, Y:17.75, Z:4.34 [[ 9.10710389e-01 -4.11040250e-01 -4.06509596e-02 1.17752226e+02] [ 4.10530834e-01 9.11614926e-01 -2.05587113e-02 1.77470547e+01] [ 4.55084794e-02 2.03455961e-03 9.98961881e-01 4.33532548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28710568099999 meters 0.03156483179396817 Centerline is valid? [True, True] Translation: X:117.78, Y:17.76, Z:4.34 [[ 9.10177279e-01 -4.12248596e-01 -4.03536389e-02 1.17779182e+02] [ 4.11747440e-01 9.11069277e-01 -2.04161351e-02 1.77573673e+01] [ 4.51814837e-02 1.96679478e-03 9.98976859e-01 4.33562913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31710568099999 meters 0.031173094374171897 Centerline is valid? [True, True] Translation: X:117.81, Y:17.76, Z:4.33 [[ 9.09721112e-01 -4.13271938e-01 -4.01721828e-02 1.17808217e+02] [ 4.12775542e-01 9.10605628e-01 -2.03406514e-02 1.77646040e+01] [ 4.49872362e-02 1.92222544e-03 9.98985712e-01 4.33476747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34710568099999 meters 0.034665554037022824 Centerline is valid? [True, True] Translation: X:117.83, Y:17.77, Z:4.33 [[ 9.10044099e-01 -4.12570769e-01 -4.00636916e-02 1.17834707e+02] [ 4.12075699e-01 9.10923432e-01 -2.03007305e-02 1.77749440e+01] [ 4.48704435e-02 1.96528622e-03 9.98990881e-01 4.33481499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37710568099999 meters 0.03345725086059936 Centerline is valid? [True, True] Translation: X:117.86, Y:17.78, Z:4.34 [[ 9.10582810e-01 -4.11394425e-01 -3.99195748e-02 1.17863466e+02] [ 4.10901346e-01 9.11455170e-01 -2.02375362e-02 1.77822642e+01] [ 4.47105124e-02 2.02494556e-03 9.98997933e-01 4.33831408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.40710568099999 meters 0.034465288152455226 Centerline is valid? [True, True] Translation: X:117.89, Y:17.79, Z:4.34 [[ 9.12465885e-01 -4.07388804e-01 -3.79522256e-02 1.17891726e+02] [ 4.06939150e-01 9.13252349e-01 -1.92529066e-02 1.77915985e+01] [ 4.25033777e-02 2.12337400e-03 9.99094067e-01 4.34326617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43710568099999 meters 0.03495184233731293 Centerline is valid? [True, True] Translation: X:117.92, Y:17.80, Z:4.34 [[ 9.13686601e-01 -4.04660206e-01 -3.77745128e-02 1.17918529e+02] [ 4.04212336e-01 9.14464374e-01 -1.91649507e-02 1.78037794e+01] [ 4.22987391e-02 2.24183461e-03 9.99102493e-01 4.34473528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46710568099998 meters 0.03979737136632159 Centerline is valid? [True, True] Translation: X:117.94, Y:17.82, Z:4.34 [[ 9.15502965e-01 -4.00446142e-01 -3.86937781e-02 1.17942897e+02] [ 3.99972330e-01 9.16316891e-01 -1.96339000e-02 1.78195618e+01] [ 4.33180819e-02 2.49845310e-03 9.99058207e-01 4.34088440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49710568099998 meters 0.03961456797886593 Centerline is valid? [True, True] Translation: X:117.97, Y:17.83, Z:4.34 [[ 9.16394695e-01 -3.98094931e-01 -4.17275505e-02 1.17971957e+02] [ 3.97541232e-01 9.17339894e-01 -2.11775094e-02 1.78270264e+01] [ 4.67090059e-02 2.81853547e-03 9.98904562e-01 4.33631054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52710568099998 meters 0.040411368007936176 Centerline is valid? [True, True] Translation: X:118.00, Y:17.83, Z:4.33 [[ 9.16092068e-01 -3.98612009e-01 -4.34026347e-02 1.18000366e+02] [ 3.98013292e-01 9.17115045e-01 -2.20320883e-02 1.78317727e+01] [ 4.85874643e-02 2.90859583e-03 9.98814697e-01 4.33448003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55710568099998 meters 0.03932876403061863 Centerline is valid? [True, True] Translation: X:118.03, Y:17.84, Z:4.34 [[ 9.15305299e-01 -4.00370330e-01 -4.38156308e-02 1.18028810e+02] [ 3.99761716e-01 9.16348991e-01 -2.22507570e-02 1.78395097e+01] [ 4.90589520e-02 2.85042398e-03 9.98791817e-01 4.33556907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58710568099998 meters 0.03933554778372775 Centerline is valid? [True, True] Translation: X:118.06, Y:17.85, Z:4.33 [[ 9.13979007e-01 -4.03322461e-01 -4.44225942e-02 1.18057972e+02] [ 4.02699617e-01 9.15053808e-01 -2.25731343e-02 1.78460410e+01] [ 4.97533161e-02 2.74240915e-03 9.98757772e-01 4.33487759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61710568099998 meters 0.03838205208254299 Centerline is valid? [True, True] Translation: X:118.09, Y:17.85, Z:4.34 [[ 9.13359155e-01 -4.04743540e-01 -4.42461279e-02 1.18087339e+02] [ 4.04127066e-01 9.14426376e-01 -2.24881341e-02 1.78532576e+01] [ 4.95617534e-02 2.65868527e-03 9.98767522e-01 4.33504361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64710568099999 meters 0.03578160516336862 Centerline is valid? [True, True] Translation: X:118.12, Y:17.86, Z:4.34 [[ 9.13289972e-01 -4.04909180e-01 -4.41586100e-02 1.18115405e+02] [ 4.04294757e-01 9.14353053e-01 -2.24553559e-02 1.78597054e+01] [ 4.94689396e-02 2.65515681e-03 9.98772133e-01 4.33709270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67710568099999 meters 0.0369722703121744 Centerline is valid? [True, True] Translation: X:118.14, Y:17.87, Z:4.34 [[ 9.12802875e-01 -4.06027900e-01 -4.39574207e-02 1.18142691e+02] [ 4.05419529e-01 9.13856988e-01 -2.23698866e-02 1.78669877e+01] [ 4.92535942e-02 2.59810004e-03 9.98782926e-01 4.33911132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70710568099999 meters 0.0345128407016157 Centerline is valid? [True, True] Translation: X:118.17, Y:17.87, Z:4.34 [[ 9.12093059e-01 -4.07762689e-01 -4.26126915e-02 1.18171365e+02] [ 4.07192607e-01 9.13084701e-01 -2.16912471e-02 1.78739945e+01] [ 4.77538779e-02 2.43286299e-03 9.98856170e-01 4.34313587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73710568099999 meters 0.03118409793868412 Centerline is valid? [True, True] Translation: X:118.20, Y:17.88, Z:4.35 [[ 9.09286431e-01 -4.14364706e-01 -3.87308120e-02 1.18203167e+02] [ 4.13899577e-01 9.10108939e-01 -1.97195431e-02 1.78774375e+01] [ 4.34203409e-02 1.90004630e-03 9.99055085e-01 4.35001294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.76710568099999 meters 0.027696847223026535 Centerline is valid? [True, True] Translation: X:118.23, Y:17.88, Z:4.35 [[ 9.05863589e-01 -4.21964803e-01 -3.68356108e-02 1.18234665e+02] [ 4.21550138e-01 9.06611028e-01 -1.87596539e-02 1.78813326e+01] [ 4.13114846e-02 1.46563059e-03 9.99145241e-01 4.35397646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79710568099999 meters 0.02645217675425296 Centerline is valid? [True, True] Translation: X:118.26, Y:17.89, Z:4.35 [[ 9.04089596e-01 -4.25726241e-01 -3.71371871e-02 1.18261308e+02] [ 4.25307752e-01 9.04851069e-01 -1.89171873e-02 1.78909811e+01] [ 4.16571664e-02 1.30809863e-03 9.99131107e-01 4.35384500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.82710568099999 meters 0.024013904617853785 Centerline is valid? [True, True] Translation: X:118.29, Y:17.90, Z:4.35 [[ 9.01418773e-01 -4.31299378e-01 -3.77497417e-02 1.18289756e+02] [ 4.30871609e-01 9.02208233e-01 -1.92343719e-02 1.78987399e+01] [ 4.23539004e-02 1.07293194e-03 9.99102095e-01 4.35339858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85710568099998 meters 0.021740531910329222 Centerline is valid? [True, True] Translation: X:118.32, Y:17.91, Z:4.35 [[ 8.99000897e-01 -4.36274731e-01 -3.82327856e-02 1.18318118e+02] [ 4.35840266e-01 8.99813110e-01 -1.94841160e-02 1.79065602e+01] [ 4.29027891e-02 8.52850337e-04 9.99078887e-01 4.35293898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88710568099998 meters 0.021025300492378062 Centerline is valid? [True, True] Translation: X:118.34, Y:17.92, Z:4.35 [[ 8.97634857e-01 -4.39035419e-01 -3.87242211e-02 1.18344242e+02] [ 4.38592073e-01 8.98469455e-01 -1.97390903e-02 1.79170789e+01] [ 4.34586896e-02 7.34359130e-04 9.99054955e-01 4.35342422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91710568099998 meters 0.01867865685477974 Centerline is valid? [True, True] Translation: X:118.37, Y:17.92, Z:4.36 [[ 8.94295144e-01 -4.45831403e-01 -3.83478205e-02 1.18372271e+02] [ 4.45402638e-01 8.95116862e-01 -1.95523374e-02 1.79248285e+01] [ 4.30428267e-02 4.05340038e-04 9.99073146e-01 4.35505798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94710568099998 meters 0.018048936036447468 Centerline is valid? [True, True] Translation: X:118.40, Y:17.93, Z:4.36 [[ 8.92560655e-01 -4.49399176e-01 -3.70925611e-02 1.18398433e+02] [ 4.49000937e-01 8.93331030e-01 -1.89163904e-02 1.79349388e+01] [ 4.16369460e-02 2.29431078e-04 9.99132780e-01 4.35773147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97710568099998 meters 0.017802200112906275 Centerline is valid? [True, True] Translation: X:118.43, Y:17.94, Z:4.36 [[ 8.88535775e-01 -4.57530718e-01 -3.42026187e-02 1.18426342e+02] [ 4.57197955e-01 8.89193806e-01 -1.74472293e-02 1.79424989e+01] [ 3.83954000e-02 -1.34879895e-04 9.99262616e-01 4.36203537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00710568099998 meters 0.019145417385539036 Centerline is valid? [True, True] Translation: X:118.45, Y:17.95, Z:4.36 [[ 8.84106359e-01 -4.66036629e-01 -3.41439242e-02 1.18454696e+02] [ 4.65710792e-01 8.84765291e-01 -1.74309433e-02 1.79512308e+01] [ 3.83328171e-02 -4.90386184e-04 9.99264907e-01 4.36121738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03710568099999 meters 0.02046080241935113 Centerline is valid? [True, True] Translation: X:118.48, Y:17.96, Z:4.36 [[ 8.81991612e-01 -4.69927974e-01 -3.54752924e-02 1.18481036e+02] [ 4.69578776e-01 8.82704508e-01 -1.81252544e-02 1.79617363e+01] [ 3.98317646e-02 -6.72122089e-04 9.99206174e-01 4.36049236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06710568099999 meters 0.022879567507738816 Centerline is valid? [True, True] Translation: X:118.51, Y:17.97, Z:4.36 [[ 8.78593893e-01 -4.76232243e-01 -3.57158460e-02 1.18508225e+02] [ 4.75883240e-01 8.79319016e-01 -1.82540357e-02 1.79740152e+01] [ 4.00987829e-02 -9.58688182e-04 9.99195260e-01 4.36158296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09710568099999 meters 0.02350010069605878 Centerline is valid? [True, True] Translation: X:118.53, Y:17.99, Z:4.36 [[ 8.77341558e-01 -4.78616717e-01 -3.46096591e-02 1.18532782e+02] [ 4.78290383e-01 8.78023343e-01 -1.77008176e-02 1.79893881e+01] [ 3.88599958e-02 -1.02380420e-03 9.99244141e-01 4.36413068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.12710568099999 meters 0.025657169859871737 Centerline is valid? [True, True] Translation: X:118.55, Y:18.01, Z:4.37 [[ 8.75707654e-01 -4.81734918e-01 -3.26737334e-02 1.18554796e+02] [ 4.81445767e-01 8.76316319e-01 -1.67237379e-02 1.80070320e+01] [ 3.66889343e-02 -1.08552533e-03 9.99326145e-01 4.36870132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15710568099999 meters 0.02764401326576625 Centerline is valid? [True, True] Translation: X:118.58, Y:18.03, Z:4.37 [[ 8.73557104e-01 -4.85544527e-01 -3.38304367e-02 1.18578003e+02] [ 4.85237076e-01 8.74210997e-01 -1.73237539e-02 1.80264511e+01] [ 3.79863937e-02 -1.28249387e-03 9.99277434e-01 4.36833229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.18710568099999 meters 0.030544647336841483 Centerline is valid? [True, True] Translation: X:118.60, Y:18.04, Z:4.37 [[ 8.72144936e-01 -4.87970449e-01 -3.53277858e-02 1.18599822e+02] [ 4.87636622e-01 8.72858966e-01 -1.81039038e-02 1.80442763e+01] [ 3.96703446e-02 -1.43789409e-03 9.99211787e-01 4.36548989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21710568099998 meters 0.029729628413373003 Centerline is valid? [True, True] Translation: X:118.62, Y:18.06, Z:4.37 [[ 8.71840074e-01 -4.88480607e-01 -3.57991880e-02 1.18621818e+02] [ 4.88137946e-01 8.72573506e-01 -1.83527381e-02 1.80639045e+01] [ 4.02023796e-02 -1.47428951e-03 9.99190470e-01 4.36617095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24710568099998 meters 0.02722195362280726 Centerline is valid? [True, True] Translation: X:118.64, Y:18.09, Z:4.36 [[ 8.74582246e-01 -4.83525882e-01 -3.61747967e-02 1.18639089e+02] [ 4.83171094e-01 8.75329179e-01 -1.85613301e-02 1.80939001e+01] [ 4.06397386e-02 -1.24520626e-03 9.99173089e-01 4.36477496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27710568099998 meters 0.025321805893454157 Centerline is valid? [True, True] Translation: X:118.66, Y:18.12, Z:4.36 [[ 8.76768157e-01 -4.79474639e-01 -3.71708076e-02 1.18657901e+02] [ 4.79096210e-01 8.77555069e-01 -1.90767647e-02 1.81176742e+01] [ 4.17662555e-02 -1.08249320e-03 9.99126823e-01 4.36444856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30710568099998 meters 0.021915382965746043 Centerline is valid? [True, True] Translation: X:118.67, Y:18.15, Z:4.36 [[ 8.81496053e-01 -4.70625230e-01 -3.84265667e-02 1.18672196e+02] [ 4.70212106e-01 8.82332948e-01 -1.97267461e-02 1.81528173e+01] [ 4.31889303e-02 -6.79588031e-04 9.99066692e-01 4.36194987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33710568099998 meters 0.01972643878128044 Centerline is valid? [True, True] Translation: X:118.69, Y:18.19, Z:4.36 [[ 8.84888857e-01 -4.64084177e-01 -3.99698221e-02 1.18688562e+02] [ 4.63630269e-01 8.85791025e-01 -2.05239734e-02 1.81850307e+01] [ 4.49297610e-02 -3.69783962e-04 9.98990080e-01 4.36166798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36710568099998 meters 0.019314884138512366 Centerline is valid? [True, True] Translation: X:118.71, Y:18.21, Z:4.36 [[ 8.85878915e-01 -4.62219304e-01 -3.96467338e-02 1.18710561e+02] [ 4.61770429e-01 8.86765609e-01 -2.03672717e-02 1.82056289e+01] [ 4.45715062e-02 -2.64752725e-04 9.99006162e-01 4.36229605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39710568099999 meters 0.019091341613032557 Centerline is valid? [True, True] Translation: X:118.73, Y:18.23, Z:4.37 [[ 8.87405994e-01 -4.59441381e-01 -3.77388333e-02 1.18730879e+02] [ 4.59031566e-01 8.88208087e-01 -1.94014284e-02 1.82295752e+01] [ 4.24337560e-02 -1.06371888e-04 9.99099277e-01 4.36574134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42710568099999 meters 0.018968734520177062 Centerline is valid? [True, True] Translation: X:118.75, Y:18.25, Z:4.37 [[ 8.88109643e-01 -4.58180486e-01 -3.64952614e-02 1.18753517e+02] [ 4.57795623e-01 8.88859180e-01 -1.87756841e-02 1.82466989e+01] [ 4.10418001e-02 -3.25048524e-05 9.99157430e-01 4.36886389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45710568099999 meters 0.01910391238937349 Centerline is valid? [True, True] Translation: X:118.77, Y:18.27, Z:4.37 [[ 8.90273229e-01 -4.54051353e-01 -3.53687322e-02 1.18772192e+02] [ 4.53686397e-01 8.90975501e-01 -1.82018879e-02 1.82704161e+01] [ 3.97772657e-02 1.58340864e-04 9.99208559e-01 4.37207857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48710568099999 meters 0.019863098027689336 Centerline is valid? [True, True] Translation: X:118.79, Y:18.29, Z:4.37 [[ 8.93092723e-01 -4.48406654e-01 -3.62885786e-02 1.18792669e+02] [ 4.48017076e-01 8.93829560e-01 -1.86927031e-02 1.82940613e+01] [ 4.08177367e-02 4.36414208e-04 9.99166514e-01 4.36953259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51710568099999 meters 0.021089383804119396 Centerline is valid? [True, True] Translation: X:118.81, Y:18.31, Z:4.37 [[ 8.93959765e-01 -4.46543646e-01 -3.78775817e-02 1.18814974e+02] [ 4.46116854e-01 8.94761678e-01 -1.95266896e-02 1.83127945e+01] [ 4.26109277e-02 5.58247246e-04 9.99091586e-01 4.36660241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.54710568099999 meters 0.021368799873107275 Centerline is valid? [True, True] Translation: X:118.84, Y:18.33, Z:4.36 [[ 8.95123797e-01 -4.43938310e-01 -4.08921137e-02 1.18837575e+02] [ 4.43437822e-01 8.96057044e-01 -2.10872581e-02 1.83310720e+01] [ 4.60031083e-02 7.42596738e-04 9.98941021e-01 4.36271822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57710568099999 meters 0.022808495766700312 Centerline is valid? [True, True] Translation: X:118.86, Y:18.35, Z:4.36 [[ 8.96522959e-01 -4.41066548e-01 -4.13144496e-02 1.18859971e+02] [ 4.40552234e-01 8.97473943e-01 -2.13131504e-02 1.83507967e+01] [ 4.64791597e-02 9.06555600e-04 9.98918848e-01 4.36481406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60710568099998 meters 0.023519085250325075 Centerline is valid? [True, True] Translation: X:118.88, Y:18.37, Z:4.37 [[ 8.97086854e-01 -4.39799108e-01 -4.25666670e-02 1.18884541e+02] [ 4.39250867e-01 8.98095601e-01 -2.19764994e-02 1.83664653e+01] [ 4.78941812e-02 1.01738332e-03 9.98851897e-01 4.36527649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63710568099998 meters 0.024785043894248373 Centerline is valid? [True, True] Translation: X:118.91, Y:18.38, Z:4.37 [[ 8.98124438e-01 -4.37566225e-01 -4.36840121e-02 1.18907251e+02] [ 4.36985393e-01 8.99185412e-01 -2.25690265e-02 1.83831503e+01] [ 4.91554701e-02 1.18051909e-03 9.98790442e-01 4.36575954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66710568099998 meters 0.024351532906372413 Centerline is valid? [True, True] Translation: X:118.93, Y:18.40, Z:4.37 [[ 8.98318669e-01 -4.37314070e-01 -4.21897390e-02 1.18932722e+02] [ 4.36771517e-01 8.99308096e-01 -2.18080440e-02 1.83956156e+01] [ 4.74785383e-02 1.16329673e-03 9.98871581e-01 4.36928370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69710568099998 meters 0.02400228296413322 Centerline is valid? [True, True] Translation: X:118.96, Y:18.41, Z:4.38 [[ 8.98436088e-01 -4.37473979e-01 -3.78036037e-02 1.18959199e+02] [ 4.37037894e-01 8.99230459e-01 -1.95566274e-02 1.84062248e+01] [ 4.25496675e-02 1.04877249e-03 9.99093802e-01 4.37711818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72710568099998 meters 0.023754884669054704 Centerline is valid? [True, True] Translation: X:118.99, Y:18.42, Z:4.38 [[ 8.97963736e-01 -4.38574973e-01 -3.62370268e-02 1.18985883e+02] [ 4.38174603e-01 8.98694083e-01 -1.87606390e-02 1.84177707e+01] [ 4.07939483e-02 9.68228601e-04 9.99167111e-01 4.38109456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75710568099998 meters 0.023754884669054704 Centerline is valid? [True, True] Translation: X:119.01, Y:18.43, Z:4.38 [[ 8.97800601e-01 -4.38909336e-01 -3.62308516e-02 1.19010200e+02] [ 4.38508758e-01 8.98530835e-01 -1.87725574e-02 1.84306335e+01] [ 4.07939881e-02 9.66467642e-04 9.99167111e-01 4.38211231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78710568099999 meters 0.022357643322784542 Centerline is valid? [True, True] Translation: X:119.04, Y:18.44, Z:4.38 [[ 8.96167703e-01 -4.42282303e-01 -3.56344380e-02 1.19038706e+02] [ 4.41896813e-01 8.96875522e-01 -1.84798674e-02 1.84392111e+01] [ 4.01329735e-02 8.14315758e-04 9.99194016e-01 4.38350668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81710568099999 meters 0.020859767692466464 Centerline is valid? [True, True] Translation: X:119.07, Y:18.45, Z:4.38 [[ 8.94096084e-01 -4.46299790e-01 -3.75325209e-02 1.19066499e+02] [ 4.45875053e-01 8.94883251e-01 -1.94782688e-02 1.84470196e+01] [ 4.22803716e-02 6.80629065e-04 9.99105553e-01 4.38122833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84710568099999 meters 0.0202287577453408 Centerline is valid? [True, True] Translation: X:119.09, Y:18.46, Z:4.38 [[ 8.92715053e-01 -4.48837618e-01 -4.00577992e-02 1.19093827e+02] [ 4.48355955e-01 8.93613130e-01 -2.07969187e-02 1.84576457e+01] [ 4.51306148e-02 6.05569526e-04 9.98980911e-01 4.37782662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87710568099999 meters 0.019099187014225773 Centerline is valid? [True, True] Translation: X:119.12, Y:18.46, Z:4.37 [[ 8.90247889e-01 -4.53386021e-01 -4.35868379e-02 1.19123264e+02] [ 4.52820152e-01 8.91314161e-01 -2.26489699e-02 1.84622334e+01] [ 4.91182922e-02 4.26199054e-04 9.98792877e-01 4.37473643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.90710568099999 meters 0.019406203600711512 Centerline is valid? [True, True] Translation: X:119.15, Y:18.47, Z:4.38 [[ 8.90174265e-01 -4.53600553e-01 -4.28522625e-02 1.19149855e+02] [ 4.53053025e-01 8.91205004e-01 -2.22844430e-02 1.84715858e+01] [ 4.82983864e-02 4.22690493e-04 9.98832862e-01 4.37968042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93710568099999 meters 0.02019686528677325 Centerline is valid? [True, True] Translation: X:119.17, Y:18.49, Z:4.38 [[ 8.91073731e-01 -4.52003934e-01 -4.09884097e-02 1.19172093e+02] [ 4.51501041e-01 8.92015808e-01 -2.13215582e-02 1.84870926e+01] [ 4.61997375e-02 4.92770775e-04 9.98932101e-01 4.38357618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96710568099998 meters 0.021890301825336588 Centerline is valid? [True, True] Translation: X:119.19, Y:18.51, Z:4.39 [[ 8.94496982e-01 -4.45518181e-01 -3.72652621e-02 1.19193901e+02] [ 4.45096562e-01 8.95272569e-01 -1.93927284e-02 1.85064322e+01] [ 4.20023800e-02 7.60096966e-04 9.99117222e-01 4.39158846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99710568099998 meters 0.02348261520829889 Centerline is valid? [True, True] Translation: X:119.22, Y:18.52, Z:4.40 [[ 8.96828584e-01 -4.40971869e-01 -3.52463033e-02 1.19217936e+02] [ 4.40590668e-01 8.97520440e-01 -1.83554391e-02 1.85210727e+01] [ 3.97285100e-02 9.32490130e-04 9.99210076e-01 4.39613280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02710568099998 meters 0.02632821614723079 Centerline is valid? [True, True] Translation: X:119.24, Y:18.54, Z:4.40 [[ 9.00332400e-01 -4.33935570e-01 -3.31887049e-02 1.19243075e+02] [ 4.33592538e-01 9.00943137e-01 -1.72909088e-02 1.85354312e+01] [ 3.74042763e-02 1.17719064e-03 9.99299522e-01 4.40193549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05710568099998 meters 0.028848820734767276 Centerline is valid? [True, True] Translation: X:119.27, Y:18.55, Z:4.40 [[ 9.02532366e-01 -4.29353243e-01 -3.30321321e-02 1.19268056e+02] [ 4.29010260e-01 9.03135612e-01 -1.72122931e-02 1.85501431e+01] [ 3.72226487e-02 1.36352804e-03 9.99306067e-01 4.40273876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08710568099998 meters 0.030422625869905823 Centerline is valid? [True, True] Translation: X:119.29, Y:18.56, Z:4.40 [[ 9.03221500e-01 -4.27863063e-01 -3.35279147e-02 1.19291980e+02] [ 4.27508560e-01 9.03842408e-01 -1.74737673e-02 1.85649680e+01] [ 3.77803308e-02 1.44921181e-03 9.99285018e-01 4.40180346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11710568099998 meters 0.030335472841442133 Centerline is valid? [True, True] Translation: X:119.32, Y:18.58, Z:4.40 [[ 9.04110257e-01 -4.25823577e-01 -3.54813127e-02 1.19319533e+02] [ 4.25424622e-01 9.04804740e-01 -1.85006243e-02 1.85751746e+01] [ 3.99816619e-02 1.63198017e-03 9.99199081e-01 4.39921695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14710568099999 meters 0.03144495992676698 Centerline is valid? [True, True] Translation: X:119.35, Y:18.59, Z:4.39 [[ 9.04064837e-01 -4.25599653e-01 -3.91370257e-02 1.19345066e+02] [ 4.25113276e-01 9.04909720e-01 -2.04230543e-02 1.85867521e+01] [ 4.41075198e-02 1.82609605e-03 9.99025121e-01 4.39398986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17710568099999 meters 0.030632183652069416 Centerline is valid? [True, True] Translation: X:119.37, Y:18.60, Z:4.39 [[ 9.03688312e-01 -4.26199316e-01 -4.12501894e-02 1.19371701e+02] [ 4.25659160e-01 9.04627285e-01 -2.15349846e-02 1.85962241e+01] [ 4.64942425e-02 1.90239291e-03 9.98916746e-01 4.39129197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20710568099999 meters 0.030732890172591475 Centerline is valid? [True, True] Translation: X:119.40, Y:18.60, Z:4.39 [[ 9.03115983e-01 -4.27148770e-01 -4.38799378e-02 1.19399004e+02] [ 4.26537607e-01 9.04179167e-01 -2.29282195e-02 1.86017802e+01] [ 4.94690864e-02 1.99039781e-03 9.98773672e-01 4.38853374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23710568099999 meters 0.030047726032261097 Centerline is valid? [True, True] Translation: X:119.43, Y:18.61, Z:4.39 [[ 9.02403064e-01 -4.28582033e-01 -4.45662570e-02 1.19427670e+02] [ 4.27952560e-01 9.03500756e-01 -2.33021553e-02 1.86103378e+01] [ 5.02525320e-02 1.95569250e-03 9.98734629e-01 4.38846200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.26710568099999 meters 0.029765454644202313 Centerline is valid? [True, True] Translation: X:119.45, Y:18.62, Z:4.39 [[ 9.01847151e-01 -4.29674813e-01 -4.52909694e-02 1.19454700e+02] [ 4.29025149e-01 9.02981608e-01 -2.36988980e-02 1.86207364e+01] [ 5.10797319e-02 1.94181877e-03 9.98692691e-01 4.38806762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29710568099999 meters 0.028822287557702338 Centerline is valid? [True, True] Translation: X:119.49, Y:18.63, Z:4.39 [[ 9.00371826e-01 -4.32456014e-01 -4.80871216e-02 1.19485161e+02] [ 4.31726424e-01 9.01653002e-01 -2.51824974e-02 1.86256049e+01] [ 5.42482200e-02 1.91313006e-03 9.98525648e-01 4.38597805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.32710568099998 meters 0.027125892343297642 Centerline is valid? [True, True] Translation: X:119.52, Y:18.63, Z:4.39 [[ 8.98389207e-01 -4.36510093e-01 -4.85362862e-02 1.19515265e+02] [ 4.35771830e-01 8.99697757e-01 -2.54334019e-02 1.86278619e+01] [ 5.47699245e-02 1.69834745e-03 9.98497557e-01 4.38563222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35710568099998 meters 0.025588109387950753 Centerline is valid? [True, True] Translation: X:119.54, Y:18.63, Z:4.39 [[ 8.97126407e-01 -4.39195943e-01 -4.76564146e-02 1.19544199e+02] [ 4.38487661e-01 8.98390025e-01 -2.49786936e-02 1.86348807e+01] [ 5.37845884e-02 1.51229588e-03 9.98551416e-01 4.38750138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38710568099998 meters 0.02239303127004202 Centerline is valid? [True, True] Translation: X:119.58, Y:18.64, Z:4.39 [[ 8.93882548e-01 -4.46122140e-01 -4.41477858e-02 1.19575519e+02] [ 4.45522540e-01 8.94971506e-01 -2.31445284e-02 1.86351063e+01] [ 4.98362969e-02 1.01965632e-03 9.98756879e-01 4.39382919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41710568099998 meters 0.02030010333870208 Centerline is valid? [True, True] Translation: X:119.61, Y:18.64, Z:4.40 [[ 8.90644121e-01 -4.52537896e-01 -4.43001349e-02 1.19605559e+02] [ 4.51941772e-01 8.91744922e-01 -2.32299055e-02 1.86374209e+01] [ 5.00168329e-02 6.68497326e-04 9.98748151e-01 4.39565859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44710568099998 meters 0.019270122129507572 Centerline is valid? [True, True] Translation: X:119.63, Y:18.65, Z:4.40 [[ 8.89446094e-01 -4.54835101e-01 -4.48405667e-02 1.19633634e+02] [ 4.54226758e-01 8.90575501e-01 -2.35229613e-02 1.86453653e+01] [ 5.06329786e-02 5.54620870e-04 9.98717174e-01 4.39721532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47710568099998 meters 0.019191974404783766 Centerline is valid? [True, True] Translation: X:119.66, Y:18.66, Z:4.40 [[ 8.88640897e-01 -4.56384402e-01 -4.50625452e-02 1.19659807e+02] [ 4.55771221e-01 8.89782583e-01 -2.36548011e-02 1.86551407e+01] [ 5.08915501e-02 4.82412482e-04 9.98704069e-01 4.39752584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50710568099998 meters 0.018466134392197867 Centerline is valid? [True, True] Translation: X:119.69, Y:18.66, Z:4.40 [[ 8.87429029e-01 -4.58738155e-01 -4.50446748e-02 1.19688494e+02] [ 4.58127983e-01 8.88571425e-01 -2.36552933e-02 1.86620987e+01] [ 5.08769965e-02 3.56167957e-04 9.98704863e-01 4.40216875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53710568099999 meters 0.018215275957796834 Centerline is valid? [True, True] Translation: X:119.72, Y:18.67, Z:4.41 [[ 8.86327070e-01 -4.60890127e-01 -4.47729308e-02 1.19715715e+02] [ 4.60289093e-01 8.87457171e-01 -2.35312855e-02 1.86727712e+01] [ 5.05793956e-02 2.47923626e-04 9.98720012e-01 4.40501001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56710568099999 meters 0.018274947078034388 Centerline is valid? [True, True] Translation: X:119.74, Y:18.69, Z:4.41 [[ 8.86570497e-01 -4.60473119e-01 -4.42409357e-02 1.19739233e+02] [ 4.59884962e-01 8.87673604e-01 -2.32678915e-02 1.86854962e+01] [ 4.99857494e-02 2.82885056e-04 9.98749891e-01 4.40568366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59710568099999 meters 0.01851608197567555 Centerline is valid? [True, True] Translation: X:119.76, Y:18.70, Z:4.41 [[ 8.87737063e-01 -4.58259701e-01 -4.38286746e-02 1.19764195e+02] [ 4.57679195e-01 8.88818246e-01 -2.30625228e-02 1.87001888e+01] [ 4.95243505e-02 4.13983787e-04 9.98772831e-01 4.40906177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.62710568099999 meters 0.018719346983076507 Centerline is valid? [True, True] Translation: X:119.79, Y:18.71, Z:4.41 [[ 8.88335727e-01 -4.57182364e-01 -4.29409059e-02 1.19788404e+02] [ 4.56623002e-01 8.89372844e-01 -2.26136954e-02 1.87147171e+01] [ 4.85290583e-02 4.80748156e-04 9.98821655e-01 4.41223931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65710568099999 meters 0.019365077082465775 Centerline is valid? [True, True] Translation: X:119.81, Y:18.73, Z:4.42 [[ 8.89395895e-01 -4.55467812e-01 -3.90386267e-02 1.19810773e+02] [ 4.55003219e-01 8.90252091e-01 -2.05738925e-02 1.87315413e+01] [ 4.41249649e-02 5.35634756e-04 9.99025876e-01 4.41739719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.68710568099999 meters 0.019755424759083498 Centerline is valid? [True, True] Translation: X:119.83, Y:18.75, Z:4.42 [[ 8.90162937e-01 -4.54130888e-01 -3.70820909e-02 1.19834956e+02] [ 4.53710293e-01 8.90934792e-01 -1.95490966e-02 1.87465278e+01] [ 4.19155735e-02 5.77354910e-04 9.99120989e-01 4.42093037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71710568099998 meters 0.019995917456892272 Centerline is valid? [True, True] Translation: X:119.86, Y:18.76, Z:4.42 [[ 8.90419529e-01 -4.53578402e-01 -3.76788532e-02 1.19859187e+02] [ 4.53143060e-01 8.91216159e-01 -1.98777591e-02 1.87599833e+01] [ 4.25961250e-02 6.25634085e-04 9.99092177e-01 4.42159170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74710568099998 meters 0.02001218743267346 Centerline is valid? [True, True] Translation: X:119.88, Y:18.78, Z:4.42 [[ 8.90809969e-01 -4.52583452e-01 -4.03214472e-02 1.19884351e+02] [ 4.52083478e-01 8.91721756e-01 -2.12800093e-02 1.87752785e+01] [ 4.55864917e-02 7.27784289e-04 9.98960130e-01 4.42027878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77710568099998 meters 0.020331079896082564 Centerline is valid? [True, True] Translation: X:119.91, Y:18.79, Z:4.42 [[ 8.91210547e-01 -4.51722126e-01 -4.11203241e-02 1.19909050e+02] [ 4.51200399e-01 8.92158324e-01 -2.17192051e-02 1.87912531e+01] [ 4.64968849e-02 8.02878016e-04 9.98918112e-01 4.41969841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80710568099998 meters 0.021622093511634445 Centerline is valid? [True, True] Translation: X:119.93, Y:18.81, Z:4.42 [[ 8.93057320e-01 -4.48006499e-01 -4.16989203e-02 1.19932023e+02] [ 4.47465080e-01 8.94029711e-01 -2.20426595e-02 1.88090675e+01] [ 4.71553284e-02 1.02654772e-03 9.98887041e-01 4.41985364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83710568099998 meters 0.023611400575813374 Centerline is valid? [True, True] Translation: X:119.96, Y:18.83, Z:4.42 [[ 8.95720016e-01 -4.42445540e-01 -4.39044018e-02 1.19955906e+02] [ 4.41837796e-01 8.96794275e-01 -2.32247753e-02 1.88277219e+01] [ 4.96489144e-02 1.40427197e-03 9.98765745e-01 4.41816108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86710568099998 meters 0.02549014532268483 Centerline is valid? [True, True] Translation: X:119.98, Y:18.84, Z:4.42 [[ 8.96851382e-01 -4.39935850e-01 -4.59787725e-02 1.19979191e+02] [ 4.39265635e-01 8.98027737e-01 -2.43286965e-02 1.88444293e+01] [ 5.19932787e-02 1.62233037e-03 9.98646117e-01 4.41693869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89710568099999 meters 0.03064104020055286 Centerline is valid? [True, True] Translation: X:120.00, Y:18.87, Z:4.41 [[ 8.98697632e-01 -4.35836829e-01 -4.88755967e-02 1.20000241e+02] [ 4.35073003e-01 9.00023514e-01 -2.58680591e-02 1.88657334e+01] [ 5.52634391e-02 1.98311085e-03 9.98469839e-01 4.41173010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92710568099999 meters 0.028081363883486695 Centerline is valid? [True, True] Translation: X:120.03, Y:18.88, Z:4.41 [[ 8.99091170e-01 -4.34939888e-01 -4.96221935e-02 1.20027417e+02] [ 4.34150530e-01 9.00457089e-01 -2.62744775e-02 1.88764025e+01] [ 5.61104742e-02 2.07964914e-03 9.98422400e-01 4.41454725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95710568099999 meters 0.0290645349284862 Centerline is valid? [True, True] Translation: X:120.05, Y:18.89, Z:4.41 [[ 8.99666530e-01 -4.33772522e-01 -4.94118859e-02 1.20051827e+02] [ 4.32986941e-01 9.01019825e-01 -2.61836593e-02 1.88927966e+01] [ 5.58788407e-02 2.16186056e-03 9.98435216e-01 4.41461032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.98710568099999 meters 0.027568737672905245 Centerline is valid? [True, True] Translation: X:120.08, Y:18.90, Z:4.42 [[ 8.98891257e-01 -4.35379551e-01 -4.93878007e-02 1.20080070e+02] [ 4.34595996e-01 9.00244590e-01 -2.61915756e-02 1.89011726e+01] [ 5.58643768e-02 2.07963783e-03 9.98436201e-01 4.41690176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01710568099999 meters 0.026388024547672004 Centerline is valid? [True, True] Translation: X:120.11, Y:18.91, Z:4.42 [[ 8.97851623e-01 -4.37606606e-01 -4.86098793e-02 1.20107685e+02] [ 4.36849686e-01 8.99164466e-01 -2.57994993e-02 1.89098985e+01] [ 5.49983075e-02 1.92891184e-03 9.98484584e-01 4.42046596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.04710568099999 meters 0.024103988957898604 Centerline is valid? [True, True] Translation: X:120.14, Y:18.91, Z:4.43 [[ 8.95540040e-01 -4.42655787e-01 -4.54300690e-02 1.20137951e+02] [ 4.42000437e-01 8.96690317e-01 -2.41265188e-02 1.89149212e+01] [ 5.14164461e-02 1.52615326e-03 9.98676134e-01 4.42755071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07710568099998 meters 0.021638508709347398 Centerline is valid? [True, True] Translation: X:120.17, Y:18.92, Z:4.43 [[ 8.92724104e-01 -4.48402792e-01 -4.44815712e-02 1.20167395e+02] [ 4.47781370e-01 8.93830831e-01 -2.36281627e-02 1.89210313e+01] [ 5.03539339e-02 1.17541146e-03 9.98730744e-01 4.42972309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10710568099998 meters 0.020901449140192555 Centerline is valid? [True, True] Translation: X:120.19, Y:18.93, Z:4.43 [[ 8.91397487e-01 -4.50944374e-01 -4.53838314e-02 1.20194215e+02] [ 4.50300315e-01 8.92551425e-01 -2.41159697e-02 1.89324878e+01] [ 5.13823643e-02 1.06056123e-03 9.98678491e-01 4.42817876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13710568099998 meters 0.019954921734997605 Centerline is valid? [True, True] Translation: X:120.22, Y:18.94, Z:4.42 [[ 8.89223845e-01 -4.55023577e-01 -4.72704677e-02 1.20220510e+02] [ 4.54329677e-01 8.90478961e-01 -2.51349223e-02 1.89435745e+01] [ 5.35303392e-02 8.74195934e-04 9.98565841e-01 4.42281975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16710568099998 meters 0.018221208226668645 Centerline is valid? [True, True] Translation: X:120.25, Y:18.95, Z:4.43 [[ 8.86944246e-01 -4.59497535e-01 -4.68179390e-02 1.20250167e+02] [ 4.58822511e-01 8.88178837e-01 -2.49049794e-02 1.89493230e+01] [ 5.30264793e-02 6.08203901e-04 9.98592921e-01 4.42772154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19710568099998 meters 0.01760306061426476 Centerline is valid? [True, True] Translation: X:120.28, Y:18.96, Z:4.43 [[ 8.85952542e-01 -4.61495131e-01 -4.59384132e-02 1.20277928e+02] [ 4.60846959e-01 8.87142603e-01 -2.44557264e-02 1.89593164e+01] [ 5.20401221e-02 4.96034915e-04 9.98644872e-01 4.43187496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22710568099998 meters 0.016907865875885535 Centerline is valid? [True, True] Translation: X:120.30, Y:18.97, Z:4.44 [[ 8.84244458e-01 -4.64960861e-01 -4.38535817e-02 1.20304453e+02] [ 4.64373616e-01 8.85331187e-01 -2.33630810e-02 1.89707061e+01] [ 4.96878618e-02 2.94228588e-04 9.98764752e-01 4.43850071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25710568099998 meters 0.0168918270109057 Centerline is valid? [True, True] Translation: X:120.33, Y:18.99, Z:4.44 [[ 8.84049843e-01 -4.65414405e-01 -4.29570288e-02 1.20328397e+02] [ 4.64850726e-01 8.85092851e-01 -2.29008345e-02 1.89854279e+01] [ 4.86793374e-02 2.76873126e-04 9.98814420e-01 4.44098695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28710568099999 meters 0.017542746462524687 Centerline is valid? [True, True] Translation: X:120.35, Y:19.00, Z:4.45 [[ 8.85995230e-01 -4.61910610e-01 -4.06329931e-02 1.20351266e+02] [ 4.61402218e-01 8.86926369e-01 -2.16704778e-02 1.90024735e+01] [ 4.60482966e-02 4.51786823e-04 9.98939112e-01 4.44622340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31710568099999 meters 0.019620136765235947 Centerline is valid? [True, True] Translation: X:120.37, Y:19.02, Z:4.45 [[ 8.88853704e-01 -4.56573077e-01 -3.84723018e-02 1.20372751e+02] [ 4.56111632e-01 8.89685635e-01 -2.05341055e-02 1.90212522e+01] [ 4.36035740e-02 7.04151403e-04 9.99048664e-01 4.45070987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34710568099999 meters 0.019441740996520983 Centerline is valid? [True, True] Translation: X:120.40, Y:19.04, Z:4.45 [[ 8.89669054e-01 -4.54997341e-01 -3.82935123e-02 1.20397391e+02] [ 4.54538401e-01 8.90492450e-01 -2.04459617e-02 1.90358367e+01] [ 4.34029418e-02 7.84267566e-04 9.99057340e-01 4.45230454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37710568099999 meters 0.020491898678500403 Centerline is valid? [True, True] Translation: X:120.42, Y:19.05, Z:4.45 [[ 8.90153892e-01 -4.54037877e-01 -3.84142449e-02 1.20420107e+02] [ 4.53574470e-01 8.90981980e-01 -2.05258851e-02 1.90524665e+01] [ 4.35459293e-02 8.47475731e-04 9.99051067e-01 4.44960830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.40710568099999 meters 0.019883475790911646 Centerline is valid? [True, True] Translation: X:120.45, Y:19.06, Z:4.45 [[ 8.89794098e-01 -4.54782607e-01 -3.79373652e-02 1.20445982e+02] [ 4.54330890e-01 8.90602113e-01 -2.02809761e-02 1.90639525e+01] [ 4.30105328e-02 8.09775940e-04 9.99074291e-01 4.45105289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43710568099999 meters 0.020255731982618957 Centerline is valid? [True, True] Translation: X:120.47, Y:19.08, Z:4.45 [[ 8.90248897e-01 -4.53895624e-01 -3.78901571e-02 1.20471215e+02] [ 4.53443457e-01 8.91054437e-01 -2.02736770e-02 1.90783026e+01] [ 4.29643259e-02 8.67574768e-04 9.99076230e-01 4.45271055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46710568099998 meters 0.0222522286544785 Centerline is valid? [True, True] Translation: X:120.49, Y:19.09, Z:4.45 [[ 8.92331262e-01 -4.49710411e-01 -3.88003158e-02 1.20494494e+02] [ 4.49231631e-01 8.93173733e-01 -2.07755533e-02 1.90946050e+01] [ 4.39984055e-02 1.10834660e-03 9.99030986e-01 4.45356744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49710568099998 meters 0.025938933300311124 Centerline is valid? [True, True] Translation: X:120.52, Y:19.11, Z:4.45 [[ 8.95263993e-01 -4.43559626e-01 -4.19194587e-02 1.20516846e+02] [ 4.42993707e-01 8.96243560e-01 -2.24512200e-02 1.91126440e+01] [ 4.75284996e-02 1.52971242e-03 9.98868711e-01 4.45065649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52710568099998 meters 0.027502251330848635 Centerline is valid? [True, True] Translation: X:120.54, Y:19.13, Z:4.45 [[ 8.96554256e-01 -4.40787275e-01 -4.35550673e-02 1.20542123e+02] [ 4.40172621e-01 8.97609891e-01 -2.33355378e-02 1.91285672e+01] [ 4.93814673e-02 1.74982762e-03 9.98778458e-01 4.44936245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55710568099998 meters 0.030273919081442544 Centerline is valid? [True, True] Translation: X:120.57, Y:19.15, Z:4.44 [[ 8.98278172e-01 -4.37040974e-01 -4.57330510e-02 1.20565510e+02] [ 4.36357756e-01 8.99439226e-01 -2.45150485e-02 1.91451130e+01] [ 5.18481806e-02 2.06536145e-03 9.98652843e-01 4.44437321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58710568099998 meters 0.02965100290588374 Centerline is valid? [True, True] Translation: X:120.59, Y:19.16, Z:4.44 [[ 8.99123274e-01 -4.35203995e-01 -4.66349717e-02 1.20591894e+02] [ 4.34490762e-01 9.00329138e-01 -2.50044352e-02 1.91561271e+01] [ 5.28688540e-02 2.21960529e-03 9.98598997e-01 4.44442290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61710568099998 meters 0.03045687085158205 Centerline is valid? [True, True] Translation: X:120.62, Y:19.17, Z:4.44 [[ 8.99963625e-01 -4.33338330e-01 -4.77845698e-02 1.20620034e+02] [ 4.32586320e-01 9.01228136e-01 -2.56304963e-02 1.91664989e+01] [ 5.41714752e-02 2.39556319e-03 9.98528774e-01 4.44460532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64710568099999 meters 0.0314510317962437 Centerline is valid? [True, True] Translation: X:120.65, Y:19.18, Z:4.45 [[ 8.99766698e-01 -4.33765340e-01 -4.76184800e-02 1.20646292e+02] [ 4.33018485e-01 9.01022752e-01 -2.55536857e-02 1.91761189e+01] [ 5.39896371e-02 2.37267327e-03 9.98538677e-01 4.44501094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67710568099999 meters 0.0314510317962437 Centerline is valid? [True, True] Translation: X:120.67, Y:19.19, Z:4.45 [[ 8.99609955e-01 -4.34090865e-01 -4.76135514e-02 1.20670485e+02] [ 4.33343981e-01 9.00865991e-01 -2.55628659e-02 1.91893422e+01] [ 5.39900358e-02 2.36356274e-03 9.98538677e-01 4.44603123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70710568099999 meters 0.030523995142643187 Centerline is valid? [True, True] Translation: X:120.70, Y:19.20, Z:4.45 [[ 8.98677772e-01 -4.36055221e-01 -4.72663328e-02 1.20697708e+02] [ 4.35320775e-01 8.99917102e-01 -2.53974985e-02 1.91991064e+01] [ 5.36104930e-02 2.24815080e-03 9.98559393e-01 4.44665582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73710568099999 meters 0.02792127316587511 Centerline is valid? [True, True] Translation: X:120.73, Y:19.20, Z:4.45 [[ 8.97201879e-01 -4.39144969e-01 -4.66956601e-02 1.20727553e+02] [ 4.38431546e-01 8.98413872e-01 -2.51056462e-02 1.92039421e+01] [ 5.29770470e-02 2.05198246e-03 9.98593622e-01 4.44906845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.76710568099999 meters 0.02786350148535306 Centerline is valid? [True, True] Translation: X:120.75, Y:19.21, Z:4.45 [[ 8.96680538e-01 -4.40175346e-01 -4.70072122e-02 1.20753475e+02] [ 4.39453452e-01 8.97909586e-01 -2.52792062e-02 1.92146092e+01] [ 5.33355098e-02 2.00989047e-03 9.98574626e-01 4.44981030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79710568099999 meters 0.02591962329854627 Centerline is valid? [True, True] Translation: X:120.78, Y:19.22, Z:4.45 [[ 8.94895062e-01 -4.43771960e-01 -4.72152129e-02 1.20783878e+02] [ 4.43048226e-01 8.96137919e-01 -2.53988145e-02 1.92197767e+01] [ 5.35826243e-02 1.81065736e-03 9.98561778e-01 4.45161444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.82710568099998 meters 0.022782582286661114 Centerline is valid? [True, True] Translation: X:120.81, Y:19.22, Z:4.46 [[ 8.91458209e-01 -4.50889447e-01 -4.47321884e-02 1.20814526e+02] [ 4.50248421e-01 8.92578832e-01 -2.40704806e-02 1.92237467e+01] [ 5.07801302e-02 1.31723033e-03 9.98708988e-01 4.45615355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85710568099998 meters 0.021086058298652254 Centerline is valid? [True, True] Translation: X:120.84, Y:19.23, Z:4.46 [[ 8.89183076e-01 -4.55394125e-01 -4.43807142e-02 1.20842127e+02] [ 4.54768469e-01 8.90289321e-01 -2.38865077e-02 1.92312037e+01] [ 5.03894512e-02 1.05652900e-03 9.98729086e-01 4.45724917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88710568099998 meters 0.01865644304516345 Centerline is valid? [True, True] Translation: X:120.87, Y:19.23, Z:4.46 [[ 8.85085640e-01 -4.63363819e-01 -4.37879100e-02 1.20872344e+02] [ 4.62764166e-01 8.86167935e-01 -2.35736519e-02 1.92343553e+01] [ 4.97266192e-02 6.01225126e-04 9.98762685e-01 4.45994375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91710568099998 meters 0.017543718772601725 Centerline is valid? [True, True] Translation: X:120.90, Y:19.24, Z:4.46 [[ 8.82802918e-01 -4.67856821e-01 -4.20595213e-02 1.20900228e+02] [ 4.67308317e-01 8.83804208e-01 -2.26508121e-02 1.92445189e+01] [ 4.77697189e-02 3.41438906e-04 9.98858317e-01 4.46290704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94710568099998 meters 0.017494123911988332 Centerline is valid? [True, True] Translation: X:120.93, Y:19.26, Z:4.47 [[ 8.82368395e-01 -4.68758133e-01 -4.11318373e-02 1.20926353e+02] [ 4.68233831e-01 8.83326510e-01 -2.21665741e-02 1.92571985e+01] [ 4.67236042e-02 2.99766658e-04 9.98907811e-01 4.46540545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97710568099998 meters 0.017505498740034403 Centerline is valid? [True, True] Translation: X:120.95, Y:19.27, Z:4.46 [[ 8.82132426e-01 -4.69022530e-01 -4.31306089e-02 1.20952112e+02] [ 4.68445575e-01 8.83186146e-01 -2.32588556e-02 1.92687222e+01] [ 4.90012836e-02 3.13047785e-04 9.98798667e-01 4.46462159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00710568099998 meters 0.017412701173034152 Centerline is valid? [True, True] Translation: X:120.98, Y:19.28, Z:4.46 [[ 8.81418663e-01 -4.70268321e-01 -4.41457417e-02 1.20977575e+02] [ 4.69664925e-01 8.82523450e-01 -2.38163482e-02 1.92807818e+01] [ 5.01597264e-02 2.58467364e-04 9.98741175e-01 4.46481108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03710568099999 meters 0.01712551519668623 Centerline is valid? [True, True] Translation: X:121.00, Y:19.29, Z:4.47 [[ 8.80154590e-01 -4.72828788e-01 -4.19623089e-02 1.21001751e+02] [ 4.72285795e-01 8.81154313e-01 -2.26540371e-02 1.92942932e+01] [ 4.76867503e-02 1.20852285e-04 9.98862332e-01 4.46812723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06710568099999 meters 0.017389608805319305 Centerline is valid? [True, True] Translation: X:121.02, Y:19.31, Z:4.47 [[ 8.81149201e-01 -4.71195359e-01 -3.93829769e-02 1.21023255e+02] [ 4.70715230e-01 8.82028851e-01 -2.12668361e-02 1.93132535e+01] [ 4.47577563e-02 2.01088606e-04 9.98997849e-01 4.47232726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09710568099999 meters 0.01806723295848205 Centerline is valid? [True, True] Translation: X:121.05, Y:19.33, Z:4.48 [[ 8.82626850e-01 -4.68497296e-01 -3.84724268e-02 1.21046432e+02] [ 4.68036262e-01 8.83464867e-01 -2.07818845e-02 1.93305982e+01] [ 4.37252941e-02 3.36158445e-04 9.99043535e-01 4.47552621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.12710568099999 meters 0.020827857214465863 Centerline is valid? [True, True] Translation: X:121.07, Y:19.35, Z:4.48 [[ 8.86579943e-01 -4.60860552e-01 -3.97939193e-02 1.21066462e+02] [ 4.60358934e-01 8.87472246e-01 -2.15096284e-02 1.93522433e+01] [ 4.52289382e-02 7.50518918e-04 9.98976366e-01 4.47824908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15710568099999 meters 0.025316714091569555 Centerline is valid? [True, True] Translation: X:121.09, Y:19.38, Z:4.48 [[ 8.90804581e-01 -4.52612513e-01 -4.01137203e-02 1.21085164e+02] [ 4.52094149e-01 8.91706515e-01 -2.16880504e-02 1.93798240e+01] [ 4.55859488e-02 1.18463639e-03 9.98959718e-01 4.47635939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.18710568099999 meters 0.028028466123885182 Centerline is valid? [True, True] Translation: X:121.11, Y:19.40, Z:4.48 [[ 8.92978072e-01 -4.48323434e-01 -3.99532472e-02 1.21106916e+02] [ 4.47804521e-01 8.93870305e-01 -2.16099139e-02 1.94008682e+01] [ 4.54012521e-02 1.40593448e-03 9.98967842e-01 4.47563321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21710568099998 meters 0.031989485604588336 Centerline is valid? [True, True] Translation: X:121.13, Y:19.42, Z:4.47 [[ 8.95957143e-01 -4.42236338e-01 -4.10830714e-02 1.21128023e+02] [ 4.41681066e-01 8.96896817e-01 -2.22246813e-02 1.94245666e+01] [ 4.66758376e-02 1.76674719e-03 9.98908527e-01 4.47433000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24710568099998 meters 0.028907686302064854 Centerline is valid? [True, True] Translation: X:121.15, Y:19.44, Z:4.48 [[ 8.96872104e-01 -4.40352771e-01 -4.13505239e-02 1.21154187e+02] [ 4.39788003e-01 8.97822865e-01 -2.23744370e-02 1.94354602e+01] [ 4.69780912e-02 1.88154407e-03 9.98894148e-01 4.47678050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27710568099998 meters 0.030622404916453357 Centerline is valid? [True, True] Translation: X:121.18, Y:19.45, Z:4.48 [[ 8.97792555e-01 -4.38463004e-01 -4.14574810e-02 1.21175777e+02] [ 4.37893004e-01 8.98747033e-01 -2.24385348e-02 1.94542506e+01] [ 4.70982554e-02 1.99120859e-03 9.98888277e-01 4.47803513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30710568099998 meters 0.03135473628478018 Centerline is valid? [True, True] Translation: X:121.20, Y:19.47, Z:4.48 [[ 8.97979220e-01 -4.37982920e-01 -4.24768444e-02 1.21199509e+02] [ 4.37383680e-01 8.98980906e-01 -2.29966787e-02 1.94697044e+01] [ 4.82580245e-02 2.07186104e-03 9.98832754e-01 4.47768789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33710568099998 meters 0.037619727793819044 Centerline is valid? [True, True] Translation: X:121.22, Y:19.49, Z:4.48 [[ 8.98103911e-01 -4.37731038e-01 -4.24370553e-02 1.21218872e+02] [ 4.37132341e-01 8.99103539e-01 -2.29813495e-02 1.94920385e+01] [ 4.82149566e-02 2.08903052e-03 9.98834798e-01 4.47549145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36710568099998 meters 0.031569561216426234 Centerline is valid? [True, True] Translation: X:121.25, Y:19.50, Z:4.48 [[ 8.98328120e-01 -4.37366877e-01 -4.14343424e-02 1.21247236e+02] [ 4.36795490e-01 8.99280799e-01 -2.24442588e-02 1.94989010e+01] [ 4.70774839e-02 2.06397496e-03 9.98889108e-01 4.47980246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39710568099999 meters 0.032323566289318824 Centerline is valid? [True, True] Translation: X:121.27, Y:19.51, Z:4.48 [[ 8.98432636e-01 -4.37209407e-01 -4.08256391e-02 1.21272190e+02] [ 4.36654157e-01 8.99357402e-01 -2.21226462e-02 1.95131711e+01] [ 4.63890698e-02 2.04902235e-03 9.98921346e-01 4.48063449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42710568099999 meters 0.038956659794575625 Centerline is valid? [True, True] Translation: X:121.29, Y:19.53, Z:4.48 [[ 8.98633378e-01 -4.36630634e-01 -4.25645632e-02 1.21293870e+02] [ 4.36025619e-01 8.99638221e-01 -2.30809868e-02 1.95321509e+01] [ 4.83705738e-02 2.18210517e-03 9.98827075e-01 4.47839925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45710568099999 meters 0.03265222391733241 Centerline is valid? [True, True] Translation: X:121.32, Y:19.54, Z:4.48 [[ 8.98467962e-01 -4.36946369e-01 -4.28158012e-02 1.21324453e+02] [ 4.36333963e-01 8.99484898e-01 -2.32291205e-02 1.95354196e+01] [ 4.86620464e-02 2.18863235e-03 9.98812903e-01 4.47932240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48710568099999 meters 0.036085267514727695 Centerline is valid? [True, True] Translation: X:121.35, Y:19.55, Z:4.48 [[ 8.98939406e-01 -4.35991835e-01 -4.26504820e-02 1.21346656e+02] [ 4.35382275e-01 8.99947817e-01 -2.31560389e-02 1.95523755e+01] [ 4.84790521e-02 2.24661195e-03 9.98821673e-01 4.47834096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51710568099999 meters 0.03458161672440536 Centerline is valid? [True, True] Translation: X:121.38, Y:19.56, Z:4.48 [[ 9.00650432e-01 -4.32494710e-01 -4.21559612e-02 1.21375262e+02] [ 4.31895106e-01 9.01633245e-01 -2.28934291e-02 1.95609201e+01] [ 4.79105030e-02 2.41202349e-03 9.98848720e-01 4.48148504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.54710568099999 meters 0.03633968682029991 Centerline is valid? [True, True] Translation: X:121.40, Y:19.57, Z:4.48 [[ 9.02334822e-01 -4.28917959e-01 -4.26761535e-02 1.21401878e+02] [ 4.28299220e-01 9.03339593e-01 -2.31809620e-02 1.95727362e+01] [ 4.84937900e-02 2.63882592e-03 9.98819998e-01 4.48278264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.57710568099998 meters 0.05130729389379076 Centerline is valid? [True, True] Translation: X:121.42, Y:19.60, Z:4.48 [[ 9.03305543e-01 -4.26770654e-01 -4.36566730e-02 1.21417409e+02] [ 4.26120424e-01 9.04355488e-01 -2.37178441e-02 1.96036429e+01] [ 4.96032316e-02 2.82146007e-03 9.98765017e-01 4.47918441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60710568099998 meters 0.03903562081016396 Centerline is valid? [True, True] Translation: X:121.45, Y:19.60, Z:4.48 [[ 9.04360310e-01 -4.24518338e-01 -4.37791065e-02 1.21452509e+02] [ 4.23861552e-01 9.05414507e-01 -2.37898080e-02 1.96005117e+01] [ 4.97374479e-02 2.95827814e-03 9.98757946e-01 4.48383016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63710568099998 meters 0.03939727563363054 Centerline is valid? [True, True] Translation: X:121.48, Y:19.61, Z:4.49 [[ 9.04152215e-01 -4.25060122e-01 -4.28096418e-02 1.21478261e+02] [ 4.24432386e-01 9.05160569e-01 -2.32700055e-02 1.96142981e+01] [ 4.86407512e-02 2.86982854e-03 9.98812215e-01 4.48508346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66710568099998 meters 0.03877595310692603 Centerline is valid? [True, True] Translation: X:121.51, Y:19.62, Z:4.49 [[ 9.03546091e-01 -4.26458539e-01 -4.16842388e-02 1.21505631e+02] [ 4.25864088e-01 9.04502974e-01 -2.26748654e-02 1.96242398e+01] [ 4.73734079e-02 2.73596565e-03 9.98873503e-01 4.48707953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69710568099998 meters 0.037929530621959626 Centerline is valid? [True, True] Translation: X:121.53, Y:19.63, Z:4.49 [[ 9.02016208e-01 -4.29791231e-01 -4.05741050e-02 1.21534359e+02] [ 4.29230763e-01 9.02924815e-01 -2.20845980e-02 1.96313714e+01] [ 4.61271328e-02 2.50501125e-03 9.98932436e-01 4.49097549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72710568099998 meters 0.03710885442776603 Centerline is valid? [True, True] Translation: X:121.56, Y:19.64, Z:4.49 [[ 9.00827690e-01 -4.32349511e-01 -3.97916265e-02 1.21561014e+02] [ 4.31812771e-01 9.01703090e-01 -2.16625957e-02 1.96408793e+01] [ 4.52460453e-02 2.33173358e-03 9.98973152e-01 4.49352568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75710568099998 meters 0.0354669785780185 Centerline is valid? [True, True] Translation: X:121.59, Y:19.65, Z:4.49 [[ 8.98952990e-01 -4.36249344e-01 -3.96236202e-02 1.21590612e+02] [ 4.35720596e-01 8.99823295e-01 -2.15777683e-02 1.96486257e+01] [ 4.50675438e-02 2.13257192e-03 9.98981666e-01 4.49469641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78710568099999 meters 0.034411911460869644 Centerline is valid? [True, True] Translation: X:121.62, Y:19.66, Z:4.49 [[ 8.97880589e-01 -4.38372450e-01 -4.04974356e-02 1.21618689e+02] [ 4.37821677e-01 8.98790999e-01 -2.20662678e-02 1.96570534e+01] [ 4.60719744e-02 2.08221836e-03 9.98935953e-01 4.49189757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81710568099999 meters 0.034232637783129384 Centerline is valid? [True, True] Translation: X:121.65, Y:19.67, Z:4.49 [[ 8.97257880e-01 -4.39599317e-01 -4.09967975e-02 1.21645078e+02] [ 4.39035821e-01 8.98191648e-01 -2.23452801e-02 1.96691072e+01] [ 4.66459510e-02 2.05041598e-03 9.98909381e-01 4.49034129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84710568099999 meters 0.03359086420820855 Centerline is valid? [True, True] Translation: X:121.67, Y:19.68, Z:4.49 [[ 8.96042202e-01 -4.42012411e-01 -4.16341315e-02 1.21672359e+02] [ 4.41433180e-01 8.97006777e-01 -2.27065957e-02 1.96774611e+01] [ 4.73826952e-02 1.96738099e-03 9.98874872e-01 4.48842391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87710568099999 meters 0.02703204179088606 Centerline is valid? [True, True] Translation: X:121.71, Y:19.68, Z:4.49 [[ 8.93076465e-01 -4.47824229e-01 -4.32190772e-02 1.21706702e+02] [ 4.47206368e-01 8.94119939e-01 -2.35796405e-02 1.96762560e+01] [ 4.92025730e-02 1.73057541e-03 9.98787321e-01 4.48894695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.90710568099999 meters 0.025202229504125196 Centerline is valid? [True, True] Translation: X:121.73, Y:19.68, Z:4.49 [[ 8.90712947e-01 -4.52514001e-01 -4.31453905e-02 1.21734695e+02] [ 4.51903054e-01 8.91756068e-01 -2.35530469e-02 1.96840818e+01] [ 4.91332472e-02 1.48147012e-03 9.98791134e-01 4.49029765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93710568099999 meters 0.02170377657582645 Centerline is valid? [True, True] Translation: X:121.77, Y:19.69, Z:4.49 [[ 8.86259171e-01 -4.61371423e-01 -4.10011195e-02 1.21766616e+02] [ 4.60828818e-01 8.87206577e-01 -2.23895051e-02 1.96871927e+01] [ 4.67063407e-02 9.48406802e-04 9.98908213e-01 4.49424876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96710568099998 meters 0.0196922248112661 Centerline is valid? [True, True] Translation: X:121.80, Y:19.69, Z:4.50 [[ 8.82814308e-01 -4.68108991e-01 -3.88956436e-02 1.21795892e+02] [ 4.67626660e-01 8.83670552e-01 -2.12523644e-02 1.96946220e+01] [ 4.43193577e-02 5.73251450e-04 9.99017250e-01 4.49529438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99710568099998 meters 0.0190831562655848 Centerline is valid? [True, True] Translation: X:121.82, Y:19.70, Z:4.50 [[ 8.81258015e-01 -4.71148322e-01 -3.74642313e-02 1.21822381e+02] [ 4.70703314e-01 8.82053904e-01 -2.04768300e-02 1.97044027e+01] [ 4.26930956e-02 4.10832791e-04 9.99088150e-01 4.49707488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.027105681 meters 0.01833564652073481 Centerline is valid? [True, True] Translation: X:121.85, Y:19.71, Z:4.50 [[ 8.77904021e-01 -4.77349217e-01 -3.77128117e-02 1.21852465e+02] [ 4.76903678e-01 8.78713669e-01 -2.06196594e-02 1.97103128e+01] [ 4.29815414e-02 1.16703345e-04 9.99075860e-01 4.50049949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.057105681 meters 0.01817848169482063 Centerline is valid? [True, True] Translation: X:121.88, Y:19.72, Z:4.50 [[ 8.76038748e-01 -4.80748044e-01 -3.79134630e-02 1.21876939e+02] [ 4.80300272e-01 8.76858778e-01 -2.07444413e-02 1.97211822e+01] [ 4.32176025e-02 -3.69122068e-05 9.99065682e-01 4.50032018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.087105681 meters 0.018488564865970756 Centerline is valid? [True, True] Translation: X:121.90, Y:19.73, Z:4.50 [[ 8.73894418e-01 -4.84603936e-01 -3.83088873e-02 1.21902587e+02] [ 4.84150126e-01 8.74733660e-01 -2.09685579e-02 1.97327047e+01] [ 4.36715189e-02 -2.22946829e-04 9.99045919e-01 4.49980231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.117105681 meters 0.018866622572182683 Centerline is valid? [True, True] Translation: X:121.93, Y:19.75, Z:4.50 [[ 8.72341459e-01 -4.87313177e-01 -3.93223367e-02 1.21927876e+02] [ 4.86837428e-01 8.73227197e-01 -2.15309415e-02 1.97469385e+01] [ 4.48296454e-02 -3.61252342e-04 9.98994581e-01 4.50147224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14710568099997 meters 0.019948752294672287 Centerline is valid? [True, True] Translation: X:121.95, Y:19.76, Z:4.50 [[ 8.69506535e-01 -4.92354977e-01 -3.93060060e-02 1.21952742e+02] [ 4.91884084e-01 8.70394283e-01 -2.15369443e-02 1.97605810e+01] [ 4.48155446e-02 -6.07484968e-04 9.98995094e-01 4.50071800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.17710568099997 meters 0.020568458170313532 Centerline is valid? [True, True] Translation: X:121.98, Y:19.77, Z:4.50 [[ 8.68180358e-01 -4.94702472e-01 -3.91449880e-02 1.21977683e+02] [ 4.94237465e-01 8.69062108e-01 -2.14564854e-02 1.97743241e+01] [ 4.46340021e-02 -7.18820455e-04 9.99003148e-01 4.50192431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.20710568099997 meters 0.02259578534439874 Centerline is valid? [True, True] Translation: X:122.00, Y:19.79, Z:4.50 [[ 8.67040846e-01 -4.96630378e-01 -3.99804820e-02 1.22003542e+02] [ 4.96146652e-01 8.67961745e-01 -2.19296202e-02 1.97859310e+01] [ 4.55924445e-02 -8.22305800e-04 9.98959785e-01 4.50075803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.23710568099997 meters 0.023553803753199192 Centerline is valid? [True, True] Translation: X:122.03, Y:19.80, Z:4.50 [[ 8.63833420e-01 -5.02162416e-01 -4.03079325e-02 1.22027100e+02] [ 5.01676362e-01 8.64772607e-01 -2.21170904e-02 1.98046182e+01] [ 4.59635675e-02 -1.11605510e-03 9.98942493e-01 4.50106519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.26710568099998 meters 0.02655567121177705 Centerline is valid? [True, True] Translation: X:122.05, Y:19.82, Z:4.50 [[ 8.61160119e-01 -5.06901785e-01 -3.81291172e-02 1.22051415e+02] [ 5.06470973e-01 8.62002861e-01 -2.09337555e-02 1.98194765e+01] [ 4.34787661e-02 -1.28397572e-03 9.99053526e-01 4.50441643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.29710568099998 meters 0.026107572858685535 Centerline is valid? [True, True] Translation: X:122.07, Y:19.84, Z:4.51 [[ 8.59003738e-01 -5.10586351e-01 -3.76052695e-02 1.22072666e+02] [ 5.10170569e-01 8.59825267e-01 -2.06518810e-02 1.98411446e+01] [ 4.28785295e-02 -1.44505874e-03 9.99079248e-01 4.50801477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.32710568099998 meters 0.027312384764284044 Centerline is valid? [True, True] Translation: X:122.10, Y:19.86, Z:4.51 [[ 8.58259588e-01 -5.11798922e-01 -3.81096238e-02 1.22095033e+02] [ 5.11372418e-01 8.59103938e-01 -2.09445483e-02 1.98576753e+01] [ 4.34595252e-02 -1.51235111e-03 9.99054044e-01 4.50729837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.35710568099998 meters 0.03112247526356337 Centerline is valid? [True, True] Translation: X:122.12, Y:19.88, Z:4.51 [[ 8.57296207e-01 -5.13412961e-01 -3.80833909e-02 1.22117073e+02] [ 5.12988368e-01 8.58140204e-01 -2.09361846e-02 1.98763899e+01] [ 4.34297974e-02 -1.58782486e-03 9.99055219e-01 4.50551017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.38710568099998 meters 0.027876971209823985 Centerline is valid? [True, True] Translation: X:122.14, Y:19.90, Z:4.51 [[ 8.57314616e-01 -5.13472718e-01 -3.68431418e-02 1.22137347e+02] [ 5.13075106e-01 8.58104549e-01 -2.02612521e-02 1.98992512e+01] [ 4.20188678e-02 -1.53303130e-03 9.99115641e-01 4.51049279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41710568099998 meters 0.026793314537591324 Centerline is valid? [True, True] Translation: X:122.16, Y:19.92, Z:4.52 [[ 8.58252695e-01 -5.12067722e-01 -3.44812869e-02 1.22157085e+02] [ 5.11717789e-01 8.58944005e-01 -1.89763440e-02 1.99240290e+01] [ 3.93346679e-02 -1.35818947e-03 9.99225169e-01 4.51683736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.44710568099998 meters 0.026330957921883814 Centerline is valid? [True, True] Translation: X:122.17, Y:19.95, Z:4.52 [[ 8.60078249e-01 -5.08946413e-01 -3.51987951e-02 1.22174327e+02] [ 5.08578817e-01 8.60797321e-01 -1.93793530e-02 1.99499948e+01] [ 4.01620807e-02 -1.23360163e-03 9.99192417e-01 4.51687020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47710568099998 meters 0.024995545706051746 Centerline is valid? [True, True] Translation: X:122.20, Y:19.97, Z:4.52 [[ 8.61736390e-01 -5.06072873e-01 -3.60644063e-02 1.22195856e+02] [ 5.05684175e-01 8.62489995e-01 -1.98626310e-02 1.99719136e+01] [ 4.11571283e-02 -1.12084759e-03 9.99152058e-01 4.51710140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.50710568099998 meters 0.02156171621809522 Centerline is valid? [True, True] Translation: X:122.21, Y:20.00, Z:4.52 [[ 8.66719088e-01 -4.97611170e-01 -3.43678039e-02 1.22211157e+02] [ 4.97251021e-01 8.67399948e-01 -1.89407447e-02 2.00023303e+01] [ 3.92357575e-02 -6.73120585e-04 9.99229754e-01 4.52028529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53710568099999 meters 0.018735892428856843 Centerline is valid? [True, True] Translation: X:122.23, Y:20.04, Z:4.52 [[ 8.73284543e-01 -4.86078036e-01 -3.32001565e-02 1.22225459e+02] [ 4.85733413e-01 8.73915397e-01 -1.83010878e-02 2.00357854e+01] [ 3.79098848e-02 -1.44368216e-04 9.99281152e-01 4.52265086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.567105681 meters 0.018735892428856843 Centerline is valid? [True, True] Translation: X:122.25, Y:20.05, Z:4.52 [[ 8.73103712e-01 -4.86402898e-01 -3.31983294e-02 1.22249471e+02] [ 4.86058383e-01 8.73734626e-01 -1.83044014e-02 2.00492828e+01] [ 3.79098438e-02 -1.54685496e-04 9.99281152e-01 4.52367035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.597105681 meters 0.01888834644233933 Centerline is valid? [True, True] Translation: X:122.27, Y:20.07, Z:4.52 [[ 8.76204257e-01 -4.80781051e-01 -3.34018116e-02 1.22267667e+02] [ 4.80427589e-01 8.76840675e-01 -1.84326324e-02 2.00716213e+01] [ 3.81501274e-02 1.03599155e-04 9.99272014e-01 4.52414333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.627105681 meters 0.02081683564275097 Centerline is valid? [True, True] Translation: X:122.28, Y:20.10, Z:4.52 [[ 8.81621330e-01 -4.70693121e-01 -3.45226958e-02 1.22283713e+02] [ 4.70307438e-01 8.82296812e-01 -1.90591015e-02 2.01030949e+01] [ 3.94302524e-02 5.66629759e-04 9.99222165e-01 4.52100530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.657105681 meters 0.024055999719462415 Centerline is valid? [True, True] Translation: X:122.30, Y:20.13, Z:4.51 [[ 8.85850066e-01 -4.62399242e-01 -3.81654500e-02 1.22301792e+02] [ 4.61919365e-01 8.86671212e-01 -2.10870301e-02 2.01323049e+01] [ 4.35908326e-02 1.05058658e-03 9.99048916e-01 4.51392277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.687105681 meters 0.025123367077176724 Centerline is valid? [True, True] Translation: X:122.32, Y:20.15, Z:4.51 [[ 8.87282437e-01 -4.59523806e-01 -3.95948101e-02 1.22324744e+02] [ 4.59003811e-01 8.88164575e-01 -2.18903833e-02 2.01512232e+01] [ 4.52258600e-02 1.24878395e-03 9.98976007e-01 4.51211070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.717105681 meters 0.02843378667205407 Centerline is valid? [True, True] Translation: X:122.34, Y:20.17, Z:4.51 [[ 8.88712750e-01 -4.56784920e-01 -3.92069530e-02 1.22344406e+02] [ 4.56271729e-01 8.89576084e-01 -2.16910043e-02 2.01738447e+01] [ 4.47856914e-02 1.38804780e-03 9.98995653e-01 4.51290488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.747105681 meters 0.027619773187220503 Centerline is valid? [True, True] Translation: X:122.37, Y:20.19, Z:4.51 [[ 8.89186345e-01 -4.55727618e-01 -4.07428839e-02 1.22368833e+02] [ 4.55171784e-01 8.90118006e-01 -2.25517531e-02 2.01888795e+01] [ 4.65434313e-02 1.50769976e-03 9.98915129e-01 4.51388226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.777105681 meters 0.02754439104509988 Centerline is valid? [True, True] Translation: X:122.39, Y:20.20, Z:4.51 [[ 8.88774367e-01 -4.56443068e-01 -4.17115030e-02 1.22392867e+02] [ 4.55860389e-01 8.89751319e-01 -2.31061835e-02 2.02041426e+01] [ 4.76595222e-02 1.52156165e-03 9.98862480e-01 4.51331319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.807105681 meters 0.0267823873537465 Centerline is valid? [True, True] Translation: X:122.42, Y:20.22, Z:4.52 [[ 8.87745593e-01 -4.58626575e-01 -3.96159844e-02 1.22416645e+02] [ 4.58102459e-01 8.88628071e-01 -2.19610735e-02 2.02180109e+01] [ 4.52758077e-02 1.34766635e-03 9.98973616e-01 4.51643824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.837105681 meters 0.025773931514115913 Centerline is valid? [True, True] Translation: X:122.44, Y:20.23, Z:4.52 [[ 8.86744679e-01 -4.60691387e-01 -3.80436700e-02 1.22442937e+02] [ 4.60209665e-01 8.87559580e-01 -2.10963553e-02 2.02304430e+01] [ 4.34849329e-02 1.19901616e-03 9.99053363e-01 4.52011355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.867105681 meters 0.02350356872903397 Centerline is valid? [True, True] Translation: X:122.47, Y:20.24, Z:4.53 [[ 8.84090212e-01 -4.65985657e-01 -3.52401075e-02 1.22470999e+02] [ 4.65576027e-01 8.84791835e-01 -1.95543250e-02 2.02380421e+01] [ 4.02921944e-02 8.80838100e-04 9.99187552e-01 4.52740386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89710568099997 meters 0.020089277381498717 Centerline is valid? [True, True] Translation: X:122.50, Y:20.24, Z:4.53 [[ 8.79576005e-01 -4.74563585e-01 -3.36965037e-02 1.22501476e+02] [ 4.74195186e-01 8.80221098e-01 -1.87014291e-02 2.02442616e+01] [ 3.85353907e-02 4.70608432e-04 9.99257125e-01 4.52845999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.92710568099997 meters 0.019114747187778235 Centerline is valid? [True, True] Translation: X:122.53, Y:20.25, Z:4.53 [[ 8.77130469e-01 -4.78973687e-01 -3.50192470e-02 1.22528025e+02] [ 4.78578759e-01 8.77829207e-01 -1.94487563e-02 2.02543347e+01] [ 4.00563604e-02 2.99628948e-04 9.99197377e-01 4.52619126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.95710568099997 meters 0.018119086937196757 Centerline is valid? [True, True] Translation: X:122.56, Y:20.26, Z:4.52 [[ 8.73714361e-01 -4.84932933e-01 -3.82526553e-02 1.22557884e+02] [ 4.84467006e-01 8.74551342e-01 -2.12525465e-02 2.02583103e+01] [ 4.37599707e-02 3.65057156e-05 9.99042073e-01 4.52237924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.98710568099997 meters 0.018194677988648975 Centerline is valid? [True, True] Translation: X:122.58, Y:20.27, Z:4.52 [[ 8.73507648e-01 -4.85146202e-01 -4.02188009e-02 1.22583987e+02] [ 4.84630573e-01 8.74433051e-01 -2.23617209e-02 2.02698348e+01] [ 4.60173527e-02 4.18736851e-05 9.98940640e-01 4.52086662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.01710568099998 meters 0.018203396703465546 Centerline is valid? [True, True] Translation: X:122.61, Y:20.28, Z:4.52 [[ 8.73800398e-01 -4.84604696e-01 -4.03875246e-02 1.22608134e+02] [ 4.84083757e-01 8.74733263e-01 -2.24640526e-02 2.02849324e+01] [ 4.62144965e-02 7.81534243e-05 9.98931536e-01 4.52222597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.04710568099998 meters 0.01854830010385672 Centerline is valid? [True, True] Translation: X:122.63, Y:20.30, Z:4.52 [[ 8.76043956e-01 -4.80514209e-01 -4.06581112e-02 1.22631167e+02] [ 4.79980956e-01 8.76986885e-01 -2.26337028e-02 2.03038489e+01] [ 4.65324461e-02 3.12999430e-04 9.98916730e-01 4.52248451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.07710568099998 meters 0.018803793474971058 Centerline is valid? [True, True] Translation: X:122.66, Y:20.32, Z:4.52 [[ 8.77019239e-01 -4.78715788e-01 -4.08466523e-02 1.22655032e+02] [ 4.78174801e-01 8.77969825e-01 -2.27562473e-02 2.03207440e+01] [ 4.67559030e-02 4.25826812e-04 9.98906254e-01 4.52396093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.10710568099998 meters 0.0193777456064779 Centerline is valid? [True, True] Translation: X:122.68, Y:20.34, Z:4.52 [[ 8.77984913e-01 -4.76874189e-01 -4.16353378e-02 1.22678493e+02] [ 4.76309154e-01 8.78971391e-01 -2.32138747e-02 2.03371136e+01] [ 4.76663685e-02 5.50139196e-04 9.98863161e-01 4.52374034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13710568099998 meters 0.019148384505122493 Centerline is valid? [True, True] Translation: X:122.70, Y:20.35, Z:4.53 [[ 8.77693941e-01 -4.77407958e-01 -4.16531717e-02 1.22703007e+02] [ 4.76842301e-01 8.78681601e-01 -2.32392947e-02 2.03499763e+01] [ 4.76944998e-02 5.34993904e-04 9.98861827e-01 4.52500397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.16710568099998 meters 0.01898078945106405 Centerline is valid? [True, True] Translation: X:122.73, Y:20.36, Z:4.53 [[ 8.77227718e-01 -4.78339212e-01 -4.07814727e-02 1.22726941e+02] [ 4.77797714e-01 8.78175021e-01 -2.27590915e-02 2.03632820e+01] [ 4.66998365e-02 4.79611529e-04 9.98908852e-01 4.52696576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19710568099998 meters 0.018206892177692884 Centerline is valid? [True, True] Translation: X:122.75, Y:20.37, Z:4.53 [[ 8.75091780e-01 -4.82353095e-01 -3.93683563e-02 1.22753043e+02] [ 4.81852196e-01 8.75976839e-01 -2.19781557e-02 2.03745811e+01] [ 4.50869997e-02 2.63174513e-04 9.98983029e-01 4.52759056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.22710568099998 meters 0.017853052416110706 Centerline is valid? [True, True] Translation: X:122.78, Y:20.39, Z:4.53 [[ 8.73206592e-01 -4.85737440e-01 -3.96154932e-02 1.22778905e+02] [ 4.85232926e-01 8.74104758e-01 -2.21332105e-02 2.03852950e+01] [ 4.53790201e-02 1.04123609e-04 9.98969836e-01 4.52783356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25710568099998 meters 0.01814727824836813 Centerline is valid? [True, True] Translation: X:122.81, Y:20.39, Z:4.53 [[ 8.68805841e-01 -4.93690889e-01 -3.80225903e-02 1.22807538e+02] [ 4.93232956e-01 8.69637411e-01 -2.12608611e-02 2.03919577e+01] [ 4.35621604e-02 -2.82434286e-04 9.99050679e-01 4.53061116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.28710568099999 meters 0.021885906402014134 Centerline is valid? [True, True] Translation: X:122.84, Y:20.40, Z:4.54 [[ 8.62630715e-01 -5.04602163e-01 -3.52832470e-02 1.22838680e+02] [ 5.04216315e-01 8.63351656e-01 -1.97439989e-02 2.03950389e+01] [ 4.04247143e-02 -7.58608927e-04 9.99182299e-01 4.53576422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.317105681 meters 0.024654445192531002 Centerline is valid? [True, True] Translation: X:122.87, Y:20.41, Z:4.54 [[ 8.59047911e-01 -5.10683076e-01 -3.52062919e-02 1.22867104e+02] [ 5.10303762e-01 8.59768411e-01 -1.97066044e-02 2.04054144e+01] [ 4.03330870e-02 -1.03698583e-03 9.99185752e-01 4.53746494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.347105681 meters 0.03071762426512463 Centerline is valid? [True, True] Translation: X:122.89, Y:20.41, Z:4.54 [[ 8.53405429e-01 -5.20008546e-01 -3.59205384e-02 1.22894988e+02] [ 5.19621361e-01 8.54159748e-01 -2.01188186e-02 2.04129616e+01] [ 4.11438357e-02 -1.49557000e-03 9.99152115e-01 4.53762956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.377105681 meters 0.0352263681245835 Centerline is valid? [True, True] Translation: X:122.92, Y:20.42, Z:4.54 [[ 8.49883587e-01 -5.25648300e-01 -3.73062214e-02 1.22921147e+02] [ 5.25235768e-01 8.50700014e-01 -2.09015305e-02 2.04242404e+01] [ 4.27232570e-02 -1.83069418e-03 9.99085268e-01 4.53728872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.407105681 meters 0.037656822086849485 Centerline is valid? [True, True] Translation: X:122.95, Y:20.44, Z:4.54 [[ 8.48074404e-01 -5.28504737e-01 -3.81123171e-02 1.22946836e+02] [ 5.28076851e-01 8.48927965e-01 -2.13576822e-02 2.04373843e+01] [ 4.36422479e-02 -2.01332880e-03 9.99045195e-01 4.53728318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.437105681 meters 0.03706723071148597 Centerline is valid? [True, True] Translation: X:122.97, Y:20.46, Z:4.54 [[ 8.44383513e-01 -5.34404078e-01 -3.77989950e-02 1.22968802e+02] [ 5.33988803e-01 8.45226018e-01 -2.11881086e-02 2.04585092e+01] [ 4.32717057e-02 -2.29335049e-03 9.99060709e-01 4.53961996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.467105681 meters 0.04718206674295925 Centerline is valid? [True, True] Translation: X:123.00, Y:20.47, Z:4.54 [[ 8.41303294e-01 -5.39140276e-01 -3.91986129e-02 1.22995729e+02] [ 5.38698094e-01 8.42211915e-01 -2.19875977e-02 2.04683157e+01] [ 4.48679383e-02 -2.61797974e-03 9.98989497e-01 4.53608951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.497105681 meters 0.04881149183813563 Centerline is valid? [True, True] Translation: X:123.02, Y:20.49, Z:4.54 [[ 8.39790625e-01 -5.41462848e-01 -3.96193295e-02 1.23019877e+02] [ 5.41013371e-01 8.40720129e-01 -2.22305378e-02 2.04852360e+01] [ 4.53457782e-02 -2.76558977e-03 9.98967523e-01 4.53610822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.527105681 meters 0.04369804855458325 Centerline is valid? [True, True] Translation: X:123.04, Y:20.51, Z:4.54 [[ 8.37224732e-01 -5.45605786e-01 -3.70009972e-02 1.23038815e+02] [ 5.45217239e-01 8.38037346e-01 -2.07742590e-02 2.05116656e+01] [ 4.23427735e-02 -2.78085808e-03 9.99099273e-01 4.54205975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.557105681 meters 0.044058121537028566 Centerline is valid? [True, True] Translation: X:123.06, Y:20.53, Z:4.55 [[ 8.35708498e-01 -5.48207274e-01 -3.25590344e-02 1.23060456e+02] [ 5.47907993e-01 8.36338607e-01 -1.82911276e-02 2.05319960e+01] [ 3.72577067e-02 -2.55330440e-03 9.99302429e-01 4.55116316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.587105681 meters 0.04705615671971308 Centerline is valid? [True, True] Translation: X:123.08, Y:20.55, Z:4.56 [[ 8.34592180e-01 -5.49954973e-01 -3.17083821e-02 1.23083396e+02] [ 5.49672276e-01 8.35190382e-01 -1.78161427e-02 2.05483801e+01] [ 3.62806121e-02 -2.56000516e-03 9.99338363e-01 4.55538488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.617105681 meters 0.04939380209829214 Centerline is valid? [True, True] Translation: X:123.10, Y:20.57, Z:4.56 [[ 8.33086619e-01 -5.52277604e-01 -3.09213952e-02 1.23101480e+02] [ 5.52010160e-01 8.33656247e-01 -1.73794442e-02 2.05747523e+01] [ 3.53760921e-02 -2.59034195e-03 9.99370713e-01 4.55713757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.64710568099997 meters 0.05015583300195184 Centerline is valid? [True, True] Translation: X:123.12, Y:20.60, Z:4.56 [[ 8.31648306e-01 -5.54395137e-01 -3.17352593e-02 1.23121867e+02] [ 5.54114850e-01 8.32249047e-01 -1.78397301e-02 2.05989619e+01] [ 3.63018989e-02 -2.74859714e-03 9.99337089e-01 4.55530243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.67710568099997 meters 0.047005681013100285 Centerline is valid? [True, True] Translation: X:123.14, Y:20.62, Z:4.56 [[ 8.30948088e-01 -5.55432267e-01 -3.19416995e-02 1.23141559e+02] [ 5.55148644e-01 8.31557060e-01 -1.79676934e-02 2.06217953e+01] [ 3.65411824e-02 -2.80217067e-03 9.99328219e-01 4.55513912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.70710568099997 meters 0.05312119027745332 Centerline is valid? [True, True] Translation: X:123.16, Y:20.64, Z:4.55 [[ 8.29257002e-01 -5.57881085e-01 -3.31891649e-02 1.23162628e+02] [ 5.57576602e-01 8.29915405e-01 -1.86749240e-02 2.06433769e+01] [ 3.79625861e-02 -3.01919029e-03 9.99274600e-01 4.55384977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.73710568099997 meters 0.050084855565065145 Centerline is valid? [True, True] Translation: X:123.18, Y:20.68, Z:4.55 [[ 8.29187938e-01 -5.57906457e-01 -3.44637350e-02 1.23175389e+02] [ 5.57577918e-01 8.29897932e-01 -1.93981128e-02 2.06799476e+01] [ 3.94237148e-02 -3.13153648e-03 9.99217676e-01 4.55345492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.76710568099998 meters 0.054146473449247036 Centerline is valid? [True, True] Translation: X:123.20, Y:20.70, Z:4.55 [[ 8.30701002e-01 -5.55692019e-01 -3.37968255e-02 1.23197703e+02] [ 5.55373714e-01 8.31382969e-01 -1.90366980e-02 2.06981143e+01] [ 3.86766463e-02 -2.95606442e-03 9.99247406e-01 4.55451764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.79710568099998 meters 0.041474598417510625 Centerline is valid? [True, True] Translation: X:123.21, Y:20.74, Z:4.56 [[ 8.36410184e-01 -5.47215061e-01 -3.12038557e-02 1.23206130e+02] [ 5.46937714e-01 8.36988706e-01 -1.75796292e-02 2.07423295e+01] [ 3.57371127e-02 -2.36278459e-03 9.99358432e-01 4.55878449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.82710568099998 meters 0.039888676763488506 Centerline is valid? [True, True] Translation: X:123.23, Y:20.76, Z:4.56 [[ 8.39383647e-01 -5.42672656e-01 -3.06835701e-02 1.23226105e+02] [ 5.42401310e-01 8.39941578e-01 -1.72905964e-02 2.07646570e+01] [ 3.51555402e-02 -2.12936469e-03 9.99379584e-01 4.56171892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.85710568099998 meters 0.03415741956009933 Centerline is valid? [True, True] Translation: X:123.24, Y:20.80, Z:4.56 [[ 8.44855974e-01 -5.34134475e-01 -3.03108376e-02 1.23239704e+02] [ 5.33864080e-01 8.45397720e-01 -1.70833198e-02 2.08014709e+01] [ 3.47495030e-02 -1.74892267e-03 9.99394523e-01 4.56427226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.88710568099998 meters 0.028551345034690166 Centerline is valid? [True, True] Translation: X:123.25, Y:20.84, Z:4.56 [[ 8.51869762e-01 -5.22799533e-01 -3.15999463e-02 1.23251278e+02] [ 5.22497357e-01 8.52454622e-01 -1.78221507e-02 2.08383836e+01] [ 3.62549324e-02 -1.32873712e-03 9.99341690e-01 4.56437813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91710568099998 meters 0.024766985568952515 Centerline is valid? [True, True] Translation: X:123.27, Y:20.86, Z:4.57 [[ 8.55922819e-01 -5.16161371e-01 -3.12020229e-02 1.23270403e+02] [ 5.15862213e-01 8.56490733e-01 -1.76011504e-02 2.08642801e+01] [ 3.58092774e-02 -1.03071834e-03 9.99358111e-01 4.56515153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.94710568099998 meters 0.019075421167222318 Centerline is valid? [True, True] Translation: X:123.29, Y:20.90, Z:4.57 [[ 8.63724199e-01 -5.03043965e-01 -3.04512277e-02 1.23285602e+02] [ 5.02750408e-01 8.64260699e-01 -1.71892988e-02 2.08970522e+01] [ 3.49647724e-02 -4.62553875e-04 9.99388438e-01 4.56537103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97710568099998 meters 0.017564665442562466 Centerline is valid? [True, True] Translation: X:123.31, Y:20.92, Z:4.57 [[ 8.66426938e-01 -4.98307624e-01 -3.15257498e-02 1.23305591e+02] [ 4.97989708e-01 8.67000251e-01 -1.77993114e-02 2.09197790e+01] [ 3.62023656e-02 -2.77696112e-04 9.99344441e-01 4.56513735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.00710568099998 meters 0.016919516725490982 Centerline is valid? [True, True] Translation: X:123.32, Y:20.95, Z:4.56 [[ 8.70458400e-01 -4.91127117e-01 -3.31108527e-02 1.23322522e+02] [ 4.90770610e-01 8.71087914e-01 -1.87097534e-02 2.09469098e+01] [ 3.80313309e-02 3.62285852e-05 9.99276547e-01 4.56365001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03710568099999 meters 0.01701906432499119 Centerline is valid? [True, True] Translation: X:123.35, Y:20.97, Z:4.56 [[ 8.71998213e-01 -4.88376439e-01 -3.32801749e-02 1.23345138e+02] [ 4.88013957e-01 8.72633043e-01 -1.88135758e-02 2.09660266e+01] [ 3.82294874e-02 1.64214635e-04 9.99268972e-01 4.56217474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.067105681 meters 0.016952754781328357 Centerline is valid? [True, True] Translation: X:123.37, Y:20.98, Z:4.56 [[ 8.71244378e-01 -4.89756223e-01 -3.27425659e-02 1.23369839e+02] [ 4.89405812e-01 8.71859409e-01 -1.85235557e-02 2.09794618e+01] [ 3.76189408e-02 1.14141760e-04 9.99292151e-01 4.56301311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.097105681 meters 0.016669559477432268 Centerline is valid? [True, True] Translation: X:123.40, Y:20.99, Z:4.56 [[ 8.68668401e-01 -4.94254792e-01 -3.35769137e-02 1.23395344e+02] [ 4.93888995e-01 8.69317086e-01 -1.90122091e-02 2.09900438e+01] [ 3.85858602e-02 -6.79628735e-05 9.99255286e-01 4.56161241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.127105681 meters 0.01710031355455838 Centerline is valid? [True, True] Translation: X:123.42, Y:21.00, Z:4.56 [[ 8.66505296e-01 -4.98007971e-01 -3.40093062e-02 1.23421846e+02] [ 4.97635290e-01 8.67172420e-01 -1.92642635e-02 2.10002152e+01] [ 3.90856892e-02 -2.31644582e-04 9.99235836e-01 4.56069937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.157105681 meters 0.017557027075514157 Centerline is valid? [True, True] Translation: X:123.45, Y:21.01, Z:4.56 [[ 8.65005348e-01 -5.00674813e-01 -3.30223920e-02 1.23447514e+02] [ 5.00325202e-01 8.65635384e-01 -1.87102773e-02 2.10131567e+01] [ 3.79531156e-02 -3.37445083e-04 9.99279464e-01 4.56418624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.187105681 meters 0.017776253321891037 Centerline is valid? [True, True] Translation: X:123.47, Y:21.03, Z:4.57 [[ 8.64070022e-01 -5.02329216e-01 -3.23783258e-02 1.23472686e+02] [ 5.01993770e-01 8.64676359e-01 -1.83588893e-02 2.10278529e+01] [ 3.72189794e-02 -3.90351957e-04 9.99307058e-01 4.56611667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.217105681 meters 0.01791931893468326 Centerline is valid? [True, True] Translation: X:123.50, Y:21.04, Z:4.57 [[ 8.63668618e-01 -5.02991875e-01 -3.27977473e-02 1.23496305e+02] [ 5.02647607e-01 8.64291041e-01 -1.86112554e-02 2.10417424e+01] [ 3.77081094e-02 -4.11752002e-04 9.99288712e-01 4.56622881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.247105681 meters 0.01791033773259294 Centerline is valid? [True, True] Translation: X:123.52, Y:21.05, Z:4.57 [[ 8.63359164e-01 -5.03494826e-01 -3.32252028e-02 1.23521221e+02] [ 5.03141681e-01 8.63998132e-01 -1.88594101e-02 2.10547962e+01] [ 3.82021286e-02 -4.34539876e-04 9.99269938e-01 4.56507269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.277105681 meters 0.018393408112572646 Centerline is valid? [True, True] Translation: X:123.55, Y:21.06, Z:4.56 [[ 8.62072666e-01 -5.05546095e-01 -3.54099386e-02 1.23549216e+02] [ 5.05145933e-01 8.62799426e-01 -2.01180663e-02 2.10641647e+01] [ 4.07222845e-02 -5.43951384e-04 9.99170356e-01 4.56222619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.307105681 meters 0.01945624886580451 Centerline is valid? [True, True] Translation: X:123.57, Y:21.07, Z:4.56 [[ 8.60518129e-01 -5.08124159e-01 -3.63096179e-02 1.23574670e+02] [ 5.07705056e-01 8.61283572e-01 -2.06442484e-02 2.10747803e+01] [ 4.17627187e-02 -6.69826568e-04 9.99127333e-01 4.56194828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.337105681 meters 0.01957632664378766 Centerline is valid? [True, True] Translation: X:123.60, Y:21.09, Z:4.56 [[ 8.59941542e-01 -5.09147754e-01 -3.56245635e-02 1.23599218e+02] [ 5.08744901e-01 8.60678845e-01 -2.02620471e-02 2.10892124e+01] [ 4.09776840e-02 -6.99639049e-04 9.99159817e-01 4.56389062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36710568099997 meters 0.019686257465870296 Centerline is valid? [True, True] Translation: X:123.63, Y:21.10, Z:4.56 [[ 8.59615985e-01 -5.09526320e-01 -3.79906210e-02 1.23625372e+02] [ 5.09067755e-01 8.60454744e-01 -2.16253088e-02 2.11018630e+01] [ 4.37078741e-02 -7.50339049e-04 9.99044072e-01 4.56345008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39710568099997 meters 0.018994795946942294 Centerline is valid? [True, True] Translation: X:123.65, Y:21.11, Z:4.56 [[ 8.60185743e-01 -5.08457984e-01 -3.93822994e-02 1.23651123e+02] [ 5.07963245e-01 8.61086511e-01 -2.24357139e-02 2.11123606e+01] [ 4.53191847e-02 -7.05879395e-04 9.98972309e-01 4.56245146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.42710568099997 meters 0.017498269387168693 Centerline is valid? [True, True] Translation: X:123.67, Y:21.13, Z:4.56 [[ 8.63732477e-01 -5.02364358e-01 -3.99532299e-02 1.23673885e+02] [ 5.01847803e-01 8.64655949e-01 -2.27787724e-02 2.11290371e+01] [ 4.59890413e-02 -3.75675139e-04 9.98941874e-01 4.56432566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45710568099997 meters 0.016851752276416374 Centerline is valid? [True, True] Translation: X:123.70, Y:21.15, Z:4.57 [[ 8.66734748e-01 -4.97247108e-01 -3.89382858e-02 1.23696230e+02] [ 4.96750943e-01 8.67608958e-01 -2.22080239e-02 2.11480410e+01] [ 4.48260813e-02 -9.41642038e-05 9.98994802e-01 4.56789253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.48710568099997 meters 0.016851752276416374 Centerline is valid? [True, True] Translation: X:123.72, Y:21.16, Z:4.57 [[ 8.66544404e-01 -4.97579338e-01 -3.89306913e-02 1.23719955e+02] [ 4.97082909e-01 8.67418465e-01 -2.22213301e-02 2.11618612e+01] [ 4.48260752e-02 -9.60120564e-05 9.98994802e-01 4.56890978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.51710568099998 meters 0.0182844274262805 Centerline is valid? [True, True] Translation: X:123.74, Y:21.18, Z:4.57 [[ 8.72915254e-01 -4.86545160e-01 -3.59550610e-02 1.23740828e+02] [ 4.86111632e-01 8.73655312e-01 -2.05396479e-02 2.11826689e+01] [ 4.14057963e-02 4.51198543e-04 9.99142310e-01 4.57478042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.54710568099998 meters 0.020026367082509565 Centerline is valid? [True, True] Translation: X:123.76, Y:21.20, Z:4.58 [[ 8.75225584e-01 -4.82486007e-01 -3.44590974e-02 1.23764730e+02] [ 4.82084105e-01 8.75903452e-01 -1.96991968e-02 2.11976077e+01] [ 3.96874291e-02 6.29057873e-04 9.99211946e-01 4.57768253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57710568099998 meters 0.022198075436685533 Centerline is valid? [True, True] Translation: X:123.79, Y:21.21, Z:4.59 [[ 8.77650933e-01 -4.78382271e-01 -2.96520148e-02 1.23789369e+02] [ 4.78082229e-01 8.78151414e-01 -1.69551294e-02 2.12103082e+01] [ 3.41499920e-02 7.04583776e-04 9.99416471e-01 4.58606502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.60710568099998 meters 0.022436773329468196 Centerline is valid? [True, True] Translation: X:123.82, Y:21.22, Z:4.59 [[ 8.77971459e-01 -4.78039289e-01 -2.53880751e-02 1.23816285e+02] [ 4.77819171e-01 8.78338237e-01 -1.45182852e-02 2.12204046e+01] [ 2.92396279e-02 6.15731003e-04 9.99572241e-01 4.59255078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63710568099998 meters 0.022146816840018308 Centerline is valid? [True, True] Translation: X:123.84, Y:21.23, Z:4.59 [[ 8.77493552e-01 -4.78953724e-01 -2.46657082e-02 1.23842637e+02] [ 4.78746039e-01 8.77839961e-01 -1.41149858e-02 2.12312730e+01] [ 2.84129694e-02 5.77198922e-04 9.99596103e-01 4.59414495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.66710568099998 meters 0.023044967958465206 Centerline is valid? [True, True] Translation: X:123.87, Y:21.24, Z:4.59 [[ 8.78069770e-01 -4.77904724e-01 -2.45061841e-02 1.23870295e+02] [ 4.77698913e-01 8.78411459e-01 -1.40377317e-02 2.12383705e+01] [ 2.82352112e-02 6.19530365e-04 9.99601115e-01 4.59478281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69710568099998 meters 0.023689157330900535 Centerline is valid? [True, True] Translation: X:123.90, Y:21.25, Z:4.59 [[ 8.79003277e-01 -4.76140999e-01 -2.53572164e-02 1.23896836e+02] [ 4.75919771e-01 8.79368668e-01 -1.45298895e-02 2.12509170e+01] [ 2.92166177e-02 7.03819854e-04 9.99572856e-01 4.59417232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.72710568099998 meters 0.027020285193418613 Centerline is valid? [True, True] Translation: X:123.92, Y:21.26, Z:4.59 [[ 8.82346116e-01 -4.69722675e-01 -2.87391789e-02 1.23922751e+02] [ 4.69434557e-01 8.82813401e-01 -1.64832269e-02 2.12643138e+01] [ 3.31138777e-02 1.05274754e-03 9.99451031e-01 4.58965239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75710568099998 meters 0.02939346268644278 Centerline is valid? [True, True] Translation: X:123.95, Y:21.27, Z:4.58 [[ 8.85236853e-01 -4.63924860e-01 -3.36071235e-02 1.23951482e+02] [ 4.63526504e-01 8.85873303e-01 -1.92787771e-02 2.12732205e+01] [ 3.87155574e-02 1.48849145e-03 9.99249163e-01 4.58331220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.78710568099999 meters 0.032651158213461394 Centerline is valid? [True, True] Translation: X:123.98, Y:21.29, Z:4.58 [[ 8.86614410e-01 -4.61122786e-01 -3.57863794e-02 1.23976264e+02] [ 4.60668654e-01 8.87334674e-01 -2.05321156e-02 2.12866290e+01] [ 4.12223217e-02 1.71840629e-03 9.99148521e-01 4.58038551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.817105681 meters 0.03545200264752059 Centerline is valid? [True, True] Translation: X:124.01, Y:21.29, Z:4.58 [[ 8.88815256e-01 -4.56726083e-01 -3.75329909e-02 1.24005671e+02] [ 4.56222395e-01 8.89605082e-01 -2.15389100e-02 2.12944361e+01] [ 4.32269215e-02 2.02072084e-03 9.99063236e-01 4.57676195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.847105681 meters 0.03492978229181343 Centerline is valid? [True, True] Translation: X:124.04, Y:21.30, Z:4.58 [[ 8.88166316e-01 -4.57830837e-01 -3.93893385e-02 1.24037325e+02] [ 4.57276854e-01 8.89036917e-01 -2.26105943e-02 2.12976427e+01] [ 4.53704034e-02 2.07013548e-03 9.98968088e-01 4.57524071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.877105681 meters 0.0321613332533316 Centerline is valid? [True, True] Translation: X:124.07, Y:21.30, Z:4.58 [[ 8.87060352e-01 -4.60021548e-01 -3.87828276e-02 1.24067667e+02] [ 4.59485968e-01 8.87905632e-01 -2.22763216e-02 2.13030869e+01] [ 4.46830790e-02 1.94027662e-03 9.98999328e-01 4.57778490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.907105681 meters 0.028494048931305402 Centerline is valid? [True, True] Translation: X:124.10, Y:21.30, Z:4.58 [[ 8.83686903e-01 -4.66715987e-01 -3.56881572e-02 1.24103439e+02] [ 4.66267772e-01 8.84406017e-01 -2.05027170e-02 2.13002186e+01] [ 4.11317668e-02 1.47774499e-03 9.99152638e-01 4.58402943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.937105681 meters 0.0246629504349814 Centerline is valid? [True, True] Translation: X:124.14, Y:21.30, Z:4.59 [[ 8.79528076e-01 -4.74472262e-01 -3.61446434e-02 1.24138348e+02] [ 4.74018866e-01 8.80269725e-01 -2.07684075e-02 2.12964326e+01] [ 4.16710686e-02 1.13315467e-03 9.99130741e-01 4.58653785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.967105681 meters 0.022614212715745013 Centerline is valid? [True, True] Translation: X:124.17, Y:21.30, Z:4.59 [[ 8.77444766e-01 -4.78286479e-01 -3.65065413e-02 1.24167948e+02] [ 4.77827091e-01 8.78203344e-01 -2.09799282e-02 2.13028463e+01] [ 4.20945826e-02 9.64913763e-04 9.99113164e-01 4.58688068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.997105681 meters 0.01990134716638249 Centerline is valid? [True, True] Translation: X:124.20, Y:21.30, Z:4.59 [[ 8.73769922e-01 -4.84870617e-01 -3.77704542e-02 1.24201106e+02] [ 4.84384771e-01 8.74585633e-01 -2.17109467e-02 2.13033529e+01] [ 4.35604967e-02 6.74939362e-04 9.99050563e-01 4.58679833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.027105681 meters 0.018546783823857087 Centerline is valid? [True, True] Translation: X:124.23, Y:21.31, Z:4.59 [[ 8.71168159e-01 -4.89620043e-01 -3.65821296e-02 1.24231956e+02] [ 4.89168289e-01 8.71935795e-01 -2.10322427e-02 2.13054921e+01] [ 4.21950759e-02 4.27802427e-04 9.99109300e-01 4.58940175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.057105681 meters 0.018571909757878053 Centerline is valid? [True, True] Translation: X:124.26, Y:21.32, Z:4.59 [[ 8.70440244e-01 -4.91030440e-01 -3.49698339e-02 1.24257092e+02] [ 4.90618582e-01 8.71142345e-01 -2.01102184e-02 2.13168895e+01] [ 4.03384325e-02 3.47893112e-04 9.99186014e-01 4.59326748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.087105681 meters 0.019098882784701565 Centerline is valid? [True, True] Translation: X:124.28, Y:21.33, Z:4.60 [[ 8.71429358e-01 -4.89385299e-01 -3.33601994e-02 1.24281949e+02] [ 4.89009100e-01 8.72067579e-01 -1.91895164e-02 2.13307635e+01] [ 3.84834156e-02 4.08866902e-04 9.99259155e-01 4.59849311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11710568099997 meters 0.01961638915877835 Centerline is valid? [True, True] Translation: X:124.31, Y:21.35, Z:4.60 [[ 8.72555602e-01 -4.87318873e-01 -3.41619471e-02 1.24306270e+02] [ 4.86922230e-01 8.73223935e-01 -1.96647002e-02 2.13458211e+01] [ 3.94140094e-02 5.24332818e-04 9.99222828e-01 4.59891437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14710568099997 meters 0.02191093511145582 Centerline is valid? [True, True] Translation: X:124.33, Y:21.36, Z:4.60 [[ 8.75745178e-01 -4.81500579e-01 -3.50367691e-02 1.24329684e+02] [ 4.81078112e-01 8.76445390e-01 -2.01823845e-02 2.13635940e+01] [ 4.04256446e-02 8.19203139e-04 9.99182214e-01 4.59944994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.17710568099997 meters 0.025084943392309527 Centerline is valid? [True, True] Translation: X:124.35, Y:21.38, Z:4.60 [[ 8.79496712e-01 -4.74664783e-01 -3.43347895e-02 1.24353640e+02] [ 4.74253736e-01 8.80165952e-01 -1.97810626e-02 2.13807758e+01] [ 3.96096865e-02 1.11397735e-03 9.99214607e-01 4.60318235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.20710568099997 meters 0.02736578681710188 Centerline is valid? [True, True] Translation: X:124.38, Y:21.40, Z:4.61 [[ 8.81624529e-01 -4.70684163e-01 -3.45631232e-02 1.24377470e+02] [ 4.70264440e-01 8.82300809e-01 -1.99157849e-02 2.13977223e+01] [ 3.98691161e-02 1.30443673e-03 9.99204059e-01 4.60510130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.23710568099997 meters 0.03147010754987978 Centerline is valid? [True, True] Translation: X:124.40, Y:21.42, Z:4.61 [[ 8.85563446e-01 -4.63289894e-01 -3.37617673e-02 1.24399797e+02] [ 4.62883900e-01 8.86205340e-01 -1.94574092e-02 2.14174329e+01] [ 3.89342795e-02 1.60299185e-03 9.99240488e-01 4.60649303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.26710568099998 meters 0.034969567319976455 Centerline is valid? [True, True] Translation: X:124.42, Y:21.44, Z:4.61 [[ 8.89171529e-01 -4.56384514e-01 -3.29722291e-02 1.24423378e+02] [ 4.55992153e-01 8.89780691e-01 -1.90126093e-02 2.14352490e+01] [ 3.80151132e-02 1.87039317e-03 9.99275414e-01 4.60583947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.29710568099998 meters 0.03869523624664484 Centerline is valid? [True, True] Translation: X:124.45, Y:21.45, Z:4.61 [[ 8.91739486e-01 -4.51348793e-01 -3.29386694e-02 1.24450119e+02] [ 4.50953671e-01 8.92345177e-01 -1.89966301e-02 2.14485981e+01] [ 3.79667688e-02 2.08623128e-03 9.99276825e-01 4.60602529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.32710568099998 meters 0.04105031140654747 Centerline is valid? [True, True] Translation: X:124.47, Y:21.46, Z:4.60 [[ 8.92237217e-01 -4.50268588e-01 -3.42190946e-02 1.24474669e+02] [ 4.49841242e-01 8.92890408e-01 -1.97376748e-02 2.14613111e+01] [ 3.94411563e-02 2.21752798e-03 9.99219434e-01 4.60470040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.35710568099998 meters 0.040524907747472486 Centerline is valid? [True, True] Translation: X:124.50, Y:21.47, Z:4.60 [[ 8.92100409e-01 -4.50182449e-01 -3.86344764e-02 1.24504394e+02] [ 4.49637194e-01 8.92933051e-01 -2.22925960e-02 2.14685703e+01] [ 4.45337363e-02 2.51573640e-03 9.99004713e-01 4.59864877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.38710568099998 meters 0.04086712564916805 Centerline is valid? [True, True] Translation: X:124.53, Y:21.48, Z:4.60 [[ 8.91796066e-01 -4.50732185e-01 -3.92463138e-02 1.24529979e+02] [ 4.50169384e-01 8.92655612e-01 -2.26601794e-02 2.14803178e+01] [ 4.52471145e-02 2.54076993e-03 9.98972594e-01 4.59767906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41710568099998 meters 0.040788263284659614 Centerline is valid? [True, True] Translation: X:124.56, Y:21.49, Z:4.60 [[ 8.91498352e-01 -4.51451291e-01 -3.77149898e-02 1.24559293e+02] [ 4.50931919e-01 8.92292504e-01 -2.17828369e-02 2.14876289e+01] [ 4.34866925e-02 2.41247042e-03 9.99051094e-01 4.60163592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.44710568099998 meters 0.039270808819671536 Centerline is valid? [True, True] Translation: X:124.59, Y:21.49, Z:4.60 [[ 8.92031502e-01 -4.50396031e-01 -3.77255260e-02 1.24588903e+02] [ 4.49874823e-01 8.92825447e-01 -2.18028614e-02 2.14928890e+01] [ 4.35022319e-02 2.47707488e-03 9.99050259e-01 4.60337003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47710568099998 meters 0.042627929815186885 Centerline is valid? [True, True] Translation: X:124.61, Y:21.51, Z:4.60 [[ 8.92503940e-01 -4.49283033e-01 -3.97677308e-02 1.24612845e+02] [ 4.48702445e-01 8.93385474e-01 -2.29893732e-02 2.15074131e+01] [ 4.58566483e-02 2.67422814e-03 9.98944451e-01 4.60127914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.50710568099998 meters 0.04216430060281254 Centerline is valid? [True, True] Translation: X:124.64, Y:21.51, Z:4.60 [[ 8.94072650e-01 -4.45711446e-01 -4.44455159e-02 1.24643380e+02] [ 4.44981220e-01 8.95170959e-01 -2.57034789e-02 2.15138972e+01] [ 5.12426698e-02 3.20335763e-03 9.98681094e-01 4.59632651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53710568099999 meters 0.044948323201032564 Centerline is valid? [True, True] Translation: X:124.67, Y:21.52, Z:4.60 [[ 8.96304014e-01 -4.41243833e-01 -4.40794131e-02 1.24671678e+02] [ 4.40519398e-01 8.97380639e-01 -2.55078063e-02 2.15241507e+01] [ 5.08111742e-02 3.44491260e-03 9.98702337e-01 4.59780583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.567105681 meters 0.04593602839991279 Centerline is valid? [True, True] Translation: X:124.70, Y:21.54, Z:4.60 [[ 8.97267032e-01 -4.39339855e-01 -4.35013215e-02 1.24698483e+02] [ 4.38631460e-01 8.98314043e-01 -2.51857478e-02 2.15356428e+01] [ 5.01429508e-02 3.51729304e-03 9.98735858e-01 4.60034260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.597105681 meters 0.0479630265552547 Centerline is valid? [True, True] Translation: X:124.73, Y:21.54, Z:4.60 [[ 8.98318913e-01 -4.37127757e-01 -4.40732753e-02 1.24726714e+02] [ 4.36397730e-01 8.99391843e-01 -2.55212389e-02 2.15435746e+01] [ 5.07951862e-02 3.69273430e-03 9.98702264e-01 4.60179207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.627105681 meters 0.04581033124358526 Centerline is valid? [True, True] Translation: X:124.76, Y:21.55, Z:4.60 [[ 8.98563079e-01 -4.36404018e-01 -4.62160895e-02 1.24758029e+02] [ 4.35599937e-01 8.99742273e-01 -2.67682204e-02 2.15461864e+01] [ 5.32643284e-02 3.92120891e-03 9.98572749e-01 4.60176109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.657105681 meters 0.049003762123319104 Centerline is valid? [True, True] Translation: X:124.78, Y:21.56, Z:4.60 [[ 8.98541677e-01 -4.36343085e-01 -4.71970994e-02 1.24782590e+02] [ 4.35503996e-01 8.99771411e-01 -2.73436922e-02 2.15601982e+01] [ 5.43978317e-02 4.01492165e-03 9.98511270e-01 4.60031150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.687105681 meters 0.046594370303835016 Centerline is valid? [True, True] Translation: X:124.81, Y:21.56, Z:4.60 [[ 8.98287379e-01 -4.36861647e-01 -4.72407269e-02 1.24813799e+02] [ 4.36021100e-01 8.99519829e-01 -2.73802391e-02 2.15631119e+01] [ 5.44553470e-02 3.99736947e-03 9.98508205e-01 4.60255945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.717105681 meters 0.04385344204998098 Centerline is valid? [True, True] Translation: X:124.85, Y:21.57, Z:4.61 [[ 8.96960573e-01 -4.39681316e-01 -4.62825025e-02 1.24846333e+02] [ 4.38877277e-01 8.98145959e-01 -2.68434814e-02 2.15656003e+01] [ 5.33710198e-02 3.76520577e-03 9.98567653e-01 4.60706308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.747105681 meters 0.04511707719350312 Centerline is valid? [True, True] Translation: X:124.87, Y:21.58, Z:4.61 [[ 8.95930866e-01 -4.41737265e-01 -4.66483769e-02 1.24871940e+02] [ 4.40922465e-01 8.97136899e-01 -2.70696250e-02 2.15779246e+01] [ 5.38076423e-02 3.68419529e-03 9.98544523e-01 4.60695381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.777105681 meters 0.042148736417061385 Centerline is valid? [True, True] Translation: X:124.90, Y:21.58, Z:4.61 [[ 8.94553991e-01 -4.44465658e-01 -4.71533268e-02 1.24902942e+02] [ 4.43636574e-01 8.95788805e-01 -2.73680084e-02 2.15828042e+01] [ 5.44035622e-02 3.56322083e-03 9.98512672e-01 4.60853374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.807105681 meters 0.039847418445750064 Centerline is valid? [True, True] Translation: X:124.93, Y:21.59, Z:4.61 [[ 8.93200883e-01 -4.47335418e-01 -4.56421650e-02 1.24934796e+02] [ 4.46561953e-01 8.94360230e-01 -2.64990860e-02 2.15867132e+01] [ 5.26745168e-02 3.28695266e-03 9.98606324e-01 4.61249198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.837105681 meters 0.03936492436330164 Centerline is valid? [True, True] Translation: X:124.96, Y:21.60, Z:4.62 [[ 8.92393011e-01 -4.49023833e-01 -4.48587988e-02 1.24962350e+02] [ 4.48277952e-01 8.93514236e-01 -2.60612355e-02 2.15975293e+01] [ 5.17840912e-02 3.14765394e-03 9.98653343e-01 4.61610219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86710568099997 meters 0.038625132306008544 Centerline is valid? [True, True] Translation: X:124.99, Y:21.61, Z:4.62 [[ 8.91563075e-01 -4.50928786e-01 -4.21724286e-02 1.24991008e+02] [ 4.50271086e-01 8.92555327e-01 -2.45140239e-02 2.16065568e+01] [ 4.86953048e-02 2.86677329e-03 9.98809566e-01 4.62039106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89710568099997 meters 0.0414031495658753 Centerline is valid? [True, True] Translation: X:125.02, Y:21.62, Z:4.62 [[ 8.91488103e-01 -4.51075558e-01 -4.21877055e-02 1.25016143e+02] [ 4.50417197e-01 8.92481163e-01 -2.45300302e-02 2.16177503e+01] [ 4.87166296e-02 2.86616199e-03 9.98808528e-01 4.62121912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.92710568099997 meters 0.04171413605268848 Centerline is valid? [True, True] Translation: X:125.04, Y:21.63, Z:4.62 [[ 8.91760635e-01 -4.50430799e-01 -4.33020142e-02 1.25043083e+02] [ 4.49735846e-01 8.92806342e-01 -2.51893732e-02 2.16294868e+01] [ 5.00063824e-02 2.98842342e-03 9.98744427e-01 4.62206437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95710568099997 meters 0.042941155608476514 Centerline is valid? [True, True] Translation: X:125.07, Y:21.64, Z:4.62 [[ 8.92023294e-01 -4.49875705e-01 -4.36611216e-02 1.25068584e+02] [ 4.49167763e-01 8.93085942e-01 -2.54129978e-02 2.16410448e+01] [ 5.04258242e-02 3.05781769e-03 9.98723128e-01 4.62048635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.98710568099997 meters 0.03845345450226976 Centerline is valid? [True, True] Translation: X:125.10, Y:21.65, Z:4.62 [[ 8.92013434e-01 -4.49861533e-01 -4.40072065e-02 1.25097729e+02] [ 4.49141800e-01 8.93092964e-01 -2.56242237e-02 2.16476940e+01] [ 5.08298791e-02 3.09167589e-03 9.98702541e-01 4.62197827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.01710568099998 meters 0.03818999577071597 Centerline is valid? [True, True] Translation: X:125.13, Y:21.66, Z:4.63 [[ 8.92044588e-01 -4.49896566e-01 -4.30061846e-02 1.25125169e+02] [ 4.49208329e-01 8.93075507e-01 -2.50602327e-02 2.16559626e+01] [ 4.96822827e-02 3.03610860e-03 9.98760458e-01 4.62509973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.04710568099998 meters 0.03817709833395076 Centerline is valid? [True, True] Translation: X:125.15, Y:21.66, Z:4.63 [[ 8.91435360e-01 -4.51232367e-01 -4.16215136e-02 1.25152850e+02] [ 4.50588405e-01 8.92401843e-01 -2.42701250e-02 2.16637455e+01] [ 4.80945814e-02 2.88107617e-03 9.98838631e-01 4.62884091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.07710568099998 meters 0.03783174471030028 Centerline is valid? [True, True] Translation: X:125.18, Y:21.67, Z:4.63 [[ 8.89846327e-01 -4.54279332e-01 -4.24712079e-02 1.25182218e+02] [ 4.53611937e-01 8.90854968e-01 -2.47716902e-02 2.16703202e+01] [ 4.90889534e-02 2.77755065e-03 9.98790549e-01 4.62841537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.10710568099998 meters 0.03596068199303885 Centerline is valid? [True, True] Translation: X:125.21, Y:21.68, Z:4.63 [[ 8.88848526e-01 -4.56075415e-01 -4.40853054e-02 1.25210627e+02] [ 4.55358040e-01 8.89936762e-01 -2.57218587e-02 2.16794589e+01] [ 5.09642414e-02 2.78823794e-03 9.98696586e-01 4.62695906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13710568099998 meters 0.03683959801544977 Centerline is valid? [True, True] Translation: X:125.24, Y:21.69, Z:4.62 [[ 8.88483269e-01 -4.56713717e-01 -4.48337151e-02 1.25237704e+02] [ 4.55971700e-01 8.89609277e-01 -2.61752337e-02 2.16893215e+01] [ 5.18390771e-02 2.81335191e-03 9.98651488e-01 4.62435859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.16710568099998 meters 0.038497010595347485 Centerline is valid? [True, True] Translation: X:125.26, Y:21.70, Z:4.63 [[ 8.89444712e-01 -4.54690196e-01 -4.63133971e-02 1.25264945e+02] [ 4.53895128e-01 8.90644489e-01 -2.70482391e-02 2.16987708e+01] [ 5.35473410e-02 3.03648796e-03 9.98560695e-01 4.62554692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19710568099998 meters 0.03535938832899964 Centerline is valid? [True, True] Translation: X:125.29, Y:21.71, Z:4.63 [[ 8.89805800e-01 -4.53989745e-01 -4.62487921e-02 1.25294020e+02] [ 4.53195429e-01 8.91001575e-01 -2.70203058e-02 2.17064192e+01] [ 5.34746884e-02 3.08308368e-03 9.98564446e-01 4.62877033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.22710568099998 meters 0.03750989164072866 Centerline is valid? [True, True] Translation: X:125.32, Y:21.72, Z:4.63 [[ 8.89290192e-01 -4.55179678e-01 -4.44343978e-02 1.25319418e+02] [ 4.54447072e-01 8.90394856e-01 -2.59780715e-02 2.17190508e+01] [ 5.13888494e-02 2.90896224e-03 9.98674484e-01 4.63018492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25710568099998 meters 0.03202313720944034 Centerline is valid? [True, True] Translation: X:125.35, Y:21.72, Z:4.64 [[ 8.86486601e-01 -4.60725950e-01 -4.32793920e-02 1.25353170e+02] [ 4.60036708e-01 8.87538829e-01 -2.53190383e-02 2.17201136e+01] [ 5.00772788e-02 2.53487916e-03 9.98742129e-01 4.63516690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.28710568099999 meters 0.028767809320938042 Centerline is valid? [True, True] Translation: X:125.38, Y:21.73, Z:4.64 [[ 8.84024186e-01 -4.65452653e-01 -4.30704830e-02 1.25382874e+02] [ 4.64774988e-01 8.85069875e-01 -2.52096574e-02 2.17263197e+01] [ 4.98542890e-02 2.26786360e-03 9.98753927e-01 4.63806606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.317105681 meters 0.023645190985716324 Centerline is valid? [True, True] Translation: X:125.42, Y:21.73, Z:4.64 [[ 8.77386489e-01 -4.78029140e-01 -4.10010939e-02 1.25416268e+02] [ 4.77428351e-01 8.78342719e-01 -2.40049561e-02 2.17270058e+01] [ 4.74880808e-02 1.48653948e-03 9.98870699e-01 4.64110264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.347105681 meters 0.0191168056729761 Centerline is valid? [True, True] Translation: X:125.45, Y:21.73, Z:4.64 [[ 8.69115879e-01 -4.93009156e-01 -3.97436969e-02 1.25448909e+02] [ 4.92459603e-01 8.70023870e-01 -2.32810098e-02 2.17263583e+01] [ 4.60557160e-02 6.61730059e-04 9.98938653e-01 4.64177690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.377105681 meters 0.0191168056729761 Centerline is valid? [True, True] Translation: X:125.47, Y:21.74, Z:4.64 [[ 8.68952261e-01 -4.93297738e-01 -3.97405286e-02 1.25472630e+02] [ 4.92748239e-01 8.69860285e-01 -2.32864167e-02 2.17404438e+01] [ 4.60558442e-02 6.52708942e-04 9.98938653e-01 4.64279753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.407105681 meters 0.01767098904678289 Centerline is valid? [True, True] Translation: X:125.50, Y:21.75, Z:4.64 [[ 8.64186152e-01 -5.01575060e-01 -4.00593866e-02 1.25502548e+02] [ 5.01024789e-01 8.65114101e-01 -2.34894374e-02 2.17465997e+01] [ 4.64376561e-02 2.28500792e-04 9.98921164e-01 4.64382227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.437105681 meters 0.018837212750749115 Centerline is valid? [True, True] Translation: X:125.54, Y:21.74, Z:4.65 [[ 8.55603980e-01 -5.15941747e-01 -4.17844888e-02 1.25535364e+02] [ 5.15359547e-01 8.56623486e-01 -2.45099980e-02 2.17448783e+01] [ 4.84393056e-02 -5.63183354e-04 9.98825969e-01 4.64558651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.467105681 meters 0.021704101544339136 Centerline is valid? [True, True] Translation: X:125.57, Y:21.75, Z:4.65 [[ 8.50031444e-01 -5.25181272e-01 -4.03878158e-02 1.25565159e+02] [ 5.24647322e-01 8.50989742e-01 -2.36990828e-02 2.17520423e+01] [ 4.68159314e-02 -1.04439386e-03 9.98902987e-01 4.64911989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.497105681 meters 0.022282593343922567 Centerline is valid? [True, True] Translation: X:125.59, Y:21.77, Z:4.65 [[ 8.48806809e-01 -5.27188051e-01 -3.99969869e-02 1.25590687e+02] [ 5.26665844e-01 8.49747894e-01 -2.34862962e-02 2.17660334e+01] [ 4.63690501e-02 -1.12971869e-03 9.98923738e-01 4.65107542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.527105681 meters 0.023118939131654175 Centerline is valid? [True, True] Translation: X:125.61, Y:21.78, Z:4.65 [[ 8.48071668e-01 -5.28314232e-01 -4.07249116e-02 1.25614074e+02] [ 5.27773376e-01 8.49048075e-01 -2.39296897e-02 2.17805700e+01] [ 4.72198034e-02 -1.19943216e-03 9.98883803e-01 4.65192874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.557105681 meters 0.022714518278355637 Centerline is valid? [True, True] Translation: X:125.64, Y:21.80, Z:4.65 [[ 8.48446152e-01 -5.27744372e-01 -4.03113456e-02 1.25635896e+02] [ 5.27213399e-01 8.49402472e-01 -2.36954057e-02 2.18008573e+01] [ 4.67456735e-02 -1.14840573e-03 9.98906163e-01 4.65100812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.587105681 meters 0.021768228182928718 Centerline is valid? [True, True] Translation: X:125.66, Y:21.82, Z:4.65 [[ 8.49769334e-01 -5.25485989e-01 -4.19112638e-02 1.25656800e+02] [ 5.24908330e-01 8.50801608e-01 -2.46550003e-02 2.18226553e+01] [ 4.86140278e-02 -1.04850830e-03 9.98817089e-01 4.65082475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61710568099997 meters 0.021560508363770645 Centerline is valid? [True, True] Translation: X:125.68, Y:21.84, Z:4.65 [[ 8.51154477e-01 -5.23124706e-01 -4.33197109e-02 1.25678349e+02] [ 5.22503614e-01 8.52255641e-01 -2.55009048e-02 2.18414083e+01] [ 5.02596213e-02 -9.29496238e-04 9.98735754e-01 4.64959951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64710568099997 meters 0.019288837032121368 Centerline is valid? [True, True] Translation: X:125.69, Y:21.87, Z:4.65 [[ 8.55130941e-01 -5.16460883e-01 -4.49358460e-02 1.25694963e+02] [ 5.15782639e-01 8.56310609e-01 -2.64652712e-02 2.18709395e+01] [ 5.21473190e-02 -5.45856931e-04 9.98639254e-01 4.65005788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.67710568099997 meters 0.018179436801815642 Centerline is valid? [True, True] Translation: X:125.71, Y:21.90, Z:4.65 [[ 8.58856766e-01 -5.10261781e-01 -4.46986583e-02 1.25711083e+02] [ 5.09581490e-01 8.60019122e-01 -2.63403523e-02 2.18980995e+01] [ 5.18821760e-02 -1.55019140e-04 9.98653201e-01 4.65140473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.70710568099997 meters 0.018008555230694043 Centerline is valid? [True, True] Translation: X:125.73, Y:21.92, Z:4.65 [[ 8.60301309e-01 -5.07955895e-01 -4.31563130e-02 1.25731726e+02] [ 5.07318544e-01 8.61383079e-01 -2.54378808e-02 2.19174056e+01] [ 5.00954393e-02 -9.75577906e-06 9.98744435e-01 4.65419718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.73710568099997 meters 0.01819112452353788 Centerline is valid? [True, True] Translation: X:125.75, Y:21.94, Z:4.66 [[ 8.63049768e-01 -5.03434273e-01 -4.12193066e-02 1.25749774e+02] [ 5.02847278e-01 8.64033489e-01 -2.43052481e-02 2.19412910e+01] [ 4.78509562e-02 2.49622641e-04 9.98854456e-01 4.65937161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.76710568099998 meters 0.018846124026695974 Centerline is valid? [True, True] Translation: X:125.77, Y:21.97, Z:4.66 [[ 8.65308730e-01 -4.99562061e-01 -4.09701002e-02 1.25767611e+02] [ 4.98977000e-01 8.66277970e-01 -2.41750398e-02 2.19667200e+01] [ 4.75684279e-02 4.75735283e-04 9.98867868e-01 4.65684944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.79710568099998 meters 0.01959879288280599 Centerline is valid? [True, True] Translation: X:125.79, Y:21.99, Z:4.66 [[ 8.66429395e-01 -4.97558837e-01 -4.16570104e-02 1.25788562e+02] [ 4.96951360e-01 8.67430022e-01 -2.45866473e-02 2.19857626e+01] [ 4.83678451e-02 6.01085999e-04 9.98829410e-01 4.65546563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.82710568099998 meters 0.021331102336293026 Centerline is valid? [True, True] Translation: X:125.81, Y:22.01, Z:4.65 [[ 8.69073563e-01 -4.92846058e-01 -4.25899752e-02 1.25808580e+02] [ 4.92205063e-01 8.70116069e-01 -2.51436249e-02 2.20079464e+01] [ 4.94501582e-02 8.88658174e-04 9.98776197e-01 4.65457552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.85710568099998 meters 0.022352889815277048 Centerline is valid? [True, True] Translation: X:125.83, Y:22.03, Z:4.66 [[ 8.70098739e-01 -4.91010081e-01 -4.28635491e-02 1.25831116e+02] [ 4.90358143e-01 8.71153308e-01 -2.53141603e-02 2.20263914e+01] [ 4.97702305e-02 1.00732860e-03 9.98760186e-01 4.65602280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.88710568099998 meters 0.022753770515115193 Centerline is valid? [True, True] Translation: X:125.85, Y:22.05, Z:4.66 [[ 8.71736555e-01 -4.88169811e-01 -4.20192059e-02 1.25852590e+02] [ 4.87539194e-01 8.72747894e-01 -2.48323927e-02 2.20465233e+01] [ 4.87945980e-02 1.16129472e-03 9.98808159e-01 4.66009574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91710568099998 meters 0.023213562883201935 Centerline is valid? [True, True] Translation: X:125.87, Y:22.07, Z:4.66 [[ 8.72260056e-01 -4.87354290e-01 -4.05979178e-02 1.25874044e+02] [ 4.86763953e-01 8.73203528e-01 -2.40094247e-02 2.20661545e+01] [ 4.71513411e-02 1.18085917e-03 9.98887059e-01 4.66290499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.94710568099998 meters 0.02298385940453872 Centerline is valid? [True, True] Translation: X:125.90, Y:22.08, Z:4.66 [[ 8.71746007e-01 -4.88308395e-01 -4.01722588e-02 1.25898031e+02] [ 4.87730588e-01 8.72670401e-01 -2.37748698e-02 2.20826834e+01] [ 4.66666097e-02 1.13240842e-03 9.98909878e-01 4.66487167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97710568099998 meters 0.021655983930569157 Centerline is valid? [True, True] Translation: X:125.92, Y:22.10, Z:4.67 [[ 8.69882795e-01 -4.91696459e-01 -3.92239237e-02 1.25923695e+02] [ 4.91148303e-01 8.70766159e-01 -2.32301700e-02 2.20957216e+01] [ 4.55770577e-02 9.42761609e-04 9.98960381e-01 4.66771897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.00710568099998 meters 0.019996467619097208 Centerline is valid? [True, True] Translation: X:125.95, Y:22.11, Z:4.67 [[ 8.66907067e-01 -4.96919630e-01 -3.92812854e-02 1.25950735e+02] [ 4.96374508e-01 8.67796298e-01 -2.32794531e-02 2.21060667e+01] [ 4.56561713e-02 6.82893682e-04 9.98956980e-01 4.66922470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03710568099999 meters 0.01942587048800734 Centerline is valid? [True, True] Translation: X:125.98, Y:22.12, Z:4.67 [[ 8.65373650e-01 -4.99543985e-01 -3.98026775e-02 1.25975849e+02] [ 4.98986597e-01 8.66288343e-01 -2.35983723e-02 2.21198853e+01] [ 4.62690204e-02 5.60406986e-04 9.98928858e-01 4.66878456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.067105681 meters 0.01846078404740399 Centerline is valid? [True, True] Translation: X:126.00, Y:22.13, Z:4.66 [[ 8.62683098e-01 -5.03995649e-01 -4.20268857e-02 1.26001361e+02] [ 5.03378530e-01 8.63706119e-01 -2.49358484e-02 2.21340362e+01] [ 4.88664374e-02 3.56303049e-04 9.98805258e-01 4.66460094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.097105681 meters 0.01808273337316251 Centerline is valid? [True, True] Translation: X:126.02, Y:22.15, Z:4.66 [[ 8.60601663e-01 -5.07612593e-01 -4.11610743e-02 1.26024708e+02] [ 5.07024052e-01 8.61585417e-01 -2.44372893e-02 2.21494305e+01] [ 4.78684571e-02 1.61117175e-04 9.98853635e-01 4.66018679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.127105681 meters 0.018058098260667777 Centerline is valid? [True, True] Translation: X:126.05, Y:22.16, Z:4.66 [[ 8.59810399e-01 -5.09057401e-01 -3.98326510e-02 1.26049274e+02] [ 5.08507419e-01 8.60732569e-01 -2.36569206e-02 2.21635981e+01] [ 4.63279905e-02 8.52678094e-05 9.98926279e-01 4.66301622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.157105681 meters 0.018086208923312794 Centerline is valid? [True, True] Translation: X:126.07, Y:22.18, Z:4.67 [[ 8.59971081e-01 -5.08890102e-01 -3.84786224e-02 1.26073276e+02] [ 5.08375965e-01 8.60831489e-01 -2.28697522e-02 2.21776564e+01] [ 4.47618004e-02 1.05718748e-04 9.98997683e-01 4.66903188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.187105681 meters 0.01820901739746874 Centerline is valid? [True, True] Translation: X:126.10, Y:22.19, Z:4.67 [[ 8.60571224e-01 -5.07913535e-01 -3.79606221e-02 1.26096040e+02] [ 5.07411362e-01 8.61408040e-01 -2.25809287e-02 2.21945134e+01] [ 4.41687445e-02 1.70846517e-04 9.99024070e-01 4.67179307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.217105681 meters 0.018909402351602298 Centerline is valid? [True, True] Translation: X:126.11, Y:22.22, Z:4.67 [[ 8.63429631e-01 -5.03184633e-01 -3.59791292e-02 1.26114420e+02] [ 5.02728739e-01 8.64178836e-01 -2.14185625e-02 2.22178226e+01] [ 4.18698936e-02 4.05679273e-04 9.99122989e-01 4.67362272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.247105681 meters 0.02068404607066007 Centerline is valid? [True, True] Translation: X:126.13, Y:22.24, Z:4.67 [[ 8.66980997e-01 -4.97032137e-01 -3.60971812e-02 1.26133729e+02] [ 4.96567501e-01 8.67731840e-01 -2.14981797e-02 2.22418742e+01] [ 4.20079596e-02 7.13826172e-04 9.99117021e-01 4.67409539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.277105681 meters 0.021817092992604366 Centerline is valid? [True, True] Translation: X:126.16, Y:22.26, Z:4.67 [[ 8.68884862e-01 -4.93682534e-01 -3.62857088e-02 1.26155877e+02] [ 4.93209429e-01 8.69641740e-01 -2.16264548e-02 2.22613713e+01] [ 4.22321700e-02 8.94445450e-04 9.99107424e-01 4.67387001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.307105681 meters 0.024108479697852535 Centerline is valid? [True, True] Translation: X:126.18, Y:22.28, Z:4.67 [[ 8.72073087e-01 -4.88048774e-01 -3.60128593e-02 1.26176778e+02] [ 4.87577343e-01 8.72815572e-01 -2.14782025e-02 2.22837356e+01] [ 4.19149947e-02 1.17150812e-03 9.99120494e-01 4.67449621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.337105681 meters 0.024923836704492244 Centerline is valid? [True, True] Translation: X:126.20, Y:22.30, Z:4.68 [[ 8.73209835e-01 -4.85974606e-01 -3.65139282e-02 1.26200964e+02] [ 4.85487928e-01 8.73971973e-01 -2.17821680e-02 2.23002658e+01] [ 4.24977304e-02 1.29333194e-03 9.99095726e-01 4.67578691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.36710568099997 meters 0.02791018497149795 Centerline is valid? [True, True] Translation: X:126.22, Y:22.32, Z:4.67 [[ 8.74672768e-01 -4.83051323e-01 -4.01119356e-02 1.26222026e+02] [ 4.82460110e-01 8.75590593e-01 -2.39448651e-02 2.23216181e+01] [ 4.66882323e-02 1.59151261e-03 9.98908242e-01 4.67208597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39710568099997 meters 0.028476578452530057 Centerline is valid? [True, True] Translation: X:126.24, Y:22.34, Z:4.67 [[ 8.74906028e-01 -4.82437775e-01 -4.23466090e-02 1.26244046e+02] [ 4.81777717e-01 8.75928553e-01 -2.52864078e-02 2.23409270e+01] [ 4.92917222e-02 1.72157796e-03 9.98782941e-01 4.66634858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.42710568099997 meters 0.028352441844331104 Centerline is valid? [True, True] Translation: X:126.27, Y:22.35, Z:4.66 [[ 8.74068358e-01 -4.83792263e-01 -4.41537333e-02 1.26268458e+02] [ 4.83075546e-01 8.75181156e-01 -2.63810672e-02 2.23546882e+01] [ 5.14054715e-02 1.72926724e-03 9.98676368e-01 4.66338964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.45710568099997 meters 0.026806435666873577 Centerline is valid? [True, True] Translation: X:126.30, Y:22.37, Z:4.66 [[ 8.72981083e-01 -4.85655215e-01 -4.52000127e-02 1.26295933e+02] [ 4.84906044e-01 8.74148862e-01 -2.70165903e-02 2.23653215e+01] [ 5.26322876e-02 1.66721292e-03 9.98612569e-01 4.66460197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.48710568099997 meters 0.024270199609466966 Centerline is valid? [True, True] Translation: X:126.32, Y:22.37, Z:4.67 [[ 8.69903421e-01 -4.91234417e-01 -4.42355582e-02 1.26324193e+02] [ 4.90523326e-01 8.71026417e-01 -2.64546134e-02 2.23725917e+01] [ 5.15257563e-02 1.31438555e-03 9.98670801e-01 4.66821176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.51710568099998 meters 0.021796830811767254 Centerline is valid? [True, True] Translation: X:126.35, Y:22.38, Z:4.67 [[ 8.68037881e-01 -4.94535323e-01 -4.41027424e-02 1.26351804e+02] [ 4.93832274e-01 8.69156806e-01 -2.63843202e-02 2.23824264e+01] [ 5.13801770e-02 1.12323185e-03 9.98678535e-01 4.66946931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.54710568099998 meters 0.020171323275142417 Centerline is valid? [True, True] Translation: X:126.38, Y:22.39, Z:4.67 [[ 8.65195215e-01 -4.99406661e-01 -4.50580425e-02 1.26379471e+02] [ 4.98678518e-01 8.66367264e-01 -2.69721967e-02 2.23903449e+01] [ 5.25069077e-02 8.66737652e-04 9.98620185e-01 4.66844119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.57710568099998 meters 0.01913157035575228 Centerline is valid? [True, True] Translation: X:126.41, Y:22.40, Z:4.67 [[ 8.63034932e-01 -5.03101387e-01 -4.53839291e-02 1.26407539e+02] [ 5.02367178e-01 8.64227148e-01 -2.71781908e-02 2.23996294e+01] [ 5.28954091e-02 6.56331614e-04 9.98599842e-01 4.66766285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.60710568099998 meters 0.01845925759767557 Centerline is valid? [True, True] Translation: X:126.43, Y:22.41, Z:4.67 [[ 8.61762330e-01 -5.05452272e-01 -4.34014803e-02 1.26434025e+02] [ 5.04782909e-01 8.62854418e-01 -2.60090118e-02 2.24123971e+01] [ 5.05954731e-02 5.05261168e-04 9.98719101e-01 4.67056470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63710568099998 meters 0.01767247433782524 Centerline is valid? [True, True] Translation: X:126.46, Y:22.42, Z:4.68 [[ 8.59316195e-01 -5.09905705e-01 -3.96465510e-02 1.26461503e+02] [ 5.09351336e-01 8.60230270e-01 -2.37718248e-02 2.24198159e+01] [ 4.62265523e-02 2.33490357e-04 9.98930954e-01 4.67896355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.66710568099998 meters 0.017424755927598602 Centerline is valid? [True, True] Translation: X:126.49, Y:22.43, Z:4.68 [[ 8.58101260e-01 -5.12089803e-01 -3.77658769e-02 1.26487456e+02] [ 5.11588595e-01 8.58931907e-01 -2.26514757e-02 2.24314887e+01] [ 4.40379064e-02 1.16667979e-04 9.99029854e-01 4.68450966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69710568099998 meters 0.018140223724327418 Centerline is valid? [True, True] Translation: X:126.51, Y:22.44, Z:4.69 [[ 8.52389942e-01 -5.21831814e-01 -3.35103702e-02 1.26513855e+02] [ 5.21444203e-01 8.53048327e-01 -2.01120563e-02 2.24387388e+01] [ 3.90810761e-02 -3.30473819e-04 9.99235988e-01 4.69041416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.72710568099998 meters 0.019136833108258675 Centerline is valid? [True, True] Translation: X:126.54, Y:22.45, Z:4.69 [[ 8.50037653e-01 -5.25663764e-01 -3.33705727e-02 1.26540425e+02] [ 5.25281820e-01 8.50692285e-01 -2.00411022e-02 2.24512571e+01] [ 3.89229700e-02 -4.93263649e-04 9.99242092e-01 4.69118205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75710568099998 meters 0.02237986778537022 Centerline is valid? [True, True] Translation: X:126.57, Y:22.46, Z:4.69 [[ 8.44546648e-01 -5.34441334e-01 -3.33679548e-02 1.26568297e+02] [ 5.34065711e-01 8.45205110e-01 -2.00533857e-02 2.24624487e+01] [ 3.89201241e-02 -8.84660839e-04 9.99241933e-01 4.69201525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.78710568099999 meters 0.023396858488266847 Centerline is valid? [True, True] Translation: X:126.59, Y:22.48, Z:4.69 [[ 8.42062068e-01 -5.38374583e-01 -3.29284334e-02 1.26592874e+02] [ 5.38011292e-01 8.42705004e-01 -1.98021623e-02 2.24779776e+01] [ 3.84099365e-02 -1.04121923e-03 9.99261524e-01 4.69304292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.817105681 meters 0.025285914460755232 Centerline is valid? [True, True] Translation: X:126.62, Y:22.49, Z:4.69 [[ 8.39822524e-01 -5.41848972e-01 -3.31333677e-02 1.26616079e+02] [ 5.41483264e-01 8.40475023e-01 -1.99401681e-02 2.24924572e+01] [ 3.86523276e-02 -1.19496182e-03 9.99252005e-01 4.69466371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.847105681 meters 0.0255297302667871 Centerline is valid? [True, True] Translation: X:126.64, Y:22.51, Z:4.69 [[ 8.39319257e-01 -5.42583967e-01 -3.38500201e-02 1.26639792e+02] [ 5.42202587e-01 8.40000641e-01 -2.03783549e-02 2.25087702e+01] [ 3.94910073e-02 -1.24962274e-03 9.99219145e-01 4.69457973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.877105681 meters 0.024871138600619548 Centerline is valid? [True, True] Translation: X:126.66, Y:22.53, Z:4.69 [[ 8.39582001e-01 -5.41967995e-01 -3.70507240e-02 1.26660280e+02] [ 5.41509670e-01 8.40398088e-01 -2.23233042e-02 2.25301606e+01] [ 4.32358741e-02 -1.32108093e-03 9.99064019e-01 4.69126164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.907105681 meters 0.02480023856991552 Centerline is valid? [True, True] Translation: X:126.68, Y:22.55, Z:4.69 [[ 8.40829387e-01 -5.39999811e-01 -3.74986170e-02 1.26680476e+02] [ 5.39527690e-01 8.41664252e-01 -2.26088226e-02 2.25505421e+01] [ 4.37700053e-02 -1.22137977e-03 9.99040887e-01 4.69026806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.937105681 meters 0.022488951721513342 Centerline is valid? [True, True] Translation: X:126.70, Y:22.57, Z:4.69 [[ 8.42128757e-01 -5.37969461e-01 -3.75235348e-02 1.26701116e+02] [ 5.37494353e-01 8.42963598e-01 -2.26316856e-02 2.25717949e+01] [ 4.38061296e-02 -1.10989478e-03 9.99039434e-01 4.69096251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.967105681 meters 0.021112285996887397 Centerline is valid? [True, True] Translation: X:126.72, Y:22.59, Z:4.69 [[ 8.44883851e-01 -5.33346315e-01 -4.13882541e-02 1.26720746e+02] [ 5.32761685e-01 8.45896460e-01 -2.49833218e-02 2.25945043e+01] [ 4.83349402e-02 -9.42070830e-04 9.98830739e-01 4.68686983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.997105681 meters 0.020386238855594464 Centerline is valid? [True, True] Translation: X:126.74, Y:22.61, Z:4.68 [[ 8.46845148e-01 -5.30066630e-01 -4.33896695e-02 1.26742412e+02] [ 5.29418874e-01 8.47955639e-01 -2.62086113e-02 2.26130563e+01] [ 5.06848251e-02 -7.76674640e-04 9.98714396e-01 4.68431724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.027105681 meters 0.01833702853790453 Centerline is valid? [True, True] Translation: X:126.76, Y:22.64, Z:4.68 [[ 8.50968503e-01 -5.23208217e-01 -4.58886476e-02 1.26760178e+02] [ 5.22473031e-01 8.52204798e-01 -2.77293052e-02 2.26406420e+01] [ 5.36147260e-02 -3.78815389e-04 9.98561624e-01 4.68142987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.057105681 meters 0.017644805855451553 Centerline is valid? [True, True] Translation: X:126.78, Y:22.67, Z:4.68 [[ 8.55459909e-01 -5.15854961e-01 -4.56289831e-02 1.26777095e+02] [ 5.15116753e-01 8.56675931e-01 -2.75876837e-02 2.26668411e+01] [ 5.33204951e-02 9.59037722e-05 9.98577446e-01 4.68151161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.087105681 meters 0.01781509411860223 Centerline is valid? [True, True] Translation: X:126.80, Y:22.69, Z:4.69 [[ 8.58532249e-01 -5.10984835e-01 -4.26248203e-02 1.26797723e+02] [ 5.10334196e-01 8.59589642e-01 -2.57809117e-02 2.26888757e+01] [ 4.98135089e-02 3.80840696e-04 9.98758464e-01 4.68768068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11710568099997 meters 0.018175092679625873 Centerline is valid? [True, True] Translation: X:126.82, Y:22.71, Z:4.69 [[ 8.59609140e-01 -5.09343842e-01 -4.05089720e-02 1.26819259e+02] [ 5.08753548e-01 8.60562974e-01 -2.45193001e-02 2.27062576e+01] [ 4.73492759e-02 4.67931296e-04 9.98878284e-01 4.69264638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14710568099997 meters 0.01922270260796038 Centerline is valid? [True, True] Translation: X:126.84, Y:22.73, Z:4.70 [[ 8.61914808e-01 -5.05835120e-01 -3.51240001e-02 1.26838001e+02] [ 5.05387874e-01 8.62629983e-01 -2.12746062e-02 2.27287038e+01] [ 4.10604586e-02 5.85654452e-04 9.99156492e-01 4.69973082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.17710568099997 meters 0.019861703989153847 Centerline is valid? [True, True] Translation: X:126.86, Y:22.75, Z:4.70 [[ 8.62834244e-01 -5.04394359e-01 -3.32174212e-02 1.26860937e+02] [ 5.03993088e-01 8.63473185e-01 -2.01252485e-02 2.27464627e+01] [ 3.88334143e-02 6.23402842e-04 9.99245504e-01 4.70331204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.20710568099997 meters 0.021055028460879813 Centerline is valid? [True, True] Translation: X:126.88, Y:22.76, Z:4.71 [[ 8.64890817e-01 -5.00795827e-01 -3.41674363e-02 1.26883137e+02] [ 5.00367839e-01 8.65565056e-01 -2.07161911e-02 2.27647218e+01] [ 3.99487209e-02 8.20957171e-04 9.99201394e-01 4.70621138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.23710568099997 meters 0.02375713805874404 Centerline is valid? [True, True] Translation: X:126.90, Y:22.79, Z:4.70 [[ 8.68021596e-01 -4.95105468e-01 -3.75377771e-02 1.26902405e+02] [ 4.94582794e-01 8.68832046e-01 -2.27757539e-02 2.27885845e+01] [ 4.38904240e-02 1.20430753e-03 9.99035625e-01 4.70131037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.26710568099998 meters 0.025480644223829237 Centerline is valid? [True, True] Translation: X:126.92, Y:22.81, Z:4.70 [[ 8.69780369e-01 -4.91939331e-01 -3.84422164e-02 1.26924867e+02] [ 4.91387893e-01 8.70628356e-01 -2.33282029e-02 2.28080533e+01] [ 4.49449442e-02 1.40037319e-03 9.98988484e-01 4.69960493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.29710568099998 meters 0.025480644223829237 Centerline is valid? [True, True] Translation: X:126.95, Y:22.82, Z:4.70 [[ 8.69601086e-01 -4.92256401e-01 -3.84394043e-02 1.26948307e+02] [ 4.91705067e-01 8.70449140e-01 -2.33328353e-02 2.28225299e+01] [ 4.49452840e-02 1.38940906e-03 9.98988484e-01 4.70062484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.32710568099998 meters 0.02947096748673075 Centerline is valid? [True, True] Translation: X:126.97, Y:22.84, Z:4.70 [[ 8.72955977e-01 -4.86137594e-01 -4.02256391e-02 1.26969313e+02] [ 4.85526452e-01 8.73880427e-01 -2.44348962e-02 2.28425615e+01] [ 4.70311203e-02 1.79997689e-03 9.98891803e-01 4.69904970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.35710568099998 meters 0.031558374671178155 Centerline is valid? [True, True] Translation: X:126.99, Y:22.86, Z:4.70 [[ 8.75397096e-01 -4.81635040e-01 -4.13232551e-02 1.26993070e+02] [ 4.80984777e-01 8.76369366e-01 -2.51073629e-02 2.28594253e+01] [ 4.83070206e-02 2.10305597e-03 9.98830320e-01 4.69904169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.38710568099998 meters 0.030586392720641932 Centerline is valid? [True, True] Translation: X:127.02, Y:22.87, Z:4.70 [[ 8.75671861e-01 -4.81119242e-01 -4.15098389e-02 1.27018716e+02] [ 4.80462299e-01 8.76652539e-01 -2.52250861e-02 2.28718983e+01] [ 4.85259800e-02 2.14498544e-03 9.98819618e-01 4.69938274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41710568099998 meters 0.03100725561165854 Centerline is valid? [True, True] Translation: X:127.04, Y:22.88, Z:4.70 [[ 8.74893696e-01 -4.82469851e-01 -4.22358021e-02 1.27044878e+02] [ 4.81790804e-01 8.75910024e-01 -2.56758893e-02 2.28818882e+01] [ 4.93826049e-02 2.11485262e-03 9.98777696e-01 4.69802971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.44710568099998 meters 0.02958280646533199 Centerline is valid? [True, True] Translation: X:127.07, Y:22.89, Z:4.70 [[ 8.73642630e-01 -4.84701294e-01 -4.25818153e-02 1.27072632e+02] [ 4.84012779e-01 8.74677409e-01 -2.59048179e-02 2.28917313e+01] [ 4.98014506e-02 2.02141050e-03 9.98757092e-01 4.69812306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47710568099998 meters 0.02704920059859835 Centerline is valid? [True, True] Translation: X:127.10, Y:22.90, Z:4.70 [[ 8.70362780e-01 -4.90729571e-01 -4.06585713e-02 1.27103618e+02] [ 4.90107745e-01 8.71310441e-01 -2.47490131e-02 2.28958912e+01] [ 4.75713103e-02 1.61353916e-03 9.98866541e-01 4.70087842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.50710568099998 meters 0.022423272475208235 Centerline is valid? [True, True] Translation: X:127.14, Y:22.90, Z:4.71 [[ 8.65088157e-01 -5.00128867e-01 -3.86470712e-02 1.27138154e+02] [ 4.99576114e-01 8.65950354e-01 -2.35306357e-02 2.28957373e+01] [ 4.52347952e-02 1.04892064e-03 9.98975832e-01 4.70582558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53710568099999 meters 0.019634385515844083 Centerline is valid? [True, True] Translation: X:127.17, Y:22.90, Z:4.71 [[ 8.61811590e-01 -5.05791392e-01 -3.81556137e-02 1.27168630e+02] [ 5.05257559e-01 8.62655493e-01 -2.32443463e-02 2.29012403e+01] [ 4.46719401e-02 7.53834801e-04 9.99001426e-01 4.70886106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.567105681 meters 0.017207810278856914 Centerline is valid? [True, True] Translation: X:127.20, Y:22.90, Z:4.71 [[ 8.54853613e-01 -5.17650122e-01 -3.55478673e-02 1.27203387e+02] [ 5.17196737e-01 8.55592387e-01 -2.16610655e-02 2.29003563e+01] [ 4.16273379e-02 1.31799088e-04 9.99133198e-01 4.71468203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.597105681 meters 0.017844026189492684 Centerline is valid? [True, True] Translation: X:127.23, Y:22.90, Z:4.72 [[ 8.49460211e-01 -5.26655071e-01 -3.24312592e-02 1.27233959e+02] [ 5.26283781e-01 8.50079033e-01 -1.97742038e-02 2.29034794e+01] [ 3.79833182e-02 -2.70646352e-04 9.99278337e-01 4.71942237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.627105681 meters 0.018071506317979852 Centerline is valid? [True, True] Translation: X:127.26, Y:22.92, Z:4.72 [[ 8.47982445e-01 -5.29004727e-01 -3.28598909e-02 1.27259920e+02] [ 5.28625095e-01 8.48618794e-01 -2.00412492e-02 2.29165428e+01] [ 3.84874366e-02 -3.75935431e-04 9.99259013e-01 4.72058511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.657105681 meters 0.017632770093175928 Centerline is valid? [True, True] Translation: X:127.28, Y:22.93, Z:4.72 [[ 8.49463739e-01 -5.26487735e-01 -3.49574283e-02 1.27283423e+02] [ 5.26055247e-01 8.50182683e-01 -2.13373467e-02 2.29340659e+01] [ 4.09540516e-02 -2.64236277e-04 9.99160996e-01 4.72081284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.687105681 meters 0.017209920891503444 Centerline is valid? [True, True] Translation: X:127.30, Y:22.95, Z:4.72 [[ 8.52498080e-01 -5.21545032e-01 -3.51824316e-02 1.27303802e+02] [ 5.21102115e-01 8.53223757e-01 -2.14896991e-02 2.29539097e+01] [ 4.12263323e-02 -1.37123129e-05 9.99149833e-01 4.72204494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.717105681 meters 0.019322073207255007 Centerline is valid? [True, True] Translation: X:127.32, Y:22.99, Z:4.72 [[ 8.60354316e-01 -5.08522736e-01 -3.45698931e-02 1.27318734e+02] [ 5.08084254e-01 8.61048348e-01 -2.11218607e-02 2.29851899e+01] [ 4.05072958e-02 6.07865665e-04 9.99179058e-01 4.72349127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.747105681 meters 0.02310678549574547 Centerline is valid? [True, True] Translation: X:127.34, Y:23.01, Z:4.72 [[ 8.65996993e-01 -4.98731518e-01 -3.62778254e-02 1.27336549e+02] [ 4.98239283e-01 8.66755783e-01 -2.21817460e-02 2.30125761e+01] [ 4.25067508e-02 1.13428756e-03 9.99095536e-01 4.72074953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.777105681 meters 0.025799792151753008 Centerline is valid? [True, True] Translation: X:127.36, Y:23.03, Z:4.72 [[ 8.67558426e-01 -4.95864196e-01 -3.82240317e-02 1.27358189e+02] [ 4.95314372e-01 8.68399025e-01 -2.33838988e-02 2.30316419e+01] [ 4.47889500e-02 1.35398618e-03 9.98995554e-01 4.71843406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.807105681 meters 0.025753037919551126 Centerline is valid? [True, True] Translation: X:127.39, Y:23.05, Z:4.72 [[ 8.68961784e-01 -4.93067259e-01 -4.23095260e-02 1.27385036e+02] [ 4.92389813e-01 8.69989600e-01 -2.58914846e-02 2.30454302e+01] [ 4.95750910e-02 1.66593108e-03 9.98769010e-01 4.71505860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.837105681 meters 0.02517065484948527 Centerline is valid? [True, True] Translation: X:127.41, Y:23.06, Z:4.71 [[ 8.68231753e-01 -4.94243008e-01 -4.35599926e-02 1.27411659e+02] [ 4.93525545e-01 8.69322203e-01 -2.66728980e-02 2.30567347e+01] [ 5.10505621e-02 1.66028790e-03 9.98694690e-01 4.71460474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86710568099997 meters 0.02386692594595191 Centerline is valid? [True, True] Translation: X:127.44, Y:23.07, Z:4.72 [[ 8.66881565e-01 -4.96757172e-01 -4.18170307e-02 1.27439648e+02] [ 4.96098063e-01 8.67888334e-01 -2.56232811e-02 2.30670573e+01] [ 4.90210618e-02 1.46700212e-03 9.98796668e-01 4.71602079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89710568099997 meters 0.024076456321379128 Centerline is valid? [True, True] Translation: X:127.46, Y:23.08, Z:4.72 [[ 8.65995016e-01 -4.98355001e-01 -4.11694650e-02 1.27464609e+02] [ 4.97717230e-01 8.66971984e-01 -2.52416117e-02 2.30801141e+01] [ 4.82720561e-02 1.36835787e-03 9.98833287e-01 4.71663139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.92710568099997 meters 0.022192594852281405 Centerline is valid? [True, True] Translation: X:127.49, Y:23.09, Z:4.72 [[ 8.64280180e-01 -5.01364116e-01 -4.06668516e-02 1.27494347e+02] [ 5.00744623e-01 8.65235571e-01 -2.49445104e-02 2.30873037e+01] [ 4.76926890e-02 1.19533867e-03 9.98861341e-01 4.72096897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.95710568099997 meters 0.02231338726858722 Centerline is valid? [True, True] Translation: X:127.52, Y:23.10, Z:4.73 [[ 8.63539294e-01 -5.02730398e-01 -3.95225859e-02 1.27520256e+02] [ 5.02145978e-01 8.64442555e-01 -2.42587166e-02 2.30990175e+01] [ 4.63605994e-02 1.10224748e-03 9.98924161e-01 4.72568164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.98710568099997 meters 0.021893803058970453 Centerline is valid? [True, True] Translation: X:127.54, Y:23.11, Z:4.73 [[ 8.63309785e-01 -5.03147267e-01 -3.92306434e-02 1.27544488e+02] [ 5.02571069e-01 8.64200004e-01 -2.40971744e-02 2.31134516e+01] [ 4.60275496e-02 1.08714001e-03 9.98939579e-01 4.72734672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.01710568099998 meters 0.021241480050493665 Centerline is valid? [True, True] Translation: X:127.57, Y:23.13, Z:4.73 [[ 8.62488200e-01 -5.04680386e-01 -3.75740958e-02 1.27569468e+02] [ 5.04152569e-01 8.63305713e-01 -2.30961691e-02 2.31289113e+01] [ 4.40941151e-02 9.77096394e-04 9.99026904e-01 4.72881319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.04710568099998 meters 0.020641508503834945 Centerline is valid? [True, True] Translation: X:127.59, Y:23.14, Z:4.73 [[ 8.61402314e-01 -5.06650176e-01 -3.59395708e-02 1.27594409e+02] [ 5.06168638e-01 8.62151312e-01 -2.21003626e-02 2.31429030e+01] [ 4.21825007e-02 8.45819874e-04 9.99109564e-01 4.73173404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.07710568099998 meters 0.019128597424534627 Centerline is valid? [True, True] Translation: X:127.62, Y:23.15, Z:4.74 [[ 8.58706695e-01 -5.11241716e-01 -3.54220275e-02 1.27620853e+02] [ 5.10777209e-01 8.59436744e-01 -2.17973788e-02 2.31540977e+01] [ 4.15867213e-02 6.24790712e-04 9.99134703e-01 4.73580739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.10710568099998 meters 0.01784113807491018 Centerline is valid? [True, True] Translation: X:127.65, Y:23.17, Z:4.74 [[ 8.55839671e-01 -5.16078719e-01 -3.46585233e-02 1.27647327e+02] [ 5.15637367e-01 8.56541067e-01 -2.13425924e-02 2.31666332e+01] [ 4.07009063e-02 3.94607592e-04 9.99171297e-01 4.73700500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13710568099998 meters 0.01783805932648465 Centerline is valid? [True, True] Translation: X:127.67, Y:23.18, Z:4.74 [[ 8.54833193e-01 -5.17737583e-01 -3.47563976e-02 1.27670354e+02] [ 5.17294506e-01 8.55539413e-01 -2.14174595e-02 2.31819124e+01] [ 4.08240917e-02 3.29061730e-04 9.99166295e-01 4.73636551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.16710568099998 meters 0.01749250319603309 Centerline is valid? [True, True] Translation: X:127.69, Y:23.20, Z:4.73 [[ 8.54067803e-01 -5.18721941e-01 -3.86747572e-02 1.27694215e+02] [ 5.18173883e-01 8.54942948e-01 -2.38407738e-02 2.31980528e+01] [ 4.54314434e-02 3.21388133e-04 9.98967407e-01 4.73113292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19710568099998 meters 0.01841295691374857 Centerline is valid? [True, True] Translation: X:127.72, Y:23.22, Z:4.72 [[ 8.54994902e-01 -5.16759823e-01 -4.40795056e-02 1.27715970e+02] [ 5.16044209e-01 8.56130267e-01 -2.71907962e-02 2.32160039e+01] [ 5.17889099e-02 5.01018555e-04 9.98657928e-01 4.72403266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.22710568099998 meters 0.018880477361371568 Centerline is valid? [True, True] Translation: X:127.74, Y:23.23, Z:4.72 [[ 8.56025585e-01 -5.14988352e-01 -4.48017306e-02 1.27738601e+02] [ 5.14246084e-01 8.57196946e-01 -2.76470816e-02 2.32335383e+01] [ 5.26418316e-02 6.27494674e-04 9.98613260e-01 4.72479449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25710568099998 meters 0.02050396266435049 Centerline is valid? [True, True] Translation: X:127.76, Y:23.26, Z:4.73 [[ 8.59649333e-01 -5.09084734e-01 -4.28457380e-02 1.27758946e+02] [ 5.08397653e-01 8.60715870e-01 -2.64578672e-02 2.32552710e+01] [ 5.03473029e-02 9.61815254e-04 9.98731307e-01 4.73109493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.28710568099999 meters 0.02307448833462223 Centerline is valid? [True, True] Translation: X:127.78, Y:23.28, Z:4.74 [[ 8.63329782e-01 -5.03114929e-01 -3.92052976e-02 1.27779618e+02] [ 5.02532795e-01 8.64218662e-01 -2.42258890e-02 2.32772017e+01] [ 4.60703563e-02 1.21298374e-03 9.98937461e-01 4.73627019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.317105681 meters 0.024255499689533763 Centerline is valid? [True, True] Translation: X:127.80, Y:23.29, Z:4.74 [[ 8.65468840e-01 -4.99519434e-01 -3.80002997e-02 1.27802639e+02] [ 4.98968471e-01 8.66301593e-01 -2.34950066e-02 2.32940200e+01] [ 4.46559325e-02 1.37324470e-03 9.99001482e-01 4.73883007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.347105681 meters 0.026687998974094015 Centerline is valid? [True, True] Translation: X:127.83, Y:23.31, Z:4.74 [[ 8.67921089e-01 -4.95358211e-01 -3.65133786e-02 1.27826318e+02] [ 4.94845622e-01 8.68687459e-01 -2.25811533e-02 2.33110478e+01] [ 4.29044737e-02 1.53017364e-03 9.99078007e-01 4.74287180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.377105681 meters 0.026721994803408814 Centerline is valid? [True, True] Translation: X:127.85, Y:23.32, Z:4.75 [[ 8.67891944e-01 -4.95491115e-01 -3.53854195e-02 1.27850894e+02] [ 4.95009555e-01 8.68611742e-01 -2.18902438e-02 2.33241075e+01] [ 4.15826122e-02 1.48224551e-03 9.99133970e-01 4.74724979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.407105681 meters 0.026842708769674404 Centerline is valid? [True, True] Translation: X:127.87, Y:23.34, Z:4.75 [[ 8.67619346e-01 -4.95960673e-01 -3.54919870e-02 1.27874535e+02] [ 4.95475895e-01 8.68343725e-01 -2.19729998e-02 2.33389440e+01] [ 4.17169880e-02 1.47877572e-03 9.99128373e-01 4.74650924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.437105681 meters 0.026129252658794143 Centerline is valid? [True, True] Translation: X:127.90, Y:23.35, Z:4.74 [[ 8.67168233e-01 -4.96588984e-01 -3.76647836e-02 1.27899833e+02] [ 4.96043219e-01 8.67984444e-01 -2.33266019e-02 2.33515018e+01] [ 4.42761798e-02 1.54472768e-03 9.99018135e-01 4.74362078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.467105681 meters 0.02569942331241362 Centerline is valid? [True, True] Translation: X:127.92, Y:23.37, Z:4.74 [[ 8.66580653e-01 -4.97526243e-01 -3.88021796e-02 1.27924978e+02] [ 4.96947029e-01 8.67447523e-01 -2.40508736e-02 2.33651142e+01] [ 4.56247954e-02 1.55939390e-03 9.98957430e-01 4.74355378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.497105681 meters 0.026549884503880704 Centerline is valid? [True, True] Translation: X:127.95, Y:23.38, Z:4.74 [[ 8.66318337e-01 -4.97907090e-01 -3.97626501e-02 1.27946976e+02] [ 4.97298463e-01 8.67228918e-01 -2.46625696e-02 2.33801851e+01] [ 4.67629883e-02 1.59173148e-03 9.98904745e-01 4.74319635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.527105681 meters 0.026392448285372246 Centerline is valid? [True, True] Translation: X:127.97, Y:23.39, Z:4.74 [[ 8.67111478e-01 -4.96602517e-01 -3.87766028e-02 1.27972205e+02] [ 4.96021954e-01 8.67976546e-01 -2.40611082e-02 2.33939813e+01] [ 4.56059887e-02 1.62961678e-03 9.98958176e-01 4.74463992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.557105681 meters 0.02841541361008603 Centerline is valid? [True, True] Translation: X:128.00, Y:23.41, Z:4.74 [[ 8.68509138e-01 -4.94000284e-01 -4.06890111e-02 1.27996791e+02] [ 4.93357399e-01 8.69459736e-01 -2.52635112e-02 2.34087034e+01] [ 4.78576386e-02 1.86736570e-03 9.98852421e-01 4.74484345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.587105681 meters 0.02931596534849074 Centerline is valid? [True, True] Translation: X:128.02, Y:23.42, Z:4.75 [[ 8.69136967e-01 -4.92843894e-01 -4.13016806e-02 1.28021584e+02] [ 4.92179828e-01 8.70115526e-01 -2.56512979e-02 2.34236635e+01] [ 4.85793191e-02 1.96663718e-03 9.98817392e-01 4.74550399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61710568099997 meters 0.030291827291487307 Centerline is valid? [True, True] Translation: X:128.05, Y:23.44, Z:4.75 [[ 8.69620920e-01 -4.92001685e-01 -4.11557716e-02 1.28046325e+02] [ 4.91340495e-01 8.70591898e-01 -2.55785970e-02 2.34384332e+01] [ 4.84145941e-02 2.02218583e-03 9.98825279e-01 4.74617053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.64710568099997 meters 0.0307212852837417 Centerline is valid? [True, True] Translation: X:128.07, Y:23.45, Z:4.75 [[ 8.71114895e-01 -4.89338652e-01 -4.13100931e-02 1.28073342e+02] [ 4.88668790e-01 8.72091098e-01 -2.56891261e-02 2.34504579e+01] [ 4.85968468e-02 2.19122720e-03 9.98816072e-01 4.74767523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.67710568099997 meters 0.031314601658287367 Centerline is valid? [True, True] Translation: X:128.10, Y:23.46, Z:4.74 [[ 8.71263632e-01 -4.88901280e-01 -4.33038378e-02 1.28099707e+02] [ 4.88164182e-01 8.72336007e-01 -2.69373819e-02 2.34623572e+01] [ 5.09452174e-02 2.33017862e-03 9.98698731e-01 4.74486138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.70710568099997 meters 0.03383861274145138 Centerline is valid? [True, True] Translation: X:128.12, Y:23.48, Z:4.75 [[ 8.71143481e-01 -4.89199430e-01 -4.23432875e-02 1.28124543e+02] [ 4.88494277e-01 8.72168988e-01 -2.63552264e-02 2.34751632e+01] [ 4.98234640e-02 2.27473004e-03 9.98755450e-01 4.74516573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.73710568099997 meters 0.03168830575716658 Centerline is valid? [True, True] Translation: X:128.15, Y:23.48, Z:4.75 [[ 8.70958393e-01 -4.89542487e-01 -4.21856849e-02 1.28152163e+02] [ 4.88842467e-01 8.71976528e-01 -2.62674178e-02 2.34842386e+01] [ 4.96439441e-02 2.25567375e-03 9.98764432e-01 4.74836737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.76710568099998 meters 0.03226098345442083 Centerline is valid? [True, True] Translation: X:128.18, Y:23.49, Z:4.75 [[ 8.70254668e-01 -4.90714471e-01 -4.30827313e-02 1.28179131e+02] [ 4.89984702e-01 8.71317524e-01 -2.68470383e-02 2.34944774e+01] [ 5.07129690e-02 2.25388107e-03 9.98710726e-01 4.75158969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.79710568099998 meters 0.03162021366720774 Centerline is valid? [True, True] Translation: X:128.21, Y:23.51, Z:4.75 [[ 8.69904620e-01 -4.91327657e-01 -4.31634885e-02 1.28205614e+02] [ 4.90594954e-01 8.70971942e-01 -2.69159462e-02 2.35067099e+01] [ 5.08187362e-02 2.23851626e-03 9.98705385e-01 4.75337048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.82710568099998 meters 0.03309987616846579 Centerline is valid? [True, True] Translation: X:128.23, Y:23.52, Z:4.76 [[ 8.69803557e-01 -4.91764713e-01 -4.01153315e-02 1.28229990e+02] [ 4.91131716e-01 8.70725668e-01 -2.50289498e-02 2.35194640e+01] [ 4.72378032e-02 2.06835798e-03 9.98881530e-01 4.75575271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.85710568099998 meters 0.032614179006525766 Centerline is valid? [True, True] Translation: X:128.26, Y:23.53, Z:4.76 [[ 8.69583980e-01 -4.92330855e-01 -3.78686077e-02 1.28256199e+02] [ 4.91767029e-01 8.70406001e-01 -2.36343662e-02 2.35318516e+01] [ 4.45969911e-02 1.92953353e-03 9.99003196e-01 4.75736608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.88710568099998 meters 0.0335024260186463 Centerline is valid? [True, True] Translation: X:128.28, Y:23.55, Z:4.76 [[ 8.69733139e-01 -4.92067854e-01 -3.78615008e-02 1.28281043e+02] [ 4.91503289e-01 8.70554650e-01 -2.36456712e-02 2.35464142e+01] [ 4.45957803e-02 1.95637168e-03 9.99003198e-01 4.75821791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91710568099998 meters 0.03451369261950882 Centerline is valid? [True, True] Translation: X:128.31, Y:23.56, Z:4.76 [[ 8.70213744e-01 -4.91074673e-01 -3.96699584e-02 1.28308163e+02] [ 4.90453028e-01 8.71114906e-01 -2.47921077e-02 2.35571009e+01] [ 4.67318682e-02 2.11818162e-03 9.98905224e-01 4.75916632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.94710568099998 meters 0.03472551715583403 Centerline is valid? [True, True] Translation: X:128.34, Y:23.57, Z:4.76 [[ 8.69647834e-01 -4.91971816e-01 -4.09435852e-02 1.28335511e+02] [ 4.91309863e-01 8.70608472e-01 -2.56028609e-02 2.35659999e+01] [ 4.82417181e-02 2.14948531e-03 9.98833378e-01 4.76040990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97710568099998 meters 0.03342450936265703 Centerline is valid? [True, True] Translation: X:128.36, Y:23.58, Z:4.76 [[ 8.68010450e-01 -4.94926944e-01 -4.00646725e-02 1.28361495e+02] [ 4.94295950e-01 8.68932405e-01 -2.50597241e-02 2.35775777e+01] [ 4.72162249e-02 1.94829703e-03 9.98882792e-01 4.76271562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.00710568099998 meters 0.02787640241356264 Centerline is valid? [True, True] Translation: X:128.39, Y:23.58, Z:4.77 [[ 8.62769067e-01 -5.04304383e-01 -3.61472851e-02 1.28393920e+02] [ 5.03798657e-01 8.63524981e-01 -2.26168068e-02 2.35812287e+01] [ 4.26198385e-02 1.30212762e-03 9.99090513e-01 4.76736889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03710568099999 meters 0.021839296265564495 Centerline is valid? [True, True] Translation: X:128.43, Y:23.58, Z:4.77 [[ 8.55729985e-01 -5.16288231e-01 -3.42440466e-02 1.28428746e+02] [ 5.15843650e-01 8.56414623e-01 -2.14318094e-02 2.35778235e+01] [ 4.03920932e-02 6.75267998e-04 9.99183678e-01 4.77357671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.067105681 meters 0.019086716782944966 Centerline is valid? [True, True] Translation: X:128.46, Y:23.58, Z:4.78 [[ 8.51648233e-01 -5.22935932e-01 -3.51183435e-02 1.28460378e+02] [ 5.22473729e-01 8.52371909e-01 -2.19848221e-02 2.35827449e+01] [ 4.14305429e-02 3.74923023e-04 9.99141316e-01 4.77620365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.097105681 meters 0.018558577337997473 Centerline is valid? [True, True] Translation: X:128.49, Y:23.59, Z:4.77 [[ 8.44375551e-01 -5.34484996e-01 -3.68200621e-02 1.28492173e+02] [ 5.33987065e-01 8.45177943e-01 -2.30664219e-02 2.35866070e+01] [ 4.34481607e-02 -1.84714122e-04 9.99055666e-01 4.77261833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.127105681 meters 0.02046771045327585 Centerline is valid? [True, True] Translation: X:128.52, Y:23.59, Z:4.77 [[ 8.39973507e-01 -5.41373174e-01 -3.68726854e-02 1.28521308e+02] [ 5.40879760e-01 8.40782259e-01 -2.31144565e-02 2.35928067e+01] [ 4.35154464e-02 -5.28158111e-04 9.99052615e-01 4.77170175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.157105681 meters 0.0200295770751439 Centerline is valid? [True, True] Translation: X:128.54, Y:23.61, Z:4.77 [[ 8.38847526e-01 -5.43096517e-01 -3.71618325e-02 1.28544994e+02] [ 5.42596677e-01 8.39670051e-01 -2.33034801e-02 2.36096377e+01] [ 4.38597167e-02 -6.15820208e-04 9.99037510e-01 4.77421241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.187105681 meters 0.0200295770751439 Centerline is valid? [True, True] Translation: X:128.57, Y:23.62, Z:4.78 [[ 8.38640997e-01 -5.43415925e-01 -3.71538841e-02 1.28568271e+02] [ 5.42915837e-01 8.39463371e-01 -2.33161466e-02 2.36244869e+01] [ 4.38596901e-02 -6.17555680e-04 9.99037510e-01 4.77523045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.217105681 meters 0.019810685512443103 Centerline is valid? [True, True] Translation: X:128.59, Y:23.64, Z:4.78 [[ 8.39191848e-01 -5.42504172e-01 -3.80298039e-02 1.28590334e+02] [ 5.41978355e-01 8.40052917e-01 -2.38864014e-02 2.36422410e+01] [ 4.49055201e-02 -5.66057191e-04 9.98991078e-01 4.77683649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.247105681 meters 0.018924390443426798 Centerline is valid? [True, True] Translation: X:128.61, Y:23.66, Z:4.78 [[ 8.42515475e-01 -5.37227560e-01 -3.94236247e-02 1.28610069e+02] [ 5.36655812e-01 8.43437295e-01 -2.47804036e-02 2.36635969e+01] [ 4.65640711e-02 -2.79043784e-04 9.98915266e-01 4.77860601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.277105681 meters 0.01869723521984033 Centerline is valid? [True, True] Translation: X:128.63, Y:23.68, Z:4.78 [[ 8.44132150e-01 -5.34638280e-01 -4.00352706e-02 1.28630826e+02] [ 5.34045260e-01 8.45080998e-01 -2.51747376e-02 2.36826537e+01] [ 4.72924248e-02 -1.29841106e-04 9.98881079e-01 4.77900943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.307105681 meters 0.018761088287892493 Centerline is valid? [True, True] Translation: X:128.65, Y:23.71, Z:4.78 [[ 8.47262623e-01 -5.29749537e-01 -3.88776940e-02 1.28649600e+02] [ 5.29184250e-01 8.48154115e-01 -2.44668438e-02 2.37064379e+01] [ 4.59355753e-02 1.56378912e-04 9.98944392e-01 4.78050944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.337105681 meters 0.019007177853325306 Centerline is valid? [True, True] Translation: X:128.67, Y:23.72, Z:4.78 [[ 8.48581380e-01 -5.27732618e-01 -3.75223371e-02 1.28669471e+02] [ 5.27203377e-01 8.49410508e-01 -2.36302473e-02 2.37247550e+01] [ 4.43423197e-02 2.70285086e-04 9.99016359e-01 4.78227879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.36710568099997 meters 0.020424409076821488 Centerline is valid? [True, True] Translation: X:128.69, Y:23.75, Z:4.79 [[ 8.52387290e-01 -5.21677312e-01 -3.58983368e-02 1.28687281e+02] [ 5.21187201e-01 8.53142697e-01 -2.26150568e-02 2.37482936e+01] [ 4.24241659e-02 5.67033316e-04 9.99099529e-01 4.78556760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39710568099997 meters 0.022567780257591853 Centerline is valid? [True, True] Translation: X:128.71, Y:23.77, Z:4.79 [[ 8.55365436e-01 -5.16753511e-01 -3.62736659e-02 1.28705692e+02] [ 5.16248405e-01 8.56133826e-01 -2.28573078e-02 2.37711216e+01] [ 4.28667065e-02 8.25128885e-04 9.99080460e-01 4.78681927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.42710568099997 meters 0.023122654396261374 Centerline is valid? [True, True] Translation: X:128.73, Y:23.79, Z:4.79 [[ 8.56923067e-01 -5.14215224e-01 -3.55747234e-02 1.28727549e+02] [ 5.13726935e-01 8.57660667e-01 -2.24235494e-02 2.37910840e+01] [ 4.20415715e-02 9.39563074e-04 9.99115421e-01 4.78806325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.45710568099997 meters 0.023555167383619305 Centerline is valid? [True, True] Translation: X:128.75, Y:23.81, Z:4.79 [[ 8.57710350e-01 -5.12937791e-01 -3.50396690e-02 1.28750452e+02] [ 5.12462389e-01 8.58425199e-01 -2.21015289e-02 2.38090384e+01] [ 4.14156442e-02 1.00019755e-03 9.99141504e-01 4.78909173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.48710568099997 meters 0.025619163135796992 Centerline is valid? [True, True] Translation: X:128.77, Y:23.83, Z:4.79 [[ 8.59602922e-01 -5.09746218e-01 -3.52364820e-02 1.28770102e+02] [ 5.09262162e-01 8.60324018e-01 -2.22403626e-02 2.38295028e+01] [ 4.16517325e-02 1.17327369e-03 9.99131501e-01 4.78964834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.51710568099998 meters 0.026549012547958127 Centerline is valid? [True, True] Translation: X:128.79, Y:23.85, Z:4.79 [[ 8.60834428e-01 -5.07579403e-01 -3.64312647e-02 1.28792931e+02] [ 5.07059692e-01 8.61603961e-01 -2.30018084e-02 2.38473851e+01] [ 4.30645661e-02 1.32792272e-03 9.99071409e-01 4.79068390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.54710568099998 meters 0.027369799649043448 Centerline is valid? [True, True] Translation: X:128.82, Y:23.86, Z:4.79 [[ 8.61278847e-01 -5.06779854e-01 -3.70530233e-02 1.28815987e+02] [ 5.06240788e-01 8.62074361e-01 -2.34106831e-02 2.38649239e+01] [ 4.38065240e-02 1.40537443e-03 9.99039045e-01 4.79099978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.57710568099998 meters 0.028720638865007794 Centerline is valid? [True, True] Translation: X:128.84, Y:23.88, Z:4.79 [[ 8.62506208e-01 -5.04665461e-01 -3.73606048e-02 1.28837069e+02] [ 5.04114758e-01 8.63313620e-01 -2.36200037e-02 2.38848193e+01] [ 4.41741191e-02 1.53836760e-03 9.99022663e-01 4.78993173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.60710568099998 meters 0.02934385545037564 Centerline is valid? [True, True] Translation: X:128.86, Y:23.90, Z:4.79 [[ 8.62756071e-01 -5.04226869e-01 -3.75130136e-02 1.28860527e+02] [ 5.03670810e-01 8.63569789e-01 -2.37262307e-02 2.39022400e+01] [ 4.43585082e-02 1.57573964e-03 9.99014434e-01 4.78925011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63710568099998 meters 0.026592870510007395 Centerline is valid? [True, True] Translation: X:128.89, Y:23.91, Z:4.79 [[ 8.60678294e-01 -5.07662013e-01 -3.88864204e-02 1.28887639e+02] [ 5.07067282e-01 8.61555071e-01 -2.46095755e-02 2.39132343e+01] [ 4.59961393e-02 1.46289592e-03 9.98940546e-01 4.78652306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.66710568099998 meters 0.025339763982383186 Centerline is valid? [True, True] Translation: X:128.91, Y:23.93, Z:4.79 [[ 8.58824376e-01 -5.10843736e-01 -3.82016917e-02 1.28914778e+02] [ 5.10272610e-01 8.59672641e-01 -2.41829058e-02 2.39251039e+01] [ 4.51946352e-02 1.27559205e-03 9.98977386e-01 4.78802074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69710568099998 meters 0.02271501541478702 Centerline is valid? [True, True] Translation: X:128.94, Y:23.93, Z:4.79 [[ 8.53982768e-01 -5.18975680e-01 -3.71170492e-02 1.28944849e+02] [ 5.18443595e-01 8.54788599e-01 -2.35093561e-02 2.39305918e+01] [ 4.39280146e-02 8.33488555e-04 9.99034351e-01 4.79100638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.72710568099998 meters 0.019722664866852927 Centerline is valid? [True, True] Translation: X:128.98, Y:23.93, Z:4.79 [[ 8.47664859e-01 -5.29099853e-01 -3.89568052e-02 1.28977954e+02] [ 5.28523964e-01 8.48559506e-01 -2.46816614e-02 2.39333847e+01] [ 4.61162308e-02 3.32171954e-04 9.98936025e-01 4.78924649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75710568099998 meters 0.019832595381891933 Centerline is valid? [True, True] Translation: X:129.01, Y:23.94, Z:4.79 [[ 8.39865360e-01 -5.41397512e-01 -3.89218475e-02 1.29010033e+02] [ 5.40834993e-01 8.40766690e-01 -2.46755570e-02 2.39357133e+01] [ 4.60834780e-02 -3.26151559e-04 9.98937539e-01 4.78787496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.78710568099999 meters 0.02078066439910578 Centerline is valid? [True, True] Translation: X:129.04, Y:23.95, Z:4.79 [[ 8.36153845e-01 -5.47133573e-01 -3.86212588e-02 1.29038485e+02] [ 5.46584928e-01 8.37045081e-01 -2.45040398e-02 2.39455526e+01] [ 4.57347175e-02 -6.20650888e-04 9.98953428e-01 4.78912317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.817105681 meters 0.023368286102381956 Centerline is valid? [True, True] Translation: X:129.07, Y:23.95, Z:4.79 [[ 8.32176704e-01 -5.53221243e-01 -3.77913904e-02 1.29068328e+02] [ 5.52701488e-01 8.33033858e-01 -2.39928484e-02 2.39500664e+01] [ 4.47548611e-02 -9.21068240e-04 9.98997575e-01 4.79442691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.847105681 meters 0.02332180758611969 Centerline is valid? [True, True] Translation: X:129.09, Y:23.97, Z:4.80 [[ 8.32346486e-01 -5.53021205e-01 -3.69712637e-02 1.29092587e+02] [ 5.52523251e-01 8.33166709e-01 -2.34795984e-02 2.39651181e+01] [ 4.37879420e-02 -8.84321592e-04 9.99040457e-01 4.79895756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.877105681 meters 0.021309995364244466 Centerline is valid? [True, True] Translation: X:129.11, Y:23.99, Z:4.81 [[ 8.35689654e-01 -5.48119606e-01 -3.44630241e-02 1.29111820e+02] [ 5.47682195e-01 8.36399767e-01 -2.19007741e-02 2.39875446e+01] [ 4.08291090e-02 -5.72534360e-04 9.99165980e-01 4.80520258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.907105681 meters 0.019560042550772542 Centerline is valid? [True, True] Translation: X:129.13, Y:24.02, Z:4.81 [[ 8.40182384e-01 -5.41234618e-01 -3.40389525e-02 1.29129074e+02] [ 5.40801649e-01 8.40871595e-01 -2.16457387e-02 2.40150450e+01] [ 4.03378114e-02 -2.21953260e-04 9.99186075e-01 4.80532964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.937105681 meters 0.01916622072536079 Centerline is valid? [True, True] Translation: X:129.15, Y:24.04, Z:4.80 [[ 8.42516362e-01 -5.37574279e-01 -3.43521982e-02 1.29147996e+02] [ 5.37129673e-01 8.43216398e-01 -2.18591275e-02 2.40372465e+01] [ 4.07172415e-02 -3.49124078e-05 9.99170709e-01 4.80366711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.967105681 meters 0.0199001736082818 Centerline is valid? [True, True] Translation: X:129.16, Y:24.07, Z:4.80 [[ 8.47487187e-01 -5.29591503e-01 -3.60320397e-02 1.29163311e+02] [ 5.29094325e-01 8.48252730e-01 -2.29456124e-02 2.40655816e+01] [ 4.27160774e-02 3.81764824e-04 9.99087179e-01 4.80037432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.997105681 meters 0.02055800773003306 Centerline is valid? [True, True] Translation: X:129.19, Y:24.08, Z:4.80 [[ 8.49871882e-01 -5.25777019e-01 -3.57254951e-02 1.29185032e+02] [ 5.25284599e-01 8.50622240e-01 -2.27572922e-02 2.40848053e+01] [ 4.23541620e-02 5.74730419e-04 9.99102495e-01 4.80374976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.027105681 meters 0.02276458764579586 Centerline is valid? [True, True] Translation: X:129.20, Y:24.11, Z:4.81 [[ 8.53574654e-01 -5.19918960e-01 -3.30845086e-02 1.29204187e+02] [ 5.19491752e-01 8.54215203e-01 -2.10880484e-02 2.41068414e+01] [ 3.92253664e-02 8.13094244e-04 9.99230058e-01 4.81066189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.057105681 meters 0.024374297575551724 Centerline is valid? [True, True] Translation: X:129.22, Y:24.13, Z:4.81 [[ 8.54104314e-01 -5.19194636e-01 -3.07042426e-02 1.29223395e+02] [ 5.18826087e-01 8.54655666e-01 -1.95750783e-02 2.41288212e+01] [ 3.64048306e-02 7.88996742e-04 9.99336813e-01 4.81354146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.087105681 meters 0.02314133796008468 Centerline is valid? [True, True] Translation: X:129.25, Y:24.14, Z:4.81 [[ 8.53277844e-01 -5.20585316e-01 -3.01305473e-02 1.29248493e+02] [ 5.20231130e-01 8.53809353e-01 -1.92135487e-02 2.41438371e+01] [ 3.57280345e-02 7.19646745e-04 9.99361291e-01 4.81481395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11710568099997 meters 0.021797475935025082 Centerline is valid? [True, True] Translation: X:129.27, Y:24.16, Z:4.82 [[ 8.51970674e-01 -5.22803643e-01 -2.86761530e-02 1.29274325e+02] [ 5.22483702e-01 8.52452922e-01 -1.82974866e-02 2.41571181e+01] [ 3.40110630e-02 6.06099465e-04 9.99421273e-01 4.81726122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14710568099997 meters 0.023032161064783 Centerline is valid? [True, True] Translation: X:129.30, Y:24.18, Z:4.81 [[ 8.51673958e-01 -5.23112938e-01 -3.16910630e-02 1.29295333e+02] [ 5.22721788e-01 8.52263108e-01 -2.02367484e-02 2.41756373e+01] [ 3.75952288e-02 6.69502438e-04 9.99292825e-01 4.81458334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17710568099997 meters 0.022673507194354764 Centerline is valid? [True, True] Translation: X:129.32, Y:24.19, Z:4.82 [[ 8.53523278e-01 -5.20090766e-01 -3.16797993e-02 1.29319739e+02] [ 5.19697616e-01 8.54110616e-01 -2.02347204e-02 2.41917971e+01] [ 3.75819441e-02 8.06888731e-04 9.99293223e-01 4.81648934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.20710568099997 meters 0.024447708266785266 Centerline is valid? [True, True] Translation: X:129.34, Y:24.21, Z:4.82 [[ 8.55337341e-01 -5.17138298e-01 -3.10807644e-02 1.29340004e+02] [ 5.16757422e-01 8.55901346e-01 -1.98658546e-02 2.42107957e+01] [ 3.68754623e-02 9.30791561e-04 9.99319435e-01 4.81841849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.23710568099997 meters 0.02618627260982207 Centerline is valid? [True, True] Translation: X:129.36, Y:24.23, Z:4.82 [[ 8.58887669e-01 -5.11179257e-01 -3.17449077e-02 1.29361564e+02] [ 5.10777507e-01 8.59473256e-01 -2.02992684e-02 2.42313429e+01] [ 3.76604642e-02 1.22020654e-03 9.99289848e-01 4.81794032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.26710568099998 meters 0.030062361844413278 Centerline is valid? [True, True] Translation: X:129.38, Y:24.25, Z:4.82 [[ 8.60648313e-01 -5.08188318e-01 -3.20798059e-02 1.29381511e+02] [ 5.07775844e-01 8.61244890e-01 -2.05166001e-02 2.42528973e+01] [ 3.80548654e-02 1.36822681e-03 9.99274715e-01 4.81663441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.29710568099998 meters 0.028166394082600518 Centerline is valid? [True, True] Translation: X:129.41, Y:24.26, Z:4.82 [[ 8.60400983e-01 -5.08652709e-01 -3.13459690e-02 1.29407353e+02] [ 5.08259070e-01 8.60970777e-01 -2.00509023e-02 2.42641320e+01] [ 3.71869091e-02 1.31994302e-03 9.99307456e-01 4.81799322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.32710568099998 meters 0.02737493642381095 Centerline is valid? [True, True] Translation: X:129.43, Y:24.27, Z:4.82 [[ 8.58051088e-01 -5.12644890e-01 -3.07172264e-02 1.29434442e+02] [ 5.12268871e-01 8.58599979e-01 -1.96641978e-02 2.42738048e+01] [ 3.64545604e-02 1.13740745e-03 9.99334664e-01 4.82140267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.35710568099998 meters 0.02485572705524468 Centerline is valid? [True, True] Translation: X:129.46, Y:24.28, Z:4.82 [[ 8.56122476e-01 -5.15891053e-01 -3.01782618e-02 1.29462577e+02] [ 5.15530007e-01 8.56653636e-01 -1.93225161e-02 2.42845550e+01] [ 3.58206309e-02 9.84640791e-04 9.99357750e-01 4.82224862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.38710568099998 meters 0.022222655205522752 Centerline is valid? [True, True] Translation: X:129.49, Y:24.29, Z:4.82 [[ 8.51988434e-01 -5.22646253e-01 -3.09289873e-02 1.29490992e+02] [ 5.22270952e-01 8.52549331e-01 -1.98164377e-02 2.42927715e+01] [ 3.67254743e-02 7.30064105e-04 9.99325126e-01 4.82052453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41710568099998 meters 0.0199060798569703 Centerline is valid? [True, True] Translation: X:129.52, Y:24.30, Z:4.82 [[ 8.47476749e-01 -5.29884044e-01 -3.17184471e-02 1.29520754e+02] [ 5.29494215e-01 8.48069993e-01 -2.03264037e-02 2.43008691e+01] [ 3.76701003e-02 4.31420299e-04 9.99290137e-01 4.81875787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.44710568099998 meters 0.018971274573625085 Centerline is valid? [True, True] Translation: X:129.55, Y:24.31, Z:4.82 [[ 8.45131437e-01 -5.33673950e-01 -3.07403493e-02 1.29547524e+02] [ 5.33309853e-01 8.45690277e-01 -1.97118235e-02 2.43127089e+01] [ 3.65165012e-02 2.64950526e-04 9.99333015e-01 4.82050391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47710568099998 meters 0.01862079975082595 Centerline is valid? [True, True] Translation: X:129.58, Y:24.32, Z:4.83 [[ 8.39989865e-01 -5.41878477e-01 -2.80132566e-02 1.29576371e+02] [ 5.41580263e-01 8.40456847e-01 -1.79751899e-02 2.43193283e+01] [ 3.32843018e-02 -7.24495912e-05 9.99445922e-01 4.82603789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.50710568099998 meters 0.019686981015051203 Centerline is valid? [True, True] Translation: X:129.61, Y:24.33, Z:4.83 [[ 8.34749475e-01 -5.49958045e-01 -2.71930563e-02 1.29605529e+02] [ 5.49681125e-01 8.35192197e-01 -1.74543455e-02 2.43272664e+01] [ 3.23105861e-02 -3.77504068e-04 9.99477805e-01 4.82971869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53710568099999 meters 0.021980679281383197 Centerline is valid? [True, True] Translation: X:129.63, Y:24.34, Z:4.83 [[ 8.29451637e-01 -5.57857677e-01 -2.83689047e-02 1.29632315e+02] [ 5.57560426e-01 8.29936334e-01 -1.82223232e-02 2.43397059e+01] [ 3.37098476e-02 -7.02842821e-04 9.99431414e-01 4.82839433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.567105681 meters 0.02402640349097468 Centerline is valid? [True, True] Translation: X:129.66, Y:24.35, Z:4.83 [[ 8.27417988e-01 -5.60836357e-01 -2.90181650e-02 1.29656891e+02] [ 5.60526707e-01 8.27926258e-01 -1.86526655e-02 2.43525161e+01] [ 3.44859938e-02 -8.31905517e-04 9.99404835e-01 4.82775805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.597105681 meters 0.026326355990875745 Centerline is valid? [True, True] Translation: X:129.68, Y:24.37, Z:4.83 [[ 8.24509145e-01 -5.65044160e-01 -3.01623514e-02 1.29680440e+02] [ 5.64712226e-01 8.25060003e-01 -1.93931277e-02 2.43687911e+01] [ 3.58437233e-02 -1.04323745e-03 9.99356863e-01 4.82545288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.627105681 meters 0.02658641437535101 Centerline is valid? [True, True] Translation: X:129.70, Y:24.39, Z:4.83 [[ 8.23408500e-01 -5.66600286e-01 -3.10251107e-02 1.29702976e+02] [ 5.66249918e-01 8.23992004e-01 -1.99551210e-02 2.43866583e+01] [ 3.68710204e-02 -1.13675015e-03 9.99319386e-01 4.82536336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.657105681 meters 0.027652965986115084 Centerline is valid? [True, True] Translation: X:129.72, Y:24.41, Z:4.83 [[ 8.21356051e-01 -5.69531548e-01 -3.17498419e-02 1.29724536e+02] [ 5.69166247e-01 8.21968468e-01 -2.04357886e-02 2.44064586e+01] [ 3.77361952e-02 -1.28587971e-03 9.99286909e-01 4.82665901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.687105681 meters 0.02846493236711725 Centerline is valid? [True, True] Translation: X:129.74, Y:24.43, Z:4.83 [[ 8.19234624e-01 -5.72616216e-01 -3.10692711e-02 1.29743754e+02] [ 5.72268108e-01 8.19822388e-01 -2.00115884e-02 2.44306379e+01] [ 3.69302441e-02 -1.38576696e-03 9.99316885e-01 4.82934192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.717105681 meters 0.028204506048232977 Centerline is valid? [True, True] Translation: X:129.76, Y:24.45, Z:4.83 [[ 8.18656572e-01 -5.73523124e-01 -2.95405527e-02 1.29764530e+02] [ 5.73208576e-01 8.19188266e-01 -1.90397728e-02 2.44518389e+01] [ 3.51190241e-02 -1.34586304e-03 9.99382231e-01 4.83226636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.747105681 meters 0.029263998365628232 Centerline is valid? [True, True] Translation: X:129.78, Y:24.47, Z:4.84 [[ 8.18065161e-01 -5.74452874e-01 -2.78080531e-02 1.29782392e+02] [ 5.74174239e-01 8.18536635e-01 -1.79365827e-02 2.44745950e+01] [ 3.30656317e-02 -1.29337428e-03 9.99452346e-01 4.83655903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.777105681 meters 0.030041628339659444 Centerline is valid? [True, True] Translation: X:129.80, Y:24.49, Z:4.84 [[ 8.17982962e-01 -5.74545839e-01 -2.83010934e-02 1.29802205e+02] [ 5.74257131e-01 8.18471347e-01 -1.82592915e-02 2.44946465e+01] [ 3.36544340e-02 -1.31631537e-03 9.99432662e-01 4.83613354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.807105681 meters 0.026983437146971503 Centerline is valid? [True, True] Translation: X:129.81, Y:24.53, Z:4.83 [[ 8.19158507e-01 -5.72896159e-01 -2.77368285e-02 1.29814954e+02] [ 5.72617729e-01 8.19627052e-01 -1.79006168e-02 2.45282345e+01] [ 3.29890496e-02 -1.21915725e-03 9.99454970e-01 4.83432909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83710568099997 meters 0.02420346129961869 Centerline is valid? [True, True] Translation: X:129.83, Y:24.56, Z:4.84 [[ 8.24002963e-01 -5.65911986e-01 -2.76177609e-02 1.29829845e+02] [ 5.65631514e-01 8.24465144e-01 -1.78386404e-02 2.45574358e+01] [ 3.28649817e-02 -9.22383369e-04 9.99459375e-01 4.83751432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86710568099997 meters 0.02261223036927432 Centerline is valid? [True, True] Translation: X:129.85, Y:24.58, Z:4.84 [[ 8.26938872e-01 -5.61593504e-01 -2.80149547e-02 1.29849182e+02] [ 5.61302313e-01 8.27412933e-01 -1.80984261e-02 2.45799632e+01] [ 3.33438944e-02 -7.58566784e-04 9.99443650e-01 4.84016739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89710568099997 meters 0.019458159666492038 Centerline is valid? [True, True] Translation: X:129.86, Y:24.62, Z:4.84 [[ 8.33686482e-01 -5.51460056e-01 -2.93028231e-02 1.29858897e+02] [ 5.51134739e-01 8.34201222e-01 -1.89425865e-02 2.46165652e+01] [ 3.48905307e-02 -3.57625432e-04 9.99391076e-01 4.83886713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92710568099997 meters 0.01845740152346946 Centerline is valid? [True, True] Translation: X:129.87, Y:24.65, Z:4.84 [[ 8.40938824e-01 -5.40281046e-01 -3.03032338e-02 1.29869791e+02] [ 5.39925640e-01 8.41484627e-01 -1.95940210e-02 2.46532672e+01] [ 3.60859836e-02 1.15880064e-04 9.99348682e-01 4.83557880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.95710568099997 meters 0.020496305285969244 Centerline is valid? [True, True] Translation: X:129.88, Y:24.68, Z:4.83 [[ 8.46786437e-01 -5.30883097e-01 -3.34046019e-02 1.29883393e+02] [ 5.30443174e-01 8.47444863e-01 -2.16158300e-02 2.46841803e+01] [ 3.97840370e-02 5.84748658e-04 9.99208131e-01 4.83309170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.98710568099997 meters 0.02119901655383195 Centerline is valid? [True, True] Translation: X:129.90, Y:24.71, Z:4.83 [[ 8.48510515e-01 -5.28087653e-01 -3.39608278e-02 1.29903905e+02] [ 5.27630446e-01 8.49189551e-01 -2.19822511e-02 2.47058129e+01] [ 4.04477355e-02 7.33404492e-04 9.99181386e-01 4.83290973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.01710568099998 meters 0.02318525897834995 Centerline is valid? [True, True] Translation: X:129.92, Y:24.73, Z:4.83 [[ 8.50409253e-01 -5.25098894e-01 -3.27910661e-02 1.29920481e+02] [ 5.24669874e-01 8.51040784e-01 -2.12392841e-02 2.47315184e+01] [ 3.90592592e-02 8.57599236e-04 9.99236528e-01 4.83395935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.04710568099998 meters 0.02168631877729426 Centerline is valid? [True, True] Translation: X:129.94, Y:24.75, Z:4.84 [[ 8.49177715e-01 -5.27120394e-01 -3.22691473e-02 1.29944248e+02] [ 5.26706171e-01 8.49790278e-01 -2.09067541e-02 2.47488249e+01] [ 3.84423842e-02 7.57190641e-04 9.99260531e-01 4.83547988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.07710568099998 meters 0.021321645446520904 Centerline is valid? [True, True] Translation: X:129.97, Y:24.77, Z:4.84 [[ 8.47583861e-01 -5.29648783e-01 -3.27683735e-02 1.29966224e+02] [ 5.29222980e-01 8.48216792e-01 -2.12441054e-02 2.47665799e+01] [ 3.90465992e-02 6.64384597e-04 9.99237170e-01 4.83510705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.10710568099998 meters 0.021321645446520904 Centerline is valid? [True, True] Translation: X:129.99, Y:24.78, Z:4.84 [[ 8.47398424e-01 -5.29945584e-01 -3.27656591e-02 1.29989195e+02] [ 5.29519841e-01 8.48031396e-01 -2.12482911e-02 2.47817509e+01] [ 3.90467456e-02 6.55701831e-04 9.99237170e-01 4.83612591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13710568099998 meters 0.01928628258636833 Centerline is valid? [True, True] Translation: X:130.01, Y:24.80, Z:4.83 [[ 8.43896358e-01 -5.35406887e-01 -3.43278750e-02 1.30013435e+02] [ 5.34943335e-01 8.44594148e-01 -2.22790155e-02 2.47983404e+01] [ 4.09214607e-02 4.37712069e-04 9.99162270e-01 4.83259523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.16710568099998 meters 0.01871963692402917 Centerline is valid? [True, True] Translation: X:130.04, Y:24.81, Z:4.83 [[ 8.42408609e-01 -5.37738641e-01 -3.44222275e-02 1.30039174e+02] [ 5.37273853e-01 8.43111522e-01 -2.23554817e-02 2.48123771e+01] [ 4.10431830e-02 3.38287407e-04 9.99157316e-01 4.83398860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19710568099998 meters 0.01819499719446136 Centerline is valid? [True, True] Translation: X:130.07, Y:24.82, Z:4.84 [[ 8.40320276e-01 -5.40978036e-01 -3.47073199e-02 1.30065438e+02] [ 5.40507623e-01 8.41036698e-01 -2.25562078e-02 2.48249477e+01] [ 4.13925427e-02 1.94867811e-04 9.99142942e-01 4.83636643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.22710568099998 meters 0.017898110072793776 Centerline is valid? [True, True] Translation: X:130.09, Y:24.84, Z:4.84 [[ 8.38089493e-01 -5.44536783e-01 -3.29498817e-02 1.30088080e+02] [ 5.44114998e-01 8.38736962e-01 -2.14284175e-02 2.48426701e+01] [ 3.93048452e-02 3.04066898e-05 9.99227266e-01 4.83650388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25710568099998 meters 0.01784928823175972 Centerline is valid? [True, True] Translation: X:130.11, Y:24.86, Z:4.84 [[ 8.36689391e-01 -5.46743979e-01 -3.19669242e-02 1.30111475e+02] [ 5.46348046e-01 8.37299837e-01 -2.08037309e-02 2.48578158e+01] [ 3.81402151e-02 -5.88056284e-05 9.99272396e-01 4.83774755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.28710568099999 meters 0.01839398986649457 Centerline is valid? [True, True] Translation: X:130.14, Y:24.87, Z:4.84 [[ 8.34058152e-01 -5.50663306e-01 -3.34203985e-02 1.30137372e+02] [ 5.50232960e-01 8.34727422e-01 -2.17674262e-02 2.48688883e+01] [ 3.98834459e-02 -2.33705557e-04 9.99204312e-01 4.83790095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.317105681 meters 0.018997500070412753 Centerline is valid? [True, True] Translation: X:130.16, Y:24.88, Z:4.84 [[ 8.31498864e-01 -5.54459237e-01 -3.44179325e-02 1.30161904e+02] [ 5.54005765e-01 8.32210776e-01 -2.24240047e-02 2.48837583e+01] [ 4.10761709e-02 -4.22198535e-04 9.99155929e-01 4.83751930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.347105681 meters 0.01924766452269226 Centerline is valid? [True, True] Translation: X:130.19, Y:24.90, Z:4.84 [[ 8.30431815e-01 -5.56084078e-01 -3.39632061e-02 1.30185003e+02] [ 5.55643243e-01 8.31125902e-01 -2.21432056e-02 2.49006029e+01] [ 4.05411844e-02 -4.83003589e-04 9.99177751e-01 4.83862498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.377105681 meters 0.020008950769570228 Centerline is valid? [True, True] Translation: X:130.21, Y:24.92, Z:4.84 [[ 8.29007717e-01 -5.58158250e-01 -3.47213684e-02 1.30208272e+02] [ 5.57698673e-01 8.29734311e-01 -2.26531195e-02 2.49151697e+01] [ 4.14535363e-02 -5.84450186e-04 9.99140262e-01 4.83953149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.407105681 meters 0.022030136503084743 Centerline is valid? [True, True] Translation: X:130.23, Y:24.93, Z:4.84 [[ 8.25776375e-01 -5.62832513e-01 -3.62345301e-02 1.30233705e+02] [ 5.62336194e-01 8.26570530e-01 -2.36466474e-02 2.49274981e+01] [ 4.32594967e-02 -8.49144927e-04 9.99063509e-01 4.83923699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.437105681 meters 0.024996204720913594 Centerline is valid? [True, True] Translation: X:130.26, Y:24.94, Z:4.84 [[ 8.22447926e-01 -5.67620319e-01 -3.72368350e-02 1.30259307e+02] [ 5.67100749e-01 8.23289685e-01 -2.43070943e-02 2.49387822e+01] [ 4.44539028e-02 -1.12571764e-03 9.99010802e-01 4.83898018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.467105681 meters 0.031600363420496595 Centerline is valid? [True, True] Translation: X:130.29, Y:24.95, Z:4.84 [[ 8.15090935e-01 -5.78192914e-01 -3.63279907e-02 1.30288514e+02] [ 5.77708470e-01 8.15898416e-01 -2.37212596e-02 2.49465588e+01] [ 4.33554143e-02 -1.65200425e-03 9.99058346e-01 4.84134940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.497105681 meters 0.03566501918576693 Centerline is valid? [True, True] Translation: X:130.31, Y:24.96, Z:4.84 [[ 8.11247878e-01 -5.83670190e-01 -3.47273596e-02 1.30314780e+02] [ 5.83231889e-01 8.11988731e-01 -2.26906121e-02 2.49582014e+01] [ 4.14420586e-02 -1.84639262e-03 9.99139203e-01 4.84493098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.527105681 meters 0.036989579965452615 Centerline is valid? [True, True] Translation: X:130.34, Y:24.97, Z:4.85 [[ 8.10002323e-01 -5.85407154e-01 -3.45644487e-02 1.30339975e+02] [ 5.84973895e-01 8.10737197e-01 -2.25995553e-02 2.49729548e+01] [ 4.12526256e-02 -1.91360788e-03 9.99146916e-01 4.84645699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.557105681 meters 0.03837890685084233 Centerline is valid? [True, True] Translation: X:130.36, Y:24.99, Z:4.85 [[ 8.09012036e-01 -5.86785889e-01 -3.43779997e-02 1.30362950e+02] [ 5.86357931e-01 8.09739757e-01 -2.24922674e-02 2.49877544e+01] [ 4.10353783e-02 -1.96129773e-03 9.99155769e-01 4.84876884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.58710568099997 meters 0.03527915623724113 Centerline is valid? [True, True] Translation: X:130.38, Y:25.01, Z:4.85 [[ 8.07936296e-01 -5.88262545e-01 -3.44400754e-02 1.30381793e+02] [ 5.87834060e-01 8.08667448e-01 -2.25405374e-02 2.50119869e+01] [ 4.11103219e-02 -2.03373103e-03 9.99152544e-01 4.84882468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61710568099997 meters 0.03656354773924882 Centerline is valid? [True, True] Translation: X:130.40, Y:25.03, Z:4.85 [[ 8.07204570e-01 -5.89223370e-01 -3.51653452e-02 1.30403956e+02] [ 5.88776870e-01 8.07967421e-01 -2.30313765e-02 2.50281000e+01] [ 4.19830785e-02 -2.11350947e-03 9.99116086e-01 4.84832215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64710568099997 meters 0.03913843871023524 Centerline is valid? [True, True] Translation: X:130.42, Y:25.05, Z:4.85 [[ 8.06103392e-01 -5.90681281e-01 -3.59575527e-02 1.30424784e+02] [ 5.90215557e-01 8.06901876e-01 -2.35575408e-02 2.50470035e+01] [ 4.29292151e-02 -2.23289342e-03 9.99075621e-01 4.84888287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67710568099997 meters 0.037465061884360995 Centerline is valid? [True, True] Translation: X:130.44, Y:25.07, Z:4.85 [[ 8.05632533e-01 -5.91344585e-01 -3.56062354e-02 1.30444661e+02] [ 5.90888251e-01 8.06415875e-01 -2.33347621e-02 2.50688377e+01] [ 4.25123187e-02 -2.24006268e-03 9.99093432e-01 4.85113246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.70710568099997 meters 0.03959856974946582 Centerline is valid? [True, True] Translation: X:130.46, Y:25.09, Z:4.85 [[ 8.04402409e-01 -5.92934812e-01 -3.69468916e-02 1.30464196e+02] [ 5.92444400e-01 8.05246891e-01 -2.42296906e-02 2.50900805e+01] [ 4.41179966e-02 -2.39855751e-03 9.99023448e-01 4.85082370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.73710568099997 meters 0.0384055484151026 Centerline is valid? [True, True] Translation: X:130.48, Y:25.12, Z:4.85 [[ 8.03306064e-01 -5.94421764e-01 -3.69070946e-02 1.30480542e+02] [ 5.93933612e-01 8.04149651e-01 -2.42116329e-02 2.51173392e+01] [ 4.40707488e-02 -2.47101249e-03 9.99025357e-01 4.85193871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.76710568099998 meters 0.0394929719948055 Centerline is valid? [True, True] Translation: X:130.50, Y:25.14, Z:4.86 [[ 8.03307266e-01 -5.94557079e-01 -3.46311591e-02 1.30496392e+02] [ 5.94126819e-01 8.04050078e-01 -2.27331311e-02 2.51439334e+01] [ 4.13613302e-02 -2.31361105e-03 9.99141575e-01 4.85632120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.79710568099998 meters 0.03713697879940527 Centerline is valid? [True, True] Translation: X:130.51, Y:25.17, Z:4.86 [[ 8.03756115e-01 -5.93981487e-01 -3.40896040e-02 1.30514544e+02] [ 5.93563796e-01 8.04475583e-01 -2.23842921e-02 2.51685222e+01] [ 4.07201091e-02 -2.24284315e-03 9.99168075e-01 4.85819127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.82710568099998 meters 0.03837783264891096 Centerline is valid? [True, True] Translation: X:130.53, Y:25.19, Z:4.86 [[ 8.04507171e-01 -5.92962182e-01 -3.41183473e-02 1.30530618e+02] [ 5.92542241e-01 8.05227356e-01 -2.24186912e-02 2.51948154e+01] [ 4.07664627e-02 -2.18056410e-03 9.99166323e-01 4.85828799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.85710568099998 meters 0.037991172173536196 Centerline is valid? [True, True] Translation: X:130.55, Y:25.22, Z:4.86 [[ 8.04607118e-01 -5.92789717e-01 -3.47525119e-02 1.30549586e+02] [ 5.92353556e-01 8.05354259e-01 -2.28425496e-02 2.52177241e+01] [ 4.15289120e-02 -2.20649601e-03 9.99134866e-01 4.85811553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.88710568099998 meters 0.03982434433517799 Centerline is valid? [True, True] Translation: X:130.57, Y:25.24, Z:4.86 [[ 8.04897353e-01 -5.92369584e-01 -3.51927222e-02 1.30567880e+02] [ 5.91921257e-01 8.05663351e-01 -2.31471540e-02 2.52410027e+01] [ 4.20651565e-02 -2.20023743e-03 9.99112447e-01 4.85590047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91710568099998 meters 0.0390830571971124 Centerline is valid? [True, True] Translation: X:130.59, Y:25.26, Z:4.86 [[ 8.03774836e-01 -5.93873619e-01 -3.54984101e-02 1.30586832e+02] [ 5.93418677e-01 8.04555071e-01 -2.33540630e-02 2.52640411e+01] [ 4.24297878e-02 -2.29401138e-03 9.99096817e-01 4.85502721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.94710568099998 meters 0.04053252041380723 Centerline is valid? [True, True] Translation: X:130.61, Y:25.28, Z:4.86 [[ 8.03214007e-01 -5.94629726e-01 -3.55351682e-02 1.30607647e+02] [ 5.94174306e-01 8.03996302e-01 -2.33845973e-02 2.52820986e+01] [ 4.24753205e-02 -2.33124785e-03 9.99094797e-01 4.85646887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97710568099998 meters 0.03778010904450502 Centerline is valid? [True, True] Translation: X:130.62, Y:25.31, Z:4.86 [[ 8.02984292e-01 -5.94892869e-01 -3.63139321e-02 1.30620720e+02] [ 5.94417013e-01 8.03801454e-01 -2.39089524e-02 2.53124720e+01] [ 4.34124567e-02 -2.38710585e-03 9.99054383e-01 4.85914159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.00710568099998 meters 0.038399266138875086 Centerline is valid? [True, True] Translation: X:130.64, Y:25.33, Z:4.86 [[ 8.03906002e-01 -5.93699939e-01 -3.54333585e-02 1.30641317e+02] [ 5.93245008e-01 8.04683359e-01 -2.33463470e-02 2.53318073e+01] [ 4.23733587e-02 -2.25239457e-03 9.99099307e-01 4.86152878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03710568099999 meters 0.03521316833057575 Centerline is valid? [True, True] Translation: X:130.66, Y:25.36, Z:4.87 [[ 8.07398568e-01 -5.89094567e-01 -3.27893725e-02 1.30657906e+02] [ 5.88700998e-01 8.08061971e-01 -2.16098513e-02 2.53602184e+01] [ 3.92260910e-02 -1.85537334e-03 9.99228638e-01 4.86725101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.067105681 meters 0.030764774488144266 Centerline is valid? [True, True] Translation: X:130.67, Y:25.39, Z:4.87 [[ 8.12137223e-01 -5.82686455e-01 -3.01600101e-02 1.30671255e+02] [ 5.82348638e-01 8.12695825e-01 -1.98887014e-02 2.53929815e+01] [ 3.60997912e-02 -1.41128610e-03 9.99347194e-01 4.87292170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.097105681 meters 0.02818745288057444 Centerline is valid? [True, True] Translation: X:130.69, Y:25.42, Z:4.88 [[ 8.15134621e-01 -5.78553059e-01 -2.88427936e-02 1.30688889e+02] [ 5.78241103e-01 8.15643919e-01 -1.90322070e-02 2.54183080e+01] [ 3.45365908e-02 -1.16427792e-03 9.99402756e-01 4.87507919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.127105681 meters 0.022128270082503933 Centerline is valid? [True, True] Translation: X:130.70, Y:25.45, Z:4.88 [[ 8.21575435e-01 -5.69414118e-01 -2.79529545e-02 1.30699683e+02] [ 5.69115718e-01 8.22050483e-01 -1.84473014e-02 2.54549747e+01] [ 3.34828936e-02 -7.52616100e-04 9.99439007e-01 4.87707696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.157105681 meters 0.018597351563936697 Centerline is valid? [True, True] Translation: X:130.71, Y:25.49, Z:4.87 [[ 8.27800214e-01 -5.60222686e-01 -2.99557759e-02 1.30712982e+02] [ 5.59873426e-01 8.28341950e-01 -1.97828210e-02 2.54895087e+01] [ 3.58964110e-02 -3.95219438e-04 9.99355438e-01 4.87461316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.187105681 meters 0.017852121374638385 Centerline is valid? [True, True] Translation: X:130.73, Y:25.51, Z:4.87 [[ 8.30701614e-01 -5.55832297e-01 -3.13892644e-02 1.30731491e+02] [ 5.55445180e-01 8.31294422e-01 -2.07421255e-02 2.55117269e+01] [ 3.76228637e-02 -2.04498525e-04 9.99291989e-01 4.87291881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.217105681 meters 0.0177137848422807 Centerline is valid? [True, True] Translation: X:130.75, Y:25.54, Z:4.87 [[ 8.36611273e-01 -5.46701521e-01 -3.46269321e-02 1.30747266e+02] [ 5.46222196e-01 8.37327530e-01 -2.28893043e-02 2.55398433e+01] [ 4.15077010e-02 2.35451158e-04 9.99138156e-01 4.86806726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.247105681 meters 0.018673855623289003 Centerline is valid? [True, True] Translation: X:130.77, Y:25.56, Z:4.87 [[ 8.38926943e-01 -5.43050521e-01 -3.60238210e-02 1.30767468e+02] [ 5.42527648e-01 8.39699906e-01 -2.38289561e-02 2.55602328e+01] [ 4.31895261e-02 4.46834414e-04 9.99066797e-01 4.86680057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.277105681 meters 0.01981046778366931 Centerline is valid? [True, True] Translation: X:130.79, Y:25.58, Z:4.87 [[ 8.41395550e-01 -5.39179751e-01 -3.65885877e-02 1.30787297e+02] [ 5.38636323e-01 8.42190452e-01 -2.42106357e-02 2.55823032e+01] [ 4.38684438e-02 6.62778835e-04 9.99037097e-01 4.86863010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.307105681 meters 0.020114635399609653 Centerline is valid? [True, True] Translation: X:130.81, Y:25.60, Z:4.87 [[ 8.41917888e-01 -5.38412347e-01 -3.58666170e-02 1.30810299e+02] [ 5.37888730e-01 8.42681227e-01 -2.37500305e-02 2.56000717e+01] [ 4.30114345e-02 7.03326470e-04 9.99074332e-01 4.87040979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33710568099997 meters 0.0202276695748599 Centerline is valid? [True, True] Translation: X:130.83, Y:25.61, Z:4.87 [[ 8.41704666e-01 -5.38693321e-01 -3.66436927e-02 1.30834442e+02] [ 5.38146197e-01 8.42501625e-01 -2.42833842e-02 2.56140298e+01] [ 4.39536675e-02 7.19773873e-04 9.99033311e-01 4.87032849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.36710568099997 meters 0.02024744620117232 Centerline is valid? [True, True] Translation: X:130.86, Y:25.62, Z:4.87 [[ 8.40907795e-01 -5.39944988e-01 -3.65169965e-02 1.30861181e+02] [ 5.39402023e-01 8.41700044e-01 -2.42176124e-02 2.56245803e+01] [ 4.38125360e-02 6.67437208e-04 9.99039547e-01 4.87064210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39710568099997 meters 0.01972740932712195 Centerline is valid? [True, True] Translation: X:130.89, Y:25.64, Z:4.87 [[ 8.40014453e-01 -5.41417347e-01 -3.52558515e-02 1.30888153e+02] [ 5.40912245e-01 8.40753783e-01 -2.33884354e-02 2.56363804e+01] [ 4.23043952e-02 5.76301990e-04 9.99104602e-01 4.87334866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.42710568099997 meters 0.017878715069123093 Centerline is valid? [True, True] Translation: X:130.92, Y:25.64, Z:4.88 [[ 8.36042805e-01 -5.47777538e-01 -3.11800859e-02 1.30920107e+02] [ 5.47386427e-01 8.36623998e-01 -2.06974847e-02 2.56409142e+01] [ 3.74236253e-02 2.36427290e-04 9.99299463e-01 4.88006074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.45710568099997 meters 0.01750226307015676 Centerline is valid? [True, True] Translation: X:130.95, Y:25.65, Z:4.89 [[ 8.31421105e-01 -5.54905905e-01 -2.86073872e-02 1.30951167e+02] [ 5.54580497e-01 8.31913116e-01 -1.90010476e-02 2.56461559e+01] [ 3.43426541e-02 -6.72270381e-05 9.99410115e-01 4.88624728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.48710568099997 meters 0.017807260604864532 Centerline is valid? [True, True] Translation: X:130.98, Y:25.66, Z:4.89 [[ 8.29893373e-01 -5.57215467e-01 -2.80697697e-02 1.30977135e+02] [ 5.56903034e-01 8.30367931e-01 -1.86576932e-02 2.56567182e+01] [ 3.37045919e-02 -1.48243968e-04 9.99431828e-01 4.88831837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.51710568099998 meters 0.01772357759140943 Centerline is valid? [True, True] Translation: X:131.00, Y:25.67, Z:4.89 [[ 8.31096950e-01 -5.55434521e-01 -2.77552260e-02 1.31002685e+02] [ 5.55127946e-01 8.31560273e-01 -1.84519963e-02 2.56682111e+01] [ 3.33290190e-02 -7.23037338e-05 9.99444431e-01 4.88868976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.54710568099998 meters 0.017632816113873982 Centerline is valid? [True, True] Translation: X:131.02, Y:25.68, Z:4.89 [[ 8.32712866e-01 -5.52957534e-01 -2.87619088e-02 1.31024816e+02] [ 5.52626253e-01 8.33209436e-01 -1.91379450e-02 2.56835570e+01] [ 3.45471647e-02 4.18271933e-05 9.99403068e-01 4.88831939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.57710568099998 meters 0.018109248212514382 Centerline is valid? [True, True] Translation: X:131.05, Y:25.70, Z:4.88 [[ 8.35266233e-01 -5.48907071e-01 -3.21145839e-02 1.31047911e+02] [ 5.48490692e-01 8.35883346e-01 -2.13773787e-02 2.57014313e+01] [ 3.85782402e-02 2.41252284e-04 9.99255553e-01 4.88452598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.60710568099998 meters 0.01840022756606604 Centerline is valid? [True, True] Translation: X:131.07, Y:25.72, Z:4.88 [[ 8.36086265e-01 -5.47559118e-01 -3.37456552e-02 1.31070830e+02] [ 5.47097578e-01 8.36766934e-01 -2.24797494e-02 2.57183056e+01] [ 4.05462402e-02 3.32843477e-04 9.99177608e-01 4.88401037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63710568099998 meters 0.01966428638792615 Centerline is valid? [True, True] Translation: X:131.09, Y:25.74, Z:4.88 [[ 8.38765163e-01 -5.43312094e-01 -3.58464653e-02 1.31093708e+02] [ 5.42786615e-01 8.39530597e-01 -2.38970055e-02 2.57361341e+01] [ 4.30777365e-02 5.86994225e-04 9.99071551e-01 4.88227969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.66710568099998 meters 0.02208838029505837 Centerline is valid? [True, True] Translation: X:131.12, Y:25.75, Z:4.88 [[ 8.41678228e-01 -5.38826690e-01 -3.52641238e-02 1.31115269e+02] [ 5.38313549e-01 8.42416246e-01 -2.35242837e-02 2.57530172e+01] [ 4.23825827e-02 8.16721780e-04 9.99101121e-01 4.88447050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69710568099998 meters 0.02408843323691349 Centerline is valid? [True, True] Translation: X:131.14, Y:25.77, Z:4.89 [[ 8.44461910e-01 -5.34615711e-01 -3.27127510e-02 1.31140594e+02] [ 5.34170734e-01 8.45094741e-01 -2.18290082e-02 2.57672558e+01] [ 3.93155045e-02 9.59571698e-04 9.99226386e-01 4.89006747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.72710568099998 meters 0.025039131777094544 Centerline is valid? [True, True] Translation: X:131.17, Y:25.78, Z:4.89 [[ 8.45316737e-01 -5.33338946e-01 -3.14512798e-02 1.31165885e+02] [ 5.32926227e-01 8.45901050e-01 -2.10011992e-02 2.57818448e+01] [ 3.78054280e-02 9.91453334e-04 9.99284627e-01 4.89232713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75710568099998 meters 0.026004424777080766 Centerline is valid? [True, True] Translation: X:131.19, Y:25.79, Z:4.90 [[ 8.45946471e-01 -5.32433909e-01 -2.98110913e-02 1.31192627e+02] [ 5.32062105e-01 8.46471001e-01 -1.99188723e-02 2.57936683e+01] [ 3.58397073e-02 9.88947762e-04 9.99357062e-01 4.89515067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.78710568099999 meters 0.025459518139535786 Centerline is valid? [True, True] Translation: X:131.22, Y:25.80, Z:4.90 [[ 8.45311287e-01 -5.33533783e-01 -2.81163636e-02 1.31221456e+02] [ 5.33203268e-01 8.45778277e-01 -1.87984094e-02 2.58021922e+01] [ 3.38097960e-02 8.98770686e-04 9.99427881e-01 4.89792375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.817105681 meters 0.023727565278740027 Centerline is valid? [True, True] Translation: X:131.25, Y:25.81, Z:4.90 [[ 8.44744050e-01 -5.34409229e-01 -2.85353536e-02 1.31249812e+02] [ 5.34068836e-01 8.45225407e-01 -1.90916325e-02 2.58115423e+01] [ 3.43215504e-02 8.87699932e-04 9.99410448e-01 4.89816830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.847105681 meters 0.02353728520548559 Centerline is valid? [True, True] Translation: X:131.28, Y:25.82, Z:4.89 [[ 8.43199714e-01 -5.36725233e-01 -3.06637627e-02 1.31278759e+02] [ 5.36333085e-01 8.43756644e-01 -2.05316247e-02 2.58189439e+01] [ 3.68925946e-02 8.66269588e-04 9.99318861e-01 4.89414029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.877105681 meters 0.02200893794076779 Centerline is valid? [True, True] Translation: X:131.31, Y:25.83, Z:4.89 [[ 8.42103425e-01 -5.38329923e-01 -3.25993203e-02 1.31306515e+02] [ 5.37887631e-01 8.42733747e-01 -2.18340910e-02 2.58293486e+01] [ 3.92264919e-02 8.51791632e-04 9.99229982e-01 4.89159035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.907105681 meters 0.02062246929139299 Centerline is valid? [True, True] Translation: X:131.34, Y:25.84, Z:4.89 [[ 8.39548567e-01 -5.42105099e-01 -3.57807909e-02 1.31337014e+02] [ 5.41574845e-01 8.40310353e-01 -2.39832868e-02 2.58367555e+01] [ 4.30684311e-02 7.57157761e-04 9.99071838e-01 4.88804109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.937105681 meters 0.018673898298654106 Centerline is valid? [True, True] Translation: X:131.37, Y:25.84, Z:4.89 [[ 8.35529302e-01 -5.48183175e-01 -3.72289216e-02 1.31369177e+02] [ 5.47614428e-01 8.36358165e-01 -2.49691357e-02 2.58384473e+01] [ 4.48243727e-02 4.75349910e-04 9.98994770e-01 4.88939706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.967105681 meters 0.017612291820080603 Centerline is valid? [True, True] Translation: X:131.40, Y:25.85, Z:4.89 [[ 8.32746217e-01 -5.52401425e-01 -3.72344453e-02 1.31397157e+02] [ 5.51836339e-01 8.33578191e-01 -2.49810839e-02 2.58477008e+01] [ 4.48374079e-02 2.55583157e-04 9.98994265e-01 4.89113401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.997105681 meters 0.017612291820080603 Centerline is valid? [True, True] Translation: X:131.42, Y:25.86, Z:4.89 [[ 8.32539549e-01 -5.52713416e-01 -3.72260692e-02 1.31419848e+02] [ 5.52148084e-01 8.33371355e-01 -2.49935603e-02 2.58632225e+01] [ 4.48374159e-02 2.53824598e-04 9.98994265e-01 4.89215144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.027105681 meters 0.01739766344447469 Centerline is valid? [True, True] Translation: X:131.45, Y:25.87, Z:4.89 [[ 8.28267125e-01 -5.59143933e-01 -3.64915373e-02 1.31449477e+02] [ 5.58606076e-01 8.29070598e-01 -2.45192816e-02 2.58716444e+01] [ 4.39638682e-02 -7.58796043e-05 9.99033119e-01 4.89381927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.057105681 meters 0.017529115775806434 Centerline is valid? [True, True] Translation: X:131.48, Y:25.88, Z:4.90 [[ 8.26653984e-01 -5.61665225e-01 -3.42836143e-02 1.31476849e+02] [ 5.61192120e-01 8.27364575e-01 -2.30491652e-02 2.58787725e+01] [ 4.13109625e-02 -1.86010000e-04 9.99146321e-01 4.89671196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.08710568099997 meters 0.01754274157322402 Centerline is valid? [True, True] Translation: X:131.50, Y:25.89, Z:4.90 [[ 8.26205873e-01 -5.62350279e-01 -3.38529080e-02 1.31501567e+02] [ 5.61889216e-01 8.26899099e-01 -2.27681684e-02 2.58913305e+01] [ 4.07966250e-02 -2.10389503e-04 9.99167449e-01 4.89839900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11710568099997 meters 0.018197239639301446 Centerline is valid? [True, True] Translation: X:131.53, Y:25.90, Z:4.90 [[ 8.24195703e-01 -5.65227176e-01 -3.49239591e-02 1.31528469e+02] [ 5.64738299e-01 8.24935220e-01 -2.35060916e-02 2.59020652e+01] [ 4.20962857e-02 -3.49277574e-04 9.99113497e-01 4.89718276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.14710568099997 meters 0.019157942938772824 Centerline is valid? [True, True] Translation: X:131.56, Y:25.91, Z:4.90 [[ 8.21177218e-01 -5.69596939e-01 -3.50329035e-02 1.31555809e+02] [ 5.69108660e-01 8.21923965e-01 -2.35866189e-02 2.59124415e+01] [ 4.22292489e-02 -5.68734711e-04 9.99107786e-01 4.89781770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17710568099997 meters 0.020222579236704154 Centerline is valid? [True, True] Translation: X:131.58, Y:25.92, Z:4.90 [[ 8.19525669e-01 -5.71968386e-01 -3.50691096e-02 1.31581776e+02] [ 5.71480585e-01 8.20275383e-01 -2.36270273e-02 2.59233291e+01] [ 4.22802400e-02 -6.78359891e-04 9.99105561e-01 4.89862180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.20710568099997 meters 0.02180925787149676 Centerline is valid? [True, True] Translation: X:131.61, Y:25.93, Z:4.90 [[ 8.17232313e-01 -5.75218863e-01 -3.54204239e-02 1.31610333e+02] [ 5.74724009e-01 8.17999106e-01 -2.38699760e-02 2.59304252e+01] [ 4.27043356e-02 -8.49652310e-04 9.99087392e-01 4.89947625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.23710568099997 meters 0.022371468193563455 Centerline is valid? [True, True] Translation: X:131.64, Y:25.94, Z:4.90 [[ 8.16281621e-01 -5.76558572e-01 -3.55602088e-02 1.31635958e+02] [ 5.76060744e-01 8.17055305e-01 -2.39718001e-02 2.59434109e+01] [ 4.28758041e-02 -9.17100555e-04 9.99079989e-01 4.90061323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.26710568099998 meters 0.025227398288837185 Centerline is valid? [True, True] Translation: X:131.66, Y:25.95, Z:4.90 [[ 8.14499182e-01 -5.79148418e-01 -3.43247971e-02 1.31663263e+02] [ 5.78686272e-01 8.15221504e-01 -2.31537873e-02 2.59531741e+01] [ 4.13917920e-02 -1.00454803e-03 9.99142488e-01 4.90282941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.29710568099998 meters 0.026806165288852657 Centerline is valid? [True, True] Translation: X:131.69, Y:25.97, Z:4.90 [[ 8.13224881e-01 -5.80908340e-01 -3.47964609e-02 1.31687015e+02] [ 5.80434739e-01 8.13968231e-01 -2.34783199e-02 2.59669420e+01] [ 4.19619656e-02 -1.10392076e-03 9.99118599e-01 4.90302946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.32710568099998 meters 0.027252225556863095 Centerline is valid? [True, True] Translation: X:131.71, Y:25.98, Z:4.90 [[ 8.09634430e-01 -5.85936791e-01 -3.42076858e-02 1.31710801e+02] [ 5.85483196e-01 8.10355661e-01 -2.30896069e-02 2.59836190e+01] [ 4.12494421e-02 -1.33388446e-03 9.99147989e-01 4.90407884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.35710568099998 meters 0.03205182820689326 Centerline is valid? [True, True] Translation: X:131.74, Y:25.99, Z:4.91 [[ 8.04888920e-01 -5.92561536e-01 -3.20101851e-02 1.31739184e+02] [ 5.92169438e-01 8.05523672e-01 -2.16095124e-02 2.59911527e+01] [ 3.85899277e-02 -1.56219622e-03 9.99253910e-01 4.90907854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.38710568099998 meters 0.0341140639017346 Centerline is valid? [True, True] Translation: X:131.76, Y:26.01, Z:4.91 [[ 8.01986003e-01 -5.96593362e-01 -2.99133848e-02 1.31764840e+02] [ 5.96253602e-01 8.02542011e-01 -2.01981081e-02 2.60050353e+01] [ 3.60568052e-02 -1.63736341e-03 9.99348401e-01 4.91234062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41710568099998 meters 0.03688111820009417 Centerline is valid? [True, True] Translation: X:131.79, Y:26.02, Z:4.92 [[ 7.97819928e-01 -6.02286065e-01 -2.71082798e-02 1.31787964e+02] [ 6.02009975e-01 7.98278510e-01 -1.83142168e-02 2.60226800e+01] [ 3.26703548e-02 -1.70800772e-03 9.99464722e-01 4.91771816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.44710568099998 meters 0.038518441362754764 Centerline is valid? [True, True] Translation: X:131.81, Y:26.04, Z:4.92 [[ 7.96850515e-01 -6.03563517e-01 -2.72091430e-02 1.31808424e+02] [ 6.03285937e-01 7.97312971e-01 -1.83876389e-02 2.60417006e+01] [ 3.27923106e-02 -1.76269381e-03 9.99460633e-01 4.91868558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47710568099998 meters 0.036564745621267644 Centerline is valid? [True, True] Translation: X:131.83, Y:26.06, Z:4.92 [[ 7.96625915e-01 -6.03903666e-01 -2.62205030e-02 1.31828332e+02] [ 6.03645987e-01 7.97055481e-01 -1.77223716e-02 2.60629001e+01] [ 3.16018008e-02 -1.70980092e-03 9.99499076e-01 4.92046282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.50710568099998 meters 0.03800570826463664 Centerline is valid? [True, True] Translation: X:131.85, Y:26.08, Z:4.92 [[ 7.96711636e-01 -6.03797857e-01 -2.60522064e-02 1.31847150e+02] [ 6.03542976e-01 7.97135694e-01 -1.76227733e-02 2.60841626e+01] [ 3.14077363e-02 -1.68335759e-03 9.99505238e-01 4.92293388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53710568099999 meters 0.036026232946622216 Centerline is valid? [True, True] Translation: X:131.86, Y:26.11, Z:4.92 [[ 7.96785360e-01 -6.03644381e-01 -2.73230891e-02 1.31862983e+02] [ 6.03363800e-01 7.97251766e-01 -1.84863957e-02 2.61120502e+01] [ 3.29425899e-02 -1.75607346e-03 9.99455703e-01 4.92113810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.567105681 meters 0.03560111761378661 Centerline is valid? [True, True] Translation: X:131.88, Y:26.13, Z:4.92 [[ 7.97235817e-01 -6.03025302e-01 -2.78484766e-02 1.31883488e+02] [ 6.02732978e-01 7.97720135e-01 -1.88558726e-02 2.61340084e+01] [ 3.35858588e-02 -1.75261819e-03 9.99434299e-01 4.92095229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.597105681 meters 0.034778268267803954 Centerline is valid? [True, True] Translation: X:131.90, Y:26.16, Z:4.92 [[ 7.99406101e-01 -6.00067191e-01 -2.94830771e-02 1.31899037e+02] [ 5.99737010e-01 7.99947770e-01 -1.99771068e-02 2.61607795e+01] [ 3.55725282e-02 -1.71227144e-03 9.99365630e-01 4.91969055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.627105681 meters 0.0340900827977164 Centerline is valid? [True, True] Translation: X:131.92, Y:26.18, Z:4.92 [[ 8.00906165e-01 -5.98028226e-01 -3.01919783e-02 1.31917314e+02] [ 5.97680341e-01 8.01473329e-01 -2.04624756e-02 2.61831230e+01] [ 3.64352033e-02 -1.65662901e-03 9.99334644e-01 4.91958686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.657105681 meters 0.029323479750951474 Centerline is valid? [True, True] Translation: X:131.93, Y:26.22, Z:4.92 [[ 8.04843035e-01 -5.92707724e-01 -3.04178093e-02 1.31929765e+02] [ 5.92350541e-01 8.05416375e-01 -2.06227699e-02 2.62176442e+01] [ 3.67222768e-02 -1.41991311e-03 9.99324501e-01 4.91907548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.687105681 meters 0.02590330895236222 Centerline is valid? [True, True] Translation: X:131.95, Y:26.25, Z:4.92 [[ 8.08367347e-01 -5.87939575e-01 -2.94836781e-02 1.31945436e+02] [ 5.87600366e-01 8.08904024e-01 -2.00022384e-02 2.62473806e+01] [ 3.56095734e-02 -1.15546365e-03 9.99365110e-01 4.91986630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.717105681 meters 0.02477823396653256 Centerline is valid? [True, True] Translation: X:131.97, Y:26.27, Z:4.92 [[ 8.10029980e-01 -5.85660305e-01 -2.92136856e-02 1.31966009e+02] [ 5.85325342e-01 8.10555943e-01 -1.98319895e-02 2.62691647e+01] [ 3.52941355e-02 -1.03500446e-03 9.99376432e-01 4.92141682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.747105681 meters 0.021940493180734228 Centerline is valid? [True, True] Translation: X:131.98, Y:26.30, Z:4.92 [[ 8.15464761e-01 -5.78096927e-01 -2.86560081e-02 1.31980322e+02] [ 5.77769476e-01 8.15967817e-01 -1.94667581e-02 2.62980642e+01] [ 3.46360534e-02 -6.82111560e-04 9.99399759e-01 4.92351435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.777105681 meters 0.019834838237874138 Centerline is valid? [True, True] Translation: X:132.00, Y:26.32, Z:4.92 [[ 8.18632285e-01 -5.73588984e-01 -2.89285094e-02 1.31998226e+02] [ 5.73252309e-01 8.19143110e-01 -1.96559205e-02 2.63229938e+01] [ 3.49710087e-02 -4.92363700e-04 9.99388206e-01 4.92374889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.807105681 meters 0.017688747175330723 Centerline is valid? [True, True] Translation: X:132.01, Y:26.36, Z:4.92 [[ 8.26349768e-01 -5.62139872e-01 -3.38352712e-02 1.32009447e+02] [ 5.61668851e-01 8.27042178e-01 -2.30073269e-02 2.63565705e+01] [ 4.09165321e-02 7.88133833e-06 9.99162568e-01 4.91897023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83710568099997 meters 0.019471849280654666 Centerline is valid? [True, True] Translation: X:132.02, Y:26.39, Z:4.91 [[ 8.32898694e-01 -5.52167758e-01 -3.72898349e-02 1.32024318e+02] [ 5.51585126e-01 8.33732844e-01 -2.53651968e-02 2.63858231e+01] [ 4.50956040e-02 5.58121028e-04 9.98982520e-01 4.91343080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.86710568099997 meters 0.02114131329303778 Centerline is valid? [True, True] Translation: X:132.05, Y:26.41, Z:4.92 [[ 8.35237288e-01 -5.48711434e-01 -3.59782597e-02 1.32045751e+02] [ 5.48165155e-01 8.36011498e-01 -2.44895432e-02 2.64053183e+01] [ 4.35159312e-02 7.32551293e-04 9.99052465e-01 4.91502083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89710568099997 meters 0.020932914937251846 Centerline is valid? [True, True] Translation: X:132.07, Y:26.42, Z:4.92 [[ 8.34803345e-01 -5.49446460e-01 -3.48132557e-02 1.32070024e+02] [ 5.48934972e-01 8.35528646e-01 -2.37124152e-02 2.64213099e+01] [ 4.21161750e-02 6.84990042e-04 9.99112485e-01 4.91822381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92710568099997 meters 0.02055756728356123 Centerline is valid? [True, True] Translation: X:132.09, Y:26.44, Z:4.92 [[ 8.33934641e-01 -5.50735987e-01 -3.52545966e-02 1.32093118e+02] [ 5.50211875e-01 8.34679256e-01 -2.40298089e-02 2.64391413e+01] [ 4.26603610e-02 6.41792384e-04 9.99089426e-01 4.91920587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.95710568099997 meters 0.02001753846531866 Centerline is valid? [True, True] Translation: X:132.12, Y:26.45, Z:4.92 [[ 8.33080921e-01 -5.51960394e-01 -3.62753803e-02 1.32117010e+02] [ 5.51405850e-01 8.33870104e-01 -2.47434529e-02 2.64540681e+01] [ 4.39063611e-02 6.10841584e-04 9.99035464e-01 4.91775921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.98710568099997 meters 0.01965020016159136 Centerline is valid? [True, True] Translation: X:132.14, Y:26.46, Z:4.92 [[ 8.31991453e-01 -5.53534071e-01 -3.72861086e-02 1.32144084e+02] [ 5.52948816e-01 8.32826344e-01 -2.54536383e-02 2.64637224e+01] [ 4.51423095e-02 5.59899913e-04 9.98980409e-01 4.91621484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.01710568099998 meters 0.01979555294255122 Centerline is valid? [True, True] Translation: X:132.17, Y:26.48, Z:4.92 [[ 8.31530005e-01 -5.54212453e-01 -3.75020984e-02 1.32167740e+02] [ 5.53620211e-01 8.32375073e-01 -2.56202862e-02 2.64767979e+01] [ 4.54148936e-02 5.42117051e-04 9.98968064e-01 4.91759053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.04710568099998 meters 0.01901282026089662 Centerline is valid? [True, True] Translation: X:132.19, Y:26.49, Z:4.92 [[ 8.30505670e-01 -5.55881760e-01 -3.54372827e-02 1.32194195e+02] [ 5.55353929e-01 8.31261257e-01 -2.42226270e-02 2.64888170e+01] [ 4.29225567e-02 4.36794904e-04 9.99078307e-01 4.92263287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.07710568099998 meters 0.018550861819450093 Centerline is valid? [True, True] Translation: X:132.22, Y:26.50, Z:4.93 [[ 8.28975342e-01 -5.58337829e-01 -3.25384669e-02 1.32221038e+02] [ 5.57894173e-01 8.29613634e-01 -2.22555868e-02 2.65006934e+01] [ 3.94204918e-02 2.96311559e-04 9.99222666e-01 4.92855351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.10710568099998 meters 0.018320222552277863 Centerline is valid? [True, True] Translation: X:132.25, Y:26.51, Z:4.93 [[ 8.28017176e-01 -5.59770740e-01 -3.23152530e-02 1.32245796e+02] [ 5.59333633e-01 8.28647489e-01 -2.21184323e-02 2.65131425e+01] [ 3.91592045e-02 2.39433933e-04 9.99232956e-01 4.93095648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13710568099998 meters 0.01803869101961838 Centerline is valid? [True, True] Translation: X:132.27, Y:26.52, Z:4.93 [[ 8.26268509e-01 -5.62305474e-01 -3.30591058e-02 1.32274093e+02] [ 5.61849314e-01 8.26929583e-01 -2.26453746e-02 2.65217540e+01] [ 4.00711706e-02 1.36923987e-04 9.99196819e-01 4.93091698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.16710568099998 meters 0.01767326667788241 Centerline is valid? [True, True] Translation: X:132.30, Y:26.53, Z:4.93 [[ 8.24624798e-01 -5.64575541e-01 -3.53327142e-02 1.32300305e+02] [ 5.64056060e-01 8.25381401e-01 -2.42137177e-02 2.65327001e+01] [ 4.28334379e-02 3.76004673e-05 9.99082226e-01 4.92692432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19710568099998 meters 0.017855369647662232 Centerline is valid? [True, True] Translation: X:132.32, Y:26.55, Z:4.92 [[ 8.25001651e-01 -5.63727538e-01 -3.97937112e-02 1.32324668e+02] [ 5.63066566e-01 8.25960805e-01 -2.72908570e-02 2.65477509e+01] [ 4.82526534e-02 1.08493732e-04 9.98835156e-01 4.92217643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.22710568099998 meters 0.018055659805565692 Centerline is valid? [True, True] Translation: X:132.35, Y:26.56, Z:4.92 [[ 8.25938009e-01 -5.62256600e-01 -4.11572682e-02 1.32349044e+02] [ 5.61547181e-01 8.26962800e-01 -2.82363520e-02 2.65631689e+01] [ 4.99116050e-02 2.09728373e-04 9.98753617e-01 4.92209756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25710568099998 meters 0.018496218999609033 Centerline is valid? [True, True] Translation: X:132.37, Y:26.58, Z:4.92 [[ 8.27461477e-01 -5.59965030e-01 -4.17931598e-02 1.32372342e+02] [ 5.59229724e-01 8.28516161e-01 -2.86894796e-02 2.65782586e+01] [ 5.06914136e-02 3.67461924e-04 9.98714296e-01 4.92208701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.28710568099999 meters 0.01947189420120797 Centerline is valid? [True, True] Translation: X:132.40, Y:26.59, Z:4.93 [[ 8.30213170e-01 -5.55884124e-01 -4.17005079e-02 1.32396300e+02] [ 5.55146369e-01 8.31259557e-01 -2.86366610e-02 2.65948502e+01] [ 5.05826109e-02 6.24647593e-04 9.98719685e-01 4.92568602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.317105681 meters 0.021113595398532272 Centerline is valid? [True, True] Translation: X:132.42, Y:26.61, Z:4.93 [[ 8.33116646e-01 -5.51638549e-01 -4.01443157e-02 1.32416887e+02] [ 5.50949126e-01 8.34082829e-01 -2.75843259e-02 2.66134059e+01] [ 4.87002619e-02 8.63485434e-04 9.98813065e-01 4.92941153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.347105681 meters 0.02181778702499218 Centerline is valid? [True, True] Translation: X:132.44, Y:26.63, Z:4.93 [[ 8.34264169e-01 -5.50038802e-01 -3.82179646e-02 1.32440860e+02] [ 5.49411902e-01 8.35138595e-01 -2.62695303e-02 2.66294551e+01] [ 4.63665582e-02 9.18323253e-04 9.98924071e-01 4.93288132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.377105681 meters 0.022213962319103914 Centerline is valid? [True, True] Translation: X:132.47, Y:26.64, Z:4.94 [[ 8.34140641e-01 -5.50391824e-01 -3.57523561e-02 1.32467583e+02] [ 5.49842927e-01 8.34906050e-01 -2.45894832e-02 2.66396757e+01] [ 4.33837089e-02 8.52907092e-04 9.99058120e-01 4.93764129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.407105681 meters 0.019521286900665333 Centerline is valid? [True, True] Translation: X:132.50, Y:26.64, Z:4.93 [[ 8.29676321e-01 -5.56953915e-01 -3.79412605e-02 1.32499485e+02] [ 5.56342231e-01 8.30543218e-01 -2.61014379e-02 2.66443224e+01] [ 4.60491546e-02 5.47419469e-04 9.98939025e-01 4.93472999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.437105681 meters 0.018188793960675492 Centerline is valid? [True, True] Translation: X:132.53, Y:26.65, Z:4.93 [[ 8.26229387e-01 -5.62022227e-01 -3.84189492e-02 1.32528433e+02] [ 5.61400132e-01 8.27122083e-01 -2.64376860e-02 2.66540313e+01] [ 4.66357285e-02 2.75189943e-04 9.98911925e-01 4.93386580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.467105681 meters 0.01802279683594452 Centerline is valid? [True, True] Translation: X:132.56, Y:26.66, Z:4.93 [[ 8.19870708e-01 -5.71196557e-01 -3.93257662e-02 1.32560333e+02] [ 5.70554310e-01 8.20813278e-01 -2.70802909e-02 2.66576947e+01] [ 4.77472800e-02 -2.35148142e-04 9.98859421e-01 4.93374532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.497105681 meters 0.019305954003850993 Centerline is valid? [True, True] Translation: X:132.59, Y:26.67, Z:4.93 [[ 8.15981173e-01 -5.76622695e-01 -4.09999140e-02 1.32589950e+02] [ 5.75930239e-01 8.17010378e-01 -2.82560100e-02 2.66659280e+01] [ 4.97904119e-02 -5.56718084e-04 9.98759533e-01 4.93130463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.527105681 meters 0.019866826321525914 Centerline is valid? [True, True] Translation: X:132.62, Y:26.68, Z:4.93 [[ 8.14284507e-01 -5.78923900e-01 -4.22830832e-02 1.32616182e+02] [ 5.78189402e-01 8.15381276e-01 -2.91614422e-02 2.66780686e+01] [ 5.13590902e-02 -7.01920010e-04 9.98680004e-01 4.93218905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.557105681 meters 0.020515104206992364 Centerline is valid? [True, True] Translation: X:132.64, Y:26.69, Z:4.93 [[ 8.13721134e-01 -5.79525259e-01 -4.48150765e-02 1.32643270e+02] [ 5.78700003e-01 8.14953914e-01 -3.09261131e-02 2.66874292e+01] [ 5.44446857e-02 -7.69253063e-04 9.98516492e-01 4.93148310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58710568099997 meters 0.019675166775167747 Centerline is valid? [True, True] Translation: X:132.66, Y:26.71, Z:4.93 [[ 8.15484933e-01 -5.76937899e-01 -4.61192389e-02 1.32664634e+02] [ 5.76059010e-01 8.16787792e-01 -3.18389759e-02 2.67075503e+01] [ 5.60387432e-02 -6.03197969e-04 9.98428413e-01 4.93300324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61710568099997 meters 0.01874861278008746 Centerline is valid? [True, True] Translation: X:132.69, Y:26.73, Z:4.94 [[ 8.16932832e-01 -5.74957756e-01 -4.52142417e-02 1.32685241e+02] [ 5.74108835e-01 8.18182978e-01 -3.12355570e-02 2.67276463e+01] [ 5.49526486e-02 -4.40543611e-04 9.98488864e-01 4.93524249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.64710568099997 meters 0.01828588613710032 Centerline is valid? [True, True] Translation: X:132.71, Y:26.75, Z:4.94 [[ 8.19120281e-01 -5.71847221e-01 -4.50857156e-02 1.32706359e+02] [ 5.70997451e-01 8.20360109e-01 -3.11641172e-02 2.67455912e+01] [ 5.48076364e-02 -2.16668236e-04 9.98496908e-01 4.93519011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67710568099997 meters 0.018266360747171948 Centerline is valid? [True, True] Translation: X:132.73, Y:26.76, Z:4.94 [[ 8.18322120e-01 -5.73043601e-01 -4.43840001e-02 1.32729923e+02] [ 5.72221295e-01 8.19524832e-01 -3.06893995e-02 2.67588785e+01] [ 5.39601543e-02 -2.83655598e-04 9.98543049e-01 4.93808500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.70710568099997 meters 0.01881839223498844 Centerline is valid? [True, True] Translation: X:132.75, Y:26.77, Z:4.94 [[ 8.16828540e-01 -5.75355362e-01 -4.19206803e-02 1.32753506e+02] [ 5.74624206e-01 8.17903446e-01 -2.89995676e-02 2.67730427e+01] [ 5.09721256e-02 -4.00963102e-04 9.98699996e-01 4.94201473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.73710568099997 meters 0.0202723436032196 Centerline is valid? [True, True] Translation: X:132.78, Y:26.79, Z:4.95 [[ 8.12524612e-01 -5.81559308e-01 -3.99064683e-02 1.32779666e+02] [ 5.80903630e-01 8.13503670e-01 -2.76179631e-02 2.67861065e+01] [ 4.85255420e-02 -7.41537525e-04 9.98821667e-01 4.94562970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.76710568099998 meters 0.024903442033720104 Centerline is valid? [True, True] Translation: X:132.81, Y:26.79, Z:4.94 [[ 8.06098387e-01 -5.90153174e-01 -4.38705066e-02 1.32810179e+02] [ 5.89372266e-01 8.07290136e-01 -3.03803967e-02 2.67927831e+01] [ 5.33453148e-02 -1.36647104e-03 9.98575190e-01 4.93891375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.79710568099998 meters 0.02769043960150655 Centerline is valid? [True, True] Translation: X:132.84, Y:26.80, Z:4.94 [[ 8.01700130e-01 -5.96006461e-01 -4.53122560e-02 1.32838308e+02] [ 5.95181934e-01 8.02977614e-01 -3.13913430e-02 2.68044112e+01] [ 5.50941705e-02 -1.80259238e-03 9.98479536e-01 4.93798268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.82710568099998 meters 0.03621501227835679 Centerline is valid? [True, True] Translation: X:132.87, Y:26.81, Z:4.94 [[ 7.92898169e-01 -6.07619259e-01 -4.59492051e-02 1.32870191e+02] [ 6.06789734e-01 7.94224101e-01 -3.18480125e-02 2.68079229e+01] [ 5.58454319e-02 -2.62927512e-03 9.98435964e-01 4.93837888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.85710568099998 meters 0.03979058198420729 Centerline is valid? [True, True] Translation: X:132.90, Y:26.82, Z:4.94 [[ 7.89235700e-01 -6.12435573e-01 -4.50519642e-02 1.32897048e+02] [ 6.11645312e-01 7.90515178e-01 -3.12372470e-02 2.68205834e+01] [ 5.47450627e-02 -2.90227222e-03 9.98496147e-01 4.94112355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.88710568099998 meters 0.044361546818255944 Centerline is valid? [True, True] Translation: X:132.92, Y:26.83, Z:4.94 [[ 7.85210812e-01 -6.17586780e-01 -4.50616202e-02 1.32922787e+02] [ 6.16803660e-01 7.86496039e-01 -3.12605990e-02 2.68329670e+01] [ 5.47469185e-02 -3.24801201e-03 9.98494980e-01 4.94416611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91710568099998 meters 0.044361546818255944 Centerline is valid? [True, True] Translation: X:132.95, Y:26.85, Z:4.95 [[ 7.84989339e-01 -6.17868777e-01 -4.50545479e-02 1.32945289e+02] [ 6.17085537e-01 7.86274492e-01 -3.12707893e-02 2.68488821e+01] [ 5.47464861e-02 -3.25527370e-03 9.98494980e-01 4.94518619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.94710568099998 meters 0.04462283496657981 Centerline is valid? [True, True] Translation: X:132.97, Y:26.87, Z:4.95 [[ 7.82945425e-01 -6.20476614e-01 -4.47798237e-02 1.32966779e+02] [ 6.19706050e-01 7.84217575e-01 -3.10999361e-02 2.68681620e+01] [ 5.44139078e-02 -3.40077492e-03 9.98512675e-01 4.94879892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97710568099998 meters 0.04500105557309219 Centerline is valid? [True, True] Translation: X:132.99, Y:26.89, Z:4.95 [[ 7.82418723e-01 -6.21292745e-01 -4.26176830e-02 1.32988175e+02] [ 6.20595302e-01 7.83571677e-01 -2.96124673e-02 2.68866692e+01] [ 5.17920204e-02 -3.27898502e-03 9.98652510e-01 4.95399522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.00710568099998 meters 0.04309061086416015 Centerline is valid? [True, True] Translation: X:133.00, Y:26.91, Z:4.96 [[ 7.83173787e-01 -6.20519981e-01 -3.99220817e-02 1.33004527e+02] [ 6.19906079e-01 7.84184866e-01 -2.77587505e-02 2.69129277e+01] [ 4.85311516e-02 -3.00801535e-03 9.98817140e-01 4.95936441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03710568099999 meters 0.04339762098205494 Centerline is valid? [True, True] Translation: X:133.02, Y:26.94, Z:4.96 [[ 7.84752970e-01 -6.18375658e-01 -4.21226990e-02 1.33022582e+02] [ 6.17688323e-01 7.85876842e-01 -2.93040042e-02 2.69364675e+01] [ 5.12241366e-02 -3.02229492e-03 9.98682609e-01 4.95524451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.067105681 meters 0.04046240743597358 Centerline is valid? [True, True] Translation: X:133.04, Y:26.96, Z:4.96 [[ 7.85005082e-01 -6.18008439e-01 -4.28087714e-02 1.33041093e+02] [ 6.17297390e-01 7.86165592e-01 -2.97925300e-02 2.69602320e+01] [ 5.20668180e-02 -3.03845538e-03 9.98638981e-01 4.95539768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.097105681 meters 0.039296997676776704 Centerline is valid? [True, True] Translation: X:133.06, Y:26.99, Z:4.96 [[ 7.85802764e-01 -6.16936554e-01 -4.36268792e-02 1.33057522e+02] [ 6.16195268e-01 7.87007144e-01 -3.03833345e-02 2.69876000e+01] [ 5.30792553e-02 -3.00736826e-03 9.98585774e-01 4.95636772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.127105681 meters 0.03956454152046121 Centerline is valid? [True, True] Translation: X:133.08, Y:27.01, Z:4.96 [[ 7.85832782e-01 -6.16894826e-01 -4.36762144e-02 1.33077322e+02] [ 6.16150669e-01 7.87039914e-01 -3.04389138e-02 2.70088575e+01] [ 5.31525324e-02 -2.99123237e-03 9.98581925e-01 4.95688003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.157105681 meters 0.03838372462249279 Centerline is valid? [True, True] Translation: X:133.09, Y:27.04, Z:4.96 [[ 7.85458109e-01 -6.17391460e-01 -4.33975138e-02 1.33092727e+02] [ 6.16656369e-01 7.86650403e-01 -3.02665973e-02 2.70354301e+01] [ 5.28250104e-02 -2.98820895e-03 9.98599313e-01 4.95976605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.187105681 meters 0.04459529715260316 Centerline is valid? [True, True] Translation: X:133.12, Y:27.05, Z:4.96 [[ 7.84956724e-01 -6.17933799e-01 -4.47298709e-02 1.33115625e+02] [ 6.17152630e-01 7.86224013e-01 -3.12159109e-02 2.70521494e+01] [ 5.44570650e-02 -3.10201827e-03 9.98511295e-01 4.95636409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.217105681 meters 0.04065298478985062 Centerline is valid? [True, True] Translation: X:133.13, Y:27.08, Z:4.96 [[ 7.83946465e-01 -6.19098473e-01 -4.63143694e-02 1.33132500e+02] [ 6.18262470e-01 7.85306476e-01 -3.23304232e-02 2.70779136e+01] [ 5.63866899e-02 -3.28911546e-03 9.98403587e-01 4.95655723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.247105681 meters 0.043605366013560604 Centerline is valid? [True, True] Translation: X:133.15, Y:27.10, Z:4.96 [[ 7.81736795e-01 -6.21824337e-01 -4.71389096e-02 1.33152469e+02] [ 6.20962667e-01 7.83148746e-01 -3.29151648e-02 2.70998099e+01] [ 5.73842285e-02 -3.54050755e-03 9.98345890e-01 4.95668694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.277105681 meters 0.045395951051239045 Centerline is valid? [True, True] Translation: X:133.17, Y:27.12, Z:4.96 [[ 7.78848455e-01 -6.25446200e-01 -4.70333430e-02 1.33173410e+02] [ 6.24594247e-01 7.80258094e-01 -3.28532035e-02 2.71214394e+01] [ 5.72460578e-02 -3.78908865e-03 9.98352909e-01 4.95950967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.307105681 meters 0.04769820075198701 Centerline is valid? [True, True] Translation: X:133.19, Y:27.14, Z:4.96 [[ 7.76361954e-01 -6.28403891e-01 -4.86894913e-02 1.33194093e+02] [ 6.27495350e-01 7.77876260e-01 -3.40310063e-02 2.71428519e+01] [ 5.92596162e-02 -4.13205084e-03 9.98234053e-01 4.96106338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33710568099997 meters 0.04808300737213648 Centerline is valid? [True, True] Translation: X:133.21, Y:27.16, Z:4.96 [[ 7.76155823e-01 -6.28706614e-01 -4.80638330e-02 1.33214243e+02] [ 6.27820704e-01 7.77631852e-01 -3.36134955e-02 2.71617758e+01] [ 5.85089944e-02 -4.08615922e-03 9.98278519e-01 4.96365369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36710568099997 meters 0.049725562769419134 Centerline is valid? [True, True] Translation: X:133.23, Y:27.18, Z:4.97 [[ 7.77885577e-01 -6.26673468e-01 -4.66303945e-02 1.33233548e+02] [ 6.25835248e-01 7.79272666e-01 -3.26244531e-02 2.71826752e+01] [ 5.67826710e-02 -3.80485298e-03 9.98379312e-01 4.96603810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39710568099997 meters 0.043699915303421225 Centerline is valid? [True, True] Translation: X:133.25, Y:27.21, Z:4.97 [[ 7.78939572e-01 -6.25440802e-01 -4.55735199e-02 1.33250432e+02] [ 6.24637433e-01 7.80263217e-01 -3.18965410e-02 2.72092704e+01] [ 5.55087395e-02 -3.62144849e-03 9.98451634e-01 4.97019658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42710568099997 meters 0.042231057526390774 Centerline is valid? [True, True] Translation: X:133.27, Y:27.23, Z:4.97 [[ 7.80834920e-01 -6.23173001e-01 -4.41841421e-02 1.33267870e+02] [ 6.22413251e-01 7.82076889e-01 -3.09432557e-02 2.72347869e+01] [ 5.38383979e-02 -3.33922096e-03 9.98544078e-01 4.97388088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.45710568099997 meters 0.04144328827328981 Centerline is valid? [True, True] Translation: X:133.29, Y:27.26, Z:4.97 [[ 7.80992285e-01 -6.22775898e-01 -4.69172985e-02 1.33285174e+02] [ 6.21917203e-01 7.82392441e-01 -3.28794936e-02 2.72610397e+01] [ 5.71842958e-02 -3.50004428e-03 9.98357504e-01 4.97274164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.48710568099997 meters 0.04174600656009333 Centerline is valid? [True, True] Translation: X:133.31, Y:27.28, Z:4.97 [[ 7.79954886e-01 -6.23910873e-01 -4.90468884e-02 1.33307212e+02] [ 6.22973602e-01 7.81486588e-01 -3.43890248e-02 2.72805773e+01] [ 5.97851719e-02 -3.73302874e-03 9.98204287e-01 4.97108531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.51710568099998 meters 0.04476928864842417 Centerline is valid? [True, True] Translation: X:133.33, Y:27.30, Z:4.97 [[ 7.77439292e-01 -6.26853494e-01 -5.14085972e-02 1.33329400e+02] [ 6.25829696e-01 7.79126120e-01 -3.60510808e-02 2.72988500e+01] [ 6.26525269e-02 -4.14550000e-03 9.98026791e-01 4.96934148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.54710568099998 meters 0.045755370736031725 Centerline is valid? [True, True] Translation: X:133.35, Y:27.32, Z:4.97 [[ 7.76775186e-01 -6.27762908e-01 -5.03392651e-02 1.33351032e+02] [ 6.26782355e-01 7.78393702e-01 -3.53146420e-02 2.73175793e+01] [ 6.13529893e-02 -4.12022555e-03 9.98107627e-01 4.97207448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57710568099998 meters 0.04588617412689634 Centerline is valid? [True, True] Translation: X:133.37, Y:27.34, Z:4.98 [[ 7.78789933e-01 -6.25381710e-01 -4.88257908e-02 1.33369994e+02] [ 6.24453660e-01 7.80309726e-01 -3.42689136e-02 2.73404065e+01] [ 5.95303912e-02 -3.80115882e-03 9.98219256e-01 4.97534039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.60710568099998 meters 0.04070618866800913 Centerline is valid? [True, True] Translation: X:133.38, Y:27.37, Z:4.98 [[ 7.82821847e-01 -6.20403991e-01 -4.78418596e-02 1.33384378e+02] [ 6.19503099e-01 7.84275274e-01 -3.35887707e-02 2.73698288e+01] [ 5.83597950e-02 -3.34415672e-03 9.98290013e-01 4.97964204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63710568099998 meters 0.035396123419177486 Centerline is valid? [True, True] Translation: X:133.40, Y:27.40, Z:4.98 [[ 7.87620952e-01 -6.14412578e-01 -4.63726203e-02 1.33396992e+02] [ 6.13555000e-01 7.88979945e-01 -3.25715812e-02 2.74031088e+01] [ 5.65994566e-02 -2.79809325e-03 9.98393045e-01 4.98395147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.66710568099998 meters 0.03365242451932637 Centerline is valid? [True, True] Translation: X:133.42, Y:27.43, Z:4.99 [[ 7.90179720e-01 -6.11222746e-01 -4.49751619e-02 1.33416673e+02] [ 6.10410563e-01 7.91454720e-01 -3.15969982e-02 2.74254357e+01] [ 5.49086082e-02 -2.48600672e-03 9.98488290e-01 4.98629674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69710568099998 meters 0.028057832031587352 Centerline is valid? [True, True] Translation: X:133.43, Y:27.45, Z:4.99 [[ 7.95729950e-01 -6.04160298e-01 -4.24756575e-02 1.33432511e+02] [ 6.03425440e-01 7.96860591e-01 -2.98485586e-02 2.74546715e+01] [ 5.18804916e-02 -1.87950029e-03 9.98651532e-01 4.99098849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.72710568099998 meters 0.025554191232295246 Centerline is valid? [True, True] Translation: X:133.45, Y:27.48, Z:5.00 [[ 7.99578701e-01 -5.99233762e-01 -3.99098852e-02 1.33447050e+02] [ 5.98578354e-01 8.00572782e-01 -2.80566291e-02 2.74823657e+01] [ 4.87632473e-02 -1.45571038e-03 9.98809304e-01 4.99528864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75710568099998 meters 0.025299681915865905 Centerline is valid? [True, True] Translation: X:133.47, Y:27.50, Z:5.00 [[ 7.99919789e-01 -5.98846128e-01 -3.88799103e-02 1.33467254e+02] [ 5.98223254e-01 8.00862903e-01 -2.73413450e-02 2.75039387e+01] [ 4.75107364e-02 -1.38798353e-03 9.98869763e-01 4.99830524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.78710568099999 meters 0.02423887361034871 Centerline is valid? [True, True] Translation: X:133.49, Y:27.53, Z:5.00 [[ 8.00466336e-01 -5.98104728e-01 -3.90432855e-02 1.33485863e+02] [ 5.97474838e-01 8.01416841e-01 -2.74748137e-02 2.75279623e+01] [ 4.77227625e-02 -1.33471720e-03 9.98859728e-01 4.99795709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.817105681 meters 0.024765161608666115 Centerline is valid? [True, True] Translation: X:133.51, Y:27.54, Z:5.00 [[ 8.01236807e-01 -5.97027100e-01 -3.97268330e-02 1.33508532e+02] [ 5.96372784e-01 8.02220049e-01 -2.79731390e-02 2.75441490e+01] [ 4.85703840e-02 -1.27889340e-03 9.98818944e-01 4.99656743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.847105681 meters 0.021166485254555386 Centerline is valid? [True, True] Translation: X:133.53, Y:27.57, Z:5.00 [[ 8.05550487e-01 -5.91151626e-01 -4.03505648e-02 1.33525483e+02] [ 5.90468749e-01 8.06559910e-01 -2.84212692e-02 2.75702093e+01] [ 4.93464274e-02 -9.30980278e-04 9.98781289e-01 4.99903886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.877105681 meters 0.018573996016263535 Centerline is valid? [True, True] Translation: X:133.54, Y:27.60, Z:5.00 [[ 8.13691377e-01 -5.79856910e-01 -4.08938544e-02 1.33538417e+02] [ 5.79140881e-01 8.14718298e-01 -2.88085829e-02 2.76016306e+01] [ 5.00218273e-02 -2.42007450e-04 9.98748095e-01 5.00040604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.907105681 meters 0.018567062752179262 Centerline is valid? [True, True] Translation: X:133.56, Y:27.63, Z:5.00 [[ 8.18474739e-01 -5.73082607e-01 -4.09319721e-02 1.33555576e+02] [ 5.72356242e-01 8.19497585e-01 -2.88451054e-02 2.76255222e+01] [ 5.00742805e-02 1.81320404e-04 9.98745480e-01 5.00187336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.937105681 meters 0.02277896130640994 Centerline is valid? [True, True] Translation: X:133.57, Y:27.65, Z:5.00 [[ 8.26880849e-01 -5.60727380e-01 -4.30449293e-02 1.33571137e+02] [ 5.59906084e-01 8.27999885e-01 -3.03540501e-02 2.76527885e+01] [ 5.26615435e-02 9.98064936e-04 9.98611919e-01 4.99821905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.967105681 meters 0.024836745347942918 Centerline is valid? [True, True] Translation: X:133.59, Y:27.67, Z:5.00 [[ 8.29283693e-01 -5.57047654e-01 -4.45698016e-02 1.33593796e+02] [ 5.56161448e-01 8.30479543e-01 -3.14352098e-02 2.76717068e+01] [ 5.45252183e-02 1.28070151e-03 9.98511572e-01 4.99604928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.997105681 meters 0.027086855609173514 Centerline is valid? [True, True] Translation: X:133.62, Y:27.69, Z:4.99 [[ 8.31259910e-01 -5.54014527e-01 -4.55506963e-02 1.33619056e+02] [ 5.53084031e-01 8.32505618e-01 -3.21317683e-02 2.76861519e+01] [ 5.57226770e-02 1.51648810e-03 9.98445133e-01 4.99450340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.027105681 meters 0.0277384131521629 Centerline is valid? [True, True] Translation: X:133.64, Y:27.70, Z:5.00 [[ 8.32936971e-01 -5.51571976e-01 -4.45461193e-02 1.33644818e+02] [ 5.50678308e-01 8.34125674e-01 -3.14286566e-02 2.76984277e+01] [ 5.44922280e-02 1.64750842e-03 9.98512836e-01 4.99872194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.057105681 meters 0.028432757801714528 Centerline is valid? [True, True] Translation: X:133.67, Y:27.71, Z:5.00 [[ 8.34012165e-01 -5.49906866e-01 -4.50127540e-02 1.33668318e+02] [ 5.48991498e-01 8.35224081e-01 -3.17658698e-02 2.77140809e+01] [ 5.50640060e-02 1.78150264e-03 9.98481237e-01 5.00020958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08710568099997 meters 0.030770468070612365 Centerline is valid? [True, True] Translation: X:133.69, Y:27.73, Z:5.00 [[ 8.35834148e-01 -5.47098523e-01 -4.54365842e-02 1.33694172e+02] [ 5.46161250e-01 8.37065852e-01 -3.20725558e-02 2.77262529e+01] [ 5.55802610e-02 1.99163573e-03 9.98452236e-01 4.99901211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11710568099997 meters 0.03148202411232399 Centerline is valid? [True, True] Translation: X:133.72, Y:27.73, Z:5.00 [[ 8.35718433e-01 -5.47272580e-01 -4.54689258e-02 1.33722509e+02] [ 5.46333667e-01 8.36952067e-01 -3.21054817e-02 2.77320941e+01] [ 5.56257612e-02 1.98993791e-03 9.98449706e-01 4.99977688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14710568099997 meters 0.03047682473778509 Centerline is valid? [True, True] Translation: X:133.75, Y:27.74, Z:5.00 [[ 8.34490648e-01 -5.49195197e-01 -4.48329594e-02 1.33749489e+02] [ 5.48284385e-01 8.35692062e-01 -3.16703337e-02 2.77417184e+01] [ 5.48597435e-02 1.84738576e-03 9.98492361e-01 5.00150323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17710568099997 meters 0.025949022207558143 Centerline is valid? [True, True] Translation: X:133.78, Y:27.74, Z:5.01 [[ 8.31515253e-01 -5.53828888e-01 -4.30807048e-02 1.33784771e+02] [ 5.52993584e-01 8.32629175e-01 -3.04426271e-02 2.77428938e+01] [ 5.27302580e-02 1.49015543e-03 9.98607680e-01 5.00566953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.20710568099997 meters 0.023688596316499687 Centerline is valid? [True, True] Translation: X:133.82, Y:27.75, Z:5.01 [[ 8.28190585e-01 -5.58798950e-01 -4.29428513e-02 1.33817621e+02] [ 5.57974902e-01 8.29302319e-01 -3.03590713e-02 2.77457220e+01] [ 5.25772233e-02 1.18206381e-03 9.98616162e-01 5.00582033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.23710568099997 meters 0.022268429526390226 Centerline is valid? [True, True] Translation: X:133.85, Y:27.75, Z:5.01 [[ 8.26153868e-01 -5.61780826e-01 -4.32676670e-02 1.33846496e+02] [ 5.60947758e-01 8.27285492e-01 -3.05994647e-02 2.77546284e+01] [ 5.29849057e-02 1.00896533e-03 9.98594804e-01 5.00591206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.26710568099998 meters 0.020158132148970123 Centerline is valid? [True, True] Translation: X:133.88, Y:27.76, Z:5.00 [[ 8.22060858e-01 -5.67592249e-01 -4.53319274e-02 1.33879898e+02] [ 5.66685424e-01 8.23309525e-01 -3.20789221e-02 2.77557031e+01] [ 5.55299551e-02 6.81883767e-04 9.98456789e-01 5.00165173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.29710568099998 meters 0.01952841942144392 Centerline is valid? [True, True] Translation: X:133.91, Y:27.76, Z:5.00 [[ 8.20523236e-01 -5.69766414e-01 -4.59113581e-02 1.33907269e+02] [ 5.68838964e-01 8.21806504e-01 -3.25008221e-02 2.77645352e+01] [ 5.62481295e-02 5.51510383e-04 9.98416668e-01 5.00103688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.32710568099998 meters 0.018829466660648168 Centerline is valid? [True, True] Translation: X:133.94, Y:27.77, Z:5.01 [[ 8.19568977e-01 -5.71252947e-01 -4.44608048e-02 1.33938170e+02] [ 5.70384610e-01 8.20773946e-01 -3.14885015e-02 2.77711011e+01] [ 5.44801694e-02 4.47240099e-04 9.98514753e-01 5.00582598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35710568099998 meters 0.01800315431858874 Centerline is valid? [True, True] Translation: X:133.97, Y:27.78, Z:5.01 [[ 8.18238338e-01 -5.73400700e-01 -4.12026569e-02 1.33968456e+02] [ 5.72656809e-01 8.19275014e-01 -2.91998334e-02 2.77786627e+01] [ 5.04995122e-02 2.97441171e-04 9.98724041e-01 5.01202253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38710568099998 meters 0.017430932737440997 Centerline is valid? [True, True] Translation: X:134.00, Y:27.78, Z:5.01 [[ 8.14746330e-01 -5.78375379e-01 -4.08697766e-02 1.33999861e+02] [ 5.77648869e-01 8.15770753e-01 -2.89803790e-02 2.77819938e+01] [ 5.01019061e-02 3.27713193e-06 9.98744111e-01 5.01340543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41710568099998 meters 0.01739110178234234 Centerline is valid? [True, True] Translation: X:134.03, Y:27.79, Z:5.02 [[ 8.12871837e-01 -5.81041636e-01 -4.03731762e-02 1.34027184e+02] [ 5.80335293e-01 8.13873820e-01 -2.86417951e-02 2.77920356e+01] [ 4.95007466e-02 -1.47870467e-04 9.98774076e-01 5.01587038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.44710568099998 meters 0.018019378692377738 Centerline is valid? [True, True] Translation: X:134.06, Y:27.80, Z:5.02 [[ 8.09040343e-01 -5.86461964e-01 -3.89369799e-02 1.34057636e+02] [ 5.85810247e-01 8.09976646e-01 -2.76439298e-02 2.77979081e+01] [ 4.77501578e-02 -4.44627323e-04 9.98859212e-01 5.02029483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47710568099998 meters 0.019629314729488413 Centerline is valid? [True, True] Translation: X:134.09, Y:27.81, Z:5.02 [[ 8.04971715e-01 -5.91984582e-01 -3.96836522e-02 1.34087439e+02] [ 5.91313307e-01 8.05948920e-01 -2.81941753e-02 2.78061944e+01] [ 4.86735137e-02 -7.69957901e-04 9.98814445e-01 5.01991564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.50710568099998 meters 0.020602654882576014 Centerline is valid? [True, True] Translation: X:134.11, Y:27.82, Z:5.02 [[ 8.03621496e-01 -5.93767568e-01 -4.04050336e-02 1.34111962e+02] [ 5.93073034e-01 8.04636129e-01 -2.87241331e-02 2.78188688e+01] [ 4.95668085e-02 -8.79805063e-04 9.98770423e-01 5.02004769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53710568099999 meters 0.0216829922845951 Centerline is valid? [True, True] Translation: X:134.14, Y:27.83, Z:5.02 [[ 8.01523805e-01 -5.96629593e-01 -3.99088891e-02 1.34137194e+02] [ 5.95955015e-01 8.02516080e-01 -2.83824234e-02 2.78325767e+01] [ 4.89613189e-02 -1.03471461e-03 9.98800139e-01 5.02251397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.567105681 meters 0.023249096594266848 Centerline is valid? [True, True] Translation: X:134.16, Y:27.85, Z:5.02 [[ 7.99539647e-01 -5.99320526e-01 -3.93860376e-02 1.34162399e+02] [ 5.98665955e-01 8.00508300e-01 -2.80274358e-02 2.78459727e+01] [ 4.83262676e-02 -1.17003372e-03 9.98830918e-01 5.02452647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.597105681 meters 0.023790452922216532 Centerline is valid? [True, True] Translation: X:134.19, Y:27.86, Z:5.03 [[ 7.98779311e-01 -6.00304761e-01 -3.98221867e-02 1.34186649e+02] [ 5.99636214e-01 7.99770388e-01 -2.83502707e-02 2.78623443e+01] [ 4.88674081e-02 -1.23321558e-03 9.98804513e-01 5.02506396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.627105681 meters 0.02278772068077879 Centerline is valid? [True, True] Translation: X:134.21, Y:27.88, Z:5.02 [[ 7.98777150e-01 -6.00149739e-01 -4.21349721e-02 1.34206804e+02] [ 5.99399916e-01 7.99886653e-01 -3.00180450e-02 2.78836707e+01] [ 5.17185237e-02 -1.27797032e-03 9.98660884e-01 5.02322672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.657105681 meters 0.022180299413719483 Centerline is valid? [True, True] Translation: X:134.23, Y:27.90, Z:5.02 [[ 7.99603299e-01 -5.98983658e-01 -4.30481246e-02 1.34228349e+02] [ 5.98198116e-01 8.00760333e-01 -3.06904472e-02 2.79032288e+01] [ 5.28543069e-02 -1.21112422e-03 9.98601500e-01 5.02200731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.687105681 meters 0.02012326614043353 Centerline is valid? [True, True] Translation: X:134.25, Y:27.93, Z:5.02 [[ 8.02979559e-01 -5.94310506e-01 -4.49316187e-02 1.34247105e+02] [ 5.93446057e-01 8.04235145e-01 -3.20563357e-02 2.79272270e+01] [ 5.51870040e-02 -9.23909619e-04 9.98475609e-01 5.02083012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.717105681 meters 0.018454993084628286 Centerline is valid? [True, True] Translation: X:134.27, Y:27.95, Z:5.02 [[ 8.06483534e-01 -5.89679949e-01 -4.31493559e-02 1.34265064e+02] [ 5.88875030e-01 8.07636823e-01 -3.08052144e-02 2.79523658e+01] [ 5.30142260e-02 -5.65680041e-04 9.98593597e-01 5.02449480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.747105681 meters 0.017414747276820464 Centerline is valid? [True, True] Translation: X:134.28, Y:27.98, Z:5.03 [[ 8.09263649e-01 -5.86145304e-01 -3.90644150e-02 1.34283446e+02] [ 5.85480719e-01 8.10205899e-01 -2.79057029e-02 2.79764666e+01] [ 4.80070161e-02 -2.88390829e-04 9.98846957e-01 5.03191624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.777105681 meters 0.017210266006942854 Centerline is valid? [True, True] Translation: X:134.30, Y:27.99, Z:5.03 [[ 8.10019155e-01 -5.85167341e-01 -3.80545909e-02 1.34304442e+02] [ 5.84534896e-01 8.10912534e-01 -2.71995847e-02 2.79940691e+01] [ 4.67752534e-02 -2.12051723e-04 9.98905416e-01 5.03363302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.807105681 meters 0.017210266006942854 Centerline is valid? [True, True] Translation: X:134.33, Y:28.01, Z:5.03 [[ 8.09801652e-01 -5.85468605e-01 -3.80499292e-02 1.34326636e+02] [ 5.84836186e-01 8.10695050e-01 -2.72061043e-02 2.80102354e+01] [ 4.67752092e-02 -2.21427335e-04 9.98905416e-01 5.03465009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83710568099997 meters 0.017147227557081816 Centerline is valid? [True, True] Translation: X:134.35, Y:28.03, Z:5.04 [[ 8.10148020e-01 -5.85043190e-01 -3.72109016e-02 1.34348249e+02] [ 5.84436978e-01 8.11002118e-01 -2.66267497e-02 2.80274437e+01] [ 4.57559186e-02 -1.75818298e-04 9.98952634e-01 5.03669986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86710568099997 meters 0.017309714934080355 Centerline is valid? [True, True] Translation: X:134.37, Y:28.05, Z:5.04 [[ 8.08467014e-01 -5.87398710e-01 -3.66584556e-02 1.34369766e+02] [ 5.86811867e-01 8.09297642e-01 -2.62518580e-02 2.80460974e+01] [ 4.50879092e-02 -2.87855521e-04 9.98982982e-01 5.03851214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89710568099997 meters 0.017890934124141517 Centerline is valid? [True, True] Translation: X:134.39, Y:28.06, Z:5.04 [[ 8.06571145e-01 -5.89960654e-01 -3.72748551e-02 1.34393598e+02] [ 5.89355673e-01 8.07431885e-01 -2.67140741e-02 2.80621514e+01] [ 4.58571592e-02 -4.21346015e-04 9.98947918e-01 5.03787605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92710568099997 meters 0.020018265381604585 Centerline is valid? [True, True] Translation: X:134.42, Y:28.07, Z:5.03 [[ 8.01267994e-01 -5.96972202e-01 -3.99223255e-02 1.34420684e+02] [ 5.96285965e-01 8.02261454e-01 -2.86287906e-02 2.80746180e+01] [ 4.91187351e-02 -8.65788775e-04 9.98792571e-01 5.03407523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95710568099997 meters 0.02204385601042001 Centerline is valid? [True, True] Translation: X:134.45, Y:28.09, Z:5.03 [[ 7.98099482e-01 -6.01151163e-01 -4.06755045e-02 1.34445558e+02] [ 6.00443863e-01 7.99134521e-01 -2.91750651e-02 2.80883245e+01] [ 5.00438241e-02 -1.13875274e-03 9.98746374e-01 5.03341823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.98710568099997 meters 0.025662346095688734 Centerline is valid? [True, True] Translation: X:134.47, Y:28.10, Z:5.03 [[ 7.92330962e-01 -6.08638243e-01 -4.20848630e-02 1.34470676e+02] [ 6.07891100e-01 7.93446114e-01 -3.01939523e-02 2.81032552e+01] [ 5.17692651e-02 -1.65941039e-03 9.98657694e-01 5.03363895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.01710568099998 meters 0.02805592509224442 Centerline is valid? [True, True] Translation: X:134.49, Y:28.12, Z:5.03 [[ 7.89983536e-01 -6.11653602e-01 -4.24957058e-02 1.34494684e+02] [ 6.10895578e-01 7.91123497e-01 -3.04992667e-02 2.81190999e+01] [ 5.22743377e-02 -1.86652023e-03 9.98631018e-01 5.03406482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.04710568099998 meters 0.02965486694243364 Centerline is valid? [True, True] Translation: X:134.52, Y:28.14, Z:5.04 [[ 7.87690240e-01 -6.14703773e-01 -4.10287357e-02 1.34516253e+02] [ 6.14000882e-01 7.88755546e-01 -2.94551440e-02 2.81387202e+01] [ 5.04678310e-02 -1.99015049e-03 9.98723704e-01 5.03775980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07710568099998 meters 0.03158402544758681 Centerline is valid? [True, True] Translation: X:134.54, Y:28.16, Z:5.04 [[ 7.85518670e-01 -6.17514819e-01 -4.04458645e-02 1.34537908e+02] [ 6.16834523e-01 7.86556377e-01 -2.90557566e-02 2.81584523e+01] [ 4.97553130e-02 -2.12456623e-03 9.98759178e-01 5.04066463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.10710568099998 meters 0.033450229049532154 Centerline is valid? [True, True] Translation: X:134.56, Y:28.18, Z:5.04 [[ 7.83695231e-01 -6.19851655e-01 -4.00713132e-02 1.34560095e+02] [ 6.19186233e-01 7.84715813e-01 -2.88010891e-02 2.81757485e+01] [ 4.92969959e-02 -2.24032925e-03 9.98781651e-01 5.04275414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13710568099998 meters 0.03726917639984116 Centerline is valid? [True, True] Translation: X:134.58, Y:28.19, Z:5.04 [[ 7.79681761e-01 -6.24776012e-01 -4.18483807e-02 1.34581330e+02] [ 6.24056967e-01 7.80799500e-01 -3.00839219e-02 2.81938740e+01] [ 5.14709075e-02 -2.65988833e-03 9.98670952e-01 5.04217924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.16710568099998 meters 0.041062459125049196 Centerline is valid? [True, True] Translation: X:134.60, Y:28.21, Z:5.04 [[ 7.76421498e-01 -6.28844051e-01 -4.15309075e-02 1.34604121e+02] [ 6.28141361e-01 7.77526035e-01 -2.98612624e-02 2.82106912e+01] [ 5.10694391e-02 -2.90235466e-03 9.98690887e-01 5.04444305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19710568099998 meters 0.04281555296049057 Centerline is valid? [True, True] Translation: X:134.62, Y:28.23, Z:5.05 [[ 7.75387026e-01 -6.30277436e-01 -3.90552637e-02 1.34623159e+02] [ 6.29657613e-01 7.76364887e-01 -2.80865177e-02 2.82309404e+01] [ 4.80234338e-02 -2.81352267e-03 9.98842247e-01 5.05155175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.22710568099998 meters 0.04216072872726928 Centerline is valid? [True, True] Translation: X:134.64, Y:28.25, Z:5.05 [[ 7.76035826e-01 -6.29570706e-01 -3.75382834e-02 1.34643602e+02] [ 6.28996920e-01 7.76938655e-01 -2.70037124e-02 2.82518806e+01] [ 4.61656897e-02 -2.65561642e-03 9.98930266e-01 5.05443844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25710568099998 meters 0.040140011502190064 Centerline is valid? [True, True] Translation: X:134.66, Y:28.28, Z:5.06 [[ 7.78585584e-01 -6.26505789e-01 -3.59858999e-02 1.34661002e+02] [ 6.25974611e-01 7.79413193e-01 -2.59009897e-02 2.82775533e+01] [ 4.42750052e-02 -2.36012251e-03 9.99016593e-01 5.05668731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.28710568099999 meters 0.03445756740357007 Centerline is valid? [True, True] Translation: X:134.67, Y:28.31, Z:5.06 [[ 7.81492617e-01 -6.22836300e-01 -3.66637795e-02 1.34673282e+02] [ 6.22280503e-01 7.82349133e-01 -2.63971710e-02 2.83105392e+01] [ 4.51249924e-02 -2.18596091e-03 9.98978957e-01 5.05873783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.317105681 meters 0.03432660548330389 Centerline is valid? [True, True] Translation: X:134.69, Y:28.34, Z:5.06 [[ 7.85162229e-01 -6.18204807e-01 -3.66482037e-02 1.34688909e+02] [ 6.17643790e-01 7.86014745e-01 -2.64001825e-02 2.83366375e+01] [ 4.51267482e-02 -1.90710925e-03 9.98979449e-01 5.05932070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.347105681 meters 0.03288795432513891 Centerline is valid? [True, True] Translation: X:134.71, Y:28.36, Z:5.06 [[ 7.86919350e-01 -6.15951728e-01 -3.68972245e-02 1.34707893e+02] [ 6.15380267e-01 7.87781877e-01 -2.65864876e-02 2.83575389e+01] [ 4.54429577e-02 -1.78440228e-03 9.98965341e-01 5.05962342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.377105681 meters 0.030485491747150033 Centerline is valid? [True, True] Translation: X:134.72, Y:28.38, Z:5.06 [[ 7.89320800e-01 -6.12883786e-01 -3.66897885e-02 1.34724767e+02] [ 6.12315173e-01 7.90171452e-01 -2.64424736e-02 2.83834045e+01] [ 4.51973868e-02 -1.59411986e-03 9.98976804e-01 5.06093437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.407105681 meters 0.0271438309645858 Centerline is valid? [True, True] Translation: X:134.74, Y:28.41, Z:5.06 [[ 7.90339880e-01 -6.11569018e-01 -3.66907310e-02 1.34742171e+02] [ 6.10998660e-01 7.91189639e-01 -2.64498045e-02 2.84088381e+01] [ 4.52052072e-02 -1.51365218e-03 9.98976575e-01 5.06331531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.437105681 meters 0.022999587468663794 Centerline is valid? [True, True] Translation: X:134.76, Y:28.44, Z:5.07 [[ 7.94986972e-01 -6.05476191e-01 -3.73402929e-02 1.34756482e+02] [ 6.04877991e-01 7.95862553e-01 -2.69334830e-02 2.84400637e+01] [ 4.60253235e-02 -1.17455325e-03 9.98939583e-01 5.06542754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.467105681 meters 0.020710334749059506 Centerline is valid? [True, True] Translation: X:134.77, Y:28.46, Z:5.07 [[ 7.98256317e-01 -6.01202863e-01 -3.66329063e-02 1.34774827e+02] [ 6.00622368e-01 7.99095925e-01 -2.64286599e-02 2.84640803e+01] [ 4.51621921e-02 -9.05698221e-04 9.98979257e-01 5.06756496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.497105681 meters 0.017765002768259045 Centerline is valid? [True, True] Translation: X:134.79, Y:28.49, Z:5.07 [[ 8.05500370e-01 -5.91534814e-01 -3.54361181e-02 1.34789735e+02] [ 5.90982014e-01 8.06279384e-01 -2.55697999e-02 2.84924465e+01] [ 4.36968383e-02 -3.45625131e-04 9.99044777e-01 5.07054427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.527105681 meters 0.017533073169609368 Centerline is valid? [True, True] Translation: X:134.81, Y:28.52, Z:5.07 [[ 8.11780525e-01 -5.82840531e-01 -3.61841814e-02 1.34805219e+02] [ 5.82255175e-01 8.12586548e-01 -2.61153839e-02 2.85201727e+01] [ 4.46238832e-02 1.31533163e-04 9.99003850e-01 5.07089191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.557105681 meters 0.01840283321944476 Centerline is valid? [True, True] Translation: X:134.83, Y:28.54, Z:5.07 [[ 8.14201482e-01 -5.79353002e-01 -3.77630268e-02 1.34825682e+02] [ 5.78710749e-01 8.15076668e-01 -2.72744346e-02 2.85414630e+01] [ 4.65812876e-02 3.53015551e-04 9.98914440e-01 5.06869755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58710568099997 meters 0.020311161966470925 Centerline is valid? [True, True] Translation: X:134.85, Y:28.56, Z:5.06 [[ 8.18544816e-01 -5.73019987e-01 -4.04039471e-02 1.34847234e+02] [ 5.72276109e-01 8.19541023e-01 -2.91987483e-02 2.85623445e+01] [ 4.98441585e-02 7.78270473e-04 9.98756704e-01 5.06336122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61710568099997 meters 0.02328270928311463 Centerline is valid? [True, True] Translation: X:134.87, Y:28.58, Z:5.06 [[ 8.22431147e-01 -5.67293792e-01 -4.22464425e-02 1.34869867e+02] [ 5.66472683e-01 8.23514638e-01 -3.05342444e-02 2.85795652e+01] [ 5.21124511e-02 1.18085797e-03 9.98640525e-01 5.06032165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64710568099997 meters 0.02455142708297743 Centerline is valid? [True, True] Translation: X:134.89, Y:28.60, Z:5.06 [[ 8.23751991e-01 -5.65311821e-01 -4.30720636e-02 1.34892850e+02] [ 5.64454993e-01 8.24876201e-01 -3.11418458e-02 2.85963019e+01] [ 5.31339738e-02 1.34091606e-03 9.98586492e-01 5.06043411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67710568099997 meters 0.026306092661883468 Centerline is valid? [True, True] Translation: X:134.92, Y:28.61, Z:5.06 [[ 8.24939182e-01 -5.63495109e-01 -4.41430534e-02 1.34915742e+02] [ 5.62591429e-01 8.26118018e-01 -3.19359279e-02 2.86111299e+01] [ 5.44631110e-02 1.51069468e-03 9.98514641e-01 5.06065030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.70710568099997 meters 0.02428972281053253 Centerline is valid? [True, True] Translation: X:134.95, Y:28.62, Z:5.06 [[ 8.22298603e-01 -5.67299409e-01 -4.46809558e-02 1.34946758e+02] [ 5.66378223e-01 8.23510608e-01 -3.23417273e-02 2.86168960e+01] [ 5.51426838e-02 1.28823682e-03 9.98477654e-01 5.06218868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.73710568099997 meters 0.021745936626154927 Centerline is valid? [True, True] Translation: X:134.98, Y:28.62, Z:5.07 [[ 8.19751303e-01 -5.71047551e-01 -4.37320838e-02 1.34976960e+02] [ 5.70169531e-01 8.20916340e-01 -3.16712507e-02 2.86244205e+01] [ 5.39861723e-02 1.02784736e-03 9.98541154e-01 5.06634665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.76710568099998 meters 0.018278596380756084 Centerline is valid? [True, True] Translation: X:135.01, Y:28.63, Z:5.07 [[ 8.13735067e-01 -5.79854504e-01 -4.00498940e-02 1.35010712e+02] [ 5.79128516e-01 8.14719942e-01 -2.90099564e-02 2.86252739e+01] [ 4.94510012e-02 4.12383067e-04 9.98776466e-01 5.07301020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.79710568099998 meters 0.017147100593234207 Centerline is valid? [True, True] Translation: X:135.04, Y:28.63, Z:5.08 [[ 8.08914614e-01 -5.86687392e-01 -3.81451316e-02 1.35042960e+02] [ 5.86036018e-01 8.09813500e-01 -2.76384057e-02 2.86289675e+01] [ 4.71055467e-02 2.68929316e-06 9.98889918e-01 5.07798568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.82710568099998 meters 0.017025183878560453 Centerline is valid? [True, True] Translation: X:135.07, Y:28.64, Z:5.08 [[ 8.07555684e-01 -5.88646987e-01 -3.67225057e-02 1.35069761e+02] [ 5.88044531e-01 8.08390201e-01 -2.66254248e-02 2.86403395e+01] [ 4.53590898e-02 -9.29554918e-05 9.98970742e-01 5.08034820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85710568099998 meters 0.017239232154385355 Centerline is valid? [True, True] Translation: X:135.10, Y:28.65, Z:5.08 [[ 8.06049920e-01 -5.90720751e-01 -3.65037196e-02 1.35097708e+02] [ 5.90126732e-01 8.06876048e-01 -2.64855279e-02 2.86499110e+01] [ 4.50995279e-02 -1.93163118e-04 9.98982480e-01 5.08169902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.88710568099998 meters 0.01729273932004929 Centerline is valid? [True, True] Translation: X:135.12, Y:28.67, Z:5.08 [[ 8.06526565e-01 -5.89977043e-01 -3.79735187e-02 1.35120849e+02] [ 5.89332440e-01 8.07420008e-01 -2.75718386e-02 2.86654171e+01] [ 4.69273305e-02 -1.41606148e-04 9.98898296e-01 5.08089531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91710568099998 meters 0.017673412588054598 Centerline is valid? [True, True] Translation: X:135.14, Y:28.68, Z:5.08 [[ 8.10222979e-01 -5.84656395e-01 -4.14201040e-02 1.35142856e+02] [ 5.83881673e-01 8.11281001e-01 -3.00886929e-02 2.86842178e+01] [ 5.11948901e-02 1.94110775e-04 9.98688663e-01 5.07786883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94710568099998 meters 0.020529696771211275 Centerline is valid? [True, True] Translation: X:135.17, Y:28.70, Z:5.08 [[ 8.17068369e-01 -5.74950969e-01 -4.27862692e-02 1.35165164e+02] [ 5.74109991e-01 8.18187430e-01 -3.10973885e-02 2.87036292e+01] [ 5.28866613e-02 8.44667848e-04 9.98600164e-01 5.07734264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97710568099998 meters 0.024495427726304708 Centerline is valid? [True, True] Translation: X:135.19, Y:28.72, Z:5.08 [[ 8.22518842e-01 -5.67038539e-01 -4.39323361e-02 1.35188367e+02] [ 5.66140322e-01 8.23690082e-01 -3.19340741e-02 2.87218689e+01] [ 5.42944803e-02 1.39451076e-03 9.98523993e-01 5.07784270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00710568099998 meters 0.02616059528955478 Centerline is valid? [True, True] Translation: X:135.21, Y:28.74, Z:5.08 [[ 8.24098418e-01 -5.64779229e-01 -4.34306279e-02 1.35212177e+02] [ 5.63897755e-01 8.25240613e-01 -3.15792943e-02 2.87383962e+01] [ 5.36760475e-02 1.53401292e-03 9.98557224e-01 5.07989457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03710568099999 meters 0.0280174561181113 Centerline is valid? [True, True] Translation: X:135.24, Y:28.75, Z:5.09 [[ 8.26253885e-01 -5.61831951e-01 -4.06125102e-02 1.35239371e+02] [ 5.61056686e-01 8.27249783e-01 -2.95498297e-02 2.87499248e+01] [ 5.01987287e-02 1.62974125e-03 9.98737919e-01 5.08560911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.067105681 meters 0.02842503076882088 Centerline is valid? [True, True] Translation: X:135.27, Y:28.76, Z:5.09 [[ 8.27583448e-01 -5.60113103e-01 -3.71341947e-02 1.35267593e+02] [ 5.59462486e-01 8.28414602e-01 -2.70365423e-02 2.87594045e+01] [ 4.59060307e-02 1.59980602e-03 9.98944481e-01 5.09160913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.097105681 meters 0.027621662319948226 Centerline is valid? [True, True] Translation: X:135.30, Y:28.77, Z:5.09 [[ 8.26433498e-01 -5.61848030e-01 -3.65303275e-02 1.35297432e+02] [ 5.61219263e-01 8.27239118e-01 -2.66154305e-02 2.87678276e+01] [ 4.51731431e-02 1.49435986e-03 9.98978055e-01 5.09284146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.127105681 meters 0.02659755356769904 Centerline is valid? [True, True] Translation: X:135.32, Y:28.78, Z:5.09 [[ 8.24896860e-01 -5.64100863e-01 -3.65429430e-02 1.35324512e+02] [ 5.63473018e-01 8.25704725e-01 -2.66432873e-02 2.87798749e+01] [ 4.52031821e-02 1.38700167e-03 9.98976851e-01 5.09355146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.157105681 meters 0.023867087658904055 Centerline is valid? [True, True] Translation: X:135.36, Y:28.78, Z:5.09 [[ 8.20811390e-01 -5.70099357e-01 -3.54314298e-02 1.35356337e+02] [ 5.69514021e-01 8.21575101e-01 -2.58482760e-02 2.87845322e+01] [ 4.38456660e-02 1.03786328e-03 9.99037777e-01 5.09343285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.187105681 meters 0.02213594347405092 Centerline is valid? [True, True] Translation: X:135.39, Y:28.79, Z:5.09 [[ 8.18195348e-01 -5.73829840e-01 -3.57167546e-02 1.35385046e+02] [ 5.73238289e-01 8.18974109e-01 -2.60628554e-02 2.87942505e+01] [ 4.42067414e-02 8.50295748e-04 9.99022042e-01 5.09450880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.217105681 meters 0.02007584760522914 Centerline is valid? [True, True] Translation: X:135.42, Y:28.80, Z:5.09 [[ 8.14278444e-01 -5.79232482e-01 -3.79519164e-02 1.35416809e+02] [ 5.78569559e-01 8.15162171e-01 -2.77110220e-02 2.87984720e+01] [ 4.69880906e-02 6.06664341e-04 9.98895265e-01 5.09337958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.247105681 meters 0.019125520139214775 Centerline is valid? [True, True] Translation: X:135.44, Y:28.81, Z:5.09 [[ 8.12515352e-01 -5.81686431e-01 -3.82059973e-02 1.35444702e+02] [ 5.81016948e-01 8.13412977e-01 -2.79040262e-02 2.88099397e+01] [ 4.73086474e-02 4.74117718e-04 9.98880207e-01 5.09449415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.277105681 meters 0.01829370483676315 Centerline is valid? [True, True] Translation: X:135.47, Y:28.82, Z:5.10 [[ 8.10208896e-01 -5.84973777e-01 -3.69760152e-02 1.35474505e+02] [ 5.84349639e-01 8.11052157e-01 -2.70166415e-02 2.88186657e+01] [ 4.57935037e-02 2.82202163e-04 9.98950887e-01 5.09800193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30710568099997 meters 0.018472280750753956 Centerline is valid? [True, True] Translation: X:135.50, Y:28.83, Z:5.10 [[ 8.10843151e-01 -5.84246001e-01 -3.44962939e-02 1.35501213e+02] [ 5.83701573e-01 8.11576560e-01 -2.52182738e-02 2.88295747e+01] [ 4.27300591e-02 3.12523577e-04 9.99086605e-01 5.10290472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33710568099997 meters 0.01875973312008717 Centerline is valid? [True, True] Translation: X:135.53, Y:28.84, Z:5.10 [[ 8.11566898e-01 -5.83260374e-01 -3.41541587e-02 1.35525607e+02] [ 5.82725520e-01 8.12285173e-01 -2.49753208e-02 2.88445187e+01] [ 4.23100316e-02 3.66643776e-04 9.99104462e-01 5.10486625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36710568099997 meters 0.018964299059649754 Centerline is valid? [True, True] Translation: X:135.55, Y:28.86, Z:5.11 [[ 8.12066980e-01 -5.82661569e-01 -3.24455745e-02 1.35551449e+02] [ 5.82177828e-01 8.12714798e-01 -2.37409672e-02 2.88570034e+01] [ 4.02019477e-02 3.90161483e-04 9.99191499e-01 5.10833336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39710568099997 meters 0.01905208050996742 Centerline is valid? [True, True] Translation: X:135.58, Y:28.87, Z:5.11 [[ 8.11955298e-01 -5.82771514e-01 -3.32559140e-02 1.35577546e+02] [ 5.82262671e-01 8.12635955e-01 -2.43513124e-02 2.88669915e+01] [ 4.12162026e-02 4.08499820e-04 9.99150168e-01 5.10806251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42710568099997 meters 0.01896235230055471 Centerline is valid? [True, True] Translation: X:135.60, Y:28.88, Z:5.11 [[ 8.11696281e-01 -5.83038170e-01 -3.48660106e-02 1.35602946e+02] [ 5.82478735e-01 8.12444653e-01 -2.55383845e-02 2.88796813e+01] [ 4.32165568e-02 4.20702034e-04 9.99065640e-01 5.10718340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.45710568099997 meters 0.019785921426538712 Centerline is valid? [True, True] Translation: X:135.63, Y:28.89, Z:5.11 [[ 8.12750835e-01 -5.81456855e-01 -3.66606925e-02 1.35629269e+02] [ 5.80836326e-01 8.13577063e-01 -2.68612242e-02 2.88921302e+01] [ 4.54449415e-02 5.37620477e-04 9.98966700e-01 5.10696922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.48710568099997 meters 0.021106632465701495 Centerline is valid? [True, True] Translation: X:135.65, Y:28.91, Z:5.11 [[ 8.14378962e-01 -5.79119904e-01 -3.75105709e-02 1.35651859e+02] [ 5.78466961e-01 8.15242081e-01 -2.75013619e-02 2.89103499e+01] [ 4.65067819e-02 6.97904642e-04 9.98917730e-01 5.10736540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.51710568099998 meters 0.02524237763113023 Centerline is valid? [True, True] Translation: X:135.67, Y:28.93, Z:5.10 [[ 8.19039894e-01 -5.72361092e-01 -3.97043182e-02 1.35672570e+02] [ 5.71620743e-01 8.20000876e-01 -2.91254029e-02 2.89299534e+01] [ 4.92278231e-02 1.15905505e-03 9.98786903e-01 5.10368196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.54710568099998 meters 0.02752062734928357 Centerline is valid? [True, True] Translation: X:135.70, Y:28.95, Z:5.10 [[ 8.20757096e-01 -5.69805934e-01 -4.09754363e-02 1.35695961e+02] [ 5.69013767e-01 8.21778159e-01 -3.00664262e-02 2.89480952e+01] [ 5.08047467e-02 1.36164529e-03 9.98707677e-01 5.10326824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.57710568099998 meters 0.031014613083868728 Centerline is valid? [True, True] Translation: X:135.72, Y:28.96, Z:5.11 [[ 8.23835245e-01 -5.65354918e-01 -4.08571530e-02 1.35720676e+02] [ 5.64560998e-01 8.24846112e-01 -2.99961647e-02 2.89644639e+01] [ 5.06593431e-02 1.64554261e-03 9.98714635e-01 5.10522870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.60710568099998 meters 0.029686737288839214 Centerline is valid? [True, True] Translation: X:135.75, Y:28.98, Z:5.11 [[ 8.26619881e-01 -5.61330450e-01 -4.00961162e-02 1.35749140e+02] [ 5.60560365e-01 8.27589651e-01 -2.94524542e-02 2.89751278e+01] [ 4.97156902e-02 1.86969060e-03 9.98761660e-01 5.11279719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63710568099998 meters 0.030539196860157526 Centerline is valid? [True, True] Translation: X:135.77, Y:28.99, Z:5.11 [[ 8.27428240e-01 -5.60116869e-01 -4.03930732e-02 1.35772498e+02] [ 5.59333050e-01 8.28411256e-01 -2.96872100e-02 2.89920132e+01] [ 5.00903837e-02 1.97085512e-03 9.98742744e-01 5.11464053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.66710568099998 meters 0.03216430571339075 Centerline is valid? [True, True] Translation: X:135.80, Y:29.01, Z:5.12 [[ 8.28818756e-01 -5.58062238e-01 -4.03237914e-02 1.35795249e+02] [ 5.57277674e-01 8.29796417e-01 -2.96563804e-02 2.90099766e+01] [ 5.00106436e-02 2.10821562e-03 9.98746460e-01 5.11611863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69710568099998 meters 0.03292945755482843 Centerline is valid? [True, True] Translation: X:135.82, Y:29.02, Z:5.12 [[ 8.28768162e-01 -5.58186696e-01 -3.96351577e-02 1.35819167e+02] [ 5.57428060e-01 8.29712777e-01 -2.91661528e-02 2.90235331e+01] [ 4.91659553e-02 2.07822982e-03 9.98788461e-01 5.11817692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.72710568099998 meters 0.03292945755482843 Centerline is valid? [True, True] Translation: X:135.84, Y:29.04, Z:5.12 [[ 8.28568384e-01 -5.58483564e-01 -3.96300730e-02 1.35841182e+02] [ 5.57724937e-01 8.29513006e-01 -2.91730601e-02 2.90400252e+01] [ 4.91663355e-02 2.06919526e-03 9.98788461e-01 5.11919551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75710568099998 meters 0.032181203469877996 Centerline is valid? [True, True] Translation: X:135.87, Y:29.05, Z:5.12 [[ 8.27479741e-01 -5.60078203e-01 -3.98708483e-02 1.35867066e+02] [ 5.59311105e-01 8.28437318e-01 -2.93717297e-02 2.90529701e+01] [ 4.94809642e-02 2.00430311e-03 9.98773056e-01 5.12052675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.78710568099999 meters 0.02961073024421943 Centerline is valid? [True, True] Translation: X:135.90, Y:29.06, Z:5.12 [[ 8.25738667e-01 -5.62598082e-01 -4.04852109e-02 1.35895077e+02] [ 5.61809159e-01 8.26728367e-01 -2.98441985e-02 2.90638278e+01] [ 5.02605612e-02 1.89854637e-03 9.98734335e-01 5.12194950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.817105681 meters 0.026833565332289238 Centerline is valid? [True, True] Translation: X:135.92, Y:29.07, Z:5.12 [[ 8.21984564e-01 -5.68119132e-01 -3.97747326e-02 1.35924699e+02] [ 5.67363276e-01 8.22944868e-01 -2.93369506e-02 2.90708678e+01] [ 4.93992950e-02 1.54779792e-03 9.98777910e-01 5.12438862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.847105681 meters 0.023649236460478687 Centerline is valid? [True, True] Translation: X:135.96, Y:29.08, Z:5.13 [[ 8.18402075e-01 -5.73460788e-01 -3.68886018e-02 1.35955143e+02] [ 5.72815686e-01 8.19232211e-01 -2.72171775e-02 2.90784237e+01] [ 4.58283149e-02 1.14422480e-03 9.98948676e-01 5.13085964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.877105681 meters 0.023073878493227958 Centerline is valid? [True, True] Translation: X:135.98, Y:29.09, Z:5.13 [[ 8.16910944e-01 -5.75556331e-01 -3.73017415e-02 1.35980108e+02] [ 5.74898049e-01 8.17761458e-01 -2.75396431e-02 2.90928226e+01] [ 4.63545424e-02 1.05273741e-03 9.98924496e-01 5.13070486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.907105681 meters 0.02367850301814168 Centerline is valid? [True, True] Translation: X:136.01, Y:29.11, Z:5.12 [[ 8.15815476e-01 -5.76800549e-01 -4.17879827e-02 1.36005659e+02] [ 5.75974945e-01 8.16884253e-01 -3.08703871e-02 2.91060761e+01] [ 5.19420012e-02 1.11570850e-03 9.98649480e-01 5.12104282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.937105681 meters 0.023087033360743896 Centerline is valid? [True, True] Translation: X:136.03, Y:29.12, Z:5.12 [[ 8.15513190e-01 -5.77094150e-01 -4.35956323e-02 1.36032286e+02] [ 5.76195511e-01 8.16676813e-01 -3.22136035e-02 2.91178461e+01] [ 5.41938242e-02 1.15101091e-03 9.98529772e-01 5.12005453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.967105681 meters 0.022687533068044136 Centerline is valid? [True, True] Translation: X:136.06, Y:29.13, Z:5.12 [[ 8.15315633e-01 -5.77307246e-01 -4.44607955e-02 1.36061398e+02] [ 5.76372175e-01 8.16526163e-01 -3.28655030e-02 2.91266624e+01] [ 5.52768958e-02 1.16979300e-03 9.98470378e-01 5.12315183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.997105681 meters 0.021981555033514403 Centerline is valid? [True, True] Translation: X:136.09, Y:29.14, Z:5.13 [[ 8.14252052e-01 -5.78902070e-01 -4.31970975e-02 1.36087752e+02] [ 5.78020555e-01 8.15396403e-01 -3.19522037e-02 2.91401669e+01] [ 5.37199548e-02 1.04833718e-03 9.98555490e-01 5.12917759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.027105681 meters 0.021523802125072954 Centerline is valid? [True, True] Translation: X:136.11, Y:29.16, Z:5.13 [[ 8.13153098e-01 -5.80510215e-01 -4.23075667e-02 1.36111274e+02] [ 5.79665771e-01 8.14252423e-01 -3.13142938e-02 2.91560377e+01] [ 5.26273061e-02 9.39066769e-04 9.98613782e-01 5.13228231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05710568099997 meters 0.020152548093572864 Centerline is valid? [True, True] Translation: X:136.14, Y:29.17, Z:5.13 [[ 8.10398486e-01 -5.84453936e-01 -4.08398176e-02 1.36138013e+02] [ 5.83671252e-01 8.11426610e-01 -3.02444254e-02 2.91668927e+01] [ 5.08149882e-02 6.73009057e-04 9.98707857e-01 5.13385646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08710568099997 meters 0.018697415342209367 Centerline is valid? [True, True] Translation: X:136.17, Y:29.17, Z:5.14 [[ 8.04316710e-01 -5.92881758e-01 -3.95708384e-02 1.36170188e+02] [ 5.92156764e-01 8.05289514e-01 -2.93115259e-02 2.91703304e+01] [ 4.92442502e-02 1.43610423e-04 9.98786756e-01 5.13539469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11710568099997 meters 0.018889178765493956 Centerline is valid? [True, True] Translation: X:136.20, Y:29.18, Z:5.14 [[ 8.00089364e-01 -5.98630561e-01 -3.87099549e-02 1.36197400e+02] [ 5.97942989e-01 8.01025226e-01 -2.86839540e-02 2.91805160e+01] [ 4.81787419e-02 -1.96619650e-04 9.98838711e-01 5.13897476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14710568099997 meters 0.021874062586169744 Centerline is valid? [True, True] Translation: X:136.23, Y:29.19, Z:5.14 [[ 7.92522683e-01 -6.08745415e-01 -3.65625055e-02 1.36226990e+02] [ 6.08141936e-01 7.93365273e-01 -2.71095846e-02 2.91875938e+01] [ 4.55102575e-02 -7.50232184e-04 9.98963590e-01 5.14293043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17710568099997 meters 0.02771169445897514 Centerline is valid? [True, True] Translation: X:136.26, Y:29.20, Z:5.14 [[ 7.84940232e-01 -6.18435791e-01 -3.74967250e-02 1.36255501e+02] [ 6.17811692e-01 7.85834196e-01 -2.78088232e-02 2.91966945e+01] [ 4.66641803e-02 -1.33765095e-03 9.98909738e-01 5.14244175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.20710568099997 meters 0.03091213394182633 Centerline is valid? [True, True] Translation: X:136.28, Y:29.21, Z:5.14 [[ 7.81646311e-01 -6.22519642e-01 -3.87083952e-02 1.36281641e+02] [ 6.21859065e-01 7.82602489e-01 -2.87166722e-02 2.92108672e+01] [ 4.81699789e-02 -1.62488558e-03 9.98837831e-01 5.13985143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.23710568099997 meters 0.03628637231144558 Centerline is valid? [True, True] Translation: X:136.31, Y:29.22, Z:5.14 [[ 7.76707889e-01 -6.28564574e-01 -4.03909863e-02 1.36308955e+02] [ 6.27852513e-01 7.77754642e-01 -2.99823215e-02 2.92213296e+01] [ 5.02601023e-02 -2.07207662e-03 9.98734013e-01 5.13786707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.26710568099998 meters 0.03491107279488394 Centerline is valid? [True, True] Translation: X:136.33, Y:29.24, Z:5.15 [[ 7.72751078e-01 -6.33493762e-01 -3.92609846e-02 1.36328698e+02] [ 6.32826687e-01 7.73744334e-01 -2.91562812e-02 2.92437351e+01] [ 4.88482866e-02 -2.31485110e-03 9.98803527e-01 5.14611722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.29710568099998 meters 0.0415803680719955 Centerline is valid? [True, True] Translation: X:136.35, Y:29.26, Z:5.15 [[ 7.71511712e-01 -6.35071946e-01 -3.81222045e-02 1.36354673e+02] [ 6.34444211e-01 7.72449469e-01 -2.83259693e-02 2.92553780e+01] [ 4.74365051e-02 -2.33259493e-03 9.98871532e-01 5.14801988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.32710568099998 meters 0.03852922178614411 Centerline is valid? [True, True] Translation: X:136.37, Y:29.28, Z:5.16 [[ 7.69756831e-01 -6.37341300e-01 -3.56439260e-02 1.36368939e+02] [ 6.36794617e-01 7.70578195e-01 -2.64926622e-02 2.92838207e+01] [ 4.43513000e-02 -2.30495249e-03 9.99013338e-01 5.15511113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35710568099998 meters 0.0377957878395526 Centerline is valid? [True, True] Translation: X:136.38, Y:29.31, Z:5.16 [[ 7.69143860e-01 -6.38260989e-01 -3.22588304e-02 1.36384344e+02] [ 6.37813451e-01 7.69817125e-01 -2.39915551e-02 2.93107754e+01] [ 4.01462738e-02 -2.12215864e-03 9.99191560e-01 5.16128446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.38710568099998 meters 0.03770674920946514 Centerline is valid? [True, True] Translation: X:136.40, Y:29.33, Z:5.16 [[ 7.69301645e-01 -6.38132012e-01 -3.10244303e-02 1.36404989e+02] [ 6.37717384e-01 7.69924311e-01 -2.30888242e-02 2.93319853e+01] [ 3.86201810e-02 -2.02254804e-03 9.99251916e-01 5.16388912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41710568099998 meters 0.03693816832684124 Centerline is valid? [True, True] Translation: X:136.42, Y:29.36, Z:5.16 [[ 7.70762993e-01 -6.36315746e-01 -3.20418600e-02 1.36421919e+02] [ 6.35871241e-01 7.71426175e-01 -2.38625584e-02 2.93565541e+01] [ 3.99020511e-02 -1.98212039e-03 9.99201630e-01 5.16288836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44710568099998 meters 0.03600016493064241 Centerline is valid? [True, True] Translation: X:136.44, Y:29.38, Z:5.16 [[ 7.71546729e-01 -6.35359213e-01 -3.21607820e-02 1.36440934e+02] [ 6.34910027e-01 7.72214315e-01 -2.39647571e-02 2.93794966e+01] [ 4.00612454e-02 -1.92927301e-03 9.99195364e-01 5.16435358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47710568099998 meters 0.03403970560791526 Centerline is valid? [True, True] Translation: X:136.45, Y:29.41, Z:5.16 [[ 7.73703362e-01 -6.32694300e-01 -3.28790346e-02 1.36453366e+02] [ 6.32221748e-01 7.74399520e-01 -2.45162272e-02 2.94108030e+01] [ 4.09727857e-02 -1.81855331e-03 9.99158608e-01 5.16470734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50710568099998 meters 0.0320091012044067 Centerline is valid? [True, True] Translation: X:136.47, Y:29.44, Z:5.16 [[ 7.75311786e-01 -6.30699973e-01 -3.33043222e-02 1.36470806e+02] [ 6.30212807e-01 7.76024847e-01 -2.48446138e-02 2.94362842e+01] [ 4.15144788e-02 -1.72648846e-03 9.99136411e-01 5.16419423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53710568099999 meters 0.027313657592407465 Centerline is valid? [True, True] Translation: X:136.48, Y:29.47, Z:5.16 [[ 7.81002868e-01 -6.23559173e-01 -3.47631807e-02 1.36482678e+02] [ 6.23020598e-01 7.81774916e-01 -2.59483170e-02 2.94683189e+01] [ 4.33572938e-02 -1.39246771e-03 9.99058660e-01 5.16320448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.567105681 meters 0.024724913412518604 Centerline is valid? [True, True] Translation: X:136.50, Y:29.49, Z:5.16 [[ 7.84338716e-01 -6.19297146e-01 -3.58304863e-02 1.36499649e+02] [ 6.18720173e-01 7.85155806e-01 -2.67527296e-02 2.94944465e+01] [ 4.47004035e-02 -1.18584306e-03 9.98999734e-01 5.16335765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.597105681 meters 0.01959499258992577 Centerline is valid? [True, True] Translation: X:136.51, Y:29.53, Z:5.16 [[ 7.93377060e-01 -6.07508365e-01 -3.85542113e-02 1.36506850e+02] [ 6.06825428e-01 7.94313093e-01 -2.88029570e-02 2.95329951e+01] [ 4.81221522e-02 -5.44070395e-04 9.98841310e-01 5.16054514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.627105681 meters 0.01878837270755514 Centerline is valid? [True, True] Translation: X:136.51, Y:29.57, Z:5.16 [[ 8.03564234e-01 -5.93961763e-01 -3.86516019e-02 1.36512345e+02] [ 5.93259207e-01 8.04493224e-01 -2.88819299e-02 2.95716571e+01] [ 4.82497139e-02 2.78067189e-04 9.98835266e-01 5.16200795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.657105681 meters 0.021436895551610245 Centerline is valid? [True, True] Translation: X:136.52, Y:29.60, Z:5.16 [[ 8.09755384e-01 -5.85566184e-01 -3.75294749e-02 1.36523107e+02] [ 5.84894449e-01 8.10624242e-01 -2.80503478e-02 2.96033184e+01] [ 4.68476373e-02 7.63138669e-04 9.98901755e-01 5.16348722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.687105681 meters 0.02246302685265337 Centerline is valid? [True, True] Translation: X:136.54, Y:29.62, Z:5.16 [[ 8.11216573e-01 -5.83536828e-01 -3.75824855e-02 1.36543082e+02] [ 5.82860568e-01 8.12086190e-01 -2.80994407e-02 2.96247034e+01] [ 4.69172760e-02 8.89383154e-04 9.98898382e-01 5.16359390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.717105681 meters 0.02334796726168817 Centerline is valid? [True, True] Translation: X:136.56, Y:29.65, Z:5.16 [[ 8.12105223e-01 -5.82201335e-01 -3.90731614e-02 1.36563787e+02] [ 5.81467786e-01 8.13044009e-01 -2.92344428e-02 2.96451155e+01] [ 4.87885315e-02 1.02165906e-03 9.98808608e-01 5.15946505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.747105681 meters 0.02218746584245108 Centerline is valid? [True, True] Translation: X:136.59, Y:29.66, Z:5.15 [[ 8.09523158e-01 -5.85484716e-01 -4.33578459e-02 1.36587281e+02] [ 5.84584937e-01 8.10682910e-01 -3.24603067e-02 2.96589157e+01] [ 5.41544781e-02 9.31026355e-04 9.98532136e-01 5.15192502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.777105681 meters 0.020816710549977174 Centerline is valid? [True, True] Translation: X:136.61, Y:29.67, Z:5.15 [[ 8.07136567e-01 -5.88703675e-01 -4.42554472e-02 1.36612391e+02] [ 5.87770213e-01 8.08348583e-01 -3.31473312e-02 2.96733169e+01] [ 5.52877838e-02 7.42389456e-04 9.98470185e-01 5.15173405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80710568099997 meters 0.018744897677235233 Centerline is valid? [True, True] Translation: X:136.64, Y:29.68, Z:5.16 [[ 8.01877326e-01 -5.96053280e-01 -4.13913224e-02 1.36640340e+02] [ 5.95245710e-01 8.02944850e-01 -3.10179323e-02 2.96825580e+01] [ 5.17232894e-02 2.34569500e-04 9.98661427e-01 5.15849050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83710568099997 meters 0.01839910940247303 Centerline is valid? [True, True] Translation: X:136.67, Y:29.69, Z:5.16 [[ 7.99107072e-01 -5.99907310e-01 -3.92314665e-02 1.36667166e+02] [ 5.99186059e-01 8.00069509e-01 -2.94082842e-02 2.96949088e+01] [ 4.90301448e-02 -6.57991518e-06 9.98797299e-01 5.16380954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86710568099997 meters 0.01873657003067313 Centerline is valid? [True, True] Translation: X:136.70, Y:29.70, Z:5.17 [[ 7.94673934e-01 -6.05978887e-01 -3.58179779e-02 1.36696670e+02] [ 6.05383122e-01 7.95480658e-01 -2.68663087e-02 2.97028966e+01] [ 4.47729245e-02 -3.33644038e-04 9.98997134e-01 5.17171546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89710568099997 meters 0.019510315384846596 Centerline is valid? [True, True] Translation: X:136.72, Y:29.71, Z:5.17 [[ 7.92747602e-01 -6.08474969e-01 -3.61863430e-02 1.36723296e+02] [ 6.07868728e-01 7.93572930e-01 -2.71590655e-02 2.97143671e+01] [ 4.52421137e-02 -4.66262194e-04 9.98975943e-01 5.17143346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92710568099997 meters 0.020000010530510596 Centerline is valid? [True, True] Translation: X:136.75, Y:29.73, Z:5.17 [[ 7.91301185e-01 -6.10288223e-01 -3.72923582e-02 1.36747498e+02] [ 6.09645912e-01 7.92179240e-01 -2.79984454e-02 2.97301299e+01] [ 4.66293535e-02 -5.79930737e-04 9.98912092e-01 5.17050623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95710568099997 meters 0.021077365716227144 Centerline is valid? [True, True] Translation: X:136.77, Y:29.74, Z:5.17 [[ 7.89501340e-01 -6.12638599e-01 -3.68996071e-02 1.36771812e+02] [ 6.12011586e-01 7.90362865e-01 -2.77193119e-02 2.97441084e+01] [ 4.61459997e-02 -6.98553164e-04 9.98934462e-01 5.17146523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.98710568099997 meters 0.023586991574472856 Centerline is valid? [True, True] Translation: X:136.80, Y:29.75, Z:5.18 [[ 7.85188746e-01 -6.18373148e-01 -3.30648298e-02 1.36800525e+02] [ 6.17874526e-01 7.85884088e-01 -2.48449088e-02 2.97539114e+01] [ 4.13485481e-02 -9.21973227e-04 9.99144358e-01 5.17686215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.01710568099998 meters 0.02524620908991303 Centerline is valid? [True, True] Translation: X:136.83, Y:29.76, Z:5.18 [[ 7.81845190e-01 -6.22598503e-01 -3.30030860e-02 1.36829569e+02] [ 6.22104823e-01 7.82540623e-01 -2.48145729e-02 2.97634148e+01] [ 4.12757714e-02 -1.13022450e-03 9.99147153e-01 5.17855145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.04710568099998 meters 0.025193813443574704 Centerline is valid? [True, True] Translation: X:136.85, Y:29.78, Z:5.18 [[ 7.80700230e-01 -6.23999067e-01 -3.36498980e-02 1.36852626e+02] [ 6.23486484e-01 7.81424140e-01 -2.53163541e-02 2.97798392e+01] [ 4.20922239e-02 -1.21577311e-03 9.99112990e-01 5.17919665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07710568099998 meters 0.02654880969921022 Centerline is valid? [True, True] Translation: X:136.88, Y:29.80, Z:5.18 [[ 7.81234857e-01 -6.23357619e-01 -3.31266793e-02 1.36875201e+02] [ 6.22860031e-01 7.81936019e-01 -2.49287886e-02 2.97959490e+01] [ 4.14424941e-02 -1.15804592e-03 9.99140220e-01 5.18061559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.10710568099998 meters 0.023586521379929785 Centerline is valid? [True, True] Translation: X:136.89, Y:29.82, Z:5.18 [[ 7.84019710e-01 -6.19849889e-01 -3.31543279e-02 1.36894993e+02] [ 6.19348036e-01 7.84719809e-01 -2.49565950e-02 2.98180020e+01] [ 4.14862005e-02 -9.67605472e-04 9.99138608e-01 5.18226188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13710568099998 meters 0.02076889640420133 Centerline is valid? [True, True] Translation: X:136.91, Y:29.84, Z:5.19 [[ 7.88056466e-01 -6.14815976e-01 -3.11178574e-02 1.36914817e+02] [ 6.14369491e-01 7.88670333e-01 -2.34357414e-02 2.98390458e+01] [ 3.89503991e-02 -6.49174675e-04 9.99240934e-01 5.18751670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.16710568099998 meters 0.019859659922099156 Centerline is valid? [True, True] Translation: X:136.94, Y:29.86, Z:5.19 [[ 7.89921724e-01 -6.12473537e-01 -2.99972853e-02 1.36935828e+02] [ 6.12056783e-01 7.90490927e-01 -2.25962053e-02 2.98597560e+01] [ 3.75521597e-02 -5.10808503e-04 9.99294538e-01 5.19120187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19710568099998 meters 0.01965587818905899 Centerline is valid? [True, True] Translation: X:136.96, Y:29.88, Z:5.19 [[ 7.91699285e-01 -6.10220769e-01 -2.90319672e-02 1.36956305e+02] [ 6.09828410e-01 7.92231323e-01 -2.18824571e-02 2.98796064e+01] [ 3.63531636e-02 -3.80192759e-04 9.99338933e-01 5.19339919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22710568099998 meters 0.01798643554883472 Centerline is valid? [True, True] Translation: X:136.97, Y:29.91, Z:5.19 [[ 7.96590362e-01 -6.03831434e-01 -2.88339067e-02 1.36971723e+02] [ 6.03439675e-01 7.97112034e-01 -2.17477421e-02 2.99071526e+01] [ 3.61158243e-02 -7.54815699e-05 9.99347608e-01 5.19300185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25710568099998 meters 0.018872070972709206 Centerline is valid? [True, True] Translation: X:136.99, Y:29.93, Z:5.19 [[ 8.02388422e-01 -5.96065696e-01 -2.96396043e-02 1.36989467e+02] [ 5.95645821e-01 8.02935613e-01 -2.23709063e-02 2.99319683e+01] [ 3.71332237e-02 2.95449742e-04 9.99310280e-01 5.19062577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28710568099999 meters 0.02111071963763881 Centerline is valid? [True, True] Translation: X:137.01, Y:29.96, Z:5.18 [[ 8.06860666e-01 -5.89679507e-01 -3.54110782e-02 1.37008336e+02] [ 5.89073096e-01 8.07637023e-01 -2.67456009e-02 2.99555450e+01] [ 4.43706306e-02 7.20259897e-04 9.99014879e-01 5.17926475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.317105681 meters 0.022221591922045134 Centerline is valid? [True, True] Translation: X:137.03, Y:29.97, Z:5.18 [[ 8.08315043e-01 -5.87487226e-01 -3.85428475e-02 1.37030281e+02] [ 5.86765839e-01 8.09232914e-01 -2.91194248e-02 2.99740449e+01] [ 4.82974309e-02 9.22042891e-04 9.98832573e-01 5.17504452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.347105681 meters 0.02335620356116805 Centerline is valid? [True, True] Translation: X:137.05, Y:29.99, Z:5.17 [[ 8.09347546e-01 -5.85944054e-01 -4.03251065e-02 1.37051326e+02] [ 5.85151495e-01 8.10350792e-01 -3.04847783e-02 2.99917264e+01] [ 5.05398566e-02 1.07648414e-03 9.98721465e-01 5.17202624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.377105681 meters 0.025331102672084455 Centerline is valid? [True, True] Translation: X:137.07, Y:30.01, Z:5.17 [[ 8.11350753e-01 -5.83030661e-01 -4.22516663e-02 1.37073739e+02] [ 5.82155959e-01 8.12449067e-01 -3.19523691e-02 3.00105551e+01] [ 5.29565377e-02 1.32751938e-03 9.98595936e-01 5.16990171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.407105681 meters 0.02562209954819641 Centerline is valid? [True, True] Translation: X:137.10, Y:30.03, Z:5.17 [[ 8.11526672e-01 -5.82832020e-01 -4.16088566e-02 1.37096224e+02] [ 5.81983062e-01 8.12591580e-01 -3.14744333e-02 3.00261950e+01] [ 5.21553140e-02 1.32669232e-03 9.98638104e-01 5.17154676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.437105681 meters 0.02439936246339286 Centerline is valid? [True, True] Translation: X:137.12, Y:30.04, Z:5.18 [[ 8.10054541e-01 -5.85068321e-01 -3.88162385e-02 1.37123184e+02] [ 5.84331535e-01 8.10983243e-01 -2.93740849e-02 3.00364477e+01] [ 4.86651655e-02 1.11305863e-03 9.98814529e-01 5.17627424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.467105681 meters 0.021017960948221354 Centerline is valid? [True, True] Translation: X:137.15, Y:30.04, Z:5.18 [[ 8.05833239e-01 -5.91024278e-01 -3.63743620e-02 1.37152701e+02] [ 5.90383088e-01 8.06653455e-01 -2.75320223e-02 3.00438815e+01] [ 4.56135984e-02 7.11410565e-04 9.98958905e-01 5.17881871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.497105681 meters 0.019071754935916323 Centerline is valid? [True, True] Translation: X:137.18, Y:30.05, Z:5.18 [[ 8.03388974e-01 -5.94395503e-01 -3.54984898e-02 1.37180132e+02] [ 5.93787770e-01 8.04172694e-01 -2.68768137e-02 3.00548230e+01] [ 4.45223733e-02 5.13966695e-04 9.99008255e-01 5.18187366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.527105681 meters 0.017818843703270817 Centerline is valid? [True, True] Translation: X:137.21, Y:30.06, Z:5.18 [[ 7.99216619e-01 -6.00079435e-01 -3.40215846e-02 1.37208484e+02] [ 5.99525709e-01 7.99940392e-01 -2.57738930e-02 3.00629416e+01] [ 4.26816228e-02 2.02109038e-04 9.99088704e-01 5.18289988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55710568099997 meters 0.017442724899253123 Centerline is valid? [True, True] Translation: X:137.24, Y:30.07, Z:5.18 [[ 7.95989605e-01 -6.04282771e-01 -3.52545329e-02 1.37237467e+02] [ 6.03691965e-01 7.96769937e-01 -2.67147654e-02 3.00697297e+01] [ 4.42330244e-02 -1.82027097e-05 9.99021241e-01 5.18122422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58710568099997 meters 0.017541689183591242 Centerline is valid? [True, True] Translation: X:137.26, Y:30.08, Z:5.18 [[ 7.94094606e-01 -6.06727605e-01 -3.59912625e-02 1.37263755e+02] [ 6.06113896e-01 7.94909801e-01 -2.72828601e-02 3.00827817e+01] [ 4.51630717e-02 -1.49632247e-04 9.98979617e-01 5.18049147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61710568099997 meters 0.017541689183591242 Centerline is valid? [True, True] Translation: X:137.29, Y:30.10, Z:5.18 [[ 7.93893869e-01 -6.06990722e-01 -3.59831662e-02 1.37285492e+02] [ 6.06376799e-01 7.94708903e-01 -2.72935347e-02 3.00996091e+01] [ 4.51630648e-02 -1.51187265e-04 9.98979617e-01 5.18150886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64710568099997 meters 0.01784286827909892 Centerline is valid? [True, True] Translation: X:137.31, Y:30.11, Z:5.18 [[ 7.91224166e-01 -6.10482157e-01 -3.57191256e-02 1.37312652e+02] [ 6.09879926e-01 7.92029940e-01 -2.71118257e-02 3.01108690e+01] [ 4.48419027e-02 -3.32846012e-04 9.98994041e-01 5.18392247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67710568099997 meters 0.01805691824791673 Centerline is valid? [True, True] Translation: X:137.34, Y:30.12, Z:5.18 [[ 7.90384037e-01 -6.11526851e-01 -3.64415133e-02 1.37337061e+02] [ 6.10900323e-01 7.91223585e-01 -2.76773359e-02 3.01248876e+01] [ 4.57588188e-02 -3.86407767e-04 9.98952442e-01 5.18405045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.70710568099997 meters 0.018997046630924583 Centerline is valid? [True, True] Translation: X:137.36, Y:30.14, Z:5.18 [[ 7.87669360e-01 -6.14938140e-01 -3.77897208e-02 1.37364666e+02] [ 6.14267804e-01 7.88575124e-01 -2.87113034e-02 3.01367478e+01] [ 4.74557092e-02 -5.97994864e-04 9.98873164e-01 5.18387307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.73710568099997 meters 0.01987144138973303 Centerline is valid? [True, True] Translation: X:137.39, Y:30.15, Z:5.19 [[ 7.85826729e-01 -6.17453092e-01 -3.50432884e-02 1.37390762e+02] [ 6.16878496e-01 7.86607407e-01 -2.66403506e-02 3.01481362e+01] [ 4.40144771e-02 -6.82751486e-04 9.99030660e-01 5.19006443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.76710568099998 meters 0.020500179485137375 Centerline is valid? [True, True] Translation: X:137.42, Y:30.16, Z:5.19 [[ 7.84477855e-01 -6.19250405e-01 -3.35176298e-02 1.37415785e+02] [ 6.18725993e-01 7.85193216e-01 -2.54903663e-02 3.01622985e+01] [ 4.21027352e-02 -7.41600953e-04 9.99113011e-01 5.19315434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.79710568099998 meters 0.021993718060497384 Centerline is valid? [True, True] Translation: X:137.44, Y:30.17, Z:5.20 [[ 7.82434898e-01 -6.21849536e-01 -3.31479388e-02 1.37441983e+02] [ 6.21338300e-01 7.83136269e-01 -2.52249880e-02 3.01732339e+01] [ 4.16455002e-02 -8.59173102e-04 9.99132080e-01 5.19504494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.82710568099998 meters 0.022087354248261405 Centerline is valid? [True, True] Translation: X:137.47, Y:30.19, Z:5.20 [[ 7.81067201e-01 -6.23567363e-01 -3.31326422e-02 1.37465842e+02] [ 6.23057730e-01 7.81769055e-01 -2.52232004e-02 3.01897010e+01] [ 4.16304389e-02 -9.42534254e-04 9.99132633e-01 5.19529512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85710568099998 meters 0.023102980685032682 Centerline is valid? [True, True] Translation: X:137.49, Y:30.20, Z:5.20 [[ 7.80877838e-01 -6.23830290e-01 -3.26430987e-02 1.37489961e+02] [ 6.23335185e-01 7.81559278e-01 -2.48664998e-02 3.02022826e+01] [ 4.10249925e-02 -9.29893391e-04 9.99157688e-01 5.19696629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88710568099998 meters 0.021362119876411605 Centerline is valid? [True, True] Translation: X:137.51, Y:30.22, Z:5.20 [[ 7.83528015e-01 -6.20615646e-01 -3.03326599e-02 1.37510169e+02] [ 6.20185469e-01 7.84114614e-01 -2.31139556e-02 3.02222388e+01] [ 3.81291644e-02 -7.01443151e-04 9.99272573e-01 5.20252321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91710568099998 meters 0.017972055606717385 Centerline is valid? [True, True] Translation: X:137.53, Y:30.25, Z:5.20 [[ 7.89126746e-01 -6.13480619e-01 -3.03398857e-02 1.37525095e+02] [ 6.13044385e-01 7.89709701e-01 -2.31337534e-02 3.02500127e+01] [ 3.81518114e-02 -3.44233033e-04 9.99271895e-01 5.20353053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94710568099998 meters 0.017157582418664826 Centerline is valid? [True, True] Translation: X:137.54, Y:30.27, Z:5.20 [[ 7.92178479e-01 -6.09527994e-01 -3.04775670e-02 1.37544967e+02] [ 6.09084357e-01 7.92764533e-01 -2.32516943e-02 3.02723511e+01] [ 3.83340927e-02 -1.43917473e-04 9.99264968e-01 5.20332895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97710568099998 meters 0.01800740493286614 Centerline is valid? [True, True] Translation: X:137.56, Y:30.30, Z:5.20 [[ 7.98607013e-01 -6.01008021e-01 -3.18778407e-02 1.37559868e+02] [ 6.00515230e-01 7.99242938e-01 -2.43348447e-02 3.02992083e+01] [ 4.01035759e-02 2.90848823e-04 9.99195486e-01 5.20092578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00710568099998 meters 0.019361642688359555 Centerline is valid? [True, True] Translation: X:137.58, Y:30.32, Z:5.20 [[ 8.01939632e-01 -5.96543110e-01 -3.20802736e-02 1.37578312e+02] [ 5.96040186e-01 8.02580864e-01 -2.44959667e-02 3.03220186e+01] [ 4.03599139e-02 5.23154248e-04 9.99185070e-01 5.20155708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03710568099999 meters 0.02501456020059786 Centerline is valid? [True, True] Translation: X:137.59, Y:30.35, Z:5.20 [[ 8.09531158e-01 -5.86329791e-01 -2.96087991e-02 1.37594731e+02] [ 5.85894007e-01 8.10071876e-01 -2.26223249e-02 3.03493143e+01] [ 3.72493985e-02 9.65858892e-04 9.99305534e-01 5.20442287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.067105681 meters 0.027197628018617352 Centerline is valid? [True, True] Translation: X:137.62, Y:30.37, Z:5.21 [[ 8.13640934e-01 -5.80651472e-01 -2.88495816e-02 1.37618958e+02] [ 5.80233747e-01 8.14151348e-01 -2.20540695e-02 3.03662660e+01] [ 3.62936537e-02 1.20459290e-03 9.99340442e-01 5.20675741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.097105681 meters 0.030930690606871307 Centerline is valid? [True, True] Translation: X:137.64, Y:30.39, Z:5.21 [[ 8.14150327e-01 -5.79886440e-01 -2.98489915e-02 1.37637906e+02] [ 5.79438238e-01 8.14696290e-01 -2.28316086e-02 3.03865887e+01] [ 3.75576029e-02 1.29271454e-03 9.99293628e-01 5.20623063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.127105681 meters 0.02773394634632242 Centerline is valid? [True, True] Translation: X:137.67, Y:30.40, Z:5.20 [[ 8.13250358e-01 -5.81123228e-01 -3.03257181e-02 1.37665011e+02] [ 5.80661181e-01 8.13814600e-01 -2.32032252e-02 3.03989746e+01] [ 3.81634453e-02 1.26106391e-03 9.99270715e-01 5.20397048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.157105681 meters 0.02724909259008945 Centerline is valid? [True, True] Translation: X:137.69, Y:30.41, Z:5.20 [[ 8.11249604e-01 -5.83750363e-01 -3.33105595e-02 1.37692460e+02] [ 5.83194333e-01 8.11932212e-01 -2.55039980e-02 3.04087801e+01] [ 4.19338843e-02 1.26357875e-03 9.99119589e-01 5.19801728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.187105681 meters 0.026364341032414227 Centerline is valid? [True, True] Translation: X:137.72, Y:30.42, Z:5.20 [[ 8.09312734e-01 -5.86409035e-01 -3.37245156e-02 1.37719333e+02] [ 5.85841079e-01 8.10014278e-01 -2.58282765e-02 3.04197706e+01] [ 4.24632738e-02 1.14594644e-03 9.99097371e-01 5.19713315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.217105681 meters 0.02254206018372716 Centerline is valid? [True, True] Translation: X:137.75, Y:30.42, Z:5.20 [[ 8.05126814e-01 -5.92165459e-01 -3.33299006e-02 1.37751831e+02] [ 5.91615026e-01 8.05815956e-01 -2.55402753e-02 3.04245653e+01] [ 4.19818346e-02 8.44690502e-04 9.99118017e-01 5.19897818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.247105681 meters 0.020549445401279613 Centerline is valid? [True, True] Translation: X:137.78, Y:30.44, Z:5.20 [[ 8.02866813e-01 -5.95270564e-01 -3.25244036e-02 1.37778467e+02] [ 5.94748722e-01 8.03525050e-01 -2.49289331e-02 3.04367375e+01] [ 4.09736331e-02 6.70765581e-04 9.99160003e-01 5.20078023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.277105681 meters 0.01844132814483599 Centerline is valid? [True, True] Translation: X:137.81, Y:30.44, Z:5.20 [[ 7.99181090e-01 -6.00259516e-01 -3.15927172e-02 1.37810294e+02] [ 5.99770432e-01 7.99805189e-01 -2.42298955e-02 3.04431181e+01] [ 3.98122445e-02 4.15696660e-04 9.99207092e-01 5.20267138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30710568099997 meters 0.01753710428678006 Centerline is valid? [True, True] Translation: X:137.84, Y:30.45, Z:5.20 [[ 7.96135551e-01 -6.04294895e-01 -3.15573367e-02 1.37842390e+02] [ 6.03809427e-01 7.96760710e-01 -2.42187442e-02 3.04482155e+01] [ 3.97789095e-02 2.26785834e-04 9.99208480e-01 5.20417208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33710568099997 meters 0.017370587572006043 Centerline is valid? [True, True] Translation: X:137.87, Y:30.46, Z:5.20 [[ 7.94317882e-01 -6.06680962e-01 -3.15802536e-02 1.37868254e+02] [ 6.06196032e-01 7.94945404e-01 -2.42523267e-02 3.04610231e+01] [ 3.98180024e-02 1.20232356e-04 9.99206942e-01 5.20469889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36710568099997 meters 0.01727247805156878 Centerline is valid? [True, True] Translation: X:137.90, Y:30.47, Z:5.21 [[ 7.90954454e-01 -6.11060597e-01 -3.15594369e-02 1.37895383e+02] [ 6.10579397e-01 7.91583816e-01 -2.42458643e-02 3.04719141e+01] [ 3.97976318e-02 -9.21675730e-05 9.99207756e-01 5.20557812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39710568099997 meters 0.0173293698364378 Centerline is valid? [True, True] Translation: X:137.92, Y:30.49, Z:5.21 [[ 7.89865120e-01 -6.12439992e-01 -3.20990232e-02 1.37919347e+02] [ 6.11942530e-01 7.90517067e-01 -2.46800750e-02 3.04866727e+01] [ 4.04898906e-02 -1.48827060e-04 9.99179937e-01 5.20697298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42710568099997 meters 0.017520103411206772 Centerline is valid? [True, True] Translation: X:137.94, Y:30.50, Z:5.21 [[ 7.90145024e-01 -6.12078804e-01 -3.20995157e-02 1.37943282e+02] [ 6.11580247e-01 7.90796765e-01 -2.46997501e-02 3.05013669e+01] [ 4.05023867e-02 -1.15045126e-04 9.99179435e-01 5.20796624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45710568099997 meters 0.017614496179483147 Centerline is valid? [True, True] Translation: X:137.97, Y:30.52, Z:5.21 [[ 7.91847264e-01 -6.09859560e-01 -3.23917772e-02 1.37965719e+02] [ 6.09349238e-01 7.92509506e-01 -2.49437261e-02 3.05171616e+01] [ 4.08829611e-02 1.37165426e-05 9.99163942e-01 5.21077043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.48710568099997 meters 0.017560094806226743 Centerline is valid? [True, True] Translation: X:137.99, Y:30.53, Z:5.21 [[ 7.92820386e-01 -6.08618896e-01 -3.19198093e-02 1.37988133e+02] [ 6.08121797e-01 7.93462684e-01 -2.45936690e-02 3.05344482e+01] [ 4.02953493e-02 8.72304205e-05 9.99187809e-01 5.21412150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.51710568099998 meters 0.018282025880400773 Centerline is valid? [True, True] Translation: X:138.01, Y:30.55, Z:5.22 [[ 7.95668068e-01 -6.05033368e-01 -2.91023921e-02 1.38010694e+02] [ 6.04617184e-01 7.96200074e-01 -2.24388822e-02 3.05517196e+01] [ 3.67475992e-02 2.58095719e-04 9.99324546e-01 5.22053168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.54710568099998 meters 0.019560557364336328 Centerline is valid? [True, True] Translation: X:138.03, Y:30.57, Z:5.22 [[ 7.98997592e-01 -6.00661582e-01 -2.84343442e-02 1.38031095e+02] [ 6.00261021e-01 7.99503253e-01 -2.19375228e-02 3.05714020e+01] [ 3.59103778e-02 4.59999439e-04 9.99354909e-01 5.22111411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57710568099998 meters 0.02041693764883492 Centerline is valid? [True, True] Translation: X:138.05, Y:30.59, Z:5.22 [[ 8.00485239e-01 -5.98630577e-01 -2.94077441e-02 1.38052604e+02] [ 5.98200527e-01 8.01025032e-01 -2.26942173e-02 3.05901928e+01] [ 3.71417916e-02 5.74657942e-04 9.99309840e-01 5.21964953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.60710568099998 meters 0.02308503302946417 Centerline is valid? [True, True] Translation: X:138.07, Y:30.61, Z:5.22 [[ 8.04514079e-01 -5.93130520e-01 -3.08752839e-02 1.38074002e+02] [ 5.92651766e-01 8.05105835e-01 -2.38427758e-02 3.06077535e+01] [ 3.89997492e-02 8.83557239e-04 9.99238830e-01 5.21759472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63710568099998 meters 0.024061137936370436 Centerline is valid? [True, True] Translation: X:138.10, Y:30.62, Z:5.22 [[ 8.06521424e-01 -5.90316941e-01 -3.23898433e-02 1.38099759e+02] [ 5.89787475e-01 8.07170832e-01 -2.50196587e-02 3.06212613e+01] [ 4.09136651e-02 1.07576685e-03 9.99162106e-01 5.21711365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.66710568099998 meters 0.024412400165159207 Centerline is valid? [True, True] Translation: X:138.12, Y:30.64, Z:5.22 [[ 8.06520299e-01 -5.90275719e-01 -3.31599656e-02 1.38123388e+02] [ 5.89720046e-01 8.07200922e-01 -2.56308223e-02 3.06363375e+01] [ 4.18960069e-02 1.11668202e-03 9.99121353e-01 5.21688964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69710568099998 meters 0.023828544325741288 Centerline is valid? [True, True] Translation: X:138.15, Y:30.65, Z:5.22 [[ 8.05635473e-01 -5.91413461e-01 -3.43744663e-02 1.38151548e+02] [ 5.90816996e-01 8.06367721e-01 -2.65777091e-02 3.06474603e+01] [ 4.34368750e-02 1.10292628e-03 9.99055565e-01 5.21691069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72710568099998 meters 0.023803130411742483 Centerline is valid? [True, True] Translation: X:138.18, Y:30.66, Z:5.22 [[ 8.05405910e-01 -5.91653679e-01 -3.55983871e-02 1.38176176e+02] [ 5.91013440e-01 8.06191429e-01 -2.75407797e-02 3.06616030e+01] [ 4.49937181e-02 1.14238149e-03 9.98986617e-01 5.21607086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75710568099998 meters 0.02495310569742178 Centerline is valid? [True, True] Translation: X:138.20, Y:30.67, Z:5.21 [[ 8.06286034e-01 -5.90368465e-01 -3.69852220e-02 1.38202429e+02] [ 5.89675550e-01 8.07132867e-01 -2.86231024e-02 3.06748093e+01] [ 4.67501653e-02 1.26912658e-03 9.98905807e-01 5.21331355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.78710568099999 meters 0.025320467448201194 Centerline is valid? [True, True] Translation: X:138.23, Y:30.69, Z:5.21 [[ 8.07002347e-01 -5.89367264e-01 -3.73288054e-02 1.38226508e+02] [ 5.88659535e-01 8.07864095e-01 -2.89059793e-02 3.06900181e+01] [ 4.71928395e-02 1.35323596e-03 9.98884881e-01 5.21386168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.817105681 meters 0.02713320706023665 Centerline is valid? [True, True] Translation: X:138.25, Y:30.70, Z:5.22 [[ 8.08272520e-01 -5.87672354e-01 -3.65614305e-02 1.38250683e+02] [ 5.86991288e-01 8.09097744e-01 -2.83208061e-02 3.07036244e+01] [ 4.62251257e-02 1.42968812e-03 9.98930024e-01 5.21566793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.847105681 meters 0.026113489243125163 Centerline is valid? [True, True] Translation: X:138.28, Y:30.71, Z:5.22 [[ 8.07017300e-01 -5.89464314e-01 -3.54245526e-02 1.38278306e+02] [ 5.88826325e-01 8.07793385e-01 -2.74482597e-02 3.07148710e+01] [ 4.47954889e-02 1.29231133e-03 9.98995342e-01 5.21634410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.877105681 meters 0.024209546602022777 Centerline is valid? [True, True] Translation: X:138.31, Y:30.72, Z:5.21 [[ 8.04381892e-01 -5.92970367e-01 -3.68227622e-02 1.38309033e+02] [ 5.92283777e-01 8.05223452e-01 -2.85503012e-02 3.07228209e+01] [ 4.65800343e-02 1.15582065e-03 9.98913892e-01 5.21483753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.907105681 meters 0.02309952350489091 Centerline is valid? [True, True] Translation: X:138.34, Y:30.73, Z:5.21 [[ 8.02646696e-01 -5.95231178e-01 -3.81854184e-02 1.38335689e+02] [ 5.94494416e-01 8.03553783e-01 -2.96261149e-02 3.07349583e+01] [ 4.83184247e-02 1.07828518e-03 9.98831401e-01 5.21465047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.937105681 meters 0.020824552265621795 Centerline is valid? [True, True] Translation: X:138.37, Y:30.74, Z:5.21 [[ 7.98487458e-01 -6.00754893e-01 -3.88759199e-02 1.38365034e+02] [ 5.99996803e-01 7.99432899e-01 -3.01807372e-02 3.07437707e+01] [ 4.92099149e-02 7.73512470e-04 9.98788159e-01 5.21325480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.967105681 meters 0.019691820619815767 Centerline is valid? [True, True] Translation: X:138.39, Y:30.76, Z:5.22 [[ 7.96424712e-01 -6.03548594e-01 -3.79047885e-02 1.38391298e+02] [ 6.02830278e-01 7.97325991e-01 -2.94435092e-02 3.07577091e+01] [ 4.79930616e-02 5.99384207e-04 9.98847489e-01 5.21540354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.997105681 meters 0.018660070308900382 Centerline is valid? [True, True] Translation: X:138.42, Y:30.77, Z:5.22 [[ 7.93608293e-01 -6.07305238e-01 -3.69624811e-02 1.38420433e+02] [ 6.06625495e-01 7.94468506e-01 -2.87280609e-02 3.07673759e+01] [ 4.68122290e-02 3.76443954e-04 9.98903636e-01 5.21912779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.027105681 meters 0.018210648193131077 Centerline is valid? [True, True] Translation: X:138.45, Y:30.78, Z:5.22 [[ 7.92279750e-01 -6.08983995e-01 -3.78323991e-02 1.38447741e+02] [ 6.08272833e-01 7.93182453e-01 -2.94237420e-02 3.07778882e+01] [ 4.79265830e-02 2.99414391e-04 9.98850816e-01 5.22285196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05710568099997 meters 0.018454008152951604 Centerline is valid? [True, True] Translation: X:138.47, Y:30.79, Z:5.22 [[ 7.91737045e-01 -6.09657366e-01 -3.83451161e-02 1.38470151e+02] [ 6.08926589e-01 7.92665010e-01 -2.98427686e-02 3.07936657e+01] [ 4.85886956e-02 2.78264708e-04 9.98818833e-01 5.22107951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08710568099997 meters 0.018022254997547272 Centerline is valid? [True, True] Translation: X:138.50, Y:30.81, Z:5.22 [[ 7.90938967e-01 -6.10706596e-01 -3.81182945e-02 1.38495900e+02] [ 6.09985038e-01 7.91856934e-01 -2.96791201e-02 3.08069997e+01] [ 4.83094702e-02 2.22783209e-04 9.98832391e-01 5.22240256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11710568099997 meters 0.018103733717812327 Centerline is valid? [True, True] Translation: X:138.52, Y:30.82, Z:5.22 [[ 7.90277113e-01 -6.11595855e-01 -3.75845081e-02 1.38520469e+02] [ 6.10894463e-01 7.91170322e-01 -2.92827184e-02 3.08205398e+01] [ 4.76449365e-02 1.81294292e-04 9.98864319e-01 5.21990396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14710568099997 meters 0.01792349941176414 Centerline is valid? [True, True] Translation: X:138.55, Y:30.83, Z:5.22 [[ 7.89449303e-01 -6.12650947e-01 -3.77970230e-02 1.38545514e+02] [ 6.11942212e-01 7.90353592e-01 -2.94606170e-02 3.08346748e+01] [ 4.79220878e-02 1.28069706e-04 9.98851069e-01 5.22275539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17710568099997 meters 0.017833485457858327 Centerline is valid? [True, True] Translation: X:138.57, Y:30.85, Z:5.22 [[ 7.88020726e-01 -6.14476095e-01 -3.79797974e-02 1.38569990e+02] [ 6.13761495e-01 7.88935440e-01 -2.96259966e-02 3.08483643e+01] [ 4.81680748e-02 3.53620916e-05 9.98839244e-01 5.22436221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.20710568099997 meters 0.017929576764589224 Centerline is valid? [True, True] Translation: X:138.60, Y:30.86, Z:5.23 [[ 7.84802497e-01 -6.18557986e-01 -3.83543767e-02 1.38597509e+02] [ 6.17832967e-01 7.85739129e-01 -2.99407232e-02 3.08598257e+01] [ 4.86566080e-02 -1.99044036e-04 9.98815546e-01 5.22698801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.23710568099997 meters 0.018357889240435257 Centerline is valid? [True, True] Translation: X:138.62, Y:30.87, Z:5.23 [[ 7.82073216e-01 -6.22096651e-01 -3.68407570e-02 1.38622330e+02] [ 6.21430749e-01 7.82940360e-01 -2.87787535e-02 3.08730394e+01] [ 4.67472817e-02 -3.86886909e-04 9.98906673e-01 5.22925639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.26710568099998 meters 0.019154370572378034 Centerline is valid? [True, True] Translation: X:138.65, Y:30.88, Z:5.23 [[ 7.80260615e-01 -6.24432565e-01 -3.57399619e-02 1.38648446e+02] [ 6.23807487e-01 7.81078566e-01 -2.79373215e-02 3.08842735e+01] [ 4.53606915e-02 -4.96464158e-04 9.98970551e-01 5.23376633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.29710568099998 meters 0.01947678216430804 Centerline is valid? [True, True] Translation: X:138.67, Y:30.90, Z:5.24 [[ 7.79503327e-01 -6.25385335e-01 -3.56054135e-02 1.38671126e+02] [ 6.24765536e-01 7.80315890e-01 -2.78412925e-02 3.09011580e+01] [ 4.51950060e-02 -5.42655087e-04 9.98978036e-01 5.23628808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.32710568099998 meters 0.019841488746864856 Centerline is valid? [True, True] Translation: X:138.69, Y:30.92, Z:5.24 [[ 7.77731609e-01 -6.27665743e-01 -3.41944210e-02 1.38692282e+02] [ 6.27095500e-01 7.78482699e-01 -2.67566993e-02 3.09205566e+01] [ 4.34140287e-02 -6.33636657e-04 9.99056966e-01 5.23768830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35710568099998 meters 0.020250448512379643 Centerline is valid? [True, True] Translation: X:138.71, Y:30.94, Z:5.24 [[ 7.76110548e-01 -6.29709701e-01 -3.34381562e-02 1.38714616e+02] [ 6.29165582e-01 7.76830211e-01 -2.61819350e-02 3.09382590e+01] [ 4.24627884e-02 -7.18061090e-04 9.99097791e-01 5.23949797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38710568099998 meters 0.021590470220917864 Centerline is valid? [True, True] Translation: X:138.74, Y:30.96, Z:5.24 [[ 7.72818833e-01 -6.33710213e-01 -3.40942356e-02 1.38737922e+02] [ 6.33147592e-01 7.73569958e-01 -2.67141711e-02 3.09551156e+01] [ 4.33033194e-02 -9.41468576e-04 9.99061528e-01 5.24052709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41710568099998 meters 0.02326978029570279 Centerline is valid? [True, True] Translation: X:138.76, Y:30.97, Z:5.24 [[ 7.70090966e-01 -6.37011296e-01 -3.43003304e-02 1.38760191e+02] [ 6.36444294e-01 7.70853654e-01 -2.68943264e-02 3.09732830e+01] [ 4.35725248e-02 -1.11917172e-03 9.99049640e-01 5.24142212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44710568099998 meters 0.023624929143997463 Centerline is valid? [True, True] Translation: X:138.78, Y:30.99, Z:5.24 [[ 7.69333687e-01 -6.37970654e-01 -3.34532985e-02 1.38782240e+02] [ 6.37431478e-01 7.70059845e-01 -2.62477652e-02 3.09921872e+01] [ 4.25063458e-02 -1.13089554e-03 9.99095557e-01 5.24277883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47710568099998 meters 0.023620818626989098 Centerline is valid? [True, True] Translation: X:138.80, Y:31.01, Z:5.25 [[ 7.68962946e-01 -6.38507323e-01 -3.16920512e-02 1.38801869e+02] [ 6.38023232e-01 7.69614980e-01 -2.48824797e-02 3.10117870e+01] [ 4.02783229e-02 -1.08655999e-03 9.99187908e-01 5.24626076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50710568099998 meters 0.023270914483927825 Centerline is valid? [True, True] Translation: X:138.82, Y:31.03, Z:5.25 [[ 7.69571946e-01 -6.37749105e-01 -3.21729510e-02 1.38820729e+02] [ 6.37248721e-01 7.70243457e-01 -2.52801296e-02 3.10340143e+01] [ 4.09033850e-02 -1.04729335e-03 9.99162557e-01 5.24672673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53710568099999 meters 0.023270914483927825 Centerline is valid? [True, True] Translation: X:138.84, Y:31.05, Z:5.25 [[ 7.69327187e-01 -6.38044774e-01 -3.21643627e-02 1.38842269e+02] [ 6.37544192e-01 7.69998549e-01 -2.52910523e-02 3.10512404e+01] [ 4.09033364e-02 -1.04910849e-03 9.99162558e-01 5.24774483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.567105681 meters 0.02312743080814109 Centerline is valid? [True, True] Translation: X:138.86, Y:31.07, Z:5.25 [[ 7.69581929e-01 -6.37724957e-01 -3.24119232e-02 1.38861977e+02] [ 6.37215558e-01 7.70263479e-01 -2.55050116e-02 3.10710265e+01] [ 4.12309032e-02 -1.02518565e-03 9.99149119e-01 5.24791212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.597105681 meters 0.023002800796859436 Centerline is valid? [True, True] Translation: X:138.88, Y:31.09, Z:5.25 [[ 7.70236846e-01 -6.36906606e-01 -3.29420191e-02 1.38881170e+02] [ 6.36379220e-01 7.70940333e-01 -2.59324493e-02 3.10921101e+01] [ 4.19128794e-02 -9.89488432e-04 9.99120779e-01 5.24775084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.627105681 meters 0.022114725137884747 Centerline is valid? [True, True] Translation: X:138.90, Y:31.11, Z:5.25 [[ 7.71125032e-01 -6.35772466e-01 -3.40522490e-02 1.38902331e+02] [ 6.35207451e-01 7.71875938e-01 -2.68147471e-02 3.11117678e+01] [ 4.33321896e-02 -9.52719580e-04 9.99060265e-01 5.24899523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.657105681 meters 0.021491473669345198 Centerline is valid? [True, True] Translation: X:138.92, Y:31.13, Z:5.25 [[ 7.72405108e-01 -6.34241658e-01 -3.35837389e-02 1.38922150e+02] [ 6.33689895e-01 7.73134407e-01 -2.64633017e-02 3.11336169e+01] [ 4.27488724e-02 -8.41286505e-04 9.99085495e-01 5.24949193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.687105681 meters 0.021470640598944598 Centerline is valid? [True, True] Translation: X:138.94, Y:31.15, Z:5.25 [[ 7.72716136e-01 -6.33858004e-01 -3.36719993e-02 1.38941483e+02] [ 6.33302252e-01 7.73449013e-01 -2.65495988e-02 3.11522307e+01] [ 4.28722504e-02 -8.09249575e-04 9.99080235e-01 5.24956082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.717105681 meters 0.020093333086861023 Centerline is valid? [True, True] Translation: X:138.96, Y:31.18, Z:5.25 [[ 7.75227997e-01 -6.30725437e-01 -3.47415726e-02 1.38958878e+02] [ 6.30130114e-01 7.76005802e-01 -2.74049943e-02 3.11770184e+01] [ 4.42446889e-02 -6.46592272e-04 9.99020515e-01 5.24880023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.747105681 meters 0.019024110943800222 Centerline is valid? [True, True] Translation: X:138.98, Y:31.20, Z:5.25 [[ 7.78078013e-01 -6.27137522e-01 -3.59601763e-02 1.38976856e+02] [ 6.26495080e-01 7.78908423e-01 -2.83827979e-02 3.11993703e+01] [ 4.58096017e-02 -4.44842540e-04 9.98950090e-01 5.24733532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.777105681 meters 0.017770525467656385 Centerline is valid? [True, True] Translation: X:138.99, Y:31.23, Z:5.25 [[ 7.85223201e-01 -6.18019661e-01 -3.84216620e-02 1.38989399e+02] [ 6.17274661e-01 7.86162635e-01 -3.03365334e-02 3.12286658e+01] [ 4.89542491e-02 1.04231514e-04 9.98801017e-01 5.24584988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80710568099997 meters 0.01855621603555248 Centerline is valid? [True, True] Translation: X:139.01, Y:31.25, Z:5.25 [[ 7.88744342e-01 -6.13464461e-01 -3.92901677e-02 1.39007198e+02] [ 6.12678718e-01 7.89722220e-01 -3.10419727e-02 3.12507995e+01] [ 5.00714655e-02 4.11930784e-04 9.98745553e-01 5.24646910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83710568099997 meters 0.021719682604689573 Centerline is valid? [True, True] Translation: X:139.02, Y:31.28, Z:5.25 [[ 7.94605390e-01 -6.05785938e-01 -4.03196148e-02 1.39021577e+02] [ 6.04947840e-01 7.95627130e-01 -3.18681725e-02 3.12783880e+01] [ 5.13846702e-02 9.31357702e-04 9.98678501e-01 5.24613963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86710568099997 meters 0.024483630028440218 Centerline is valid? [True, True] Translation: X:139.04, Y:31.30, Z:5.25 [[ 7.98726756e-01 -6.00392682e-01 -3.95499205e-02 1.39037707e+02] [ 5.99578909e-01 7.99704334e-01 -3.12747317e-02 3.13046621e+01] [ 5.04053629e-02 1.26666678e-03 9.98728039e-01 5.24561934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89710568099997 meters 0.02653907314517895 Centerline is valid? [True, True] Translation: X:139.06, Y:31.33, Z:5.25 [[ 8.00417591e-01 -5.98121434e-01 -3.97797673e-02 1.39056443e+02] [ 5.97294873e-01 8.01404216e-01 -3.14661422e-02 3.13251773e+01] [ 5.07002473e-02 1.42580272e-03 9.98712898e-01 5.24518173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92710568099997 meters 0.026128904187865936 Centerline is valid? [True, True] Translation: X:139.08, Y:31.34, Z:5.25 [[ 8.03109511e-01 -5.94399159e-01 -4.12886656e-02 1.39081682e+02] [ 5.93502930e-01 8.04168281e-01 -3.26748852e-02 3.13406531e+01] [ 5.26249595e-02 1.73656708e-03 9.98612837e-01 5.24796600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95710568099997 meters 0.027402339141680103 Centerline is valid? [True, True] Translation: X:139.11, Y:31.36, Z:5.25 [[ 8.04764992e-01 -5.92156124e-01 -4.12847616e-02 1.39105512e+02] [ 5.91256024e-01 8.05821019e-01 -3.26924990e-02 3.13571891e+01] [ 5.26271922e-02 1.89991475e-03 9.98612422e-01 5.25046074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.98710568099997 meters 0.02783656223822464 Centerline is valid? [True, True] Translation: X:139.13, Y:31.37, Z:5.25 [[ 8.04792425e-01 -5.92162521e-01 -4.06534169e-02 1.39127023e+02] [ 5.91288866e-01 8.05816355e-01 -3.22099308e-02 3.13740940e+01] [ 5.18327020e-02 1.88439554e-03 9.98654004e-01 5.25181391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.01710568099998 meters 0.027297315410748563 Centerline is valid? [True, True] Translation: X:139.15, Y:31.39, Z:5.25 [[ 8.04257659e-01 -5.92881104e-01 -4.07629089e-02 1.39152875e+02] [ 5.92003049e-01 8.05287877e-01 -3.23082870e-02 3.13883225e+01] [ 5.19808492e-02 1.85242091e-03 9.98646364e-01 5.25218831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.04710568099998 meters 0.025968454224711453 Centerline is valid? [True, True] Translation: X:139.18, Y:31.40, Z:5.25 [[ 8.02913550e-01 -5.94682062e-01 -4.10253132e-02 1.39180556e+02] [ 5.93793858e-01 8.03959036e-01 -3.25380156e-02 3.13994198e+01] [ 5.23324455e-02 1.76463457e-03 9.98628160e-01 5.25360199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07710568099998 meters 0.025477441853001763 Centerline is valid? [True, True] Translation: X:139.21, Y:31.41, Z:5.26 [[ 8.02130063e-01 -5.95736407e-01 -4.10547878e-02 1.39205930e+02] [ 5.94847181e-01 8.03178184e-01 -3.25827629e-02 3.14146800e+01] [ 5.23850479e-02 1.71428886e-03 9.98625489e-01 5.25527191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.10710568099998 meters 0.024066671131942132 Centerline is valid? [True, True] Translation: X:139.23, Y:31.43, Z:5.26 [[ 8.00167803e-01 -5.98459250e-01 -3.97242204e-02 1.39234722e+02] [ 5.97629270e-01 8.01151844e-01 -3.15432735e-02 3.14251864e+01] [ 5.07024962e-02 1.49955495e-03 9.98712676e-01 5.26113645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13710568099998 meters 0.02386963093201077 Centerline is valid? [True, True] Translation: X:139.26, Y:31.44, Z:5.27 [[ 7.99490261e-01 -5.99446131e-01 -3.84663352e-02 1.39259642e+02] [ 5.98668465e-01 8.00413876e-01 -3.05564338e-02 3.14395194e+01] [ 4.91059245e-02 1.40098934e-03 9.98792594e-01 5.26519389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.16710568099998 meters 0.02437340701810253 Centerline is valid? [True, True] Translation: X:139.29, Y:31.45, Z:5.27 [[ 7.99255472e-01 -5.99896892e-01 -3.62547793e-02 1.39285101e+02] [ 5.99205865e-01 8.00076253e-01 -2.88152796e-02 3.14524293e+01] [ 4.62927846e-02 1.30669349e-03 9.98927060e-01 5.26886885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19710568099998 meters 0.02415342422781989 Centerline is valid? [True, True] Translation: X:139.31, Y:31.47, Z:5.27 [[ 7.99187331e-01 -5.99968866e-01 -3.65645902e-02 1.39309810e+02] [ 5.99265611e-01 8.00022259e-01 -2.90708301e-02 3.14682303e+01] [ 4.66940790e-02 1.32113761e-03 9.98908363e-01 5.26848871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22710568099998 meters 0.024402702053498256 Centerline is valid? [True, True] Translation: X:139.34, Y:31.48, Z:5.26 [[ 7.99744566e-01 -5.99128799e-01 -3.81223099e-02 1.39335168e+02] [ 5.98362517e-01 8.00651361e-01 -3.03265149e-02 3.14822084e+01] [ 4.86921677e-02 1.44250424e-03 9.98812791e-01 5.26375894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25710568099998 meters 0.025340072413347226 Centerline is valid? [True, True] Translation: X:139.36, Y:31.49, Z:5.26 [[ 8.01253252e-01 -5.97005542e-01 -3.97191299e-02 1.39362437e+02] [ 5.96170505e-01 8.02235422e-01 -3.16078688e-02 3.14943809e+01] [ 5.07341658e-02 1.64653393e-03 9.98710836e-01 5.26325914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28710568099999 meters 0.02576605245136534 Centerline is valid? [True, True] Translation: X:139.39, Y:31.51, Z:5.26 [[ 8.02394746e-01 -5.95386268e-01 -4.09617300e-02 1.39387713e+02] [ 5.94494885e-01 8.03437537e-01 -3.26183576e-02 3.15085726e+01] [ 5.23307136e-02 1.82125982e-03 9.98628149e-01 5.26487863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.317105681 meters 0.028467082303925247 Centerline is valid? [True, True] Translation: X:139.41, Y:31.52, Z:5.26 [[ 8.03813276e-01 -5.93421065e-01 -4.16612191e-02 1.39411491e+02] [ 5.92495306e-01 8.04889711e-01 -3.31943503e-02 3.15239857e+01] [ 5.32309134e-02 1.99798265e-03 9.98580231e-01 5.26490971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.347105681 meters 0.029694030669805166 Centerline is valid? [True, True] Translation: X:139.44, Y:31.54, Z:5.27 [[ 8.05217344e-01 -5.91561405e-01 -4.09894233e-02 1.39437206e+02] [ 5.90662166e-01 8.06257219e-01 -3.26726468e-02 3.15375295e+01] [ 5.23758953e-02 2.09768031e-03 9.98625238e-01 5.26638612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.377105681 meters 0.03156287300697541 Centerline is valid? [True, True] Translation: X:139.46, Y:31.55, Z:5.27 [[ 8.05647604e-01 -5.90978204e-01 -4.09475318e-02 1.39460555e+02] [ 5.90079171e-01 8.06684667e-01 -3.26560862e-02 3.15524003e+01] [ 5.23307813e-02 2.14701199e-03 9.98627498e-01 5.26798826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.407105681 meters 0.032877371683955534 Centerline is valid? [True, True] Translation: X:139.49, Y:31.56, Z:5.27 [[ 8.07214572e-01 -5.88762146e-01 -4.19972636e-02 1.39489320e+02] [ 5.87813010e-01 8.08302905e-01 -3.35004239e-02 3.15627676e+01] [ 5.36702916e-02 2.35549238e-03 9.98555933e-01 5.26969173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.437105681 meters 0.03214670173912354 Centerline is valid? [True, True] Translation: X:139.52, Y:31.57, Z:5.27 [[ 8.09952846e-01 -5.84975311e-01 -4.21932804e-02 1.39518713e+02] [ 5.84011562e-01 8.11046842e-01 -3.36677402e-02 3.15726684e+01] [ 5.39155236e-02 2.62791844e-03 9.98542042e-01 5.27155196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.467105681 meters 0.034116602318715966 Centerline is valid? [True, True] Translation: X:139.54, Y:31.59, Z:5.27 [[ 8.11858129e-01 -5.82328564e-01 -4.21879393e-02 1.39542041e+02] [ 5.81360557e-01 8.12948648e-01 -3.36808432e-02 3.15894070e+01] [ 5.39099453e-02 2.81766247e-03 9.98541826e-01 5.27192023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.497105681 meters 0.03672135952261512 Centerline is valid? [True, True] Translation: X:139.57, Y:31.60, Z:5.27 [[ 8.14310876e-01 -5.78871720e-01 -4.24891534e-02 1.39567715e+02] [ 5.77884686e-01 8.15412824e-01 -3.39295784e-02 3.16041741e+01] [ 5.42870739e-02 3.07539363e-03 9.98520634e-01 5.27088585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.527105681 meters 0.036510140826260244 Centerline is valid? [True, True] Translation: X:139.59, Y:31.62, Z:5.27 [[ 8.14250249e-01 -5.78951446e-01 -4.25647210e-02 1.39593405e+02] [ 5.77960268e-01 8.15356178e-01 -3.40034240e-02 3.16190482e+01] [ 5.43917397e-02 3.08657887e-03 9.98514903e-01 5.27176292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55710568099997 meters 0.035615243474926395 Centerline is valid? [True, True] Translation: X:139.62, Y:31.63, Z:5.27 [[ 8.12754664e-01 -5.81075163e-01 -4.22079572e-02 1.39622205e+02] [ 5.80102292e-01 8.13844600e-01 -3.37386564e-02 3.16294571e+01] [ 5.39554133e-02 2.93631760e-03 9.98539028e-01 5.27436302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58710568099997 meters 0.03265138450444154 Centerline is valid? [True, True] Translation: X:139.65, Y:31.64, Z:5.28 [[ 8.09387230e-01 -5.85751351e-01 -4.22808071e-02 1.39654052e+02] [ 5.84780642e-01 8.10486506e-01 -3.38116078e-02 3.16356513e+01] [ 5.40732185e-02 2.64168607e-03 9.98533479e-01 5.27818414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61710568099997 meters 0.031019109274336678 Centerline is valid? [True, True] Translation: X:139.68, Y:31.64, Z:5.28 [[ 8.05862984e-01 -5.90555723e-01 -4.27643343e-02 1.39683467e+02] [ 5.89568888e-01 8.06993431e-01 -3.42071394e-02 3.16445046e+01] [ 5.47117588e-02 2.35374643e-03 9.98499416e-01 5.27859386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64710568099997 meters 0.029578692111051713 Centerline is valid? [True, True] Translation: X:139.71, Y:31.66, Z:5.28 [[ 8.03923522e-01 -5.93169597e-01 -4.30906114e-02 1.39709333e+02] [ 5.92170719e-01 8.05074518e-01 -3.44798451e-02 3.16581703e+01] [ 5.51435490e-02 2.20216020e-03 9.98476008e-01 5.27765665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67710568099997 meters 0.024047706857924383 Centerline is valid? [True, True] Translation: X:139.74, Y:31.66, Z:5.28 [[ 8.00381015e-01 -5.98069731e-01 -4.12653265e-02 1.39742855e+02] [ 5.97159371e-01 8.01442051e-01 -3.30351938e-02 3.16619683e+01] [ 5.28291174e-02 1.79876556e-03 9.98601947e-01 5.28301826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.70710568099997 meters 0.024692984147002665 Centerline is valid? [True, True] Translation: X:139.77, Y:31.68, Z:5.28 [[ 7.98294085e-01 -6.00862151e-01 -4.11245686e-02 1.39766937e+02] [ 5.99961110e-01 7.99351024e-01 -3.29333531e-02 3.16764379e+01] [ 5.26613714e-02 1.61735910e-03 9.98611118e-01 5.28343529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.73710568099997 meters 0.021475827465901064 Centerline is valid? [True, True] Translation: X:139.80, Y:31.68, Z:5.29 [[ 7.95287385e-01 -6.04846359e-01 -4.09738528e-02 1.39797572e+02] [ 6.03956083e-01 7.96341018e-01 -3.28334193e-02 3.16843438e+01] [ 5.24883338e-02 1.36559659e-03 9.98620604e-01 5.28591132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.76710568099998 meters 0.021192005294114167 Centerline is valid? [True, True] Translation: X:139.82, Y:31.70, Z:5.29 [[ 7.94064557e-01 -6.06493342e-01 -4.03398797e-02 1.39823478e+02] [ 6.05631691e-01 7.95087582e-01 -3.23417861e-02 3.16962713e+01] [ 5.16888153e-02 1.25035649e-03 9.98662457e-01 5.28819242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.79710568099998 meters 0.019610465628502063 Centerline is valid? [True, True] Translation: X:139.85, Y:31.71, Z:5.29 [[ 7.93084974e-01 -6.07773327e-01 -4.03460958e-02 1.39849677e+02] [ 6.06912506e-01 7.94109691e-01 -3.23575186e-02 3.17090829e+01] [ 5.17052624e-02 1.17571164e-03 9.98661696e-01 5.29148167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.82710568099998 meters 0.01871507447800343 Centerline is valid? [True, True] Translation: X:139.88, Y:31.72, Z:5.29 [[ 7.90197756e-01 -6.11541960e-01 -4.00491885e-02 1.39876383e+02] [ 6.10697564e-01 7.91211445e-01 -3.21393094e-02 3.17214776e+01] [ 5.13419125e-02 9.38468297e-04 9.98680693e-01 5.29450286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85710568099998 meters 0.018282305550703905 Centerline is valid? [True, True] Translation: X:139.90, Y:31.74, Z:5.30 [[ 7.88685070e-01 -6.13553192e-01 -3.90939929e-02 1.39900156e+02] [ 6.12750147e-01 7.89652984e-01 -3.13914256e-02 3.17375188e+01] [ 5.01309976e-02 8.03098771e-04 9.98742328e-01 5.29707599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88710568099998 meters 0.0178633752122027 Centerline is valid? [True, True] Translation: X:139.92, Y:31.75, Z:5.30 [[ 7.86694469e-01 -6.16245853e-01 -3.67812678e-02 1.39924229e+02] [ 6.15537284e-01 7.87553606e-01 -2.95494600e-02 3.17517516e+01] [ 4.71769523e-02 6.06155058e-04 9.98886364e-01 5.30182223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91710568099998 meters 0.017948618160273797 Centerline is valid? [True, True] Translation: X:139.95, Y:31.77, Z:5.30 [[ 7.86241878e-01 -6.16849350e-01 -3.63399090e-02 1.39946545e+02] [ 6.16157905e-01 7.87081034e-01 -2.92041386e-02 3.17680903e+01] [ 4.66170070e-02 5.70394585e-04 9.98912674e-01 5.30422730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94710568099998 meters 0.01798613068605246 Centerline is valid? [True, True] Translation: X:139.97, Y:31.78, Z:5.31 [[ 7.86507509e-01 -6.16491371e-01 -3.66650893e-02 1.39970349e+02] [ 6.15786152e-01 7.87361425e-01 -2.94856004e-02 3.17840177e+01] [ 4.70462952e-02 6.12791838e-04 9.98892522e-01 5.30534885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97710568099998 meters 0.019051676832631755 Centerline is valid? [True, True] Translation: X:139.99, Y:31.80, Z:5.30 [[ 7.88476092e-01 -6.13871015e-01 -3.83122558e-02 1.39991180e+02] [ 6.13097046e-01 7.89405921e-01 -3.08269922e-02 3.18028427e+01] [ 4.91677186e-02 8.17215425e-04 9.98790202e-01 5.30357278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00710568099998 meters 0.019784190518350758 Centerline is valid? [True, True] Translation: X:140.01, Y:31.82, Z:5.30 [[ 7.89673156e-01 -6.12204655e-01 -4.02711748e-02 1.40012447e+02] [ 6.11346913e-01 7.90698749e-01 -3.24104964e-02 3.18219095e+01] [ 5.16842243e-02 9.74040575e-04 9.98663002e-01 5.30079868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03710568099999 meters 0.019422784125044973 Centerline is valid? [True, True] Translation: X:140.04, Y:31.84, Z:5.30 [[ 7.89603052e-01 -6.12250769e-01 -4.09391822e-02 1.40036552e+02] [ 6.11363796e-01 7.90663015e-01 -3.29591415e-02 3.18383949e+01] [ 5.25483569e-02 9.95904859e-04 9.98617884e-01 5.30136898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.067105681 meters 0.01866321778992358 Centerline is valid? [True, True] Translation: X:140.06, Y:31.85, Z:5.30 [[ 7.87138670e-01 -6.15284934e-01 -4.28621573e-02 1.40062452e+02] [ 6.14315873e-01 7.88304338e-01 -3.45293780e-02 3.18521695e+01] [ 5.50338306e-02 8.48505079e-04 9.98484130e-01 5.30134730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.097105681 meters 0.018324247535884613 Centerline is valid? [True, True] Translation: X:140.09, Y:31.87, Z:5.30 [[ 7.85016389e-01 -6.17970938e-01 -4.31414969e-02 1.40085776e+02] [ 6.16992218e-01 7.86200647e-01 -3.47727600e-02 3.18671964e+01] [ 5.54064279e-02 6.79218634e-04 9.98463653e-01 5.30204978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.127105681 meters 0.017399808430151344 Centerline is valid? [True, True] Translation: X:140.11, Y:31.88, Z:5.30 [[ 7.79642794e-01 -6.24747660e-01 -4.29822620e-02 1.40112698e+02] [ 6.23785564e-01 7.80826688e-01 -3.46590986e-02 3.18792773e+01] [ 5.52148880e-02 2.10001904e-04 9.98474472e-01 5.30304516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.157105681 meters 0.01743637953230613 Centerline is valid? [True, True] Translation: X:140.14, Y:31.89, Z:5.30 [[ 7.76313162e-01 -6.28842988e-01 -4.35243696e-02 1.40136536e+02] [ 6.27861713e-01 7.77532309e-01 -3.51166274e-02 3.18927711e+01] [ 5.59244486e-02 -6.57852105e-05 9.98435001e-01 5.30340707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.187105681 meters 0.018614277280654165 Centerline is valid? [True, True] Translation: X:140.17, Y:31.90, Z:5.31 [[ 7.69368012e-01 -6.37337442e-01 -4.32879520e-02 1.40165895e+02] [ 6.36379102e-01 7.70584548e-01 -3.49441349e-02 3.19026963e+01] [ 5.56282325e-02 -6.62648439e-04 9.98451331e-01 5.30646081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.217105681 meters 0.01976657335292573 Centerline is valid? [True, True] Translation: X:140.19, Y:31.92, Z:5.31 [[ 7.65625713e-01 -6.41854512e-01 -4.28958294e-02 1.40191499e+02] [ 6.40919365e-01 7.66825830e-01 -3.46484386e-02 3.19171602e+01] [ 5.51328866e-02 -9.65032216e-04 9.98478559e-01 5.30880966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.247105681 meters 0.022276297498911378 Centerline is valid? [True, True] Translation: X:140.22, Y:31.93, Z:5.31 [[ 7.59887299e-01 -6.48718095e-01 -4.16668373e-02 1.40217957e+02] [ 6.47844980e-01 7.61027503e-01 -3.36752277e-02 3.19302638e+01] [ 5.35553388e-02 -1.40427353e-03 9.98563896e-01 5.31007546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.277105681 meters 0.02397630034416437 Centerline is valid? [True, True] Translation: X:140.24, Y:31.95, Z:5.31 [[ 7.56588779e-01 -6.52679597e-01 -3.97839709e-02 1.40241533e+02] [ 6.51888310e-01 7.57632362e-01 -3.21688462e-02 3.19453165e+01] [ 5.11375734e-02 -1.59611746e-03 9.98690343e-01 5.31366669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30710568099997 meters 0.024540547884032777 Centerline is valid? [True, True] Translation: X:140.26, Y:31.96, Z:5.32 [[ 7.55454629e-01 -6.54025354e-01 -3.92318730e-02 1.40264499e+02] [ 6.53257086e-01 7.56470819e-01 -3.17345240e-02 3.19627950e+01] [ 5.04329503e-02 -1.65450597e-03 9.98726079e-01 5.31708877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33710568099997 meters 0.025036591092227195 Centerline is valid? [True, True] Translation: X:140.29, Y:31.98, Z:5.32 [[ 7.54857484e-01 -6.54726599e-01 -3.90289560e-02 1.40286639e+02] [ 6.53966274e-01 7.55863918e-01 -3.15887533e-02 3.19816096e+01] [ 5.01825766e-02 -1.67861408e-03 9.98738650e-01 5.32195698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36710568099997 meters 0.0250553682382542 Centerline is valid? [True, True] Translation: X:140.31, Y:32.00, Z:5.32 [[ 7.54821076e-01 -6.54819266e-01 -3.81689859e-02 1.40306398e+02] [ 6.54091346e-01 7.55783738e-01 -3.09103892e-02 3.20034231e+01] [ 4.90882172e-02 -1.63419012e-03 9.98793110e-01 5.32408428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39710568099997 meters 0.025104420337603617 Centerline is valid? [True, True] Translation: X:140.32, Y:32.03, Z:5.32 [[ 7.55483750e-01 -6.54029634e-01 -3.85945866e-02 1.40323913e+02] [ 6.53283592e-01 7.56467259e-01 -3.12703585e-02 3.20269085e+01] [ 4.96472822e-02 -1.58896247e-03 9.98765549e-01 5.32003193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42710568099997 meters 0.025104420337603617 Centerline is valid? [True, True] Translation: X:140.35, Y:32.04, Z:5.32 [[ 7.55275051e-01 -6.54270916e-01 -3.85897038e-02 1.40345271e+02] [ 6.53524881e-01 7.56258565e-01 -3.12763830e-02 3.20444263e+01] [ 4.96470218e-02 -1.59705975e-03 9.98765549e-01 5.32105337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45710568099997 meters 0.023535472718018036 Centerline is valid? [True, True] Translation: X:140.36, Y:32.07, Z:5.32 [[ 7.54566512e-01 -6.55045496e-01 -3.93036529e-02 1.40363638e+02] [ 6.54271583e-01 7.55587607e-01 -3.18757403e-02 3.20672216e+01] [ 5.05774132e-02 -1.66289710e-03 9.98718759e-01 5.32190558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.48710568099997 meters 0.024448523092914006 Centerline is valid? [True, True] Translation: X:140.38, Y:32.09, Z:5.32 [[ 7.54241142e-01 -6.55388702e-01 -3.98239747e-02 1.40383477e+02] [ 6.54593789e-01 7.55289861e-01 -3.23140508e-02 3.20867496e+01] [ 5.12569081e-02 -1.69593996e-03 9.98684061e-01 5.32400331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.51710568099998 meters 0.024511083761039058 Centerline is valid? [True, True] Translation: X:140.40, Y:32.11, Z:5.33 [[ 7.53952906e-01 -6.55761218e-01 -3.91438387e-02 1.40403911e+02] [ 6.54993203e-01 7.54966483e-01 -3.17728554e-02 3.21066191e+01] [ 5.03876926e-02 -1.68371161e-03 9.98728314e-01 5.32684690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.54710568099998 meters 0.025564803492824927 Centerline is valid? [True, True] Translation: X:140.42, Y:32.13, Z:5.33 [[ 7.52809337e-01 -6.57216161e-01 -3.66745199e-02 1.40421657e+02] [ 6.56542986e-01 7.53700322e-01 -2.97847676e-02 3.21291930e+01] [ 4.72166281e-02 -1.65614764e-03 9.98883300e-01 5.33065447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57710568099998 meters 0.02351037597511332 Centerline is valid? [True, True] Translation: X:140.43, Y:32.16, Z:5.33 [[ 7.53515857e-01 -6.56441037e-01 -3.60418860e-02 1.40434214e+02] [ 6.55789617e-01 7.54375695e-01 -2.92795068e-02 3.21594729e+01] [ 4.64093927e-02 -1.57332194e-03 9.98921265e-01 5.33314247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.60710568099998 meters 0.022935410479706073 Centerline is valid? [True, True] Translation: X:140.45, Y:32.19, Z:5.34 [[ 7.58017631e-01 -6.51280678e-01 -3.52526554e-02 1.40446874e+02] [ 6.50651092e-01 7.58835951e-01 -2.86558069e-02 3.21874863e+01] [ 4.54139557e-02 -1.21557192e-03 9.98967514e-01 5.33607768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63710568099998 meters 0.021061551104925365 Centerline is valid? [True, True] Translation: X:140.46, Y:32.21, Z:5.34 [[ 7.60967884e-01 -6.47883020e-01 -3.42851476e-02 1.40462362e+02] [ 6.47283403e-01 7.61739224e-01 -2.78845861e-02 3.22145386e+01] [ 4.41822916e-02 -9.72932566e-04 9.99023012e-01 5.34033086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.66710568099998 meters 0.019456544622152402 Centerline is valid? [True, True] Translation: X:140.47, Y:32.25, Z:5.35 [[ 7.67744077e-01 -6.39906719e-01 -3.29912571e-02 1.40472095e+02] [ 6.39343708e-01 7.68452442e-01 -2.68415125e-02 3.22463798e+01] [ 4.25282763e-02 -4.85340371e-04 9.99095146e-01 5.34528392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69710568099998 meters 0.01868252007898731 Centerline is valid? [True, True] Translation: X:140.49, Y:32.27, Z:5.35 [[ 7.70518270e-01 -6.36626222e-01 -3.17592267e-02 1.40486167e+02] [ 6.36101070e-01 7.71172467e-01 -2.58544919e-02 3.22725422e+01] [ 4.09514887e-02 -2.80719700e-04 9.99161097e-01 5.34791273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72710568099998 meters 0.017990525442350445 Centerline is valid? [True, True] Translation: X:140.49, Y:32.31, Z:5.35 [[ 7.74236283e-01 -6.32172612e-01 -3.02649432e-02 1.40494535e+02] [ 6.31692093e-01 7.74827585e-01 -2.46437158e-02 3.23081756e+01] [ 3.90291950e-02 -3.80663695e-05 9.99238070e-01 5.34945578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75710568099998 meters 0.01824825716584056 Centerline is valid? [True, True] Translation: X:140.51, Y:32.34, Z:5.35 [[ 7.76245060e-01 -6.29718552e-01 -2.99691699e-02 1.40505891e+02] [ 6.29244942e-01 7.76823362e-01 -2.44185816e-02 3.23391605e+01] [ 3.86575852e-02 9.68548022e-05 9.99252511e-01 5.35017947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78710568099999 meters 0.01835505534340762 Centerline is valid? [True, True] Translation: X:140.52, Y:32.36, Z:5.35 [[ 7.76727561e-01 -6.29124235e-01 -2.99498476e-02 1.40523583e+02] [ 6.28650082e-01 7.77304752e-01 -2.44212433e-02 3.23622965e+01] [ 3.86441549e-02 1.40678577e-04 9.99253026e-01 5.35158564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.817105681 meters 0.01856964154155634 Centerline is valid? [True, True] Translation: X:140.54, Y:32.39, Z:5.35 [[ 7.77193697e-01 -6.28481556e-01 -3.13191991e-02 1.40537338e+02] [ 6.27961705e-01 7.77824463e-01 -2.55578045e-02 3.23905535e+01] [ 4.04234480e-02 1.96106902e-04 9.99182619e-01 5.35205291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.847105681 meters 0.01881134604406518 Centerline is valid? [True, True] Translation: X:140.55, Y:32.42, Z:5.35 [[ 7.77773109e-01 -6.27691954e-01 -3.27383732e-02 1.40554955e+02] [ 6.27122341e-01 7.78461779e-01 -2.67362754e-02 3.24152591e+01] [ 4.22677172e-02 2.63790793e-04 9.99106286e-01 5.35078747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.877105681 meters 0.019456212398355134 Centerline is valid? [True, True] Translation: X:140.57, Y:32.45, Z:5.35 [[ 7.79870236e-01 -6.24963869e-01 -3.49653838e-02 1.40565083e+02] [ 6.24310498e-01 7.80653544e-01 -2.85735238e-02 3.24464993e+01] [ 4.51532708e-02 4.54384558e-04 9.98979968e-01 5.34541381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.907105681 meters 0.020638521244628626 Centerline is valid? [True, True] Translation: X:140.58, Y:32.48, Z:5.34 [[ 7.81904289e-01 -6.22257740e-01 -3.76959900e-02 1.40577548e+02] [ 6.21494392e-01 7.82812145e-01 -3.08198819e-02 3.24767973e+01] [ 4.86867888e-02 6.70351422e-04 9.98813870e-01 5.34220072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.937105681 meters 0.02078844241045788 Centerline is valid? [True, True] Translation: X:140.60, Y:32.50, Z:5.34 [[ 7.81841691e-01 -6.22285079e-01 -3.85337604e-02 1.40596164e+02] [ 6.21486595e-01 7.82790390e-01 -3.15217016e-02 3.24987905e+01] [ 4.97793419e-02 6.96764971e-04 9.98759997e-01 5.34245685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.967105681 meters 0.020009226007652762 Centerline is valid? [True, True] Translation: X:140.62, Y:32.52, Z:5.35 [[ 7.79096878e-01 -6.25773612e-01 -3.76223429e-02 1.40615455e+02] [ 6.25016068e-01 7.80004593e-01 -3.07855513e-02 3.25214759e+01] [ 4.86103859e-02 4.70358104e-04 9.98817706e-01 5.34526421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.997105681 meters 0.019351641764088323 Centerline is valid? [True, True] Translation: X:140.64, Y:32.54, Z:5.35 [[ 7.74614663e-01 -6.31389185e-01 -3.63293361e-02 1.40635156e+02] [ 6.30688164e-01 7.75466105e-01 -2.97449078e-02 3.25428548e+01] [ 4.69527819e-02 1.28359428e-04 9.98897102e-01 5.34749547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.027105681 meters 0.01942844290915295 Centerline is valid? [True, True] Translation: X:140.66, Y:32.56, Z:5.35 [[ 7.72452858e-01 -6.33981299e-01 -3.72061049e-02 1.40655191e+02] [ 6.33248002e-01 7.73348377e-01 -3.04837079e-02 3.25634543e+01] [ 4.80993816e-02 -1.34642741e-05 9.98842555e-01 5.34655060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05710568099997 meters 0.020064800876028358 Centerline is valid? [True, True] Translation: X:140.67, Y:32.59, Z:5.34 [[ 7.68502679e-01 -6.38585781e-01 -4.01476419e-02 1.40673918e+02] [ 6.37736804e-01 7.69550588e-01 -3.29190270e-02 3.25861374e+01] [ 5.19172639e-02 -3.05268421e-04 9.98651343e-01 5.34202608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08710568099997 meters 0.02128425720978857 Centerline is valid? [True, True] Translation: X:140.69, Y:32.61, Z:5.34 [[ 7.64852310e-01 -6.42885599e-01 -4.12195487e-02 1.40694559e+02] [ 6.41995865e-01 7.65961977e-01 -3.38165642e-02 3.26053068e+01] [ 5.33127891e-02 -5.98102601e-04 9.98577683e-01 5.34167314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11710568099997 meters 0.022167686108006533 Centerline is valid? [True, True] Translation: X:140.71, Y:32.62, Z:5.34 [[ 7.63202903e-01 -6.44845513e-01 -4.11775836e-02 1.40714010e+02] [ 6.43960011e-01 7.64312589e-01 -3.37900933e-02 3.26249230e+01] [ 5.32619356e-02 -7.28019877e-04 9.98580310e-01 5.34306704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14710568099997 meters 0.02348794904715831 Centerline is valid? [True, True] Translation: X:140.73, Y:32.65, Z:5.34 [[ 7.60662454e-01 -6.47869427e-01 -4.07165366e-02 1.40729554e+02] [ 6.47007350e-01 7.61750851e-01 -3.34234967e-02 3.26517677e+01] [ 5.26699181e-02 -9.19899369e-04 9.98611553e-01 5.34330971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17710568099997 meters 0.023248618104025908 Centerline is valid? [True, True] Translation: X:140.75, Y:32.68, Z:5.35 [[ 7.60333722e-01 -6.48284856e-01 -4.02414808e-02 1.40746259e+02] [ 6.47442216e-01 7.61397333e-01 -3.30556954e-02 3.26752175e+01] [ 5.20692629e-02 -9.20673528e-04 9.98643051e-01 5.34570091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20710568099997 meters 0.022847776917148576 Centerline is valid? [True, True] Translation: X:140.76, Y:32.70, Z:5.35 [[ 7.60245634e-01 -6.48460492e-01 -3.90585020e-02 1.40760587e+02] [ 6.47665754e-01 7.61247793e-01 -3.21071309e-02 3.27024362e+01] [ 5.05534044e-02 -8.87548101e-04 9.98720965e-01 5.34889143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.23710568099997 meters 0.023140136227552774 Centerline is valid? [True, True] Translation: X:140.78, Y:32.73, Z:5.35 [[ 7.59881740e-01 -6.48981750e-01 -3.74490336e-02 1.40776493e+02] [ 6.48250848e-01 7.60803479e-01 -3.08042777e-02 3.27277223e+01] [ 4.84827691e-02 -8.68759653e-04 9.98823641e-01 5.35314074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.26710568099998 meters 0.02327619911420034 Centerline is valid? [True, True] Translation: X:140.79, Y:32.75, Z:5.36 [[ 7.58890442e-01 -6.50246945e-01 -3.55556907e-02 1.40794985e+02] [ 6.49588603e-01 7.59722400e-01 -2.92664030e-02 3.27497527e+01] [ 4.60428438e-02 -8.86577952e-04 9.98939072e-01 5.35600066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.29710568099998 meters 0.024269868168646826 Centerline is valid? [True, True] Translation: X:140.81, Y:32.78, Z:5.36 [[ 7.57729223e-01 -6.51740679e-01 -3.28711342e-02 1.40809857e+02] [ 6.51178690e-01 7.58441359e-01 -2.70743209e-02 3.27752059e+01] [ 4.25762640e-02 -8.89977980e-04 9.99092823e-01 5.36077633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.32710568099998 meters 0.02407165039696636 Centerline is valid? [True, True] Translation: X:140.83, Y:32.80, Z:5.36 [[ 7.56938916e-01 -6.52674981e-01 -3.25399223e-02 1.40828602e+02] [ 6.52124796e-01 7.57637453e-01 -2.68093270e-02 3.27980024e+01] [ 4.21512408e-02 -9.27067237e-04 9.99110811e-01 5.36189491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35710568099998 meters 0.025821347582376794 Centerline is valid? [True, True] Translation: X:140.85, Y:32.82, Z:5.36 [[ 7.54279003e-01 -6.55711156e-01 -3.32575666e-02 1.40846793e+02] [ 6.55138607e-01 7.55011029e-01 -2.74180954e-02 3.28198881e+01] [ 4.30881806e-02 -1.10742217e-03 9.99070659e-01 5.36152353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38710568099998 meters 0.02879281980865979 Centerline is valid? [True, True] Translation: X:140.87, Y:32.84, Z:5.36 [[ 7.50047670e-01 -6.60623053e-01 -3.17123769e-02 1.40865044e+02] [ 6.60106558e-01 7.50716619e-01 -2.61512838e-02 3.28419753e+01] [ 4.10831493e-02 -1.31883851e-03 9.99154861e-01 5.36454477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41710568099998 meters 0.03022134933101223 Centerline is valid? [True, True] Translation: X:140.88, Y:32.86, Z:5.36 [[ 7.47555761e-01 -6.63439017e-01 -3.17656276e-02 1.40884338e+02] [ 6.62922641e-01 7.48228928e-01 -2.62115061e-02 3.28636968e+01] [ 4.11576974e-02 -1.46359134e-03 9.99151591e-01 5.36441017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44710568099998 meters 0.033858723790510206 Centerline is valid? [True, True] Translation: X:140.90, Y:32.89, Z:5.36 [[ 7.42536152e-01 -6.68936240e-01 -3.41228748e-02 1.40902991e+02] [ 6.68345202e-01 7.43317402e-01 -2.81767831e-02 3.28863115e+01] [ 4.42125980e-02 -1.88357956e-03 9.99020369e-01 5.35980739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47710568099998 meters 0.0390372926868539 Centerline is valid? [True, True] Translation: X:140.92, Y:32.91, Z:5.36 [[ 7.38161389e-01 -6.73698267e-01 -3.53328140e-02 1.40921694e+02] [ 6.73069081e-01 7.39003158e-01 -2.91949336e-02 3.29069941e+01] [ 4.57796373e-02 -2.23085189e-03 9.98949072e-01 5.35801917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.50710568099998 meters 0.03784032279334651 Centerline is valid? [True, True] Translation: X:140.94, Y:32.93, Z:5.36 [[ 7.37509198e-01 -6.74430717e-01 -3.49769947e-02 1.40938441e+02] [ 6.73814370e-01 7.38334730e-01 -2.89140172e-02 3.29313847e+01] [ 4.53252313e-02 -2.24364794e-03 9.98969764e-01 5.35913519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53710568099999 meters 0.03851668992245729 Centerline is valid? [True, True] Translation: X:140.95, Y:32.96, Z:5.36 [[ 7.37110270e-01 -6.74928865e-01 -3.37561589e-02 1.40952125e+02] [ 6.74354603e-01 7.37879573e-01 -2.79214046e-02 3.29579012e+01] [ 4.37529420e-02 -2.18246708e-03 9.99039998e-01 5.36107283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.567105681 meters 0.0368041250476141 Centerline is valid? [True, True] Translation: X:140.97, Y:32.98, Z:5.36 [[ 7.37837619e-01 -6.74184896e-01 -3.27165728e-02 1.40968071e+02] [ 6.73644314e-01 7.38559722e-01 -2.70716738e-02 3.29837135e+01] [ 4.24144565e-02 -2.06483391e-03 9.99097968e-01 5.36283662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.597105681 meters 0.035222352114856005 Centerline is valid? [True, True] Translation: X:140.98, Y:33.02, Z:5.36 [[ 7.42521246e-01 -6.68976056e-01 -3.36635643e-02 1.40977571e+02] [ 6.68397605e-01 7.43281763e-01 -2.78722675e-02 3.30159953e+01] [ 4.36673930e-02 -1.80489489e-03 9.99044494e-01 5.36130762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.627105681 meters 0.026627621474067227 Centerline is valid? [True, True] Translation: X:140.98, Y:33.06, Z:5.36 [[ 7.50821916e-01 -6.59688280e-01 -3.28302286e-02 1.40981669e+02] [ 6.59128848e-01 7.51538338e-01 -2.71898520e-02 3.30571680e+01] [ 4.26100022e-02 -1.22461398e-03 9.99091031e-01 5.36085778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.657105681 meters 0.024905303633698556 Centerline is valid? [True, True] Translation: X:141.00, Y:33.08, Z:5.36 [[ 7.55662097e-01 -6.54176104e-01 -3.20689918e-02 1.40995870e+02] [ 6.53636695e-01 7.56341755e-01 -2.65747973e-02 3.30834703e+01] [ 4.16397149e-02 -8.79902776e-04 9.99132304e-01 5.36144338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.687105681 meters 0.020259868627909287 Centerline is valid? [True, True] Translation: X:141.00, Y:33.13, Z:5.36 [[ 7.64322581e-01 -6.44095491e-01 -3.08543323e-02 1.40998575e+02] [ 6.43587517e-01 7.64945033e-01 -2.55774173e-02 3.31256150e+01] [ 4.00761674e-02 -3.08065516e-04 9.99196580e-01 5.36226297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.717105681 meters 0.019464811481713133 Centerline is valid? [True, True] Translation: X:141.01, Y:33.16, Z:5.36 [[ 7.70900853e-01 -6.36212845e-01 -3.07423173e-02 1.41005742e+02] [ 6.35701641e-01 7.71513579e-01 -2.54994315e-02 3.31617394e+01] [ 3.99411811e-02 1.14591974e-04 9.99202026e-01 5.36056270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.747105681 meters 0.019985984485345398 Centerline is valid? [True, True] Translation: X:141.02, Y:33.19, Z:5.36 [[ 7.73674886e-01 -6.32859691e-01 -3.02619092e-02 1.41021582e+02] [ 6.32361123e-01 7.74266443e-01 -2.51174352e-02 3.31879513e+01] [ 3.93265930e-02 2.96273956e-04 9.99226366e-01 5.36074397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77710568099997 meters 0.021871851807866088 Centerline is valid? [True, True] Translation: X:141.03, Y:33.22, Z:5.36 [[ 7.78941593e-01 -6.26340346e-01 -3.07858026e-02 1.41032094e+02] [ 6.25818540e-01 7.79549452e-01 -2.55696513e-02 3.32201900e+01] [ 4.00143598e-02 6.50938878e-04 9.99198893e-01 5.35872000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80710568099997 meters 0.025717607631386925 Centerline is valid? [True, True] Translation: X:141.04, Y:33.25, Z:5.36 [[ 7.84401527e-01 -6.19367060e-01 -3.31464937e-02 1.41043273e+02] [ 6.18755074e-01 7.85100781e-01 -2.75485392e-02 3.32513974e+01] [ 4.30859958e-02 1.09955503e-03 9.99070762e-01 5.35592214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83710568099997 meters 0.027123159619991347 Centerline is valid? [True, True] Translation: X:141.06, Y:33.27, Z:5.36 [[ 7.86699092e-01 -6.16432191e-01 -3.34049822e-02 1.41060972e+02] [ 6.15807650e-01 7.87406963e-01 -2.77707182e-02 3.32747391e+01] [ 4.34220802e-02 1.27615521e-03 9.99056002e-01 5.35620144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86710568099997 meters 0.03024425640168717 Centerline is valid? [True, True] Translation: X:141.08, Y:33.30, Z:5.36 [[ 7.90348380e-01 -6.11745932e-01 -3.34118675e-02 1.41075549e+02] [ 6.11116230e-01 7.91052793e-01 -2.77926852e-02 3.33021565e+01] [ 4.34326132e-02 1.54736926e-03 9.99055161e-01 5.35598970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89710568099997 meters 0.031239384235061896 Centerline is valid? [True, True] Translation: X:141.09, Y:33.32, Z:5.36 [[ 7.91570388e-01 -6.10130136e-01 -3.40226082e-02 1.41094877e+02] [ 6.09475415e-01 7.92299453e-01 -2.83071456e-02 3.33235084e+01] [ 4.42271365e-02 1.67115492e-03 9.99020104e-01 5.35517458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92710568099997 meters 0.03447505582256586 Centerline is valid? [True, True] Translation: X:141.11, Y:33.35, Z:5.35 [[ 7.94494716e-01 -6.06264638e-01 -3.49476028e-02 1.41112027e+02] [ 6.05569309e-01 7.95260574e-01 -2.90935068e-02 3.33480155e+01] [ 4.54308150e-02 1.95144168e-03 9.98965581e-01 5.35283351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95710568099997 meters 0.03493894788204832 Centerline is valid? [True, True] Translation: X:141.13, Y:33.37, Z:5.35 [[ 7.95181513e-01 -6.05403871e-01 -3.42420106e-02 1.41133176e+02] [ 6.04735272e-01 7.95916008e-01 -2.85124322e-02 3.33679296e+01] [ 4.45153012e-02 1.96520734e-03 9.99006770e-01 5.35413753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.98710568099997 meters 0.0342467382295397 Centerline is valid? [True, True] Translation: X:141.16, Y:33.39, Z:5.36 [[ 7.94357346e-01 -6.06584949e-01 -3.24207738e-02 1.41156040e+02] [ 6.05985886e-01 7.95016616e-01 -2.70127117e-02 3.33853280e+01] [ 4.21605582e-02 1.81121458e-03 9.99109207e-01 5.35631360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.01710568099998 meters 0.029748228287381467 Centerline is valid? [True, True] Translation: X:141.19, Y:33.40, Z:5.36 [[ 7.88962483e-01 -6.13617906e-01 -3.18004154e-02 1.41185429e+02] [ 6.13046524e-01 7.89601826e-01 -2.65125683e-02 3.33959554e+01] [ 4.13782527e-02 1.42228754e-03 9.99142541e-01 5.35772969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.04710568099998 meters 0.02750180642884729 Centerline is valid? [True, True] Translation: X:141.21, Y:33.41, Z:5.36 [[ 7.86219135e-01 -6.17122050e-01 -3.19350540e-02 1.41211063e+02] [ 6.16548089e-01 7.86866444e-01 -2.66393230e-02 3.34101391e+01] [ 4.15683360e-02 1.25484896e-03 9.99134875e-01 5.35775666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07710568099998 meters 0.02295627686877457 Centerline is valid? [True, True] Translation: X:141.24, Y:33.42, Z:5.35 [[ 7.80247655e-01 -6.24500124e-01 -3.48308976e-02 1.41241110e+02] [ 6.23824299e-01 7.81024135e-01 -2.90610585e-02 3.34204955e+01] [ 4.53524063e-02 9.46462457e-04 9.98970602e-01 5.35444763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.10710568099998 meters 0.020265234811037744 Centerline is valid? [True, True] Translation: X:141.27, Y:33.43, Z:5.35 [[ 7.74671389e-01 -6.31311759e-01 -3.64650898e-02 1.41268646e+02] [ 6.30578126e-01 7.75528933e-01 -3.04319010e-02 3.34319881e+01] [ 4.74917492e-02 5.80635017e-04 9.98871462e-01 5.35190713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13710568099998 meters 0.01900609258458751 Centerline is valid? [True, True] Translation: X:141.29, Y:33.45, Z:5.35 [[ 7.71689959e-01 -6.35016918e-01 -3.53287575e-02 1.41293888e+02] [ 6.34331811e-01 7.72498151e-01 -2.94917084e-02 3.34471330e+01] [ 4.60191336e-02 3.48300553e-04 9.98940498e-01 5.35411893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.16710568099998 meters 0.018098674031308673 Centerline is valid? [True, True] Translation: X:141.32, Y:33.46, Z:5.36 [[ 7.65321630e-01 -6.42825272e-01 -3.25341729e-02 1.41321918e+02] [ 6.42250599e-01 7.66012833e-01 -2.71754804e-02 3.34578621e+01] [ 4.23906795e-02 -9.71091449e-05 9.99101106e-01 5.36074390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19710568099998 meters 0.018632306602260933 Centerline is valid? [True, True] Translation: X:141.35, Y:33.47, Z:5.36 [[ 7.62069179e-01 -6.46704596e-01 -3.19958041e-02 1.41346742e+02] [ 6.46151460e-01 7.62740506e-01 -2.67434428e-02 3.34725419e+01] [ 4.16996032e-02 -2.93782000e-04 9.99130150e-01 5.36351786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22710568099998 meters 0.02077800782575866 Centerline is valid? [True, True] Translation: X:141.37, Y:33.48, Z:5.37 [[ 7.56537567e-01 -6.53240468e-01 -3.04598187e-02 1.41373651e+02] [ 6.52743820e-01 7.57150263e-01 -2.54751989e-02 3.34840452e+01] [ 3.97040906e-02 -6.09513454e-04 9.99211296e-01 5.36714657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25710568099998 meters 0.021942337831025848 Centerline is valid? [True, True] Translation: X:141.39, Y:33.50, Z:5.37 [[ 7.53774746e-01 -6.56516755e-01 -2.84496570e-02 1.41394960e+02] [ 6.56085547e-01 7.54311094e-01 -2.38018581e-02 3.35028909e+01] [ 3.70862105e-02 -7.24169245e-04 9.99311807e-01 5.37209021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.28710568099999 meters 0.02332932599209228 Centerline is valid? [True, True] Translation: X:141.42, Y:33.52, Z:5.37 [[ 7.52994968e-01 -6.57360425e-01 -2.95947512e-02 1.41415532e+02] [ 6.56893804e-01 7.53575913e-01 -2.47764595e-02 3.35221115e+01] [ 3.85889556e-02 -7.84059305e-04 9.99254861e-01 5.36952965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.317105681 meters 0.022809810949526957 Centerline is valid? [True, True] Translation: X:141.44, Y:33.54, Z:5.37 [[ 7.52459271e-01 -6.57929370e-01 -3.05612606e-02 1.41435406e+02] [ 6.57431956e-01 7.53079178e-01 -2.55924867e-02 3.35439473e+01] [ 3.98530977e-02 -8.34645450e-04 9.99205201e-01 5.36870168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.347105681 meters 0.022809810949526957 Centerline is valid? [True, True] Translation: X:141.46, Y:33.56, Z:5.37 [[ 7.52222133e-01 -6.58200858e-01 -3.05531156e-02 1.41456302e+02] [ 6.57703274e-01 7.52841903e-01 -2.56022070e-02 3.35617763e+01] [ 3.98530603e-02 -8.36337392e-04 9.99205201e-01 5.36971913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.377105681 meters 0.02246942680440113 Centerline is valid? [True, True] Translation: X:141.47, Y:33.59, Z:5.37 [[ 7.51799220e-01 -6.58665611e-01 -3.09442298e-02 1.41473728e+02] [ 6.58154816e-01 7.52435298e-01 -2.59492072e-02 3.35850090e+01] [ 4.03753812e-02 -8.57500141e-04 9.99184214e-01 5.36960092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.407105681 meters 0.022465164006076427 Centerline is valid? [True, True] Translation: X:141.49, Y:33.61, Z:5.37 [[ 7.51186527e-01 -6.59357980e-01 -3.10782082e-02 1.41493792e+02] [ 6.58842555e-01 7.51828619e-01 -2.60809396e-02 3.36056634e+01] [ 4.05621620e-02 -8.83995599e-04 9.99176626e-01 5.37090983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.437105681 meters 0.02291858210218052 Centerline is valid? [True, True] Translation: X:141.51, Y:33.63, Z:5.38 [[ 7.50548978e-01 -6.60128875e-01 -3.01015027e-02 1.41510047e+02] [ 6.59645333e-01 7.51151840e-01 -2.52774223e-02 3.36311578e+01] [ 3.92971555e-02 -8.84372317e-04 9.99227177e-01 5.37532587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.467105681 meters 0.022782700154135208 Centerline is valid? [True, True] Translation: X:141.52, Y:33.66, Z:5.38 [[ 7.52268254e-01 -6.58268191e-01 -2.78471377e-02 1.41519560e+02] [ 6.57852596e-01 7.52783152e-01 -2.33984457e-02 3.36637601e+01] [ 3.63653086e-02 -7.17404007e-04 9.99338306e-01 5.38231450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.497105681 meters 0.02194793335338541 Centerline is valid? [True, True] Translation: X:141.54, Y:33.69, Z:5.39 [[ 7.54030164e-01 -6.56296897e-01 -2.67001094e-02 1.41535079e+02] [ 6.55913105e-01 7.54502512e-01 -2.24490271e-02 3.36893540e+01] [ 3.48785264e-02 -5.85708082e-04 9.99391387e-01 5.38549235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52710568099997 meters 0.0211448013402495 Centerline is valid? [True, True] Translation: X:141.55, Y:33.72, Z:5.39 [[ 7.57070948e-01 -6.52786137e-01 -2.67177519e-02 1.41545561e+02] [ 6.52399123e-01 7.57542136e-01 -2.24787876e-02 3.37211255e+01] [ 3.49136638e-02 -4.12600877e-04 9.99390247e-01 5.38583834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55710568099997 meters 0.020817684616319217 Centerline is valid? [True, True] Translation: X:141.56, Y:33.75, Z:5.39 [[ 7.59008880e-01 -6.50547104e-01 -2.63436027e-02 1.41561010e+02] [ 6.50168980e-01 7.59465851e-01 -2.21792460e-02 3.37466253e+01] [ 3.44357110e-02 -2.93548614e-04 9.99406872e-01 5.38625095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58710568099997 meters 0.02032797573961949 Centerline is valid? [True, True] Translation: X:141.57, Y:33.78, Z:5.39 [[ 7.65734483e-01 -6.42707634e-01 -2.40332911e-02 1.41569632e+02] [ 6.42388959e-01 7.66111541e-01 -2.02368839e-02 3.37816902e+01] [ 3.14185815e-02 5.73590171e-05 9.99506313e-01 5.38857575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61710568099997 meters 0.02203268182027498 Centerline is valid? [True, True] Translation: X:141.58, Y:33.82, Z:5.39 [[ 7.73041950e-01 -6.33840563e-01 -2.55398470e-02 1.41577754e+02] [ 6.33475287e-01 7.73463594e-01 -2.15204370e-02 3.38166387e+01] [ 3.33946677e-02 4.57338670e-04 9.99442138e-01 5.38700153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64710568099997 meters 0.02380865484786712 Centerline is valid? [True, True] Translation: X:141.59, Y:33.84, Z:5.38 [[ 7.76035204e-01 -6.30079148e-01 -2.77421845e-02 1.41592227e+02] [ 6.29645111e-01 7.76530615e-01 -2.33931294e-02 3.38442714e+01] [ 3.62821786e-02 6.86161149e-04 9.99341349e-01 5.38468641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67710568099997 meters 0.0276007374968422 Centerline is valid? [True, True] Translation: X:141.60, Y:33.88, Z:5.38 [[ 7.80009602e-01 -6.24914813e-01 -3.26572853e-02 1.41601621e+02] [ 6.24307898e-01 7.80692162e-01 -2.75571315e-02 3.38772994e+01] [ 4.27161464e-02 1.10662603e-03 9.99086636e-01 5.37622098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70710568099997 meters 0.028514109328740798 Centerline is valid? [True, True] Translation: X:141.62, Y:33.90, Z:5.37 [[ 7.81173067e-01 -6.23238257e-01 -3.66430642e-02 1.41619471e+02] [ 6.22471752e-01 7.82030847e-01 -3.09301125e-02 3.39014080e+01] [ 4.79328360e-02 1.35249844e-03 9.98849645e-01 5.36879339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.73710568099997 meters 0.028998134850612887 Centerline is valid? [True, True] Translation: X:141.64, Y:33.92, Z:5.37 [[ 7.81041485e-01 -6.23385027e-01 -3.69500558e-02 1.41638525e+02] [ 6.22604750e-01 7.81913824e-01 -3.12105442e-02 3.39217009e+01] [ 4.83479454e-02 1.37144952e-03 9.98829613e-01 5.36861511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.76710568099998 meters 0.028236498794213225 Centerline is valid? [True, True] Translation: X:141.66, Y:33.94, Z:5.37 [[ 7.80590472e-01 -6.24017224e-01 -3.57913330e-02 1.41659888e+02] [ 6.23284812e-01 7.81409493e-01 -3.02530437e-02 3.39415782e+01] [ 4.68461077e-02 1.30704341e-03 9.98901263e-01 5.37213206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.79710568099998 meters 0.0257451013685554 Centerline is valid? [True, True] Translation: X:141.68, Y:33.96, Z:5.38 [[ 7.77747231e-01 -6.27675017e-01 -3.36647797e-02 1.41683424e+02] [ 6.27029766e-01 7.78474791e-01 -2.84722952e-02 3.39588694e+01] [ 4.40785307e-02 1.03542982e-03 9.99027533e-01 5.37707221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.82710568099998 meters 0.023861132973044954 Centerline is valid? [True, True] Translation: X:141.71, Y:33.97, Z:5.38 [[ 7.73118722e-01 -6.33306297e-01 -3.47933188e-02 1.41707069e+02] [ 6.32621921e-01 7.73900877e-01 -2.94438080e-02 3.39736442e+01] [ 4.55735290e-02 7.52543061e-04 9.98960703e-01 5.37642802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85710568099998 meters 0.02270759634553147 Centerline is valid? [True, True] Translation: X:141.73, Y:33.99, Z:5.38 [[ 7.70283518e-01 -6.36759090e-01 -3.46578150e-02 1.41731298e+02] [ 6.36083098e-01 7.71062614e-01 -2.93383134e-02 3.39900736e+01] [ 4.54047832e-02 5.53568892e-04 9.98968518e-01 5.37709294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88710568099998 meters 0.021098746691527295 Centerline is valid? [True, True] Translation: X:141.76, Y:34.00, Z:5.38 [[ 7.65597687e-01 -6.42449682e-01 -3.34453138e-02 1.41757638e+02] [ 6.41824811e-01 7.66327839e-01 -2.83294091e-02 3.40037655e+01] [ 4.38302949e-02 2.22897859e-04 9.99038966e-01 5.37945982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91710568099998 meters 0.020823746411573904 Centerline is valid? [True, True] Translation: X:141.78, Y:34.02, Z:5.38 [[ 7.64165174e-01 -6.44200522e-01 -3.25157543e-02 1.41781125e+02] [ 6.43610766e-01 7.64856634e-01 -2.75592451e-02 3.40202039e+01] [ 4.26235705e-02 1.32325817e-04 9.99091194e-01 5.38179066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94710568099998 meters 0.020414169003821637 Centerline is valid? [True, True] Translation: X:141.80, Y:34.04, Z:5.39 [[ 7.62327145e-01 -6.46447580e-01 -3.10298297e-02 1.41802903e+02] [ 6.45911695e-01 7.62958404e-01 -2.63164539e-02 3.40392628e+01] [ 4.06866773e-02 1.92172384e-05 9.99171954e-01 5.38641798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97710568099998 meters 0.020411414785332652 Centerline is valid? [True, True] Translation: X:141.82, Y:34.06, Z:5.39 [[ 7.59919670e-01 -6.49347221e-01 -2.95005438e-02 1.41822415e+02] [ 6.48864432e-01 7.60492060e-01 -2.50354856e-02 3.40589040e+01] [ 3.86916523e-02 -1.16895673e-04 9.99251191e-01 5.38970370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00710568099998 meters 0.02077760506281999 Centerline is valid? [True, True] Translation: X:141.84, Y:34.08, Z:5.39 [[ 7.58657739e-01 -6.50839993e-01 -2.90815921e-02 1.41843442e+02] [ 6.50371208e-01 7.59214906e-01 -2.46985521e-02 3.40758760e+01] [ 3.81539837e-02 -1.76082510e-04 9.99271856e-01 5.39091880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03710568099999 meters 0.020980427984339314 Centerline is valid? [True, True] Translation: X:141.86, Y:34.09, Z:5.39 [[ 7.56369309e-01 -6.53459325e-01 -2.99395955e-02 1.41864508e+02] [ 6.52963988e-01 7.56961569e-01 -2.54404037e-02 3.40939899e+01] [ 3.92873922e-02 -3.07137059e-04 9.99227905e-01 5.39091031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.067105681 meters 0.02108100024750906 Centerline is valid? [True, True] Translation: X:141.89, Y:34.11, Z:5.39 [[ 7.55020101e-01 -6.54996379e-01 -3.04037829e-02 1.41885392e+02] [ 6.54486527e-01 7.55631916e-01 -2.58416868e-02 3.41134061e+01] [ 3.99002800e-02 -3.87873259e-04 9.99203591e-01 5.39101697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.097105681 meters 0.020583742170658618 Centerline is valid? [True, True] Translation: X:141.90, Y:34.14, Z:5.39 [[ 7.56677888e-01 -6.53108003e-01 -2.98079072e-02 1.41902669e+02] [ 6.52615856e-01 7.57264725e-01 -2.53511383e-02 3.41374353e+01] [ 3.91295079e-02 -2.70467120e-04 9.99234111e-01 5.39311131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.127105681 meters 0.020199730250636063 Centerline is valid? [True, True] Translation: X:141.92, Y:34.16, Z:5.40 [[ 7.59067462e-01 -6.50365636e-01 -2.90022037e-02 1.41920378e+02] [ 6.49897126e-01 7.59621305e-01 -2.46819641e-02 3.41603945e+01] [ 3.80829931e-02 -1.13172976e-04 9.99274573e-01 5.39605362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.157105681 meters 0.020941034899485223 Centerline is valid? [True, True] Translation: X:141.93, Y:34.19, Z:5.40 [[ 7.65358460e-01 -6.42980384e-01 -2.83311521e-02 1.41931406e+02] [ 6.42527620e-01 7.65882600e-01 -2.41267420e-02 3.41905781e+01] [ 3.72113582e-02 2.62058353e-04 9.99307383e-01 5.40018264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.187105681 meters 0.023115484394990976 Centerline is valid? [True, True] Translation: X:141.94, Y:34.22, Z:5.40 [[ 7.71835773e-01 -6.35260415e-01 -2.67160119e-02 1.41944427e+02] [ 6.34852975e-01 7.72297767e-01 -2.27565107e-02 3.42202688e+01] [ 3.50890267e-02 6.03549392e-04 9.99384008e-01 5.40344047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.217105681 meters 0.023864272379543076 Centerline is valid? [True, True] Translation: X:141.96, Y:34.24, Z:5.40 [[ 7.74623944e-01 -6.31893970e-01 -2.58409532e-02 1.41963192e+02] [ 6.31510848e-01 7.75054497e-01 -2.20130956e-02 3.42421613e+01] [ 3.39380893e-02 7.33028702e-04 9.99423668e-01 5.40495630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.247105681 meters 0.027156880951423816 Centerline is valid? [True, True] Translation: X:141.98, Y:34.27, Z:5.40 [[ 7.80012116e-01 -6.25154690e-01 -2.76172293e-02 1.41980245e+02] [ 6.24712178e-01 7.80500082e-01 -2.35439360e-02 3.42671331e+01] [ 3.62738517e-02 1.11173588e-03 9.99341269e-01 5.39969370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27710568099997 meters 0.02991451805285167 Centerline is valid? [True, True] Translation: X:142.00, Y:34.29, Z:5.39 [[ 7.83192936e-01 -6.20942667e-01 -3.22339798e-02 1.41999320e+02] [ 6.20336010e-01 7.83854492e-01 -2.74839742e-02 3.42900194e+01] [ 4.23327221e-02 1.52935603e-03 9.99102398e-01 5.39260125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30710568099997 meters 0.030949760806572295 Centerline is valid? [True, True] Translation: X:142.02, Y:34.31, Z:5.39 [[ 7.83963043e-01 -6.19923560e-01 -3.31168709e-02 1.42018783e+02] [ 6.19282090e-01 7.84660511e-01 -2.82413664e-02 3.43098486e+01] [ 4.34929892e-02 1.63150255e-03 9.99052400e-01 5.39208632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33710568099997 meters 0.029753163035852834 Centerline is valid? [True, True] Translation: X:142.04, Y:34.33, Z:5.40 [[ 7.84679986e-01 -6.19108877e-01 -3.13291879e-02 1.42039803e+02] [ 6.18533871e-01 7.85303549e-01 -2.67242799e-02 3.43287907e+01] [ 4.11481614e-02 1.59184374e-03 9.99151788e-01 5.39646542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36710568099997 meters 0.030848281808442117 Centerline is valid? [True, True] Translation: X:142.06, Y:34.35, Z:5.40 [[ 7.84080591e-01 -6.19851485e-01 -3.16506320e-02 1.42059715e+02] [ 6.19264467e-01 7.84717548e-01 -2.70164772e-02 3.43486926e+01] [ 4.15830099e-02 1.58298373e-03 9.99133799e-01 5.39714109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39710568099997 meters 0.02930429996542437 Centerline is valid? [True, True] Translation: X:142.08, Y:34.36, Z:5.39 [[ 7.81079467e-01 -6.23394747e-01 -3.59701947e-02 1.42084700e+02] [ 6.22639812e-01 7.81905656e-01 -3.07117196e-02 3.43635520e+01] [ 4.72708234e-02 1.59181830e-03 9.98880841e-01 5.38926931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42710568099997 meters 0.027242897459906282 Centerline is valid? [True, True] Translation: X:142.11, Y:34.38, Z:5.39 [[ 7.78589970e-01 -6.26408719e-01 -3.75469739e-02 1.42111070e+02] [ 6.25589098e-01 7.79493380e-01 -3.20679130e-02 3.43777272e+01] [ 4.93552379e-02 1.47877795e-03 9.98780193e-01 5.38757361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45710568099997 meters 0.023879204672024423 Centerline is valid? [True, True] Translation: X:142.14, Y:34.39, Z:5.39 [[ 7.73570928e-01 -6.32664456e-01 -3.63827640e-02 1.42140217e+02] [ 6.31901014e-01 7.74425312e-01 -3.10892947e-02 3.43887480e+01] [ 4.78448251e-02 1.05946911e-03 9.98854219e-01 5.39073656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.48710568099997 meters 0.021983402353006463 Centerline is valid? [True, True] Translation: X:142.16, Y:34.41, Z:5.40 [[ 7.70974779e-01 -6.35920995e-01 -3.46753224e-02 1.42163804e+02] [ 6.35230534e-01 7.71753725e-01 -2.96370811e-02 3.44053099e+01] [ 4.56076513e-02 8.22618514e-04 9.98959091e-01 5.39592348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.51710568099998 meters 0.019593928648262218 Centerline is valid? [True, True] Translation: X:142.19, Y:34.42, Z:5.40 [[ 7.65398183e-01 -6.42756758e-01 -3.20838238e-02 1.42188973e+02] [ 6.42170923e-01 7.66070226e-01 -2.74392939e-02 3.44202658e+01] [ 4.22152538e-02 3.98686949e-04 9.99108459e-01 5.40268571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.54710568099998 meters 0.018723782796189564 Centerline is valid? [True, True] Translation: X:142.21, Y:34.43, Z:5.40 [[ 7.61846604e-01 -6.47001839e-01 -3.12789651e-02 1.42212906e+02] [ 6.46447970e-01 7.62488421e-01 -2.67662100e-02 3.44343118e+01] [ 4.11676358e-02 1.71522640e-04 9.99152239e-01 5.40496678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57710568099998 meters 0.018112597926746743 Centerline is valid? [True, True] Translation: X:142.24, Y:34.45, Z:5.40 [[ 7.59990413e-01 -6.49165133e-01 -3.16101718e-02 1.42236247e+02] [ 6.48601000e-01 7.60647505e-01 -2.70576421e-02 3.44502423e+01] [ 4.16090761e-02 6.11595329e-05 9.99133966e-01 5.40482458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.60710568099998 meters 0.0181154363649551 Centerline is valid? [True, True] Translation: X:142.26, Y:34.47, Z:5.40 [[ 7.58321906e-01 -6.51046304e-01 -3.29635757e-02 1.42259546e+02] [ 6.50433685e-01 7.59038016e-01 -2.82367021e-02 3.44656779e+01] [ 4.34040076e-02 -2.81102797e-05 9.99057602e-01 5.40147173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63710568099998 meters 0.018112838470407733 Centerline is valid? [True, True] Translation: X:142.28, Y:34.49, Z:5.40 [[ 7.58387911e-01 -6.50951007e-01 -3.33251052e-02 1.42279810e+02] [ 6.50324254e-01 7.59119744e-01 -2.85583380e-02 3.44850921e+01] [ 4.38878242e-02 -1.38258789e-05 9.99036465e-01 5.40125942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.66710568099998 meters 0.018369087019908314 Centerline is valid? [True, True] Translation: X:142.30, Y:34.51, Z:5.40 [[ 7.60486853e-01 -6.48546455e-01 -3.23611201e-02 1.42296538e+02] [ 6.47952424e-01 7.61175064e-01 -2.77520981e-02 3.45077483e+01] [ 4.26310025e-02 1.36639556e-04 9.99090876e-01 5.40474259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69710568099998 meters 0.018603110231333184 Centerline is valid? [True, True] Translation: X:142.31, Y:34.53, Z:5.41 [[ 7.62276025e-01 -6.46583273e-01 -2.94165287e-02 1.42314236e+02] [ 6.46090346e-01 7.62843375e-01 -2.52438141e-02 3.45303360e+01] [ 3.87624320e-02 2.37019137e-04 9.99248426e-01 5.41142324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72710568099998 meters 0.01927735828216721 Centerline is valid? [True, True] Translation: X:142.33, Y:34.55, Z:5.41 [[ 7.63466494e-01 -6.45184884e-01 -2.92468657e-02 1.42332615e+02] [ 6.44695903e-01 7.64026415e-01 -2.51163089e-02 3.45521755e+01] [ 3.85500408e-02 3.20125756e-04 9.99256620e-01 5.41270633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75710568099998 meters 0.020463717420812235 Centerline is valid? [True, True] Translation: X:142.35, Y:34.58, Z:5.41 [[ 7.66711710e-01 -6.41210777e-01 -3.16526965e-02 1.42349036e+02] [ 6.40634147e-01 7.67364589e-01 -2.71933134e-02 3.45778003e+01] [ 4.17258041e-02 5.71633537e-04 9.99128936e-01 5.41035417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.78710568099999 meters 0.022120048729268395 Centerline is valid? [True, True] Translation: X:142.37, Y:34.60, Z:5.41 [[ 7.68967621e-01 -6.38457856e-01 -3.25632394e-02 1.42365930e+02] [ 6.37844346e-01 7.69656414e-01 -2.79927499e-02 3.46009235e+01] [ 4.29346971e-02 7.55240159e-04 9.99077595e-01 5.40953606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.817105681 meters 0.025576767927075063 Centerline is valid? [True, True] Translation: X:142.38, Y:34.63, Z:5.41 [[ 7.73722565e-01 -6.32701641e-01 -3.22804263e-02 1.42378903e+02] [ 6.32093456e-01 7.74394916e-01 -2.77556595e-02 3.46297801e+01] [ 4.25588493e-02 1.07093382e-03 9.99093388e-01 5.40922936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.847105681 meters 0.027556342595421317 Centerline is valid? [True, True] Translation: X:142.40, Y:34.66, Z:5.41 [[ 7.75845950e-01 -6.29996104e-01 -3.41755837e-02 1.42395989e+02] [ 6.29311477e-01 7.76597212e-01 -2.93910797e-02 3.46557698e+01] [ 4.50569288e-02 1.29586313e-03 9.98983580e-01 5.40725166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.877105681 meters 0.028337670568075495 Centerline is valid? [True, True] Translation: X:142.42, Y:34.68, Z:5.41 [[ 7.76120593e-01 -6.29606768e-01 -3.51018865e-02 1.42415243e+02] [ 6.28883509e-01 7.76912773e-01 -3.02005825e-02 3.46767085e+01] [ 4.62855951e-02 1.36429639e-03 9.98927316e-01 5.40577314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.907105681 meters 0.02680768140243503 Centerline is valid? [True, True] Translation: X:142.44, Y:34.70, Z:5.41 [[ 7.75947456e-01 -6.29838198e-01 -3.47762965e-02 1.42435966e+02] [ 6.29128085e-01 7.76725199e-01 -2.99302112e-02 3.46950173e+01] [ 4.58628161e-02 1.34552637e-03 9.98946841e-01 5.40858984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.937105681 meters 0.02669587221028547 Centerline is valid? [True, True] Translation: X:142.46, Y:34.71, Z:5.41 [[ 7.75604034e-01 -6.30296319e-01 -3.41311060e-02 1.42455910e+02] [ 6.29611772e-01 7.76353547e-01 -2.93970475e-02 3.47142238e+01] [ 4.50266560e-02 1.31112253e-03 9.98984925e-01 5.41148193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.967105681 meters 0.02700790957497818 Centerline is valid? [True, True] Translation: X:142.48, Y:34.74, Z:5.41 [[ 7.76167443e-01 -6.29668979e-01 -3.28797418e-02 1.42475003e+02] [ 6.29032277e-01 7.76862440e-01 -2.83398056e-02 3.47352724e+01] [ 4.33877329e-02 1.31401560e-03 9.99057445e-01 5.41487467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.997105681 meters 0.02808767885513583 Centerline is valid? [True, True] Translation: X:142.49, Y:34.76, Z:5.42 [[ 7.76856957e-01 -6.28807286e-01 -3.30857198e-02 1.42493777e+02] [ 6.28161007e-01 7.77559952e-01 -2.85354061e-02 3.47552347e+01] [ 4.36694020e-02 1.38476969e-03 9.99045077e-01 5.41501607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02710568099997 meters 0.02983845603805179 Centerline is valid? [True, True] Translation: X:142.51, Y:34.78, Z:5.41 [[ 7.78364054e-01 -6.26891865e-01 -3.39998265e-02 1.42512543e+02] [ 6.26207022e-01 7.79104749e-01 -2.93352363e-02 3.47758880e+01] [ 4.48794473e-02 1.54256338e-03 9.98991219e-01 5.41203622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05710568099997 meters 0.03091513696903458 Centerline is valid? [True, True] Translation: X:142.53, Y:34.80, Z:5.41 [[ 7.79319001e-01 -6.25707262e-01 -3.39457916e-02 1.42528674e+02] [ 6.25023146e-01 7.80056291e-01 -2.92959166e-02 3.48004884e+01] [ 4.48102960e-02 1.61395900e-03 9.98994210e-01 5.41455303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08710568099997 meters 0.03129136670811336 Centerline is valid? [True, True] Translation: X:142.55, Y:34.82, Z:5.42 [[ 7.79484437e-01 -6.25529874e-01 -3.34124063e-02 1.42547894e+02] [ 6.24866446e-01 7.80198560e-01 -2.88466712e-02 3.48220704e+01] [ 4.41127659e-02 1.60723963e-03 9.99025265e-01 5.41700386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11710568099997 meters 0.029961240710108198 Centerline is valid? [True, True] Translation: X:142.57, Y:34.84, Z:5.42 [[ 7.79242826e-01 -6.25894111e-01 -3.22052912e-02 1.42570850e+02] [ 6.25277353e-01 7.79906522e-01 -2.78217393e-02 3.48396278e+01] [ 4.25305794e-02 1.54265150e-03 9.99093975e-01 5.41963904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14710568099997 meters 0.030421109008240993 Centerline is valid? [True, True] Translation: X:142.59, Y:34.86, Z:5.42 [[ 7.79529294e-01 -6.25589562e-01 -3.11733778e-02 1.42590225e+02] [ 6.25010803e-01 7.80150872e-01 -2.69464764e-02 3.48589347e+01] [ 4.11773722e-02 1.52186982e-03 9.99150693e-01 5.42260787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17710568099997 meters 0.030893175652033134 Centerline is valid? [True, True] Translation: X:142.61, Y:34.88, Z:5.42 [[ 7.79629288e-01 -6.25434518e-01 -3.17779295e-02 1.42610325e+02] [ 6.24832622e-01 7.80275087e-01 -2.74769701e-02 3.48798460e+01] [ 4.19805723e-02 1.56596365e-03 9.99117200e-01 5.42285607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20710568099997 meters 0.03119100083492145 Centerline is valid? [True, True] Translation: X:142.63, Y:34.90, Z:5.42 [[ 7.80626971e-01 -6.24096581e-01 -3.35408695e-02 1.42630780e+02] [ 6.23423896e-01 7.81345259e-01 -2.90212242e-02 3.49004173e+01] [ 4.43190462e-02 1.74457081e-03 9.99015905e-01 5.42117198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.23710568099997 meters 0.03119100083492145 Centerline is valid? [True, True] Translation: X:142.65, Y:34.92, Z:5.42 [[ 7.80389765e-01 -6.24393696e-01 -3.35309870e-02 1.42651334e+02] [ 6.23720796e-01 7.81107851e-01 -2.90326386e-02 3.49185228e+01] [ 4.43191137e-02 1.74280010e-03 9.99015905e-01 5.42218960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.26710568099998 meters 0.03314488638614683 Centerline is valid? [True, True] Translation: X:142.67, Y:34.94, Z:5.42 [[ 7.80767002e-01 -6.23935325e-01 -3.32806014e-02 1.42669946e+02] [ 6.23271165e-01 7.81473975e-01 -2.88354224e-02 3.49393020e+01] [ 4.39993625e-02 1.77090711e-03 9.99029990e-01 5.42292149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.29710568099998 meters 0.03066092959187546 Centerline is valid? [True, True] Translation: X:142.69, Y:34.96, Z:5.43 [[ 7.79203361e-01 -6.25928841e-01 -3.24839768e-02 1.42693656e+02] [ 6.25297481e-01 7.79878481e-01 -2.81534103e-02 3.49557174e+01] [ 4.29555859e-02 1.62508302e-03 9.99075661e-01 5.42607018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.32710568099998 meters 0.030546093655518327 Centerline is valid? [True, True] Translation: X:142.72, Y:34.97, Z:5.43 [[ 7.76378817e-01 -6.29424310e-01 -3.25725424e-02 1.42715309e+02] [ 6.28791834e-01 7.77060447e-01 -2.82469632e-02 3.49739149e+01] [ 4.30901597e-02 1.44899520e-03 9.99070137e-01 5.42663910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35710568099998 meters 0.028707954962798248 Centerline is valid? [True, True] Translation: X:142.74, Y:34.99, Z:5.43 [[ 7.74908951e-01 -6.31236036e-01 -3.25143764e-02 1.42738740e+02] [ 6.30607130e-01 7.75589609e-01 -2.82029212e-02 3.49906584e+01] [ 4.30205126e-02 1.35089850e-03 9.99073276e-01 5.42773448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38710568099998 meters 0.028531675889909718 Centerline is valid? [True, True] Translation: X:142.76, Y:35.01, Z:5.43 [[ 7.73596011e-01 -6.32811415e-01 -3.31500293e-02 1.42758450e+02] [ 6.32158365e-01 7.74304862e-01 -2.87711893e-02 3.50099067e+01] [ 4.38749659e-02 1.30120897e-03 9.99036183e-01 5.42757678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41710568099998 meters 0.029136748431651736 Centerline is valid? [True, True] Translation: X:142.78, Y:35.03, Z:5.42 [[ 7.75281288e-01 -6.30624206e-01 -3.53841012e-02 1.42779786e+02] [ 6.29877523e-01 7.76086838e-01 -3.07168782e-02 3.50301955e+01] [ 4.68319422e-02 1.52657095e-03 9.98901616e-01 5.42428597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44710568099998 meters 0.030512407775954976 Centerline is valid? [True, True] Translation: X:142.80, Y:35.05, Z:5.42 [[ 7.76470830e-01 -6.29103859e-01 -3.63508614e-02 1.42799788e+02] [ 6.28313881e-01 7.77319470e-01 -3.15611927e-02 3.50505599e+01] [ 4.81115004e-02 1.66659465e-03 9.98840581e-01 5.42345631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47710568099998 meters 0.03280451701051861 Centerline is valid? [True, True] Translation: X:142.82, Y:35.07, Z:5.43 [[ 7.79964235e-01 -6.24833242e-01 -3.52024416e-02 1.42818389e+02] [ 6.24087787e-01 7.80755985e-01 -3.05700260e-02 3.50740890e+01] [ 4.65856854e-02 1.87411306e-03 9.98912540e-01 5.42731918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.50710568099998 meters 0.03608521998166067 Centerline is valid? [True, True] Translation: X:142.84, Y:35.10, Z:5.43 [[ 7.81974483e-01 -6.22350610e-01 -3.45778324e-02 1.42835580e+02] [ 6.21628826e-01 7.82736075e-01 -3.00306368e-02 3.50982401e+01] [ 4.57549020e-02 1.98861433e-03 9.98950717e-01 5.43005205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53710568099999 meters 0.03584604608229072 Centerline is valid? [True, True] Translation: X:142.86, Y:35.12, Z:5.43 [[ 7.85820191e-01 -6.17504300e-01 -3.42792531e-02 1.42856362e+02] [ 6.16790145e-01 7.86564273e-01 -2.97751981e-02 3.51203550e+01] [ 4.53491486e-02 2.25484640e-03 9.98968653e-01 5.43330015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.567105681 meters 0.03874985205061851 Centerline is valid? [True, True] Translation: X:142.88, Y:35.14, Z:5.43 [[ 7.88931712e-01 -6.13521584e-01 -3.43222836e-02 1.42876465e+02] [ 6.12801759e-01 7.89674027e-01 -2.98150136e-02 3.51434369e+01] [ 4.53955703e-02 2.48925392e-03 9.98965988e-01 5.43363538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.597105681 meters 0.04074314225503575 Centerline is valid? [True, True] Translation: X:142.90, Y:35.16, Z:5.43 [[ 7.89773002e-01 -6.12420063e-01 -3.46449368e-02 1.42895219e+02] [ 6.11685438e-01 7.90528314e-01 -3.00983297e-02 3.51633380e+01] [ 4.58206244e-02 2.57904482e-03 9.98946354e-01 5.43335137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.627105681 meters 0.03956725494915572 Centerline is valid? [True, True] Translation: X:142.92, Y:35.18, Z:5.43 [[ 7.90041601e-01 -6.12046623e-01 -3.51169486e-02 1.42918250e+02] [ 6.11290777e-01 7.90817248e-01 -3.05232021e-02 3.51810084e+01] [ 4.64527115e-02 2.64793265e-03 9.98916981e-01 5.43393441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.657105681 meters 0.04173268788960114 Centerline is valid? [True, True] Translation: X:142.94, Y:35.20, Z:5.44 [[ 7.90351728e-01 -6.11661292e-01 -3.48512479e-02 1.42935415e+02] [ 6.10915630e-01 7.91115265e-01 -3.03105698e-02 3.52028966e+01] [ 4.61111565e-02 2.66483913e-03 9.98932760e-01 5.43588027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.687105681 meters 0.04051442549690649 Centerline is valid? [True, True] Translation: X:142.96, Y:35.22, Z:5.44 [[ 7.89743399e-01 -6.12526025e-01 -3.34250301e-02 1.42957896e+02] [ 6.11840548e-01 7.90446423e-01 -2.90791522e-02 3.52201399e+01] [ 4.42324330e-02 2.51427981e-03 9.99018103e-01 5.43872730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.717105681 meters 0.039541838124333484 Centerline is valid? [True, True] Translation: X:142.98, Y:35.24, Z:5.44 [[ 7.88593464e-01 -6.14018619e-01 -3.31885981e-02 1.42980782e+02] [ 6.13343265e-01 7.89287803e-01 -2.88929660e-02 3.52373606e+01] [ 4.39361748e-02 2.42880101e-03 9.99031388e-01 5.44051678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.747105681 meters 0.03732141354054543 Centerline is valid? [True, True] Translation: X:143.01, Y:35.25, Z:5.44 [[ 7.86359799e-01 -6.16786817e-01 -3.48179477e-02 1.43005884e+02] [ 6.16045349e-01 7.87126585e-01 -3.03293095e-02 3.52533897e+01] [ 4.61128506e-02 2.40031497e-03 9.98933353e-01 5.43981261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77710568099997 meters 0.03756105160587889 Centerline is valid? [True, True] Translation: X:143.03, Y:35.27, Z:5.44 [[ 7.84896579e-01 -6.18689803e-01 -3.40629909e-02 1.43026865e+02] [ 6.17981752e-01 7.85632166e-01 -2.96758247e-02 3.52717232e+01] [ 4.51211115e-02 2.24214651e-03 9.98979008e-01 5.44069458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80710568099997 meters 0.03660500789338198 Centerline is valid? [True, True] Translation: X:143.05, Y:35.29, Z:5.44 [[ 7.84878078e-01 -6.18721269e-01 -3.39174624e-02 1.43049384e+02] [ 6.18018759e-01 7.85607392e-01 -2.95607747e-02 3.52895957e+01] [ 4.49356892e-02 2.23997605e-03 9.98987370e-01 5.44230429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83710568099997 meters 0.03798230097350095 Centerline is valid? [True, True] Translation: X:143.07, Y:35.31, Z:5.44 [[ 7.85648563e-01 -6.17643845e-01 -3.56709404e-02 1.43067405e+02] [ 6.16864775e-01 7.86454161e-01 -3.11078912e-02 3.53113190e+01] [ 4.72671570e-02 2.43572334e-03 9.98879314e-01 5.44220896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86710568099997 meters 0.03700304031317673 Centerline is valid? [True, True] Translation: X:143.09, Y:35.33, Z:5.44 [[ 7.84921666e-01 -6.18538870e-01 -3.61613684e-02 1.43088237e+02] [ 6.17738645e-01 7.85750466e-01 -3.15463445e-02 3.53307554e+01] [ 4.79264524e-02 2.42313459e-03 9.98847928e-01 5.44296844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89710568099997 meters 0.037005242472230214 Centerline is valid? [True, True] Translation: X:143.11, Y:35.35, Z:5.44 [[ 7.81159477e-01 -6.23115995e-01 -3.89400720e-02 1.43108082e+02] [ 6.22192636e-01 7.82125989e-01 -3.39891497e-02 3.53524910e+01] [ 5.16352251e-02 2.32272035e-03 9.98663311e-01 5.43930212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92710568099997 meters 0.029192650903169744 Centerline is valid? [True, True] Translation: X:143.14, Y:35.36, Z:5.44 [[ 7.74162796e-01 -6.31654316e-01 -4.10461972e-02 1.43139130e+02] [ 6.30639959e-01 7.75247953e-01 -3.58308947e-02 3.53628877e+01] [ 5.44537197e-02 1.85357351e-03 9.98514575e-01 5.43634947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95710568099997 meters 0.028759689693972156 Centerline is valid? [True, True] Translation: X:143.16, Y:35.38, Z:5.43 [[ 7.70212320e-01 -6.36470311e-01 -4.09698098e-02 1.43161663e+02] [ 6.35466299e-01 7.71299715e-01 -3.57677461e-02 3.53807819e+01] [ 5.43651111e-02 1.51382533e-03 9.98519976e-01 5.43428442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.98710568099997 meters 0.022295545295211324 Centerline is valid? [True, True] Translation: X:143.19, Y:35.39, Z:5.44 [[ 7.61064927e-01 -6.47502060e-01 -3.90033218e-02 1.43188932e+02] [ 6.46606032e-01 7.62063376e-01 -3.40595140e-02 3.53946726e+01] [ 5.17766086e-02 7.01718402e-04 9.98658445e-01 5.44129558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.01710568099998 meters 0.02042774584080785 Centerline is valid? [True, True] Translation: X:143.21, Y:35.41, Z:5.45 [[ 7.56451649e-01 -6.52934261e-01 -3.81805536e-02 1.43210574e+02] [ 6.52081781e-01 7.57414509e-01 -3.33558401e-02 3.54123808e+01] [ 5.06976761e-02 3.35236783e-04 9.98713990e-01 5.44575206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.04710568099998 meters 0.01981865036300528 Centerline is valid? [True, True] Translation: X:143.24, Y:35.43, Z:5.45 [[ 7.47278793e-01 -6.63294184e-01 -4.01899319e-02 1.43235281e+02] [ 6.62363671e-01 7.48358661e-01 -3.51238022e-02 3.54281421e+01] [ 5.33738974e-02 -3.73078308e-04 9.98574528e-01 5.44613816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07710568099998 meters 0.020978547745265645 Centerline is valid? [True, True] Translation: X:143.26, Y:35.45, Z:5.44 [[ 7.43092179e-01 -6.67830385e-01 -4.26214941e-02 1.43258966e+02] [ 6.66789909e-01 7.44313143e-01 -3.72714770e-02 3.54458995e+01] [ 5.66147630e-02 -7.23439160e-04 9.98395836e-01 5.44310140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.10710568099998 meters 0.024490372517259402 Centerline is valid? [True, True] Translation: X:143.28, Y:35.46, Z:5.44 [[ 7.35811185e-01 -6.75706822e-01 -4.47458408e-02 1.43281482e+02] [ 6.74573503e-01 7.37169167e-01 -3.91434322e-02 3.54637640e+01] [ 5.94347384e-02 -1.38218333e-03 9.98231236e-01 5.44021022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13710568099998 meters 0.0269372144597655 Centerline is valid? [True, True] Translation: X:143.30, Y:35.48, Z:5.44 [[ 7.33100530e-01 -6.78669591e-01 -4.43981843e-02 1.43301839e+02] [ 6.77558822e-01 7.34441974e-01 -3.88462472e-02 3.54827641e+01] [ 5.89716569e-02 -1.60417704e-03 9.98258369e-01 5.44191076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.16710568099998 meters 0.02768072827095375 Centerline is valid? [True, True] Translation: X:143.31, Y:35.51, Z:5.45 [[ 7.31688861e-01 -6.80311317e-01 -4.25196647e-02 1.43313939e+02] [ 6.79294586e-01 7.32921402e-01 -3.72167103e-02 3.55115471e+01] [ 5.64825214e-02 -1.65232566e-03 9.98402221e-01 5.44931026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19710568099998 meters 0.02620913431797707 Centerline is valid? [True, True] Translation: X:143.32, Y:35.55, Z:5.46 [[ 7.33856808e-01 -6.78116786e-01 -4.01473521e-02 1.43321812e+02] [ 6.77205949e-01 7.34952862e-01 -3.51623817e-02 3.55463747e+01] [ 5.33506126e-02 -1.38387248e-03 9.98574883e-01 5.45828571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22710568099998 meters 0.02419856207040429 Centerline is valid? [True, True] Translation: X:143.33, Y:35.58, Z:5.46 [[ 7.38417859e-01 -6.73263803e-01 -3.81433769e-02 1.43328335e+02] [ 6.72434459e-01 7.39401725e-01 -3.34213755e-02 3.55819810e+01] [ 5.07046811e-02 -9.69980462e-04 9.98713219e-01 5.46387018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25710568099998 meters 0.023051613742737172 Centerline is valid? [True, True] Translation: X:143.34, Y:35.61, Z:5.47 [[ 7.40579388e-01 -6.70957907e-01 -3.68464008e-02 1.43341569e+02] [ 6.70180816e-01 7.41495030e-01 -3.22923166e-02 3.56103122e+01] [ 4.89882083e-02 -7.78726918e-04 9.98799053e-01 5.46784602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.28710568099999 meters 0.02176478632861543 Centerline is valid? [True, True] Translation: X:143.35, Y:35.65, Z:5.47 [[ 7.42709341e-01 -6.68739959e-01 -3.42009047e-02 1.43347928e+02] [ 6.68067490e-01 7.43496157e-01 -2.99882263e-02 3.56451769e+01] [ 4.54825664e-02 -5.75976748e-04 9.98964967e-01 5.47453585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.317105681 meters 0.02145252839867665 Centerline is valid? [True, True] Translation: X:143.36, Y:35.67, Z:5.47 [[ 7.42509724e-01 -6.68909010e-01 -3.52143008e-02 1.43363800e+02] [ 6.68195849e-01 7.43344052e-01 -3.08857060e-02 3.56703627e+01] [ 4.68360680e-02 -5.97112622e-04 9.98902411e-01 5.47409659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.347105681 meters 0.0214565439849345 Centerline is valid? [True, True] Translation: X:143.38, Y:35.70, Z:5.47 [[ 7.40260361e-01 -6.71239320e-01 -3.81100297e-02 1.43375555e+02] [ 6.70405993e-01 7.41240279e-01 -3.34462775e-02 3.57005378e+01] [ 5.06991456e-02 -7.90238917e-04 9.98713659e-01 5.47206410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.377105681 meters 0.023947249035672604 Centerline is valid? [True, True] Translation: X:143.39, Y:35.73, Z:5.47 [[ 7.37304067e-01 -6.74323940e-01 -4.08648619e-02 1.43391754e+02] [ 6.73369430e-01 7.38434897e-01 -3.58819256e-02 3.57257009e+01] [ 5.43720816e-02 -1.06125914e-03 9.98520180e-01 5.46830765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.407105681 meters 0.024340814603113457 Centerline is valid? [True, True] Translation: X:143.41, Y:35.75, Z:5.47 [[ 7.36816011e-01 -6.74750469e-01 -4.25907268e-02 1.43408264e+02] [ 6.73713942e-01 7.38045064e-01 -3.74033140e-02 3.57489944e+01] [ 5.66717794e-02 -1.13460585e-03 9.98392219e-01 5.46751358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.437105681 meters 0.021503337271269178 Centerline is valid? [True, True] Translation: X:143.41, Y:35.79, Z:5.47 [[ 7.40109028e-01 -6.70951882e-01 -4.54114364e-02 1.43414400e+02] [ 6.69765374e-01 7.41500359e-01 -3.98943720e-02 3.57860063e+01] [ 6.04398004e-02 -8.88822764e-04 9.98171448e-01 5.47290936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.467105681 meters 0.02038480405502838 Centerline is valid? [True, True] Translation: X:143.43, Y:35.82, Z:5.48 [[ 7.43943549e-01 -6.66650573e-01 -4.60978289e-02 1.43426627e+02] [ 6.65418144e-01 7.45370199e-01 -4.05211027e-02 3.58156338e+01] [ 6.13733642e-02 -5.28918855e-04 9.98114738e-01 5.47567980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.497105681 meters 0.02012042033135892 Centerline is valid? [True, True] Translation: X:143.43, Y:35.86, Z:5.48 [[ 7.54238509e-01 -6.55074733e-01 -4.47366383e-02 1.43427483e+02] [ 6.53892031e-01 7.55563971e-01 -3.93484183e-02 3.58569791e+01] [ 5.95775467e-02 4.25161063e-04 9.98223590e-01 5.48433411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52710568099997 meters 0.02440532390664615 Centerline is valid? [True, True] Translation: X:143.43, Y:35.90, Z:5.49 [[ 7.64453492e-01 -6.43166429e-01 -4.41339219e-02 1.43430352e+02] [ 6.41994346e-01 7.65725220e-01 -3.88348751e-02 3.58971680e+01] [ 5.87717450e-02 1.35372759e-03 9.98270529e-01 5.48750016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55710568099997 meters 0.027153876289113147 Centerline is valid? [True, True] Translation: X:143.44, Y:35.93, Z:5.49 [[ 7.68564120e-01 -6.38183049e-01 -4.50731524e-02 1.43444090e+02] [ 6.36951645e-01 7.69882615e-01 -3.96656217e-02 3.59257214e+01] [ 6.00149639e-02 1.77615508e-03 9.98195897e-01 5.48790783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58710568099997 meters 0.030321800793098784 Centerline is valid? [True, True] Translation: X:143.46, Y:35.96, Z:5.49 [[ 7.74253655e-01 -6.31189492e-01 -4.61638753e-02 1.43455360e+02] [ 6.29885025e-01 7.75625016e-01 -4.06286869e-02 3.59590346e+01] [ 6.14502568e-02 2.37897560e-03 9.98107312e-01 5.48793512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61710568099997 meters 0.0312988970697796 Centerline is valid? [True, True] Translation: X:143.48, Y:35.99, Z:5.49 [[ 7.76423924e-01 -6.28527042e-01 -4.60396325e-02 1.43475627e+02] [ 6.27225119e-01 7.77783452e-01 -4.05160617e-02 3.59851789e+01] [ 6.12743047e-02 2.58042563e-03 9.98117629e-01 5.48910624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64710568099997 meters 0.03445059177107716 Centerline is valid? [True, True] Translation: X:143.49, Y:36.01, Z:5.49 [[ 7.79053205e-01 -6.25265672e-01 -4.60319760e-02 1.43490625e+02] [ 6.23958825e-01 7.80406827e-01 -4.05039371e-02 3.60143434e+01] [ 6.12493898e-02 2.83266438e-03 9.98118474e-01 5.48937043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67710568099997 meters 0.03399973691923395 Centerline is valid? [True, True] Translation: X:143.51, Y:36.04, Z:5.49 [[ 7.79621161e-01 -6.24533007e-01 -4.63612754e-02 1.43513570e+02] [ 6.23206347e-01 7.80993002e-01 -4.07894749e-02 3.60368254e+01] [ 6.16822050e-02 2.90769673e-03 9.98091604e-01 5.49198737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70710568099997 meters 0.03097427231116694 Centerline is valid? [True, True] Translation: X:143.54, Y:36.06, Z:5.50 [[ 7.80922222e-01 -6.23072190e-01 -4.40627934e-02 1.43537430e+02] [ 6.21871990e-01 7.82159077e-01 -3.87608854e-02 3.60567571e+01] [ 5.86149435e-02 2.86781974e-03 9.98276547e-01 5.50096072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.73710568099997 meters 0.038600927120846916 Centerline is valid? [True, True] Translation: X:143.55, Y:36.09, Z:5.50 [[ 7.83934030e-01 -6.19271385e-01 -4.41631981e-02 1.43550506e+02] [ 6.18059921e-01 7.85170675e-01 -3.88451466e-02 3.60876467e+01] [ 5.87313358e-02 3.15652955e-03 9.98268835e-01 5.50189690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.76710568099998 meters 0.03880924574208589 Centerline is valid? [True, True] Translation: X:143.57, Y:36.11, Z:5.50 [[ 7.85992911e-01 -6.16663200e-01 -4.40640486e-02 1.43573415e+02] [ 6.15453235e-01 7.87219999e-01 -3.87554987e-02 3.61088878e+01] [ 5.85871902e-02 3.34218607e-03 9.98276701e-01 5.50309307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.79710568099998 meters 0.043201317731546125 Centerline is valid? [True, True] Translation: X:143.59, Y:36.13, Z:5.50 [[ 7.90253124e-01 -6.11119760e-01 -4.50847981e-02 1.43592002e+02] [ 6.09844137e-01 7.91528833e-01 -3.96514194e-02 3.61327285e+01] [ 5.99176835e-02 3.83995818e-03 9.98195936e-01 5.50087001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.82710568099998 meters 0.04745866372865039 Centerline is valid? [True, True] Translation: X:143.61, Y:36.16, Z:5.50 [[ 7.93749641e-01 -6.06356506e-01 -4.78883657e-02 1.43611020e+02] [ 6.04908671e-01 7.95180417e-01 -4.21141767e-02 3.61561265e+01] [ 6.36160956e-02 4.46002507e-03 9.97964479e-01 5.49714737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85710568099998 meters 0.046719950853515345 Centerline is valid? [True, True] Translation: X:143.64, Y:36.18, Z:5.50 [[ 7.94467408e-01 -6.05259434e-01 -4.98252559e-02 1.43635866e+02] [ 6.03690305e-01 7.96014243e-01 -4.38102875e-02 3.61755900e+01] [ 6.61782032e-02 4.72682161e-03 9.97796624e-01 5.49756189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88710568099998 meters 0.04768094675127262 Centerline is valid? [True, True] Translation: X:143.66, Y:36.19, Z:5.49 [[ 7.94727319e-01 -6.04803166e-01 -5.12017464e-02 1.43662321e+02] [ 6.03146176e-01 7.96360015e-01 -4.50046262e-02 3.61949783e+01] [ 6.79939640e-02 4.88426836e-03 9.97673777e-01 5.49366674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91710568099998 meters 0.050860786213486615 Centerline is valid? [True, True] Translation: X:143.69, Y:36.22, Z:5.49 [[ 7.95122996e-01 -6.04421177e-01 -4.95425358e-02 1.43685948e+02] [ 6.02871028e-01 7.96650876e-01 -4.35190205e-02 3.62155821e+01] [ 6.57719222e-02 4.73521452e-03 9.97823447e-01 5.49312877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94710568099998 meters 0.04647009266983696 Centerline is valid? [True, True] Translation: X:143.72, Y:36.23, Z:5.50 [[ 7.95838912e-01 -6.03588797e-01 -4.81766601e-02 1.43715007e+02] [ 6.02123337e-01 7.97282231e-01 -4.22910327e-02 3.62319894e+01] [ 6.39367886e-02 4.64855805e-03 9.97943124e-01 5.49923095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97710568099998 meters 0.046347243210649015 Centerline is valid? [True, True] Translation: X:143.74, Y:36.25, Z:5.51 [[ 7.96840546e-01 -6.02476072e-01 -4.54722664e-02 1.43738786e+02] [ 6.01170591e-01 7.98124547e-01 -3.98889308e-02 3.62530891e+01] [ 6.03246584e-02 4.44852813e-03 9.98168897e-01 5.50727146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.00710568099998 meters 0.04971425463054291 Centerline is valid? [True, True] Translation: X:143.76, Y:36.28, Z:5.51 [[ 7.96829802e-01 -6.02533124e-01 -4.49010210e-02 1.43759846e+02] [ 6.01261911e-01 7.98081926e-01 -3.93618347e-02 3.62774668e+01] [ 5.95515025e-02 4.36740930e-03 9.98215680e-01 5.50819066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03710568099999 meters 0.0458298853354175 Centerline is valid? [True, True] Translation: X:143.79, Y:36.29, Z:5.51 [[ 7.95038006e-01 -6.04949105e-01 -4.41718105e-02 1.43787757e+02] [ 6.03723544e-01 7.96253557e-01 -3.87060113e-02 3.62921615e+01] [ 5.85871282e-02 4.10518803e-03 9.98273858e-01 5.50926251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.067105681 meters 0.04285738878868306 Centerline is valid? [True, True] Translation: X:143.82, Y:36.31, Z:5.50 [[ 7.91787386e-01 -6.09130471e-01 -4.50866299e-02 1.43816584e+02] [ 6.07860370e-01 7.93060567e-01 -3.95057919e-02 3.63062948e+01] [ 5.98206099e-02 3.87381216e-03 9.98201627e-01 5.50428881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.097105681 meters 0.0420556584315649 Centerline is valid? [True, True] Translation: X:143.84, Y:36.32, Z:5.50 [[ 7.89174886e-01 -6.12504007e-01 -4.51867360e-02 1.43840248e+02] [ 6.11233772e-01 7.90459167e-01 -3.95926924e-02 3.63241877e+01] [ 5.99689524e-02 3.62589937e-03 9.98193657e-01 5.50466081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.127105681 meters 0.03785700533542971 Centerline is valid? [True, True] Translation: X:143.87, Y:36.34, Z:5.51 [[ 7.86155371e-01 -6.16414230e-01 -4.46456060e-02 1.43867280e+02] [ 6.15180546e-01 7.87415195e-01 -3.91178608e-02 3.63399228e+01] [ 5.92674345e-02 3.28760808e-03 9.98236727e-01 5.50891341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.157105681 meters 0.03785700533542971 Centerline is valid? [True, True] Translation: X:143.89, Y:36.36, Z:5.51 [[ 7.86241681e-01 -6.16303947e-01 -4.46482394e-02 1.43891908e+02] [ 6.15070256e-01 7.87501498e-01 -3.91148547e-02 3.63613057e+01] [ 5.92671948e-02 3.29192506e-03 9.98236727e-01 5.51012096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.187105681 meters 0.03369868075212975 Centerline is valid? [True, True] Translation: X:143.92, Y:36.37, Z:5.51 [[ 7.79967815e-01 -6.24258581e-01 -4.41750171e-02 1.43919738e+02] [ 6.23063875e-01 7.81213267e-01 -3.86941811e-02 3.63745374e+01] [ 5.86652840e-02 2.65635852e-03 9.98274175e-01 5.51063414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.217105681 meters 0.02780973815076229 Centerline is valid? [True, True] Translation: X:143.95, Y:36.39, Z:5.51 [[ 7.76059662e-01 -6.29095338e-01 -4.43898200e-02 1.43949795e+02] [ 6.27896724e-01 7.77324737e-01 -3.88839033e-02 3.63861114e+01] [ 5.89669875e-02 2.30400630e-03 9.98257274e-01 5.51319707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.247105681 meters 0.027892726046126994 Centerline is valid? [True, True] Translation: X:143.97, Y:36.41, Z:5.52 [[ 7.76077933e-01 -6.29175284e-01 -4.29127418e-02 1.43971078e+02] [ 6.28055675e-01 7.77260285e-01 -3.75834906e-02 3.64091147e+01] [ 5.70009733e-02 2.21612675e-03 9.98371663e-01 5.51777271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27710568099997 meters 0.030249036302668637 Centerline is valid? [True, True] Translation: X:143.99, Y:36.43, Z:5.52 [[ 7.78403471e-01 -6.26397001e-01 -4.14105542e-02 1.43991417e+02] [ 6.25351415e-01 7.79500740e-01 -3.62519672e-02 3.64336198e+01] [ 5.49876812e-02 2.32250847e-03 9.98484332e-01 5.51915414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30710568099997 meters 0.031919116453912384 Centerline is valid? [True, True] Translation: X:144.01, Y:36.46, Z:5.52 [[ 7.84534783e-01 -6.18830717e-01 -3.94172332e-02 1.44010459e+02] [ 6.17874237e-01 7.85519695e-01 -3.44997822e-02 3.64585689e+01] [ 5.23125380e-02 2.71138624e-03 9.98627081e-01 5.52290848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33710568099997 meters 0.0400467703058407 Centerline is valid? [True, True] Translation: X:144.02, Y:36.49, Z:5.52 [[ 7.87305465e-01 -6.15322680e-01 -3.90909733e-02 1.44022358e+02] [ 6.14377786e-01 7.88269929e-01 -3.42119216e-02 3.64903484e+01] [ 5.18656101e-02 2.91860725e-03 9.98649809e-01 5.52281074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36710568099997 meters 0.039765171387393765 Centerline is valid? [True, True] Translation: X:144.04, Y:36.52, Z:5.53 [[ 7.92131283e-01 -6.09147777e-01 -3.83016485e-02 1.44040500e+02] [ 6.08233537e-01 7.93050052e-01 -3.35198350e-02 3.65150746e+01] [ 5.07936573e-02 3.25576280e-03 9.98703862e-01 5.52598343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39710568099997 meters 0.04281437066653372 Centerline is valid? [True, True] Translation: X:144.06, Y:36.54, Z:5.53 [[ 7.93965283e-01 -6.06849790e-01 -3.67758316e-02 1.44059378e+02] [ 6.06004599e-01 7.94809830e-01 -3.21832332e-02 3.65406293e+01] [ 4.87601808e-02 3.26604681e-03 9.98805175e-01 5.52665000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42710568099997 meters 0.045491876957918 Centerline is valid? [True, True] Translation: X:144.08, Y:36.57, Z:5.53 [[ 7.95803200e-01 -6.04643368e-01 -3.32214588e-02 1.44078272e+02] [ 6.03952044e-01 7.96490417e-01 -2.90679293e-02 3.65668345e+01] [ 4.40363042e-02 3.06818323e-03 9.99025220e-01 5.52986205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45710568099997 meters 0.04749893949090353 Centerline is valid? [True, True] Translation: X:144.10, Y:36.59, Z:5.53 [[ 7.97270389e-01 -6.02722174e-01 -3.29531127e-02 1.44098089e+02] [ 6.02040987e-01 7.97944948e-01 -2.88185588e-02 3.65902672e+01] [ 4.36643542e-02 3.13705911e-03 9.99041332e-01 5.53130404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.48710568099997 meters 0.04772281880011085 Centerline is valid? [True, True] Translation: X:144.12, Y:36.61, Z:5.53 [[ 7.98104425e-01 -6.01593091e-01 -3.33928058e-02 1.44121049e+02] [ 6.00892704e-01 7.98796128e-01 -2.92011003e-02 3.66125051e+01] [ 4.42412242e-02 3.24003403e-03 9.99015624e-01 5.53267774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.51710568099998 meters 0.03945870175277883 Centerline is valid? [True, True] Translation: X:144.15, Y:36.63, Z:5.54 [[ 8.01407293e-01 -5.97166624e-01 -3.37398096e-02 1.44149773e+02] [ 5.96447901e-01 8.02109501e-01 -2.95000096e-02 3.66257114e+01] [ 4.46794430e-02 3.51748428e-03 9.98995183e-01 5.53714601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.54710568099998 meters 0.0524474842071005 Centerline is valid? [True, True] Translation: X:144.16, Y:36.66, Z:5.54 [[ 8.03393951e-01 -5.94503979e-01 -3.35138659e-02 1.44159456e+02] [ 5.93792596e-01 8.04084427e-01 -2.93016550e-02 3.66600983e+01] [ 4.43679282e-02 3.64048693e-03 9.99008625e-01 5.53537249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57710568099998 meters 0.057606100626927066 Centerline is valid? [True, True] Translation: X:144.18, Y:36.68, Z:5.53 [[ 8.07557657e-01 -5.88727456e-01 -3.53640073e-02 1.44179432e+02] [ 5.87929942e-01 8.08320820e-01 -3.09165782e-02 3.66848903e+01] [ 4.67869019e-02 4.17536069e-03 9.98896167e-01 5.52947831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.60710568099998 meters 0.0613680703452128 Centerline is valid? [True, True] Translation: X:144.20, Y:36.71, Z:5.53 [[ 8.11753100e-01 -5.82801532e-01 -3.74069343e-02 1.44200507e+02] [ 5.81902980e-01 8.12600481e-01 -3.27013652e-02 3.67086469e+01] [ 4.94552986e-02 4.77822804e-03 9.98764908e-01 5.52500977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63710568099998 meters 0.06891229511256021 Centerline is valid? [True, True] Translation: X:144.22, Y:36.74, Z:5.52 [[ 8.12963070e-01 -5.81060879e-01 -3.82008094e-02 1.44215825e+02] [ 5.80122031e-01 8.13844826e-01 -3.33920331e-02 3.67366312e+01] [ 5.04923352e-02 4.98535862e-03 9.98712006e-01 5.52353707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.66710568099998 meters 0.07216935755361235 Centerline is valid? [True, True] Translation: X:144.24, Y:36.76, Z:5.52 [[ 8.14485756e-01 -5.78807608e-01 -3.99337837e-02 1.44235813e+02] [ 5.77779206e-01 8.15446560e-01 -3.49012568e-02 3.67611062e+01] [ 5.27649795e-02 5.35366669e-03 9.98592607e-01 5.52143254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69710568099998 meters 0.06518622216730258 Centerline is valid? [True, True] Translation: X:144.27, Y:36.77, Z:5.52 [[ 8.13019243e-01 -5.80745267e-01 -4.16490823e-02 1.44267961e+02] [ 5.79629121e-01 8.14067081e-01 -3.63987582e-02 3.67719455e+01] [ 5.50435534e-02 5.45186989e-03 9.98469070e-01 5.51760920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72710568099998 meters 0.06224174293723274 Centerline is valid? [True, True] Translation: X:144.30, Y:36.79, Z:5.52 [[ 8.11079038e-01 -5.83447388e-01 -4.17125894e-02 1.44296021e+02] [ 5.82331483e-01 8.12133809e-01 -3.64516159e-02 3.67867893e+01] [ 5.51438042e-02 5.27458751e-03 9.98464491e-01 5.51577140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75710568099998 meters 0.05838331831116874 Centerline is valid? [True, True] Translation: X:144.33, Y:36.80, Z:5.52 [[ 8.06192584e-01 -5.90308806e-01 -3.98626578e-02 1.44325120e+02] [ 5.89297991e-01 8.07164434e-01 -3.48346824e-02 3.67985387e+01] [ 5.27389393e-02 4.59247844e-03 9.98597774e-01 5.51707067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78710568099999 meters 0.05483832377655888 Centerline is valid? [True, True] Translation: X:144.35, Y:36.81, Z:5.52 [[ 8.03662263e-01 -5.93817526e-01 -3.88292833e-02 1.44351391e+02] [ 5.92862453e-01 8.04588518e-01 -3.39327065e-02 3.68142077e+01] [ 5.13914313e-02 4.25001150e-03 9.98669544e-01 5.52130291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.817105681 meters 0.05014876210407621 Centerline is valid? [True, True] Translation: X:144.38, Y:36.83, Z:5.53 [[ 8.00036702e-01 -5.98776136e-01 -3.75288435e-02 1.44377917e+02] [ 5.97889384e-01 8.00907422e-01 -3.27961288e-02 3.68296364e+01] [ 4.96946686e-02 3.80000963e-03 9.98757228e-01 5.52714386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.847105681 meters 0.05089124600049199 Centerline is valid? [True, True] Translation: X:144.40, Y:36.85, Z:5.53 [[ 7.96935773e-01 -6.02983208e-01 -3.61195951e-02 1.44400078e+02] [ 6.02166102e-01 7.97746612e-01 -3.15646698e-02 3.68500100e+01] [ 4.78472505e-02 3.40501872e-03 9.98848861e-01 5.52738121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.877105681 meters 0.04855393575566384 Centerline is valid? [True, True] Translation: X:144.43, Y:36.87, Z:5.53 [[ 7.95420000e-01 -6.05064663e-01 -3.46954852e-02 1.44425061e+02] [ 6.04312720e-01 7.96170101e-01 -3.03200863e-02 3.68673590e+01] [ 4.59691208e-02 3.15028007e-03 9.98937894e-01 5.52897936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.907105681 meters 0.04483141005381268 Centerline is valid? [True, True] Translation: X:144.45, Y:36.88, Z:5.53 [[ 7.93601118e-01 -6.07592801e-01 -3.20663963e-02 1.44451079e+02] [ 6.06952596e-01 7.94243843e-01 -2.80225481e-02 3.68836267e+01] [ 4.24948363e-02 2.77594306e-03 9.99092830e-01 5.53265198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.937105681 meters 0.04454916951752015 Centerline is valid? [True, True] Translation: X:144.47, Y:36.91, Z:5.54 [[ 7.93184184e-01 -6.08169681e-01 -3.14402554e-02 1.44474569e+02] [ 6.07554719e-01 7.93802493e-01 -2.74748185e-02 3.69059248e+01] [ 4.16667047e-02 2.69091593e-03 9.99127942e-01 5.53616948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.967105681 meters 0.048009514121593565 Centerline is valid? [True, True] Translation: X:144.49, Y:36.93, Z:5.54 [[ 7.93114847e-01 -6.08296742e-01 -3.07231736e-02 1.44491167e+02] [ 6.07709804e-01 7.93705369e-01 -2.68436526e-02 3.69334626e+01] [ 4.07140543e-02 2.61932565e-03 9.99167406e-01 5.54240987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.997105681 meters 0.03680949425136645 Centerline is valid? [True, True] Translation: X:144.53, Y:36.94, Z:5.54 [[ 7.94137264e-01 -6.06970674e-01 -3.05386203e-02 1.44525146e+02] [ 6.06389941e-01 7.94719750e-01 -2.66787927e-02 3.69432562e+01] [ 4.04628894e-02 2.66831126e-03 9.99177479e-01 5.54478582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02710568099997 meters 0.04652859438675981 Centerline is valid? [True, True] Translation: X:144.54, Y:36.98, Z:5.54 [[ 7.98662143e-01 -6.00921709e-01 -3.21229128e-02 1.44537403e+02] [ 6.00274461e-01 7.99301774e-01 -2.80578769e-02 3.69759610e+01] [ 4.25364885e-02 3.12619985e-03 9.99090023e-01 5.53980791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05710568099997 meters 0.043690733090611285 Centerline is valid? [True, True] Translation: X:144.56, Y:37.00, Z:5.54 [[ 8.04737252e-01 -5.92692287e-01 -3.33737670e-02 1.44559539e+02] [ 5.91986678e-01 8.05420489e-01 -2.91480497e-02 3.69962522e+01] [ 4.41557399e-02 3.69969597e-03 9.99017809e-01 5.53844627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08710568099997 meters 0.048123619540302386 Centerline is valid? [True, True] Translation: X:144.57, Y:37.03, Z:5.54 [[ 8.10842396e-01 -5.84390630e-01 -3.19718792e-02 1.44573759e+02] [ 5.83736774e-01 8.11462740e-01 -2.79213286e-02 3.70272121e+01] [ 4.22609515e-02 3.97663539e-03 9.99098693e-01 5.54063855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11710568099997 meters 0.04905135335806788 Centerline is valid? [True, True] Translation: X:144.59, Y:37.05, Z:5.54 [[ 8.13005911e-01 -5.81378612e-01 -3.19421222e-02 1.44594950e+02] [ 5.80723808e-01 8.13622687e-01 -2.78923157e-02 3.70507370e+01] [ 4.22048311e-02 4.12706664e-03 9.99100455e-01 5.54035182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14710568099997 meters 0.05056565290030016 Centerline is valid? [True, True] Translation: X:144.62, Y:37.07, Z:5.54 [[ 8.14508957e-01 -5.79237814e-01 -3.25378874e-02 1.44615966e+02] [ 5.78556795e-01 8.15147188e-01 -2.84094648e-02 3.70747378e+01] [ 4.29790037e-02 4.31474767e-03 9.99066659e-01 5.53996211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17710568099997 meters 0.05395711884006782 Centerline is valid? [True, True] Translation: X:144.63, Y:37.10, Z:5.54 [[ 8.15209944e-01 -5.78147346e-01 -3.43277362e-02 1.44633638e+02] [ 5.77388590e-01 8.15919362e-01 -2.99668440e-02 3.71020027e+01] [ 4.53339159e-02 4.60882602e-03 9.98961258e-01 5.53916856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20710568099997 meters 0.05181871189546315 Centerline is valid? [True, True] Translation: X:144.66, Y:37.12, Z:5.54 [[ 8.12523827e-01 -5.81876126e-01 -3.50029375e-02 1.44657933e+02] [ 5.81091214e-01 8.13265105e-01 -3.05429123e-02 3.71211017e+01] [ 4.62388592e-02 4.47694452e-03 9.98920380e-01 5.53812024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.23710568099997 meters 0.049136233637822456 Centerline is valid? [True, True] Translation: X:144.68, Y:37.14, Z:5.54 [[ 8.10936398e-01 -5.84142981e-01 -3.40460727e-02 1.44684792e+02] [ 5.83402457e-01 8.11639764e-01 -2.97063516e-02 3.71379741e+01] [ 4.49859032e-02 4.22739929e-03 9.98978677e-01 5.53861603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.26710568099998 meters 0.04438455682748619 Centerline is valid? [True, True] Translation: X:144.71, Y:37.15, Z:5.54 [[ 8.07222870e-01 -5.89322034e-01 -3.30269309e-02 1.44711571e+02] [ 5.88629541e-01 8.07889195e-01 -2.88151513e-02 3.71548827e+01] [ 4.36635041e-02 3.81962200e-03 9.99038993e-01 5.54478235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.29710568099998 meters 0.04245639634063583 Centerline is valid? [True, True] Translation: X:144.74, Y:37.18, Z:5.55 [[ 8.04975352e-01 -5.92370022e-01 -3.33532706e-02 1.44735273e+02] [ 5.91666468e-01 8.05657590e-01 -2.90970314e-02 3.71755200e+01] [ 4.41075247e-02 3.68838124e-03 9.99019981e-01 5.54894734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.32710568099998 meters 0.046258883801762074 Centerline is valid? [True, True] Translation: X:144.75, Y:37.20, Z:5.55 [[ 8.00932033e-01 -5.97749192e-01 -3.46955602e-02 1.44752657e+02] [ 5.96993030e-01 8.01675417e-01 -3.02629905e-02 3.72011134e+01] [ 4.59042558e-02 3.52559089e-03 9.98939623e-01 5.54749845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35710568099998 meters 0.04355967681671486 Centerline is valid? [True, True] Translation: X:144.78, Y:37.22, Z:5.54 [[ 7.96440466e-01 -6.03698674e-01 -3.50784134e-02 1.44779846e+02] [ 6.02931428e-01 7.97206092e-01 -3.05963898e-02 3.72176728e+01] [ 4.64357249e-02 3.21832509e-03 9.98916095e-01 5.54205139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38710568099998 meters 0.0365749078532825 Centerline is valid? [True, True] Translation: X:144.81, Y:37.23, Z:5.54 [[ 7.94695988e-01 -6.05988836e-01 -3.51542022e-02 1.44809572e+02] [ 6.05220565e-01 7.95467148e-01 -3.06607940e-02 3.72315994e+01] [ 4.65441118e-02 3.08996380e-03 9.98911456e-01 5.54396571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41710568099998 meters 0.03595787764106067 Centerline is valid? [True, True] Translation: X:144.83, Y:37.26, Z:5.55 [[ 7.92099641e-01 -6.09351165e-01 -3.56274709e-02 1.44828577e+02] [ 6.08565545e-01 7.92895059e-01 -3.10709268e-02 3.72561474e+01] [ 4.71819511e-02 2.92961870e-03 9.98882015e-01 5.54964749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44710568099998 meters 0.0340255175169761 Centerline is valid? [True, True] Translation: X:144.85, Y:37.28, Z:5.55 [[ 7.91072024e-01 -6.10696774e-01 -3.54189728e-02 1.44851968e+02] [ 6.09921722e-01 7.91859477e-01 -3.08878799e-02 3.72765650e+01] [ 4.69099779e-02 2.83173675e-03 9.98895107e-01 5.55270170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47710568099998 meters 0.03174916928588577 Centerline is valid? [True, True] Translation: X:144.88, Y:37.30, Z:5.55 [[ 7.89320809e-01 -6.12923726e-01 -3.60162117e-02 1.44875506e+02] [ 6.12124739e-01 7.90137319e-01 -3.14057380e-02 3.72976457e+01] [ 4.77070749e-02 2.74278831e-03 9.98857604e-01 5.55301170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.50710568099998 meters 0.03387553334531088 Centerline is valid? [True, True] Translation: X:144.90, Y:37.32, Z:5.55 [[ 7.88953824e-01 -6.13343335e-01 -3.69028109e-02 1.44895433e+02] [ 6.12505323e-01 7.89811518e-01 -3.21713505e-02 3.73224428e+01] [ 4.88783485e-02 2.77854187e-03 9.98800874e-01 5.55183970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53710568099999 meters 0.03321428427956986 Centerline is valid? [True, True] Translation: X:144.92, Y:37.35, Z:5.55 [[ 7.88039720e-01 -6.14472962e-01 -3.76348063e-02 1.44915715e+02] [ 6.13603551e-01 7.88933095e-01 -3.27910734e-02 3.73481208e+01] [ 4.98405722e-02 2.74781749e-03 9.98753406e-01 5.55292529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.567105681 meters 0.032691369713727984 Centerline is valid? [True, True] Translation: X:144.93, Y:37.37, Z:5.55 [[ 7.86236829e-01 -6.16805258e-01 -3.71876764e-02 1.44933371e+02] [ 6.15959676e-01 7.87111638e-01 -3.23874594e-02 3.73739248e+01] [ 4.92476081e-02 2.55810428e-03 9.98783324e-01 5.55494702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.597105681 meters 0.03017460142062961 Centerline is valid? [True, True] Translation: X:144.96, Y:37.40, Z:5.55 [[ 7.83293860e-01 -6.20506431e-01 -3.77160056e-02 1.44955284e+02] [ 6.19640971e-01 7.84197813e-01 -3.28459498e-02 3.73968976e+01] [ 4.99579322e-02 2.35764848e-03 9.98748540e-01 5.55379067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.627105681 meters 0.027828568512023828 Centerline is valid? [True, True] Translation: X:144.98, Y:37.42, Z:5.55 [[ 7.80937848e-01 -6.23417955e-01 -3.85503719e-02 1.44979261e+02] [ 6.22517427e-01 7.81885628e-01 -3.35695790e-02 3.74175241e+01] [ 5.10698600e-02 2.21747646e-03 9.98692621e-01 5.55439220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.657105681 meters 0.02385843886699435 Centerline is valid? [True, True] Translation: X:145.00, Y:37.44, Z:5.56 [[ 7.73657173e-01 -6.32368819e-01 -3.95506605e-02 1.45000952e+02] [ 6.31432668e-01 7.74665665e-01 -3.44368034e-02 3.74395565e+01] [ 5.24152994e-02 1.66870094e-03 9.98623979e-01 5.55655771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.687105681 meters 0.022371428612915908 Centerline is valid? [True, True] Translation: X:145.02, Y:37.46, Z:5.56 [[ 7.69847511e-01 -6.37008728e-01 -3.94295650e-02 1.45022402e+02] [ 6.36084456e-01 7.70855411e-01 -3.43293028e-02 3.74612312e+01] [ 5.22625590e-02 1.34779494e-03 9.98632469e-01 5.55861129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.717105681 meters 0.019405781508924504 Centerline is valid? [True, True] Translation: X:145.04, Y:37.48, Z:5.56 [[ 7.62539718e-01 -6.45743278e-01 -3.93547534e-02 1.45043904e+02] [ 6.44834121e-01 7.63554227e-01 -3.42622091e-02 3.74844578e+01] [ 5.21740796e-02 7.49007468e-04 9.98637724e-01 5.56009028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.747105681 meters 0.018884213729895915 Centerline is valid? [True, True] Translation: X:145.07, Y:37.51, Z:5.56 [[ 7.59509713e-01 -6.49308399e-01 -3.92886562e-02 1.45065775e+02] [ 6.48407441e-01 7.60525052e-01 -3.41970173e-02 3.75072326e+01] [ 5.20844179e-02 4.97909784e-04 9.98642561e-01 5.55929954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77710568099997 meters 0.018014194170251113 Centerline is valid? [True, True] Translation: X:145.09, Y:37.53, Z:5.56 [[ 7.54841393e-01 -6.54820484e-01 -3.77439383e-02 1.45085796e+02] [ 6.53996741e-01 7.55784443e-01 -3.28350227e-02 3.75328565e+01] [ 5.00273269e-02 1.00821614e-04 9.98747844e-01 5.56235769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80710568099997 meters 0.01771887923175432 Centerline is valid? [True, True] Translation: X:145.11, Y:37.56, Z:5.56 [[ 7.53862163e-01 -6.55972456e-01 -3.73092045e-02 1.45105403e+02] [ 6.55169930e-01 7.54784829e-01 -3.24380327e-02 3.75603143e+01] [ 4.94388775e-02 9.93666608e-06 9.98777151e-01 5.56327926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83710568099997 meters 0.01757299778091674 Centerline is valid? [True, True] Translation: X:145.13, Y:37.58, Z:5.57 [[ 7.55786803e-01 -6.53851846e-01 -3.55537817e-02 1.45128863e+02] [ 6.53121652e-01 7.56622592e-01 -3.08927243e-02 3.75827585e+01] [ 4.71000593e-02 1.27368658e-04 9.98890168e-01 5.57249337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86710568099997 meters 0.01768369765862655 Centerline is valid? [True, True] Translation: X:145.15, Y:37.61, Z:5.57 [[ 7.57199314e-01 -6.52189100e-01 -3.60357728e-02 1.45152259e+02] [ 6.51437992e-01 7.58056284e-01 -3.12923767e-02 3.76064243e+01] [ 4.77256910e-02 2.19494726e-04 9.98860456e-01 5.57418357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89710568099997 meters 0.0178161593471925 Centerline is valid? [True, True] Translation: X:145.18, Y:37.63, Z:5.57 [[ 7.58965948e-01 -6.50103552e-01 -3.65521670e-02 1.45175740e+02] [ 6.49329349e-01 7.59845547e-01 -3.17197302e-02 3.76292758e+01] [ 4.83951106e-02 3.39800324e-04 9.98828212e-01 5.57207428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92710568099997 meters 0.01837454345221261 Centerline is valid? [True, True] Translation: X:145.20, Y:37.65, Z:5.56 [[ 7.61667948e-01 -6.46866922e-01 -3.77507910e-02 1.45200461e+02] [ 6.46038082e-01 7.62602704e-01 -3.27400795e-02 3.76513219e+01] [ 4.99673297e-02 5.48620579e-04 9.98750702e-01 5.56195523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95710568099997 meters 0.01906834178618349 Centerline is valid? [True, True] Translation: X:145.22, Y:37.67, Z:5.56 [[ 7.64017074e-01 -6.44147518e-01 -3.67679854e-02 1.45223277e+02] [ 6.43359021e-01 7.64900970e-01 -3.18696881e-02 3.76727746e+01] [ 4.86526482e-02 6.93970773e-04 9.98815518e-01 5.56170003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.98710568099997 meters 0.019218965623898885 Centerline is valid? [True, True] Translation: X:145.25, Y:37.70, Z:5.57 [[ 7.65254294e-01 -6.42749850e-01 -3.54752906e-02 1.45246744e+02] [ 6.42015146e-01 7.66075766e-01 -3.07322820e-02 3.76955195e+01] [ 4.69299301e-02 7.42336889e-04 9.98897908e-01 5.56722419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.01710568099998 meters 0.019764708163935725 Centerline is valid? [True, True] Translation: X:145.27, Y:37.72, Z:5.58 [[ 7.66805780e-01 -6.40956259e-01 -3.44088572e-02 1.45268108e+02] [ 6.40264127e-01 7.67576976e-01 -2.97898290e-02 3.77202956e+01] [ 4.55054239e-02 8.12256140e-04 9.98963761e-01 5.57600140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.04710568099998 meters 0.019764708163935725 Centerline is valid? [True, True] Translation: X:145.29, Y:37.74, Z:5.58 [[ 7.67011978e-01 -6.40709032e-01 -3.44174713e-02 1.45292951e+02] [ 6.40017097e-01 7.67783351e-01 -2.97798740e-02 3.77415752e+01] [ 4.55053957e-02 8.13749952e-04 9.98963761e-01 5.57720618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07710568099998 meters 0.01972073653215093 Centerline is valid? [True, True] Translation: X:145.32, Y:37.76, Z:5.58 [[ 7.68042136e-01 -6.39573418e-01 -3.25133833e-02 1.45317986e+02] [ 6.38955697e-01 7.68729583e-01 -2.81148435e-02 3.77635841e+01] [ 4.29755062e-02 8.18772925e-04 9.99075791e-01 5.58144823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.10710568099998 meters 0.019928975443465047 Centerline is valid? [True, True] Translation: X:145.34, Y:37.78, Z:5.58 [[ 7.68603525e-01 -6.38952360e-01 -3.14404680e-02 1.45341993e+02] [ 6.38374938e-01 7.69245879e-01 -2.71701356e-02 3.77843270e+01] [ 4.15458727e-02 8.12255235e-04 9.99136267e-01 5.58229478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13710568099998 meters 0.019810486625687525 Centerline is valid? [True, True] Translation: X:145.37, Y:37.80, Z:5.58 [[ 7.68735621e-01 -6.38873029e-01 -2.97791357e-02 1.45368772e+02] [ 6.38355393e-01 7.69311814e-01 -2.57240194e-02 3.78028473e+01] [ 3.93438231e-02 7.65298137e-04 9.99225439e-01 5.58176791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.16710568099998 meters 0.01965916358501716 Centerline is valid? [True, True] Translation: X:145.40, Y:37.82, Z:5.58 [[ 7.68765372e-01 -6.38895057e-01 -2.85115576e-02 1.45395134e+02] [ 6.38421097e-01 7.69293564e-01 -2.46153501e-02 3.78229132e+01] [ 3.76603832e-02 7.21048939e-04 9.99290336e-01 5.58372431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19710568099998 meters 0.01954760844758156 Centerline is valid? [True, True] Translation: X:145.42, Y:37.84, Z:5.58 [[ 7.67940903e-01 -6.39832908e-01 -2.96752261e-02 1.45420491e+02] [ 6.39320836e-01 7.68513744e-01 -2.56026293e-02 3.78419015e+01] [ 3.91872239e-02 6.89315942e-04 9.99231648e-01 5.58458748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22710568099998 meters 0.018975154208220525 Centerline is valid? [True, True] Translation: X:145.45, Y:37.86, Z:5.58 [[ 7.67334086e-01 -6.40402244e-01 -3.29145463e-02 1.45448490e+02] [ 6.39773481e-01 7.68039354e-01 -2.83803516e-02 3.78608496e+01] [ 4.34545077e-02 7.19357271e-04 9.99055148e-01 5.58130705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25710568099998 meters 0.019431027336905073 Centerline is valid? [True, True] Translation: X:145.47, Y:37.88, Z:5.58 [[ 7.68485066e-01 -6.38974760e-01 -3.37928863e-02 1.45470957e+02] [ 6.38311399e-01 7.69227277e-01 -2.91196466e-02 3.78822784e+01] [ 4.46011291e-02 8.07629050e-04 9.99004548e-01 5.58291116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.28710568099999 meters 0.019451421034477313 Centerline is valid? [True, True] Translation: X:145.49, Y:37.90, Z:5.58 [[ 7.69632809e-01 -6.37575270e-01 -3.41044761e-02 1.45494978e+02] [ 6.36898720e-01 7.70387555e-01 -2.93774572e-02 3.79037557e+01] [ 4.50040042e-02 8.88757694e-04 9.98986411e-01 5.58454379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.317105681 meters 0.020226234426854957 Centerline is valid? [True, True] Translation: X:145.52, Y:37.93, Z:5.58 [[ 7.71972680e-01 -6.34713829e-01 -3.45909968e-02 1.45518809e+02] [ 6.34015767e-01 7.72746555e-01 -2.97786745e-02 3.79258973e+01] [ 4.56310101e-02 1.05708580e-03 9.98957804e-01 5.58241388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.347105681 meters 0.020241658233988165 Centerline is valid? [True, True] Translation: X:145.55, Y:37.95, Z:5.58 [[ 7.72407362e-01 -6.34165877e-01 -3.49357569e-02 1.45545050e+02] [ 6.33454120e-01 7.73196263e-01 -3.00569034e-02 3.79468741e+01] [ 4.60732592e-02 1.08597430e-03 9.98937473e-01 5.58293591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.377105681 meters 0.021088866206737514 Centerline is valid? [True, True] Translation: X:145.57, Y:37.97, Z:5.58 [[ 7.74060476e-01 -6.32121803e-01 -3.53893335e-02 1.45568136e+02] [ 6.31390159e-01 7.74868094e-01 -3.04286551e-02 3.79673945e+01] [ 4.66566817e-02 1.20914232e-03 9.98910252e-01 5.58276405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.407105681 meters 0.02302035512954405 Centerline is valid? [True, True] Translation: X:145.59, Y:37.99, Z:5.59 [[ 7.78374802e-01 -6.26896412e-01 -3.36683285e-02 1.45589134e+02] [ 6.26229639e-01 7.79101280e-01 -2.89419181e-02 3.79914062e+01] [ 4.43746224e-02 1.44355459e-03 9.99013918e-01 5.58636536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.437105681 meters 0.024496589515765884 Centerline is valid? [True, True] Translation: X:145.61, Y:38.01, Z:5.59 [[ 7.81633190e-01 -6.22926299e-01 -3.18179627e-02 1.45610606e+02] [ 6.22327721e-01 7.82278945e-01 -2.73470276e-02 3.80146128e+01] [ 4.19257050e-02 1.57414417e-03 9.99119491e-01 5.59039841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.467105681 meters 0.027156628928697427 Centerline is valid? [True, True] Translation: X:145.63, Y:38.04, Z:5.59 [[ 7.86747687e-01 -6.16607185e-01 -2.86994048e-02 1.45631214e+02] [ 6.16116456e-01 7.87269101e-01 -2.46551361e-02 3.80384010e+01] [ 3.77966886e-02 1.71519575e-03 9.99283978e-01 5.59440164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.497105681 meters 0.02844942874142291 Centerline is valid? [True, True] Translation: X:145.65, Y:38.06, Z:5.60 [[ 7.89049229e-01 -6.13710422e-01 -2.75831902e-02 1.45654395e+02] [ 6.13255501e-01 7.89529197e-01 -2.36925859e-02 3.80602059e+01] [ 3.63181209e-02 1.77907354e-03 9.99338696e-01 5.59705571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52710568099997 meters 0.03142516285124353 Centerline is valid? [True, True] Translation: X:145.67, Y:38.08, Z:5.60 [[ 7.92146096e-01 -6.09796279e-01 -2.55550630e-02 1.45674985e+02] [ 6.09403868e-01 7.92556126e-01 -2.19479801e-02 3.80822575e+01] [ 3.36376183e-02 1.81265252e-03 9.99432451e-01 5.60199175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55710568099997 meters 0.03521398356509651 Centerline is valid? [True, True] Translation: X:145.70, Y:38.10, Z:5.60 [[ 7.94669652e-01 -6.06511966e-01 -2.53649129e-02 1.45696192e+02] [ 6.06123883e-01 7.95072008e-01 -2.17793468e-02 3.81048695e+01] [ 3.33763667e-02 1.93310643e-03 9.99440984e-01 5.60196358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58710568099997 meters 0.03782288481640538 Centerline is valid? [True, True] Translation: X:145.72, Y:38.13, Z:5.60 [[ 7.96857042e-01 -6.03587301e-01 -2.64806409e-02 1.45718486e+02] [ 6.03162906e-01 7.97294038e-01 -2.27316183e-02 3.81253646e+01] [ 3.48333732e-02 2.14170986e-03 9.99390839e-01 5.59956437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61710568099997 meters 0.032684849073401676 Centerline is valid? [True, True] Translation: X:145.75, Y:38.14, Z:5.60 [[ 7.97049630e-01 -6.03281594e-01 -2.76261833e-02 1.45749436e+02] [ 6.02819680e-01 7.97525098e-01 -2.37097175e-02 3.81399605e+01] [ 3.63362107e-02 2.24421454e-03 9.99337102e-01 5.59962585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64710568099997 meters 0.031740749884348864 Centerline is valid? [True, True] Translation: X:145.78, Y:38.16, Z:5.60 [[ 7.95105264e-01 -6.05708238e-01 -3.04162766e-02 1.45776134e+02] [ 6.05150757e-01 7.95683404e-01 -2.60860280e-02 3.81575899e+01] [ 4.00022485e-02 2.33470540e-03 9.99196862e-01 5.59787448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67710568099997 meters 0.03125791479165251 Centerline is valid? [True, True] Translation: X:145.80, Y:38.17, Z:5.60 [[ 7.93084056e-01 -6.08272889e-01 -3.19651664e-02 1.45802472e+02] [ 6.07659389e-01 7.93724595e-01 -2.74104549e-02 3.81748248e+01] [ 4.20445754e-02 2.31486125e-03 9.99113054e-01 5.59585614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70710568099997 meters 0.03067574749681014 Centerline is valid? [True, True] Translation: X:145.83, Y:38.19, Z:5.60 [[ 7.91799648e-01 -6.09932866e-01 -3.21747786e-02 1.45827992e+02] [ 6.09312902e-01 7.92449933e-01 -2.75842492e-02 3.81937603e+01] [ 4.23214413e-02 2.23669105e-03 9.99101543e-01 5.59718893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.73710568099997 meters 0.029251410555475813 Centerline is valid? [True, True] Translation: X:145.85, Y:38.21, Z:5.60 [[ 7.88739030e-01 -6.13846489e-01 -3.29124822e-02 1.45854866e+02] [ 6.13201329e-01 7.89422703e-01 -2.82121679e-02 3.82112488e+01] [ 4.32998009e-02 2.07006008e-03 9.99059979e-01 5.59854617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.76710568099998 meters 0.02858799465321274 Centerline is valid? [True, True] Translation: X:145.88, Y:38.23, Z:5.60 [[ 7.87405513e-01 -6.15517065e-01 -3.36348111e-02 1.45880060e+02] [ 6.14844972e-01 7.88120974e-01 -2.88269157e-02 3.82299413e+01] [ 4.42517586e-02 2.01827781e-03 9.99018372e-01 5.59929525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.79710568099998 meters 0.0261385852029669 Centerline is valid? [True, True] Translation: X:145.91, Y:38.25, Z:5.60 [[ 7.84559790e-01 -6.19047092e-01 -3.53076974e-02 1.45909217e+02] [ 6.18310519e-01 7.85351566e-01 -3.02492819e-02 3.82452984e+01] [ 4.64546855e-02 1.90124948e-03 9.98918589e-01 5.59869388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.82710568099998 meters 0.025726248916741405 Centerline is valid? [True, True] Translation: X:145.94, Y:38.26, Z:5.60 [[ 7.83555528e-01 -6.20289180e-01 -3.58059709e-02 1.45935218e+02] [ 6.19533277e-01 7.84371033e-01 -3.06692244e-02 3.82642776e+01] [ 4.71089545e-02 1.84804985e-03 9.98888047e-01 5.59943120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85710568099998 meters 0.023729522014921466 Centerline is valid? [True, True] Translation: X:145.96, Y:38.28, Z:5.60 [[ 7.79941692e-01 -6.24824647e-01 -3.58485352e-02 1.45963261e+02] [ 6.24072397e-01 7.80763543e-01 -3.06909257e-02 3.82796013e+01] [ 4.71656762e-02 1.56505124e-03 9.98885854e-01 5.60132099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88710568099998 meters 0.02232921474353579 Centerline is valid? [True, True] Translation: X:145.99, Y:38.30, Z:5.60 [[ 7.77011779e-01 -6.28520125e-01 -3.48589624e-02 1.45989726e+02] [ 6.27812683e-01 7.77792233e-01 -2.98408591e-02 3.82967773e+01] [ 4.58686107e-02 1.30180035e-03 9.98946633e-01 5.60383886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91710568099998 meters 0.02184041647222046 Centerline is valid? [True, True] Translation: X:146.01, Y:38.32, Z:5.61 [[ 7.75916351e-01 -6.29866915e-01 -3.49497699e-02 1.46014872e+02] [ 6.29157393e-01 7.76702117e-01 -2.99131389e-02 3.83174735e+01] [ 4.59868567e-02 1.22118744e-03 9.98941298e-01 5.60585970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94710568099998 meters 0.02036180745852416 Centerline is valid? [True, True] Translation: X:146.04, Y:38.34, Z:5.61 [[ 7.72112170e-01 -6.34543115e-01 -3.46097020e-02 1.46039502e+02] [ 6.33852655e-01 7.72886914e-01 -2.96079265e-02 3.83352774e+01] [ 4.55368917e-02 9.23188855e-04 9.98962231e-01 5.61095888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97710568099998 meters 0.018810461207056112 Centerline is valid? [True, True] Translation: X:146.07, Y:38.35, Z:5.61 [[ 7.68892996e-01 -6.38518075e-01 -3.31395424e-02 1.46066823e+02] [ 6.37888804e-01 7.69606546e-01 -2.83485085e-02 3.83523223e+01] [ 4.36054438e-02 6.57626577e-04 9.99048614e-01 5.61401150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.00710568099998 meters 0.01833771131773083 Centerline is valid? [True, True] Translation: X:146.09, Y:38.37, Z:5.62 [[ 7.67225587e-01 -6.40580877e-01 -3.19536993e-02 1.46092353e+02] [ 6.39997887e-01 7.67890535e-01 -2.73282165e-02 3.83711320e+01] [ 4.20428761e-02 5.16606901e-04 9.99115674e-01 5.61588556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03710568099999 meters 0.01776806544345038 Centerline is valid? [True, True] Translation: X:146.12, Y:38.39, Z:5.62 [[ 7.62724408e-01 -6.45942630e-01 -3.17741312e-02 1.46118078e+02] [ 6.45371420e-01 7.63385928e-01 -2.71598083e-02 3.83897469e+01] [ 4.17996027e-02 2.09332515e-04 9.99125993e-01 5.61781117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.067105681 meters 0.017383197680433258 Centerline is valid? [True, True] Translation: X:146.14, Y:38.41, Z:5.62 [[ 7.60500901e-01 -6.48526063e-01 -3.24395489e-02 1.46144434e+02] [ 6.47933684e-01 7.61192447e-01 -2.77127946e-02 3.84094497e+01] [ 4.26652092e-02 5.69288505e-05 9.99089424e-01 5.61948795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.097105681 meters 0.017515492973684304 Centerline is valid? [True, True] Translation: X:146.17, Y:38.43, Z:5.62 [[ 7.57108810e-01 -6.52415471e-01 -3.37683641e-02 1.46169624e+02] [ 6.51778258e-01 7.57861478e-01 -2.88285174e-02 3.84292586e+01] [ 4.43999131e-02 -1.83161028e-04 9.99013821e-01 5.61871047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.127105681 meters 0.017599945861269898 Centerline is valid? [True, True] Translation: X:146.19, Y:38.45, Z:5.62 [[ 7.56237246e-01 -6.53340560e-01 -3.53743059e-02 1.46193600e+02] [ 6.52643142e-01 7.57064095e-01 -3.01808740e-02 3.84517211e+01] [ 4.64990060e-02 -2.62897163e-04 9.98918302e-01 5.61570521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.157105681 meters 0.0176206578899404 Centerline is valid? [True, True] Translation: X:146.22, Y:38.47, Z:5.61 [[ 7.56962835e-01 -6.52457455e-01 -3.61460278e-02 1.46216987e+02] [ 6.51729166e-01 7.57825321e-01 -3.08200825e-02 3.84746297e+01] [ 4.75011678e-02 -2.27763540e-04 9.98871156e-01 5.61463067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.187105681 meters 0.017714765662073712 Centerline is valid? [True, True] Translation: X:146.24, Y:38.50, Z:5.61 [[ 7.57454349e-01 -6.51719489e-01 -3.90463444e-02 1.46237089e+02] [ 6.50869693e-01 7.58460060e-01 -3.32713221e-02 3.84996811e+01] [ 5.12986617e-02 -2.12574539e-04 9.98683334e-01 5.61028587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.217105681 meters 0.01781516207291449 Centerline is valid? [True, True] Translation: X:146.26, Y:38.53, Z:5.61 [[ 7.57689950e-01 -6.51353976e-01 -4.05455059e-02 1.46257208e+02] [ 6.50438159e-01 7.58773981e-01 -3.45289347e-02 3.85252802e+01] [ 5.32554338e-02 -2.10117373e-04 9.98580900e-01 5.61353613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24710568099997 meters 0.017627876351617805 Centerline is valid? [True, True] Translation: X:146.28, Y:38.55, Z:5.62 [[ 7.58614238e-01 -6.50346650e-01 -3.94166619e-02 1.46280121e+02] [ 6.49480783e-01 7.59637554e-01 -3.35484725e-02 3.85468582e+01] [ 5.17605133e-02 -1.50015502e-04 9.98659515e-01 5.62119911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27710568099997 meters 0.017551120645859616 Centerline is valid? [True, True] Translation: X:146.30, Y:38.57, Z:5.63 [[ 7.62899764e-01 -6.45538400e-01 -3.55545164e-02 1.46300823e+02] [ 6.44829470e-01 7.63727800e-01 -3.02457170e-02 3.85720861e+01] [ 4.66787443e-02 1.47850401e-04 9.98909942e-01 5.62840380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30710568099997 meters 0.01823291153531597 Centerline is valid? [True, True] Translation: X:146.32, Y:38.59, Z:5.63 [[ 7.67764018e-01 -6.39884516e-01 -3.29578231e-02 1.46324174e+02] [ 6.39270843e-01 7.68470955e-01 -2.80210807e-02 3.85943410e+01] [ 4.32573854e-02 4.44602197e-04 9.99063862e-01 5.62772677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33710568099997 meters 0.018716882187020254 Centerline is valid? [True, True] Translation: X:146.35, Y:38.62, Z:5.63 [[ 7.70226614e-01 -6.36939777e-01 -3.25374311e-02 1.46348490e+02] [ 6.36339727e-01 7.70913337e-01 -2.76474111e-02 3.86156252e+01] [ 4.26932754e-02 5.89911804e-04 9.99088052e-01 5.62750013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36710568099997 meters 0.020558438900658088 Centerline is valid? [True, True] Translation: X:146.37, Y:38.64, Z:5.63 [[ 7.75475885e-01 -6.30611973e-01 -3.10755714e-02 1.46370651e+02] [ 6.30060117e-01 7.76097773e-01 -2.63911858e-02 3.86391803e+01] [ 4.07602795e-02 8.86249967e-04 9.99168561e-01 5.63242757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39710568099997 meters 0.022262867569893863 Centerline is valid? [True, True] Translation: X:146.39, Y:38.66, Z:5.64 [[ 7.79542287e-01 -6.25627450e-01 -3.00685206e-02 1.46391633e+02] [ 6.25107264e-01 7.80121189e-01 -2.55311531e-02 3.86634762e+01] [ 3.94300802e-02 1.10656286e-03 9.99221719e-01 5.63689201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42710568099997 meters 0.025486177169642747 Centerline is valid? [True, True] Translation: X:146.41, Y:38.69, Z:5.64 [[ 7.86694002e-01 -6.16664903e-01 -2.89299970e-02 1.46411307e+02] [ 6.16177763e-01 7.87224353e-01 -2.45516305e-02 3.86890565e+01] [ 3.79145270e-02 1.48859959e-03 9.99279877e-01 5.64379069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45710568099997 meters 0.028710518198758084 Centerline is valid? [True, True] Translation: X:146.43, Y:38.71, Z:5.64 [[ 7.91978838e-01 -6.09897154e-01 -2.81954242e-02 1.46433611e+02] [ 6.09430426e-01 7.92478618e-01 -2.39206427e-02 3.87094701e+01] [ 3.69334027e-02 1.76149344e-03 9.99316177e-01 5.64174017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.48710568099997 meters 0.02936183157560371 Centerline is valid? [True, True] Translation: X:146.46, Y:38.73, Z:5.64 [[ 7.93837881e-01 -6.07458347e-01 -2.85617907e-02 1.46459290e+02] [ 6.06978017e-01 7.94349270e-01 -2.42265147e-02 3.87287557e+01] [ 3.74046362e-02 1.89554602e-03 9.99298404e-01 5.63871573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.51710568099998 meters 0.03399238039996364 Centerline is valid? [True, True] Translation: X:146.48, Y:38.75, Z:5.64 [[ 7.96891998e-01 -6.03323782e-01 -3.10412317e-02 1.46479537e+02] [ 6.02753869e-01 7.97493140e-01 -2.63147450e-02 3.87524551e+01] [ 4.06314808e-02 2.25978720e-03 9.99171645e-01 5.63585626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.54710568099998 meters 0.032118431825791806 Centerline is valid? [True, True] Translation: X:146.51, Y:38.77, Z:5.64 [[ 7.97745547e-01 -6.02002414e-01 -3.45707262e-02 1.46505641e+02] [ 6.01294542e-01 7.98490077e-01 -2.92996718e-02 3.87716928e+01] [ 4.52428550e-02 2.58649373e-03 9.98972669e-01 5.63819301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57710568099998 meters 0.031769274618974996 Centerline is valid? [True, True] Translation: X:146.53, Y:38.79, Z:5.64 [[ 7.97530788e-01 -6.02255501e-01 -3.51134395e-02 1.46531392e+02] [ 6.01525805e-01 7.98299140e-01 -2.97521179e-02 3.87910066e+01] [ 4.59494052e-02 2.60659008e-03 9.98940368e-01 5.63781540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.60710568099998 meters 0.030700852245889875 Centerline is valid? [True, True] Translation: X:146.56, Y:38.81, Z:5.63 [[ 7.94853079e-01 -6.05733788e-01 -3.59883458e-02 1.46560139e+02] [ 6.04971500e-01 7.95663595e-01 -3.04783167e-02 3.88066449e+01] [ 4.70963629e-02 2.45386035e-03 9.98887337e-01 5.63410820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63710568099998 meters 0.028312208077157574 Centerline is valid? [True, True] Translation: X:146.59, Y:38.82, Z:5.63 [[ 7.88842970e-01 -6.13463677e-01 -3.72704288e-02 1.46587206e+02] [ 6.12654783e-01 7.89720244e-01 -3.15603135e-02 3.88219643e+01] [ 4.87943181e-02 2.06222500e-03 9.98806719e-01 5.63302590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.66710568099998 meters 0.026300920722696276 Centerline is valid? [True, True] Translation: X:146.61, Y:38.84, Z:5.63 [[ 7.85096431e-01 -6.18194139e-01 -3.82047176e-02 1.46614058e+02] [ 6.17349930e-01 7.86023365e-01 -3.23470736e-02 3.88388520e+01] [ 5.00265721e-02 1.80989229e-03 9.98746247e-01 5.63306924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69710568099998 meters 0.021614151852225136 Centerline is valid? [True, True] Translation: X:146.65, Y:38.85, Z:5.63 [[ 7.77900401e-01 -6.27062059e-01 -4.07938740e-02 1.46647006e+02] [ 6.26111716e-01 7.78968178e-01 -3.45354503e-02 3.88484715e+01] [ 5.34330003e-02 1.32361823e-03 9.98570560e-01 5.63059744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.72710568099998 meters 0.020821781978334154 Centerline is valid? [True, True] Translation: X:146.67, Y:38.87, Z:5.63 [[ 7.75761440e-01 -6.29708026e-01 -4.07675115e-02 1.46672913e+02] [ 6.28763088e-01 7.76831074e-01 -3.45030640e-02 3.88665092e+01] [ 5.33963260e-02 1.13304016e-03 9.98572756e-01 5.63285491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75710568099998 meters 0.020738718560551993 Centerline is valid? [True, True] Translation: X:146.69, Y:38.89, Z:5.64 [[ 7.75237080e-01 -6.30343254e-01 -4.09249454e-02 1.46694781e+02] [ 6.29392897e-01 7.76315798e-01 -3.46173735e-02 3.88890072e+01] [ 5.35915095e-02 1.07880158e-03 9.98562360e-01 5.64024383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.78710568099999 meters 0.02232162197319856 Centerline is valid? [True, True] Translation: X:146.71, Y:38.92, Z:5.65 [[ 7.79108391e-01 -6.25673635e-01 -3.90207363e-02 1.46713406e+02] [ 6.24804549e-01 7.80083808e-01 -3.29928382e-02 3.89164974e+01] [ 5.10821936e-02 1.32466347e-03 9.98693574e-01 5.64703034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.817105681 meters 0.023486311109286763 Centerline is valid? [True, True] Translation: X:146.73, Y:38.94, Z:5.65 [[ 7.82407632e-01 -6.21651293e-01 -3.72554175e-02 1.46734984e+02] [ 6.20854790e-01 7.83292655e-01 -3.14951694e-02 3.89411556e+01] [ 4.87609077e-02 1.51185656e-03 9.98809335e-01 5.65013970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.847105681 meters 0.028048341328917925 Centerline is valid? [True, True] Translation: X:146.75, Y:38.97, Z:5.65 [[ 7.89887600e-01 -6.12233503e-01 -3.53230474e-02 1.46749527e+02] [ 6.11508272e-01 7.90674525e-01 -2.98567937e-02 3.89706024e+01] [ 4.62083631e-02 1.98317537e-03 9.98929854e-01 5.65296493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.877105681 meters 0.031075858582206736 Centerline is valid? [True, True] Translation: X:146.77, Y:39.00, Z:5.65 [[ 7.93319344e-01 -6.07810421e-01 -3.47981291e-02 1.46767422e+02] [ 6.07102525e-01 7.94079109e-01 -2.94090630e-02 3.89958961e+01] [ 4.55076023e-02 2.20474656e-03 9.98961559e-01 5.65393089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.907105681 meters 0.03125358495158142 Centerline is valid? [True, True] Translation: X:146.79, Y:39.02, Z:5.66 [[ 7.97545219e-01 -6.02401657e-01 -3.21537909e-02 1.46789791e+02] [ 6.01793016e-01 7.98189737e-01 -2.71718431e-02 3.90180517e+01] [ 4.20331892e-02 2.32084681e-03 9.99113519e-01 5.65733557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.937105681 meters 0.03276189763081397 Centerline is valid? [True, True] Translation: X:146.81, Y:39.04, Z:5.66 [[ 7.98679139e-01 -6.00875033e-01 -3.25703644e-02 1.46812755e+02] [ 6.00249861e-01 7.99339311e-01 -2.75094496e-02 3.90397101e+01] [ 4.25645141e-02 2.42086681e-03 9.99090787e-01 5.66039342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.967105681 meters 0.03276189763081397 Centerline is valid? [True, True] Translation: X:146.84, Y:39.06, Z:5.66 [[ 7.98874495e-01 -6.00614870e-01 -3.25779012e-02 1.46837888e+02] [ 5.99989846e-01 7.99534806e-01 -2.75005216e-02 3.90607241e+01] [ 4.25643882e-02 2.42305535e-03 9.99090787e-01 5.66160039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99710568099997 meters 0.03282456560224641 Centerline is valid? [True, True] Translation: X:146.86, Y:39.08, Z:5.66 [[ 7.98660550e-01 -6.00814833e-01 -3.41007667e-02 1.46863065e+02] [ 6.00131018e-01 7.99384286e-01 -2.87667266e-02 3.90810279e+01] [ 4.45430931e-02 2.50992189e-03 9.99004311e-01 5.66023298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02710568099997 meters 0.03289951510312881 Centerline is valid? [True, True] Translation: X:146.89, Y:39.10, Z:5.65 [[ 7.97481405e-01 -6.02192188e-01 -3.72555627e-02 1.46891093e+02] [ 6.01378339e-01 7.98346781e-01 -3.14087680e-02 3.90978599e+01] [ 4.86569732e-02 2.64322003e-03 9.98812051e-01 5.65176818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05710568099997 meters 0.032477170530461126 Centerline is valid? [True, True] Translation: X:146.92, Y:39.12, Z:5.65 [[ 7.96312642e-01 -6.03636124e-01 -3.88536407e-02 1.46918556e+02] [ 6.02753425e-01 7.97255540e-01 -3.27400797e-02 3.91162221e+01] [ 5.07393751e-02 2.65217433e-03 9.98708407e-01 5.64856274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08710568099997 meters 0.031458299454076265 Centerline is valid? [True, True] Translation: X:146.95, Y:39.13, Z:5.65 [[ 7.93940589e-01 -6.06569769e-01 -4.16107756e-02 1.46945257e+02] [ 6.05561571e-01 7.95025893e-01 -3.50572957e-02 3.91332920e+01] [ 5.43463397e-02 2.63552332e-03 9.98518668e-01 5.64754246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11710568099997 meters 0.027879158934806022 Centerline is valid? [True, True] Translation: X:146.97, Y:39.15, Z:5.65 [[ 7.91432783e-01 -6.09694027e-01 -4.36731481e-02 1.46974116e+02] [ 6.08588252e-01 7.92632795e-01 -3.67911848e-02 3.91482206e+01] [ 5.70481351e-02 2.53878493e-03 9.98368201e-01 5.64893515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14710568099997 meters 0.03004230088928241 Centerline is valid? [True, True] Translation: X:147.00, Y:39.17, Z:5.65 [[ 7.90412545e-01 -6.10981912e-01 -4.41487449e-02 1.46996202e+02] [ 6.09854494e-01 7.91640720e-01 -3.71815362e-02 3.91705339e+01] [ 5.76671903e-02 2.46444215e-03 9.98332821e-01 5.64840899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17710568099997 meters 0.027118169793152812 Centerline is valid? [True, True] Translation: X:147.02, Y:39.19, Z:5.65 [[ 7.86866405e-01 -6.15543875e-01 -4.41248117e-02 1.47023981e+02] [ 6.14425596e-01 7.88099771e-01 -3.71475094e-02 3.91865233e+01] [ 5.76406758e-02 2.11871344e-03 9.98335146e-01 5.65010684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20710568099997 meters 0.024572579701308363 Centerline is valid? [True, True] Translation: X:147.05, Y:39.20, Z:5.65 [[ 7.84421209e-01 -6.18654406e-01 -4.41598644e-02 1.47051858e+02] [ 6.17539441e-01 7.85660968e-01 -3.71736707e-02 3.92028005e+01] [ 5.76923370e-02 1.88935773e-03 9.98332622e-01 5.65143797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.23710568099997 meters 0.021599682969346216 Centerline is valid? [True, True] Translation: X:147.08, Y:39.22, Z:5.65 [[ 7.78546205e-01 -6.26128721e-01 -4.27625125e-02 1.47079833e+02] [ 6.25094660e-01 7.79718640e-01 -3.59931846e-02 3.92175785e+01] [ 5.58790947e-02 1.29173904e-03 9.98436707e-01 5.65456284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.26710568099998 meters 0.020867824829641463 Centerline is valid? [True, True] Translation: X:147.10, Y:39.24, Z:5.66 [[ 7.75991867e-01 -6.29380438e-01 -4.14353319e-02 1.47104126e+02] [ 6.28414391e-01 7.77096660e-01 -3.48731268e-02 3.92358846e+01] [ 5.41477218e-02 1.02270394e-03 9.98532412e-01 5.65752161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.29710568099998 meters 0.01812748988030973 Centerline is valid? [True, True] Translation: X:147.13, Y:39.25, Z:5.67 [[ 7.69127410e-01 -6.38020847e-01 -3.70462795e-02 1.47132346e+02] [ 6.37258723e-01 7.70019000e-01 -3.11778594e-02 3.92502586e+01] [ 4.84184633e-02 3.71681454e-04 9.98827069e-01 5.66512971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.32710568099998 meters 0.017627075602866953 Centerline is valid? [True, True] Translation: X:147.16, Y:39.27, Z:5.67 [[ 7.67464527e-01 -6.40095186e-01 -3.57260847e-02 1.47158833e+02] [ 6.39388809e-01 7.68295581e-01 -3.00641152e-02 3.92695794e+01] [ 4.66920885e-02 2.30283210e-04 9.98909303e-01 5.66764439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.35710568099998 meters 0.017499460610605887 Centerline is valid? [True, True] Translation: X:147.18, Y:39.29, Z:5.67 [[ 7.64681665e-01 -6.43487495e-01 -3.44353896e-02 1.47183972e+02] [ 6.42835031e-01 7.65456624e-01 -2.89703087e-02 3.92886659e+01] [ 4.50008285e-02 1.67891394e-05 9.98986949e-01 5.66814728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.38710568099998 meters 0.017532236172487503 Centerline is valid? [True, True] Translation: X:147.21, Y:39.31, Z:5.67 [[ 7.64234366e-01 -6.44002772e-01 -3.47313118e-02 1.47208235e+02] [ 6.43340333e-01 7.65023156e-01 -2.92025135e-02 3.93106146e+01] [ 4.53767574e-02 -2.64892693e-05 9.98969944e-01 5.66996735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41710568099998 meters 0.0176543995886361 Centerline is valid? [True, True] Translation: X:147.23, Y:39.33, Z:5.67 [[ 7.63109138e-01 -6.45233487e-01 -3.65812870e-02 1.47230568e+02] [ 6.44500894e-01 7.63985427e-01 -3.07386469e-02 3.93333178e+01] [ 4.77811745e-02 -1.19729863e-04 9.98857820e-01 5.67282548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.44710568099998 meters 0.017689344372101276 Centerline is valid? [True, True] Translation: X:147.25, Y:39.35, Z:5.67 [[ 7.63429848e-01 -6.44803420e-01 -3.74622076e-02 1.47254281e+02] [ 6.44035196e-01 7.64348441e-01 -3.14662908e-02 3.93542859e+01] [ 4.89237519e-02 -1.04674571e-04 9.98802511e-01 5.67456090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47710568099998 meters 0.017649619100088856 Centerline is valid? [True, True] Translation: X:147.28, Y:39.38, Z:5.68 [[ 7.64322773e-01 -6.43750575e-01 -3.73616855e-02 1.47279374e+02] [ 6.42986148e-01 7.65235385e-01 -3.13627053e-02 3.93767583e+01] [ 4.87802433e-02 -5.18163439e-05 9.98809534e-01 5.67523077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.50710568099998 meters 0.017758812583144178 Centerline is valid? [True, True] Translation: X:147.30, Y:39.40, Z:5.67 [[ 7.66265368e-01 -6.41428659e-01 -3.75054859e-02 1.47304982e+02] [ 6.40656567e-01 7.67182683e-01 -3.14625794e-02 3.93974854e+01] [ 4.89545594e-02 8.05491193e-05 9.98801004e-01 5.67380211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53710568099999 meters 0.017815309817993143 Centerline is valid? [True, True] Translation: X:147.33, Y:39.42, Z:5.67 [[ 7.68369063e-01 -6.38877616e-01 -3.80049322e-02 1.47330128e+02] [ 6.38082720e-01 7.69308351e-01 -3.18607000e-02 3.94182174e+01] [ 4.95925998e-02 2.30485715e-04 9.98769503e-01 5.67442106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.567105681 meters 0.01983955334344556 Centerline is valid? [True, True] Translation: X:147.35, Y:39.44, Z:5.67 [[ 7.76519919e-01 -6.28920170e-01 -3.84218221e-02 1.47350558e+02] [ 6.28096366e-01 7.77469403e-01 -3.21913357e-02 3.94426473e+01] [ 5.01175714e-02 8.64606502e-04 9.98742951e-01 5.67323096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.597105681 meters 0.024352492546068295 Centerline is valid? [True, True] Translation: X:147.37, Y:39.47, Z:5.68 [[ 7.86032502e-01 -6.16963150e-01 -3.88507096e-02 1.47367002e+02] [ 6.16106817e-01 7.86990335e-01 -3.25361731e-02 3.94699822e+01] [ 5.06487528e-02 1.63830251e-03 9.98715185e-01 5.67783719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.627105681 meters 0.026376191427971474 Centerline is valid? [True, True] Translation: X:147.39, Y:39.49, Z:5.68 [[ 7.90544524e-01 -6.11140849e-01 -3.93219845e-02 1.47388037e+02] [ 6.10256784e-01 7.91519261e-01 -3.29229060e-02 3.94933331e+01] [ 5.12446408e-02 2.03051527e-03 9.98684066e-01 5.68169837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.657105681 meters 0.030409487563269458 Centerline is valid? [True, True] Translation: X:147.41, Y:39.52, Z:5.68 [[ 7.99162124e-01 -5.99820933e-01 -3.94302925e-02 1.47407851e+02] [ 5.98918916e-01 8.00129525e-01 -3.29981251e-02 3.95193607e+01] [ 5.13423074e-02 2.75530376e-03 9.98677313e-01 5.68247096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.687105681 meters 0.03471042995854936 Centerline is valid? [True, True] Translation: X:147.43, Y:39.54, Z:5.68 [[ 8.03295961e-01 -5.94431026e-01 -3.69777539e-02 1.47428013e+02] [ 5.93632779e-01 8.04141386e-01 -3.09314498e-02 3.95424666e+01] [ 4.81219558e-02 2.89590186e-03 9.98837270e-01 5.68310493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.717105681 meters 0.03297586501979139 Centerline is valid? [True, True] Translation: X:147.46, Y:39.56, Z:5.69 [[ 8.04240340e-01 -5.93291000e-01 -3.46881141e-02 1.47455017e+02] [ 5.92588041e-01 8.04983297e-01 -2.90052616e-02 3.95600310e+01] [ 4.51319131e-02 2.77143985e-03 9.98977192e-01 5.68951107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74710568099997 meters 0.033107606974981114 Centerline is valid? [True, True] Translation: X:147.48, Y:39.58, Z:5.70 [[ 8.04846766e-01 -5.92651704e-01 -3.13949010e-02 1.47481867e+02] [ 5.92076053e-01 8.05454880e-01 -2.62370832e-02 3.95799115e+01] [ 4.08366282e-02 2.52866250e-03 9.99162637e-01 5.69691673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77710568099997 meters 0.032678467624648294 Centerline is valid? [True, True] Translation: X:147.51, Y:39.59, Z:5.69 [[ 8.02458578e-01 -5.95784165e-01 -3.31882499e-02 1.47509299e+02] [ 5.95144269e-01 8.03140726e-01 -2.77177242e-02 3.95948246e+01] [ 4.31686163e-02 2.49052878e-03 9.99064697e-01 5.69207982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80710568099997 meters 0.03138564973442856 Centerline is valid? [True, True] Translation: X:147.54, Y:39.61, Z:5.69 [[ 7.99536767e-01 -5.99613259e-01 -3.47116261e-02 1.47537080e+02] [ 5.98917119e-01 8.00286359e-01 -2.89832287e-02 3.96109943e+01] [ 4.51579691e-02 2.38376987e-03 9.98977014e-01 5.68795351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83710568099997 meters 0.02688443521953062 Centerline is valid? [True, True] Translation: X:147.57, Y:39.62, Z:5.69 [[ 7.91485408e-01 -6.10150845e-01 -3.55920673e-02 1.47569488e+02] [ 6.09429570e-01 7.92283159e-01 -2.97152409e-02 3.96205131e+01] [ 4.63297749e-02 1.82832132e-03 9.98924526e-01 5.68584193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86710568099997 meters 0.02365175238730541 Centerline is valid? [True, True] Translation: X:147.60, Y:39.63, Z:5.69 [[ 7.87310551e-01 -6.15566473e-01 -3.49286757e-02 1.47598679e+02] [ 6.14877289e-01 7.88083579e-01 -2.91580458e-02 3.96344048e+01] [ 4.54754312e-02 1.47958767e-03 9.98964362e-01 5.68773144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89710568099997 meters 0.020681305600798866 Centerline is valid? [True, True] Translation: X:147.63, Y:39.65, Z:5.69 [[ 7.80629679e-01 -6.24048195e-01 -3.43679426e-02 1.47628882e+02] [ 6.23389215e-01 7.81385251e-01 -2.86875678e-02 3.96462300e+01] [ 4.47570284e-02 9.69762092e-04 9.98997431e-01 5.68919620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92710568099997 meters 0.02026587617356462 Centerline is valid? [True, True] Translation: X:147.65, Y:39.66, Z:5.69 [[ 7.77744126e-01 -6.27592610e-01 -3.52361973e-02 1.47654730e+02] [ 6.26903699e-01 7.78541523e-01 -2.94082994e-02 3.96641725e+01] [ 4.58892741e-02 7.82429663e-04 9.98946226e-01 5.68844507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95710568099997 meters 0.018979570361577464 Centerline is valid? [True, True] Translation: X:147.68, Y:39.68, Z:5.69 [[ 7.73845680e-01 -6.32103310e-01 -4.01032278e-02 1.47683374e+02] [ 6.31217939e-01 7.74883914e-01 -3.34489718e-02 3.96823088e+01] [ 5.22185519e-02 5.70465545e-04 9.98635518e-01 5.68648578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.98710568099997 meters 0.018526404902364298 Centerline is valid? [True, True] Translation: X:147.71, Y:39.70, Z:5.69 [[ 7.71584528e-01 -6.34703238e-01 -4.25336887e-02 1.47708281e+02] [ 6.33712465e-01 7.72755873e-01 -3.54524075e-02 3.97033321e+01] [ 5.53699156e-02 4.00400398e-04 9.98465829e-01 5.68735281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.01710568099998 meters 0.018899021139642296 Centerline is valid? [True, True] Translation: X:147.73, Y:39.73, Z:5.69 [[ 7.72619870e-01 -6.33494519e-01 -4.17520130e-02 1.47729014e+02] [ 6.32539030e-01 7.73747038e-01 -3.47835838e-02 3.97265157e+01] [ 5.43407061e-02 4.64710216e-04 9.98522344e-01 5.68909709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.04710568099998 meters 0.01915033304755276 Centerline is valid? [True, True] Translation: X:147.75, Y:39.75, Z:5.69 [[ 7.74911886e-01 -6.30728528e-01 -4.11472127e-02 1.47751226e+02] [ 6.29797386e-01 7.76003297e-01 -3.42656734e-02 3.97502757e+01] [ 5.35427104e-02 6.38470618e-04 9.98565356e-01 5.69288620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07710568099998 meters 0.02125191034984951 Centerline is valid? [True, True] Translation: X:147.77, Y:39.78, Z:5.70 [[ 7.81106722e-01 -6.23174170e-01 -3.90671630e-02 1.47766619e+02] [ 6.22326279e-01 7.82082334e-01 -3.25150093e-02 3.97808923e+01] [ 5.08162520e-02 1.08517015e-03 9.98707430e-01 5.69580135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.10710568099998 meters 0.02248188369607907 Centerline is valid? [True, True] Translation: X:147.79, Y:39.81, Z:5.70 [[ 7.84621732e-01 -6.18845460e-01 -3.74036583e-02 1.47787183e+02] [ 6.18064163e-01 7.85511693e-01 -3.11138417e-02 3.98059786e+01] [ 4.86356706e-02 1.29473558e-03 9.98815746e-01 5.69835472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13710568099998 meters 0.02453675338477603 Centerline is valid? [True, True] Translation: X:147.80, Y:39.83, Z:5.71 [[ 7.89776966e-01 -6.12398740e-01 -3.49303135e-02 1.47804093e+02] [ 6.11711744e-01 7.90547482e-01 -2.90417252e-02 3.98341070e+01] [ 4.53991873e-02 1.56920267e-03 9.98967693e-01 5.70585493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.16710568099998 meters 0.025282094681322927 Centerline is valid? [True, True] Translation: X:147.83, Y:39.86, Z:5.71 [[ 7.91408381e-01 -6.10367963e-01 -3.35220123e-02 1.47826489e+02] [ 6.09734044e-01 7.92116385e-01 -2.78572803e-02 3.98577178e+01] [ 4.35565266e-02 1.60697297e-03 9.99049672e-01 5.71097177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19710568099998 meters 0.02618227488641908 Centerline is valid? [True, True] Translation: X:147.85, Y:39.88, Z:5.72 [[ 7.92736023e-01 -6.08715952e-01 -3.21634630e-02 1.47846582e+02] [ 6.08131668e-01 7.93386587e-01 -2.67132746e-02 3.98827275e+01] [ 4.17788565e-02 1.61695464e-03 9.99125574e-01 5.71594571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22710568099998 meters 0.026658016969663637 Centerline is valid? [True, True] Translation: X:147.87, Y:39.91, Z:5.72 [[ 7.94273589e-01 -6.06691288e-01 -3.24830282e-02 1.47869026e+02] [ 6.06094209e-01 7.94935651e-01 -2.69651917e-02 3.99063813e+01] [ 4.21814640e-02 1.72996427e-03 9.99108468e-01 5.71568756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25710568099998 meters 0.02630476332796754 Centerline is valid? [True, True] Translation: X:147.90, Y:39.92, Z:5.71 [[ 7.93372073e-01 -6.07939636e-01 -3.11472828e-02 1.47897259e+02] [ 6.07391806e-01 7.93981653e-01 -2.58520484e-02 3.99237722e+01] [ 4.04468559e-02 1.59168886e-03 9.99180423e-01 5.71453271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.28710568099999 meters 0.027655193957235494 Centerline is valid? [True, True] Translation: X:147.92, Y:39.94, Z:5.71 [[ 7.94107809e-01 -6.06975227e-01 -3.12067520e-02 1.47920823e+02] [ 6.06424789e-01 7.94719061e-01 -2.58957513e-02 3.99445041e+01] [ 4.05186801e-02 1.63947033e-03 9.99177436e-01 5.71498799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.317105681 meters 0.027987620495693692 Centerline is valid? [True, True] Translation: X:147.95, Y:39.96, Z:5.72 [[ 7.97445927e-01 -6.02589839e-01 -3.10721571e-02 1.47946266e+02] [ 6.02041150e-01 7.98048915e-01 -2.57756189e-02 3.99628083e+01] [ 4.03292273e-02 1.84794513e-03 9.99184737e-01 5.71696934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.347105681 meters 0.032135174296018844 Centerline is valid? [True, True] Translation: X:147.97, Y:39.99, Z:5.72 [[ 8.00097487e-01 -5.99073403e-01 -3.09042057e-02 1.47966034e+02] [ 5.98528522e-01 8.00691602e-01 -2.56235802e-02 3.99865197e+01] [ 4.00951433e-02 2.00431356e-03 9.99193856e-01 5.71882693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.377105681 meters 0.033847187222179616 Centerline is valid? [True, True] Translation: X:147.99, Y:40.01, Z:5.72 [[ 8.06940111e-01 -5.89642379e-01 -3.41982632e-02 1.47990272e+02] [ 5.88966979e-01 8.07659830e-01 -2.83459993e-02 4.00074298e+01] [ 4.43345659e-02 2.73187612e-03 9.99013004e-01 5.71861799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.407105681 meters 0.04121498970748209 Centerline is valid? [True, True] Translation: X:148.01, Y:40.03, Z:5.72 [[ 8.10714689e-01 -5.84310249e-01 -3.63761843e-02 1.48007063e+02] [ 5.83541245e-01 8.11524027e-01 -3.01391503e-02 4.00349974e+01] [ 4.71307620e-02 3.20724803e-03 9.98883579e-01 5.71654556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.437105681 meters 0.0421496814870329 Centerline is valid? [True, True] Translation: X:148.03, Y:40.05, Z:5.71 [[ 8.16606973e-01 -5.75861303e-01 -3.92021856e-02 1.48032287e+02] [ 5.74958752e-01 8.17537727e-01 -3.24730464e-02 4.00536302e+01] [ 5.07492365e-02 3.97807635e-03 9.98703505e-01 5.71234929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.467105681 meters 0.0402886018634986 Centerline is valid? [True, True] Translation: X:148.06, Y:40.07, Z:5.71 [[ 8.18930701e-01 -5.72496013e-01 -4.00102735e-02 1.48060516e+02] [ 5.71552148e-01 8.19896391e-01 -3.31368452e-02 4.00683695e+01] [ 5.17749906e-02 4.26882205e-03 9.98649652e-01 5.71207180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49710568099997 meters 0.04058878468721252 Centerline is valid? [True, True] Translation: X:148.09, Y:40.09, Z:5.71 [[ 8.19046623e-01 -5.72329269e-01 -4.00229438e-02 1.48086688e+02] [ 5.71385146e-01 8.20012778e-01 -3.31369768e-02 4.00883079e+01] [ 5.17845871e-02 4.27221338e-03 9.98649140e-01 5.71288819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52710568099997 meters 0.04394028481872728 Centerline is valid? [True, True] Translation: X:148.11, Y:40.11, Z:5.71 [[ 8.16597741e-01 -5.75678704e-01 -4.19780692e-02 1.48110460e+02] [ 5.74645490e-01 8.17664989e-01 -3.47350949e-02 4.01073652e+01] [ 5.43202519e-02 4.24209192e-03 9.98514554e-01 5.70975237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55710568099997 meters 0.03714096350230506 Centerline is valid? [True, True] Translation: X:148.14, Y:40.12, Z:5.71 [[ 8.14050861e-01 -5.79220710e-01 -4.27149233e-02 1.48143590e+02] [ 5.78156245e-01 8.15160609e-01 -3.53346577e-02 4.01170465e+01] [ 5.52860884e-02 4.06830883e-03 9.98462266e-01 5.71136577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58710568099997 meters 0.03981343120931434 Centerline is valid? [True, True] Translation: X:148.17, Y:40.13, Z:5.71 [[ 8.08171755e-01 -5.87492268e-01 -4.13672620e-02 1.48169286e+02] [ 5.86504939e-01 8.09222684e-01 -3.42141080e-02 4.01334528e+01] [ 5.35758507e-02 3.38877222e-03 9.98558033e-01 5.71179113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61710568099997 meters 0.0297067781668183 Centerline is valid? [True, True] Translation: X:148.21, Y:40.14, Z:5.72 [[ 8.00985930e-01 -5.97336392e-01 -4.01344537e-02 1.48207101e+02] [ 5.96419554e-01 8.01986427e-01 -3.31886487e-02 4.01368434e+01] [ 5.20120748e-02 2.64666768e-03 9.98642949e-01 5.71945411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64710568099997 meters 0.028632638258001143 Centerline is valid? [True, True] Translation: X:148.23, Y:40.15, Z:5.72 [[ 7.97239086e-01 -6.02320499e-01 -4.02474396e-02 1.48233170e+02] [ 6.01404968e-01 7.98250967e-01 -3.32784825e-02 4.01520155e+01] [ 5.21718698e-02 2.32589684e-03 9.98635412e-01 5.72076925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67710568099997 meters 0.02323789333543732 Centerline is valid? [True, True] Translation: X:148.27, Y:40.16, Z:5.72 [[ 7.89994645e-01 -6.11882299e-01 -3.88395789e-02 1.48267935e+02] [ 6.11041222e-01 7.90947137e-01 -3.21130906e-02 4.01595345e+01] [ 5.03694854e-02 1.63658590e-03 9.98729311e-01 5.72295013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70710568099997 meters 0.022135979584242974 Centerline is valid? [True, True] Translation: X:148.29, Y:40.18, Z:5.72 [[ 7.86573289e-01 -6.16330875e-01 -3.79303736e-02 1.48294519e+02] [ 6.15534034e-01 7.87486200e-01 -3.13582140e-02 4.01756686e+01] [ 4.91966812e-02 1.31809764e-03 9.98788240e-01 5.72486095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.73710568099997 meters 0.01958655850749859 Centerline is valid? [True, True] Translation: X:148.32, Y:40.19, Z:5.73 [[ 7.80618823e-01 -6.23865464e-01 -3.77642100e-02 1.48324889e+02] [ 6.23084463e-01 7.81531304e-01 -3.12181468e-02 4.01887491e+01] [ 4.89898359e-02 8.39180494e-04 9.98798925e-01 5.72571881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.76710568099998 meters 0.01886537294710284 Centerline is valid? [True, True] Translation: X:148.35, Y:40.21, Z:5.73 [[ 7.78512245e-01 -6.26457033e-01 -3.83440988e-02 1.48351855e+02] [ 6.25655325e-01 7.79455657e-01 -3.16905681e-02 4.02066385e+01] [ 4.97403039e-02 6.81305723e-04 9.98761953e-01 5.72651114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.79710568099998 meters 0.018109981035850944 Centerline is valid? [True, True] Translation: X:148.38, Y:40.22, Z:5.73 [[ 7.75251086e-01 -6.30381300e-01 -4.00645816e-02 1.48379017e+02] [ 6.29512262e-01 7.76285533e-01 -3.30920536e-02 4.02241216e+01] [ 5.19621669e-02 4.33505110e-04 9.98648960e-01 5.72633104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.82710568099998 meters 0.017796632688774235 Centerline is valid? [True, True] Translation: X:148.40, Y:40.24, Z:5.73 [[ 7.74400727e-01 -6.31398919e-01 -4.04835758e-02 1.48403989e+02] [ 6.30514066e-01 7.75458110e-01 -3.34175435e-02 4.02443554e+01] [ 5.24931180e-02 3.53106001e-04 9.98621223e-01 5.72692016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.85710568099998 meters 0.017796632688774235 Centerline is valid? [True, True] Translation: X:148.43, Y:40.27, Z:5.73 [[ 7.74610098e-01 -6.31141358e-01 -4.04942366e-02 1.48429302e+02] [ 6.30256829e-01 7.75667752e-01 -3.34046213e-02 4.02650368e+01] [ 5.24931115e-02 3.53787866e-04 9.98621224e-01 5.72812430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.88710568099998 meters 0.01787605816081723 Centerline is valid? [True, True] Translation: X:148.45, Y:40.29, Z:5.73 [[ 7.74668702e-01 -6.31039291e-01 -4.09611471e-02 1.48453986e+02] [ 6.30135319e-01 7.75750793e-01 -3.37666567e-02 4.02865951e+01] [ 5.30837294e-02 3.46906702e-04 9.98590005e-01 5.72952995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91710568099998 meters 0.017941163549213275 Centerline is valid? [True, True] Translation: X:148.48, Y:40.31, Z:5.73 [[ 7.75024923e-01 -6.30633402e-01 -4.04707494e-02 1.48477336e+02] [ 6.29751599e-01 7.76080787e-01 -3.33397053e-02 4.03104295e+01] [ 5.24337028e-02 3.52583396e-04 9.98624345e-01 5.73292316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.94710568099998 meters 0.018095838410076625 Centerline is valid? [True, True] Translation: X:148.50, Y:40.34, Z:5.74 [[ 7.76930019e-01 -6.28351086e-01 -3.94291463e-02 1.48498179e+02] [ 6.27512293e-01 7.77929743e-01 -3.24597666e-02 4.03364808e+01] [ 5.10692352e-02 4.76693062e-04 9.98695001e-01 5.73742201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97710568099998 meters 0.018292164807126334 Centerline is valid? [True, True] Translation: X:148.52, Y:40.36, Z:5.74 [[ 7.77889389e-01 -6.27159369e-01 -3.94870200e-02 1.48521582e+02] [ 6.26317720e-01 7.78890773e-01 -3.24850289e-02 4.03604949e+01] [ 5.11293657e-02 5.38338913e-04 9.98691894e-01 5.73831819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.00710568099998 meters 0.018920517232322867 Centerline is valid? [True, True] Translation: X:148.54, Y:40.39, Z:5.73 [[ 7.79333628e-01 -6.25291092e-01 -4.06219874e-02 1.48540669e+02] [ 6.24398923e-01 7.80391318e-01 -3.33972321e-02 4.03861226e+01] [ 5.25840380e-02 6.63260900e-04 9.98616282e-01 5.73497293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03710568099999 meters 0.019550953195494887 Centerline is valid? [True, True] Translation: X:148.56, Y:40.41, Z:5.74 [[ 7.83243198e-01 -6.20486094e-01 -3.90781380e-02 1.48559406e+02] [ 6.19655278e-01 7.84216890e-01 -3.21124026e-02 4.04134635e+01] [ 5.05710351e-02 9.36846445e-04 9.98720027e-01 5.73802047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.067105681 meters 0.020624898813304284 Centerline is valid? [True, True] Translation: X:148.58, Y:40.44, Z:5.74 [[ 7.85320137e-01 -6.17921515e-01 -3.80169037e-02 1.48579050e+02] [ 6.17133070e-01 7.86239074e-01 -3.12232735e-02 4.04384906e+01] [ 4.91839076e-02 1.05877687e-03 9.98789178e-01 5.74059475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.097105681 meters 0.02074823155569691 Centerline is valid? [True, True] Translation: X:148.60, Y:40.46, Z:5.74 [[ 7.86941372e-01 -6.15956670e-01 -3.63408405e-02 1.48600139e+02] [ 6.15234920e-01 7.87779241e-01 -2.98305291e-02 4.04642320e+01] [ 4.70028732e-02 1.11672346e-03 9.98894130e-01 5.74415380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.127105681 meters 0.020605621750785383 Centerline is valid? [True, True] Translation: X:148.62, Y:40.49, Z:5.75 [[ 7.86292235e-01 -6.16833931e-01 -3.55024369e-02 1.48623209e+02] [ 6.16146777e-01 7.87092655e-01 -2.91256086e-02 4.04850413e+01] [ 4.59093710e-02 1.02652778e-03 9.98945082e-01 5.74552637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.157105681 meters 0.01915784695579018 Centerline is valid? [True, True] Translation: X:148.65, Y:40.51, Z:5.75 [[ 7.83045054e-01 -6.21077740e-01 -3.32097020e-02 1.48646941e+02] [ 6.20480840e-01 7.83748636e-01 -2.72323734e-02 4.05055141e+01] [ 4.29414795e-02 7.18191512e-04 9.99077331e-01 5.75046295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.187105681 meters 0.018202718784455247 Centerline is valid? [True, True] Translation: X:148.67, Y:40.53, Z:5.75 [[ 7.81148898e-01 -6.23524607e-01 -3.19916142e-02 1.48672360e+02] [ 6.22972903e-01 7.81803525e-01 -2.62299582e-02 4.05253239e+01] [ 4.13661811e-02 5.59594135e-04 9.99143897e-01 5.75499796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.217105681 meters 0.0173485501294301 Centerline is valid? [True, True] Translation: X:148.70, Y:40.55, Z:5.76 [[ 7.77251590e-01 -6.28457235e-01 -3.03556967e-02 1.48697497e+02] [ 6.27964817e-01 7.77844091e-01 -2.48748812e-02 4.05459019e+01] [ 3.92447984e-02 2.71731429e-04 9.99229589e-01 5.75970419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24710568099997 meters 0.017215763569478914 Centerline is valid? [True, True] Translation: X:148.72, Y:40.57, Z:5.76 [[ 7.75480114e-01 -6.30635597e-01 -3.04850261e-02 1.48721693e+02] [ 6.30140884e-01 7.76079067e-01 -2.49749312e-02 4.05655705e+01] [ 3.94088713e-02 1.57701190e-04 9.99223156e-01 5.75825987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27710568099997 meters 0.01725310857133632 Centerline is valid? [True, True] Translation: X:148.75, Y:40.58, Z:5.76 [[ 7.73298643e-01 -6.33221065e-01 -3.22535678e-02 1.48749713e+02] [ 6.32670162e-01 7.73970983e-01 -2.64080219e-02 4.05841200e+01] [ 4.16854413e-02 1.54175486e-05 9.99130784e-01 5.76195458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30710568099997 meters 0.017551783837947962 Centerline is valid? [True, True] Translation: X:148.77, Y:40.61, Z:5.76 [[ 7.76776085e-01 -6.28813167e-01 -3.48269205e-02 1.48770722e+02] [ 6.28167253e-01 7.77556387e-01 -2.84950518e-02 4.06088311e+01] [ 4.49979582e-02 2.57143842e-04 9.98987046e-01 5.76233366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33710568099997 meters 0.01932943006183653 Centerline is valid? [True, True] Translation: X:148.79, Y:40.63, Z:5.76 [[ 7.84272690e-01 -6.19264299e-01 -3.77899015e-02 1.48790765e+02] [ 6.18493410e-01 7.85182134e-01 -3.09017435e-02 4.06340656e+01] [ 4.88083021e-02 8.62588468e-04 9.98807792e-01 5.76061881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36710568099997 meters 0.02192143507965145 Centerline is valid? [True, True] Translation: X:148.81, Y:40.66, Z:5.76 [[ 7.90229263e-01 -6.11551255e-01 -3.92781573e-02 1.48811313e+02] [ 6.10709482e-01 7.91203607e-01 -3.21057739e-02 4.06592827e+01] [ 5.07113461e-02 1.38337895e-03 9.98712394e-01 5.75926313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39710568099997 meters 0.02732579200029885 Centerline is valid? [True, True] Translation: X:148.83, Y:40.69, Z:5.75 [[ 7.99064808e-01 -5.99737947e-01 -4.25420694e-02 1.48829728e+02] [ 5.98733754e-01 8.00193136e-01 -3.47683251e-02 4.06852017e+01] [ 5.48937558e-02 2.31077204e-03 9.98489527e-01 5.75192407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42710568099997 meters 0.029493397724853633 Centerline is valid? [True, True] Translation: X:148.85, Y:40.71, Z:5.75 [[ 8.03933881e-01 -5.93119915e-01 -4.35784537e-02 1.48852291e+02] [ 5.92056773e-01 8.05109172e-01 -3.56089750e-02 4.07071054e+01] [ 5.62058050e-02 2.82634278e-03 9.98415204e-01 5.75205726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45710568099997 meters 0.03335678902796676 Centerline is valid? [True, True] Translation: X:148.87, Y:40.73, Z:5.75 [[ 8.05174445e-01 -5.91475168e-01 -4.30260308e-02 1.48872895e+02] [ 5.90436984e-01 8.06318011e-01 -3.51487250e-02 4.07312078e+01] [ 5.54822616e-02 2.89669529e-03 9.98455471e-01 5.75260117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.48710568099997 meters 0.028535525360365747 Centerline is valid? [True, True] Translation: X:148.90, Y:40.74, Z:5.76 [[ 8.04173010e-01 -5.92870237e-01 -4.25517550e-02 1.48903685e+02] [ 5.91857747e-01 8.05293295e-01 -3.47435833e-02 4.07431619e+01] [ 5.48650795e-02 2.75526608e-03 9.98489976e-01 5.75834769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.51710568099998 meters 0.0267011523599953 Centerline is valid? [True, True] Translation: X:148.93, Y:40.76, Z:5.76 [[ 7.99525255e-01 -5.99254011e-01 -4.06693551e-02 1.48932313e+02] [ 5.98338113e-01 8.00555914e-01 -3.31923311e-02 4.07568282e+01] [ 5.24487303e-02 2.20408180e-03 9.98621186e-01 5.76192021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.54710568099998 meters 0.024800750205000038 Centerline is valid? [True, True] Translation: X:148.96, Y:40.77, Z:5.77 [[ 7.96658670e-01 -6.03176586e-01 -3.88969135e-02 1.48959287e+02] [ 6.02344001e-01 7.97605525e-01 -3.17353266e-02 4.07723740e+01] [ 5.01663991e-02 1.85290057e-03 9.98739155e-01 5.76589631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57710568099998 meters 0.022113264886581645 Centerline is valid? [True, True] Translation: X:148.99, Y:40.78, Z:5.77 [[ 7.90786908e-01 -6.11036308e-01 -3.59262735e-02 1.48988148e+02] [ 6.10334205e-01 7.91601582e-01 -2.93102931e-02 4.07842499e+01] [ 4.63489483e-02 1.25116248e-03 9.98924526e-01 5.77213810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.60710568099998 meters 0.0203195980369876 Centerline is valid? [True, True] Translation: X:149.02, Y:40.80, Z:5.77 [[ 7.88735332e-01 -6.13722757e-01 -3.52271684e-02 1.49017280e+02] [ 6.13050574e-01 7.89520889e-01 -2.87360338e-02 4.07992374e+01] [ 4.54485433e-02 1.06908934e-03 9.98966109e-01 5.77423205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63710568099998 meters 0.019925635225436396 Centerline is valid? [True, True] Translation: X:149.05, Y:40.81, Z:5.77 [[ 7.86182388e-01 -6.16943511e-01 -3.60271766e-02 1.49045276e+02] [ 6.16244630e-01 7.87006934e-01 -2.93707651e-02 4.08148557e+01] [ 4.64737407e-02 8.89224115e-04 9.98919116e-01 5.77006236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.66710568099998 meters 0.01983048822885617 Centerline is valid? [True, True] Translation: X:149.07, Y:40.83, Z:5.77 [[ 7.86369314e-01 -6.16668565e-01 -3.66494737e-02 1.49072361e+02] [ 6.15945856e-01 7.87222369e-01 -2.98604189e-02 4.08338015e+01] [ 4.72652672e-02 9.07225658e-04 9.98881961e-01 5.76949708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69710568099998 meters 0.02089724843759417 Centerline is valid? [True, True] Translation: X:149.10, Y:40.85, Z:5.77 [[ 7.87809817e-01 -6.14772313e-01 -3.75592221e-02 1.49096146e+02] [ 6.14011915e-01 7.88703959e-01 -3.05848477e-02 4.08531774e+01] [ 4.84258247e-02 1.03323338e-03 9.98826247e-01 5.76987389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72710568099998 meters 0.020924766757462205 Centerline is valid? [True, True] Translation: X:149.12, Y:40.87, Z:5.77 [[ 7.89586720e-01 -6.12454294e-01 -3.81123263e-02 1.49121455e+02] [ 6.11668943e-01 7.90505109e-01 -3.10286610e-02 4.08728725e+01] [ 4.91316253e-02 1.18769235e-03 9.98791606e-01 5.77316432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75710568099998 meters 0.02383361518732114 Centerline is valid? [True, True] Translation: X:149.14, Y:40.90, Z:5.78 [[ 7.95245395e-01 -6.05039910e-01 -3.88776252e-02 1.49142763e+02] [ 6.04214672e-01 7.96193401e-01 -3.16338301e-02 4.08966567e+01] [ 5.00938383e-02 1.66622619e-03 9.98743126e-01 5.77658692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.78710568099999 meters 0.025609917331012647 Centerline is valid? [True, True] Translation: X:149.17, Y:40.92, Z:5.78 [[ 8.00554389e-01 -5.98021207e-01 -3.85137236e-02 1.49166508e+02] [ 5.97203921e-01 8.01477591e-01 -3.13232859e-02 4.09175384e+01] [ 4.95998756e-02 2.07544724e-03 9.98767012e-01 5.77716137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.817105681 meters 0.0271162009359284 Centerline is valid? [True, True] Translation: X:149.19, Y:40.94, Z:5.78 [[ 8.02570230e-01 -5.95307804e-01 -3.85959117e-02 1.49190536e+02] [ 5.94484560e-01 8.03494626e-01 -3.13766545e-02 4.09384150e+01] [ 4.96903749e-02 2.23729526e-03 9.98762164e-01 5.77691926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.847105681 meters 0.028941797714961044 Centerline is valid? [True, True] Translation: X:149.21, Y:40.96, Z:5.78 [[ 8.04831451e-01 -5.92218803e-01 -3.90285217e-02 1.49213673e+02] [ 5.91373560e-01 8.05773464e-01 -3.17243857e-02 4.09582197e+01] [ 5.02359249e-02 2.45234754e-03 9.98734368e-01 5.77535935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.877105681 meters 0.029899564346379713 Centerline is valid? [True, True] Translation: X:149.24, Y:40.98, Z:5.77 [[ 8.05289375e-01 -5.91549197e-01 -3.97312228e-02 1.49238855e+02] [ 5.90672722e-01 8.06264923e-01 -3.22894684e-02 4.09766823e+01] [ 5.11347004e-02 2.53421635e-03 9.98688550e-01 5.77400381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.907105681 meters 0.029120314673437377 Centerline is valid? [True, True] Translation: X:149.27, Y:40.99, Z:5.78 [[ 8.04917164e-01 -5.92023027e-01 -4.02131193e-02 1.49266123e+02] [ 5.91126691e-01 8.05917109e-01 -3.26626514e-02 4.09947864e+01] [ 5.17454826e-02 2.51968060e-03 9.98657126e-01 5.77574615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.937105681 meters 0.027815577703425364 Centerline is valid? [True, True] Translation: X:149.29, Y:41.01, Z:5.78 [[ 8.01748652e-01 -5.96397795e-01 -3.88428741e-02 1.49292210e+02] [ 5.95567321e-01 8.02686144e-01 -3.15360220e-02 4.10109513e+01] [ 4.99866508e-02 2.15041662e-03 9.98747571e-01 5.77926226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.967105681 meters 0.026054850304362158 Centerline is valid? [True, True] Translation: X:149.32, Y:41.02, Z:5.78 [[ 7.98132759e-01 -6.01300939e-01 -3.76998646e-02 1.49320149e+02] [ 6.00524132e-01 7.99020639e-01 -3.06069566e-02 4.10248736e+01] [ 4.85269617e-02 1.78873620e-03 9.98820271e-01 5.78062074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99710568099997 meters 0.025293845392963317 Centerline is valid? [True, True] Translation: X:149.35, Y:41.04, Z:5.78 [[ 7.96503726e-01 -6.03470713e-01 -3.74821752e-02 1.49346118e+02] [ 6.02705307e-01 7.97383464e-01 -3.04290064e-02 4.10423361e+01] [ 4.82506809e-02 1.64611111e-03 9.98833901e-01 5.78107389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02710568099997 meters 0.023768325417380245 Centerline is valid? [True, True] Translation: X:149.37, Y:41.06, Z:5.78 [[ 7.94504880e-01 -6.06054790e-01 -3.82045434e-02 1.49372572e+02] [ 6.05262694e-01 7.95421457e-01 -3.10125291e-02 4.10602579e+01] [ 4.91840053e-02 1.51582085e-03 9.98788584e-01 5.78461702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05710568099997 meters 0.024155414231502574 Centerline is valid? [True, True] Translation: X:149.40, Y:41.08, Z:5.79 [[ 7.93652108e-01 -6.07131818e-01 -3.88237897e-02 1.49395352e+02] [ 6.06315472e-01 7.94599776e-01 -3.15078598e-02 4.10815528e+01] [ 4.99787988e-02 1.46681499e-03 9.98749202e-01 5.78550646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08710568099997 meters 0.022981434987142047 Centerline is valid? [True, True] Translation: X:149.42, Y:41.10, Z:5.78 [[ 7.94285299e-01 -6.06274139e-01 -3.92750888e-02 1.49422023e+02] [ 6.05438540e-01 7.95254264e-01 -3.18563945e-02 4.10998392e+01] [ 5.05473900e-02 1.52441339e-03 9.98720500e-01 5.78409215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11710568099997 meters 0.025643098331776623 Centerline is valid? [True, True] Translation: X:149.44, Y:41.12, Z:5.78 [[ 7.96715852e-01 -6.03130643e-01 -3.84353969e-02 1.49443084e+02] [ 6.02327544e-01 7.97640661e-01 -3.11593573e-02 4.11231458e+01] [ 4.94507986e-02 1.67445563e-03 9.98775157e-01 5.78233311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14710568099997 meters 0.024837777351892618 Centerline is valid? [True, True] Translation: X:149.47, Y:41.14, Z:5.79 [[ 7.98305498e-01 -6.01026714e-01 -3.84086059e-02 1.49468129e+02] [ 6.00222873e-01 7.99226920e-01 -3.11260740e-02 4.11430529e+01] [ 4.94047938e-02 1.79439221e-03 9.98777226e-01 5.78668887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17710568099997 meters 0.02597416720793326 Centerline is valid? [True, True] Translation: X:149.49, Y:41.17, Z:5.79 [[ 8.00527877e-01 -5.98145284e-01 -3.71125087e-02 1.49490483e+02] [ 5.97392535e-01 8.01385450e-01 -3.00585914e-02 4.11657140e+01] [ 4.77208292e-02 1.89200466e-03 9.98858920e-01 5.79282529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20710568099997 meters 0.0285609573359924 Centerline is valid? [True, True] Translation: X:149.51, Y:41.19, Z:5.79 [[ 8.00264008e-01 -5.98593029e-01 -3.55514146e-02 1.49513300e+02] [ 5.97903452e-01 8.01051333e-01 -2.87788927e-02 4.11875328e+01] [ 4.57053526e-02 1.77439857e-03 9.98953388e-01 5.79393386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.23710568099997 meters 0.025811916387286114 Centerline is valid? [True, True] Translation: X:149.54, Y:41.20, Z:5.80 [[ 7.99127300e-01 -6.00126580e-01 -3.52653657e-02 1.49542861e+02] [ 5.99450172e-01 7.99903322e-01 -2.85336129e-02 4.12030578e+01] [ 4.53326627e-02 1.66215950e-03 9.98970564e-01 5.79507385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.26710568099998 meters 0.022290818316837747 Centerline is valid? [True, True] Translation: X:149.57, Y:41.22, Z:5.80 [[ 7.94152725e-01 -6.06756419e-01 -3.41774421e-02 1.49572649e+02] [ 6.06127431e-01 7.94886852e-01 -2.76483222e-02 4.12158400e+01] [ 4.39429964e-02 1.24110521e-03 9.99033269e-01 5.79622311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.29710568099998 meters 0.02011402152025153 Centerline is valid? [True, True] Translation: X:149.60, Y:41.23, Z:5.80 [[ 7.87926778e-01 -6.14859254e-01 -3.34587737e-02 1.49601242e+02] [ 6.14263770e-01 7.88636482e-01 -2.70651134e-02 4.12280582e+01] [ 4.30280451e-02 7.72815145e-04 9.99073566e-01 5.79544481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.32710568099998 meters 0.01893184179818881 Centerline is valid? [True, True] Translation: X:149.63, Y:41.24, Z:5.79 [[ 7.85016123e-01 -6.18561438e-01 -3.36368015e-02 1.49630293e+02] [ 6.17963009e-01 7.85736228e-01 -2.72084623e-02 4.12441752e+01] [ 4.32597591e-02 5.72782479e-04 9.99063694e-01 5.79492514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.35710568099998 meters 0.01833983488850328 Centerline is valid? [True, True] Translation: X:149.66, Y:41.26, Z:5.80 [[ 7.82323352e-01 -6.21890294e-01 -3.49662030e-02 1.49658170e+02] [ 6.21247279e-01 7.83104274e-01 -2.82756895e-02 4.12613310e+01] [ 4.49665599e-02 3.98073683e-04 9.98988413e-01 5.79628124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.38710568099998 meters 0.01862152327877698 Centerline is valid? [True, True] Translation: X:149.68, Y:41.28, Z:5.80 [[ 7.82881999e-01 -6.21177535e-01 -3.51318259e-02 1.49681480e+02] [ 6.20528466e-01 7.83669756e-01 -2.83925332e-02 4.12828407e+01] [ 4.51685532e-02 4.27705068e-04 9.98979289e-01 5.79915029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41710568099998 meters 0.02026373692176224 Centerline is valid? [True, True] Translation: X:149.70, Y:41.31, Z:5.80 [[ 7.88025530e-01 -6.14653827e-01 -3.48774556e-02 1.49700376e+02] [ 6.14008475e-01 7.88796589e-01 -2.81697284e-02 4.13099814e+01] [ 4.48258493e-02 7.83411810e-04 9.98994509e-01 5.80163245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.44710568099998 meters 0.021897587016459136 Centerline is valid? [True, True] Translation: X:149.72, Y:41.33, Z:5.80 [[ 7.91537660e-01 -6.10132409e-01 -3.47358031e-02 1.49721974e+02] [ 6.09488519e-01 7.92298802e-01 -2.80419841e-02 4.13342428e+01] [ 4.46304585e-02 1.02521331e-03 9.99003039e-01 5.80196326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47710568099998 meters 0.02827995947949546 Centerline is valid? [True, True] Translation: X:149.73, Y:41.37, Z:5.80 [[ 8.02407591e-01 -5.95785549e-01 -3.43749589e-02 1.49734849e+02] [ 5.95141839e-01 8.03141530e-01 -2.77466042e-02 4.13669354e+01] [ 4.41389829e-02 1.80610953e-03 9.99023768e-01 5.80272199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.50710568099998 meters 0.028138254827965774 Centerline is valid? [True, True] Translation: X:149.76, Y:41.39, Z:5.80 [[ 8.04884104e-01 -5.92380852e-01 -3.53058707e-02 1.49758246e+02] [ 5.91698602e-01 8.05655473e-01 -2.84960119e-02 4.13883910e+01] [ 4.53248598e-02 2.04555262e-03 9.98970206e-01 5.80403077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53710568099999 meters 0.029469865552043433 Centerline is valid? [True, True] Translation: X:149.78, Y:41.41, Z:5.80 [[ 8.06765138e-01 -5.89807877e-01 -3.54496704e-02 1.49780724e+02] [ 5.89117834e-01 8.07540619e-01 -2.86063978e-02 4.14112611e+01] [ 4.54993276e-02 2.19461137e-03 9.98961959e-01 5.80416584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.567105681 meters 0.030535249233040594 Centerline is valid? [True, True] Translation: X:149.80, Y:41.43, Z:5.80 [[ 8.07751156e-01 -5.88453803e-01 -3.54991738e-02 1.49804065e+02] [ 5.87761240e-01 8.08527679e-01 -2.86307133e-02 4.14320607e+01] [ 4.55499167e-02 2.26145337e-03 9.98959504e-01 5.80124205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.597105681 meters 0.03245250224370125 Centerline is valid? [True, True] Translation: X:149.83, Y:41.45, Z:5.80 [[ 8.06837730e-01 -5.89681395e-01 -3.58988810e-02 1.49827134e+02] [ 5.88975074e-01 8.07632958e-01 -2.89373045e-02 4.14539359e+01] [ 4.60569095e-02 2.20416297e-03 9.98936386e-01 5.79911402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.627105681 meters 0.029007109000047333 Centerline is valid? [True, True] Translation: X:149.86, Y:41.47, Z:5.80 [[ 8.06757150e-01 -5.89850165e-01 -3.49239709e-02 1.49856050e+02] [ 5.89182539e-01 8.07509924e-01 -2.81364349e-02 4.14697917e+01] [ 4.47977339e-02 2.12267620e-03 9.98993822e-01 5.80159312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.657105681 meters 0.029220472794275424 Centerline is valid? [True, True] Translation: X:149.88, Y:41.49, Z:5.80 [[ 8.06343173e-01 -5.90452404e-01 -3.43022741e-02 1.49880200e+02] [ 5.89809591e-01 8.07069886e-01 -2.76196670e-02 4.14891329e+01] [ 4.39924312e-02 2.03911969e-03 9.99029783e-01 5.80229604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.687105681 meters 0.028722981507621103 Centerline is valid? [True, True] Translation: X:149.91, Y:41.51, Z:5.80 [[ 8.05174785e-01 -5.91980642e-01 -3.53904709e-02 1.49906348e+02] [ 5.91298484e-01 8.05949684e-01 -2.84817241e-02 4.15088430e+01] [ 4.53835682e-02 2.00643429e-03 9.98967620e-01 5.80079103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.717105681 meters 0.028406163520630877 Centerline is valid? [True, True] Translation: X:149.93, Y:41.53, Z:5.80 [[ 8.04095530e-01 -5.93385597e-01 -3.63856017e-02 1.49932551e+02] [ 5.92666265e-01 8.04915914e-01 -2.92757334e-02 4.15285136e+01] [ 4.66591484e-02 1.97596766e-03 9.98908914e-01 5.80065074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74710568099997 meters 0.025407179231415482 Centerline is valid? [True, True] Translation: X:149.96, Y:41.54, Z:5.80 [[ 8.00501505e-01 -5.98164182e-01 -3.73758312e-02 1.49961210e+02] [ 5.97410700e-01 8.01371694e-01 -3.00643262e-02 4.15433988e+01] [ 4.79353362e-02 1.73781689e-03 9.98848929e-01 5.79900022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77710568099997 meters 0.025407179231415482 Centerline is valid? [True, True] Translation: X:149.99, Y:41.56, Z:5.80 [[ 8.00699559e-01 -5.97898831e-01 -3.73792066e-02 1.49986798e+02] [ 5.97145256e-01 8.01569667e-01 -3.00601286e-02 4.15637841e+01] [ 4.79349539e-02 1.74831584e-03 9.98848929e-01 5.80021087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80710568099997 meters 0.02465751116131309 Centerline is valid? [True, True] Translation: X:150.01, Y:41.58, Z:5.80 [[ 7.98914902e-01 -6.00262886e-01 -3.76755571e-02 1.50012000e+02] [ 5.99500776e-01 7.99801157e-01 -3.02808355e-02 4.15808772e+01] [ 4.83094159e-02 1.60528500e-03 9.98831129e-01 5.79988902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83710568099997 meters 0.02319296799887692 Centerline is valid? [True, True] Translation: X:150.04, Y:41.60, Z:5.80 [[ 7.95839378e-01 -6.04277879e-01 -3.85736838e-02 1.50037618e+02] [ 6.03484004e-01 7.96772436e-01 -3.09958357e-02 4.15995185e+01] [ 4.94645459e-02 1.38910539e-03 9.98774914e-01 5.80055895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86710568099997 meters 0.02158364323535189 Centerline is valid? [True, True] Translation: X:150.06, Y:41.62, Z:5.80 [[ 7.92109511e-01 -6.09083558e-01 -3.97459715e-02 1.50063333e+02] [ 6.08246865e-01 7.93105268e-01 -3.19340883e-02 4.16179311e+01] [ 5.09732675e-02 1.11993255e-03 9.98699390e-01 5.79997653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89710568099997 meters 0.02032057991237278 Centerline is valid? [True, True] Translation: X:150.09, Y:41.63, Z:5.80 [[ 7.87618176e-01 -6.14909756e-01 -3.92886761e-02 1.50089138e+02] [ 6.14099618e-01 7.88597144e-01 -3.15626845e-02 4.16340615e+01] [ 5.03911404e-02 7.32182983e-04 9.98729291e-01 5.79816514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92710568099997 meters 0.019104851648361853 Centerline is valid? [True, True] Translation: X:150.12, Y:41.65, Z:5.80 [[ 7.85540202e-01 -6.17563115e-01 -3.92732651e-02 1.50116076e+02] [ 6.16757448e-01 7.86521133e-01 -3.15397924e-02 4.16523147e+01] [ 5.03670654e-02 5.53696162e-04 9.98730620e-01 5.80099672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95710568099997 meters 0.018262242554783984 Centerline is valid? [True, True] Translation: X:150.14, Y:41.67, Z:5.80 [[ 7.80338607e-01 -6.24044828e-01 -4.04933363e-02 1.50142864e+02] [ 6.23197938e-01 7.81388531e-01 -3.25006658e-02 4.16711024e+01] [ 5.19229010e-02 1.26160612e-04 9.98651088e-01 5.80178599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.98710568099997 meters 0.018357546471287175 Centerline is valid? [True, True] Translation: X:150.17, Y:41.69, Z:5.80 [[ 7.77844806e-01 -6.27106624e-01 -4.11672200e-02 1.50170479e+02] [ 6.26236607e-01 7.78933420e-01 -3.30217946e-02 4.16904809e+01] [ 5.27747096e-02 -9.45887878e-05 9.98606440e-01 5.80084051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.01710568099998 meters 0.019047477682348588 Centerline is valid? [True, True] Translation: X:150.20, Y:41.71, Z:5.80 [[ 7.73486032e-01 -6.32527438e-01 -4.03534161e-02 1.50197994e+02] [ 6.31699868e-01 7.74537810e-01 -3.23489921e-02 4.17082227e+01] [ 5.17168716e-02 -4.69754170e-04 9.98661677e-01 5.80136413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.04710568099998 meters 0.019497696088142592 Centerline is valid? [True, True] Translation: X:150.22, Y:41.73, Z:5.80 [[ 7.72523760e-01 -6.33695635e-01 -4.04583945e-02 1.50222009e+02] [ 6.32866302e-01 7.73582267e-01 -3.24148074e-02 4.17279944e+01] [ 5.18390185e-02 -5.63545567e-04 9.98655295e-01 5.80223277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.07710568099998 meters 0.018963857380716365 Centerline is valid? [True, True] Translation: X:150.24, Y:41.75, Z:5.80 [[ 7.74052963e-01 -6.31833242e-01 -4.03579629e-02 1.50242088e+02] [ 6.31006400e-01 7.75104220e-01 -3.23167436e-02 4.17539206e+01] [ 5.17004202e-02 -4.51261792e-04 9.98662537e-01 5.80423411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.10710568099998 meters 0.01840040695738701 Centerline is valid? [True, True] Translation: X:150.26, Y:41.78, Z:5.81 [[ 7.79032138e-01 -6.25795374e-01 -3.85885815e-02 1.50260936e+02] [ 6.25032890e-01 7.79987273e-01 -3.08826765e-02 4.17810363e+01] [ 4.94248385e-02 -6.05351153e-05 9.98777844e-01 5.80775532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13710568099998 meters 0.018303345588595255 Centerline is valid? [True, True] Translation: X:150.28, Y:41.81, Z:5.81 [[ 7.83095295e-01 -6.20812138e-01 -3.67974030e-02 1.50281769e+02] [ 6.20114079e-01 7.83959334e-01 -2.94328508e-02 4.18059603e+01] [ 4.71199385e-02 2.30139332e-04 9.98889212e-01 5.81204755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.16710568099998 meters 0.01843861002185021 Centerline is valid? [True, True] Translation: X:150.31, Y:41.83, Z:5.81 [[ 7.84142437e-01 -6.19542223e-01 -3.58897320e-02 1.50306560e+02] [ 6.18877634e-01 7.84963281e-01 -2.86901107e-02 4.18271820e+01] [ 4.59468567e-02 2.85780909e-04 9.98943845e-01 5.81211625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19710568099998 meters 0.01860873344984675 Centerline is valid? [True, True] Translation: X:150.33, Y:41.85, Z:5.81 [[ 7.84621757e-01 -6.18973518e-01 -3.52204855e-02 1.50332964e+02] [ 6.18333715e-01 7.85411799e-01 -2.81375659e-02 4.18467477e+01] [ 4.50789931e-02 2.99332744e-04 9.98983381e-01 5.81312013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22710568099998 meters 0.01823519890242922 Centerline is valid? [True, True] Translation: X:150.36, Y:41.86, Z:5.82 [[ 7.83022575e-01 -6.21110092e-01 -3.31345821e-02 1.50361008e+02] [ 6.20546468e-01 7.83723312e-01 -2.64546954e-02 4.18619305e+01] [ 4.23996228e-02 1.53075842e-04 9.99100720e-01 5.81513318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25710568099998 meters 0.018332686682281107 Centerline is valid? [True, True] Translation: X:150.39, Y:41.88, Z:5.82 [[ 7.80162394e-01 -6.24708694e-01 -3.29497573e-02 1.50390488e+02] [ 6.24155148e-01 7.80857890e-01 -2.62927129e-02 4.18767288e+01] [ 4.21543643e-02 -5.31748041e-05 9.99111108e-01 5.81626190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.28710568099999 meters 0.018496708457284208 Centerline is valid? [True, True] Translation: X:150.42, Y:41.89, Z:5.82 [[ 7.77934263e-01 -6.27473453e-01 -3.30960457e-02 1.50419574e+02] [ 6.26918158e-01 7.78637926e-01 -2.63932658e-02 4.18925678e+01] [ 4.23309100e-02 -2.16286219e-04 9.99103622e-01 5.81622275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.317105681 meters 0.01883136299703193 Centerline is valid? [True, True] Translation: X:150.45, Y:41.91, Z:5.82 [[ 7.77161660e-01 -6.28416709e-01 -3.33495822e-02 1.50445658e+02] [ 6.27854390e-01 7.77876829e-01 -2.65801545e-02 4.19111823e+01] [ 4.26452805e-02 -2.81604610e-04 9.99090237e-01 5.81784640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.347105681 meters 0.019090707615837397 Centerline is valid? [True, True] Translation: X:150.47, Y:41.93, Z:5.82 [[ 7.76305458e-01 -6.29438504e-01 -3.40147883e-02 1.50472049e+02] [ 6.28855216e-01 7.77050219e-01 -2.70938220e-02 4.19306744e+01] [ 4.34850935e-02 -3.57295165e-04 9.99054012e-01 5.81922022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.377105681 meters 0.019120315507808096 Centerline is valid? [True, True] Translation: X:150.50, Y:41.95, Z:5.82 [[ 7.76072785e-01 -6.29736817e-01 -3.38019690e-02 1.50498401e+02] [ 6.29161771e-01 7.76808466e-01 -2.69085862e-02 4.19503454e+01] [ 4.32029831e-02 -3.83885252e-04 9.99066241e-01 5.82020590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.407105681 meters 0.019596260221733896 Centerline is valid? [True, True] Translation: X:150.53, Y:41.97, Z:5.82 [[ 7.74996061e-01 -6.31054710e-01 -3.39272553e-02 1.50525845e+02] [ 6.30477433e-01 7.75738183e-01 -2.69903249e-02 4.19668768e+01] [ 4.33510390e-02 -4.72973394e-04 9.99059790e-01 5.81740006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.437105681 meters 0.019758758386217972 Centerline is valid? [True, True] Translation: X:150.55, Y:41.99, Z:5.82 [[ 7.74913735e-01 -6.31134353e-01 -3.43239382e-02 1.50551820e+02] [ 6.30544209e-01 7.75673375e-01 -2.72913047e-02 4.19853022e+01] [ 4.38486449e-02 -4.94353681e-04 9.99038063e-01 5.81786629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.467105681 meters 0.019954357010058477 Centerline is valid? [True, True] Translation: X:150.58, Y:42.01, Z:5.82 [[ 7.74631459e-01 -6.31487717e-01 -3.41959963e-02 1.50577549e+02] [ 6.30902848e-01 7.75385705e-01 -2.71772941e-02 4.20055335e+01] [ 4.36772141e-02 -5.21964487e-04 9.99045559e-01 5.81959801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49710568099997 meters 0.019966842040551193 Centerline is valid? [True, True] Translation: X:150.60, Y:42.03, Z:5.82 [[ 7.75305640e-01 -6.30652999e-01 -3.43214098e-02 1.50603581e+02] [ 6.30063797e-01 7.76064787e-01 -2.72590978e-02 4.20268473e+01] [ 4.38266694e-02 -4.90545465e-04 9.99039029e-01 5.81954953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.52710568099997 meters 0.01925458778951116 Centerline is valid? [True, True] Translation: X:150.63, Y:42.05, Z:5.82 [[ 7.78445419e-01 -6.26751285e-01 -3.47211228e-02 1.50626537e+02] [ 6.26145155e-01 7.79219317e-01 -2.75590326e-02 4.20488887e+01] [ 4.43280287e-02 -2.87260085e-04 9.99016989e-01 5.81765241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55710568099997 meters 0.018963001885114947 Centerline is valid? [True, True] Translation: X:150.65, Y:42.07, Z:5.82 [[ 7.80902336e-01 -6.23641384e-01 -3.55382285e-02 1.50650769e+02] [ 6.23003855e-01 7.81710566e-01 -2.81919817e-02 4.20716135e+01] [ 4.53622952e-02 -1.25268988e-04 9.98970593e-01 5.81745446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58710568099997 meters 0.01918687527121385 Centerline is valid? [True, True] Translation: X:150.67, Y:42.10, Z:5.82 [[ 7.86586970e-01 -6.16377646e-01 -3.68718967e-02 1.50670985e+02] [ 6.15684193e-01 7.87450641e-01 -2.92311847e-02 4.20978234e+01] [ 4.70522475e-02 2.91425029e-04 9.98892387e-01 5.81904037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61710568099997 meters 0.019600232945628848 Centerline is valid? [True, True] Translation: X:150.69, Y:42.12, Z:5.82 [[ 7.90171307e-01 -6.11787583e-01 -3.66777776e-02 1.50694520e+02] [ 6.11097244e-01 7.91021904e-01 -2.90603888e-02 4.21207394e+01] [ 4.67917105e-02 5.48996632e-04 9.98904517e-01 5.82132493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.64710568099997 meters 0.021985892131937742 Centerline is valid? [True, True] Translation: X:150.72, Y:42.15, Z:5.82 [[ 7.95831094e-01 -6.04570210e-01 -3.38781892e-02 1.50715423e+02] [ 6.03975295e-01 7.96551361e-01 -2.68285774e-02 4.21450717e+01] [ 4.32054763e-02 8.89426794e-04 9.99065812e-01 5.82317430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67710568099997 meters 0.023225645784409273 Centerline is valid? [True, True] Translation: X:150.74, Y:42.17, Z:5.83 [[ 7.99005193e-01 -6.00520530e-01 -3.10772340e-02 1.50740284e+02] [ 6.00017134e-01 7.99608697e-01 -2.46042773e-02 4.21651607e+01] [ 3.96250003e-02 1.01207244e-03 9.99214109e-01 5.82582012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70710568099997 meters 0.022776818392567896 Centerline is valid? [True, True] Translation: X:150.77, Y:42.18, Z:5.83 [[ 7.99331877e-01 -6.00104405e-01 -3.07124390e-02 1.50767972e+02] [ 5.99612635e-01 7.99921040e-01 -2.43108679e-02 4.21837464e+01] [ 3.91565851e-02 1.01688522e-03 9.99232569e-01 5.82729019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.73710568099997 meters 0.022540792449451206 Centerline is valid? [True, True] Translation: X:150.80, Y:42.20, Z:5.83 [[ 7.99286596e-01 -6.00243366e-01 -2.91348317e-02 1.50795750e+02] [ 5.99801473e-01 7.99816858e-01 -2.30474909e-02 4.22006201e+01] [ 3.71366330e-02 9.46435573e-04 9.99309749e-01 5.83067225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.76710568099998 meters 0.022516281566005037 Centerline is valid? [True, True] Translation: X:150.82, Y:42.22, Z:5.83 [[ 8.00330856e-01 -5.98880889e-01 -2.84991636e-02 1.50822025e+02] [ 5.98457680e-01 8.00837515e-01 -2.25317454e-02 4.22200747e+01] [ 3.63170311e-02 9.77307740e-04 9.99339841e-01 5.83397769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.79710568099998 meters 0.025630359288966117 Centerline is valid? [True, True] Translation: X:150.84, Y:42.24, Z:5.84 [[ 8.05602355e-01 -5.91731905e-01 -2.92950224e-02 1.50841039e+02] [ 5.91280501e-01 8.06133733e-01 -2.31467747e-02 4.22441719e+01] [ 3.73123909e-02 1.32552064e-03 9.99302771e-01 5.83792966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.82710568099998 meters 0.027261466950310825 Centerline is valid? [True, True] Translation: X:150.86, Y:42.27, Z:5.84 [[ 8.09238971e-01 -5.86756320e-01 -2.91428916e-02 1.50863236e+02] [ 5.86306391e-01 8.09762081e-01 -2.30257968e-02 4.22660106e+01] [ 3.71093404e-02 1.54670850e-03 9.99310014e-01 5.83953629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.85710568099998 meters 0.031026432797371387 Centerline is valid? [True, True] Translation: X:150.89, Y:42.29, Z:5.84 [[ 8.18780194e-01 -5.73319761e-01 -3.00573711e-02 1.50885855e+02] [ 5.72832159e-01 8.19328693e-01 -2.37447105e-02 4.22888430e+01] [ 3.82401783e-02 2.22386991e-03 9.99266102e-01 5.83582882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.88710568099998 meters 0.034473214168588104 Centerline is valid? [True, True] Translation: X:150.91, Y:42.31, Z:5.83 [[ 8.21003379e-01 -5.70048943e-01 -3.15856741e-02 1.50907614e+02] [ 5.69508198e-01 8.21606950e-01 -2.49486012e-02 4.23107342e+01] [ 4.01729331e-02 2.49458558e-03 9.99189628e-01 5.83422511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91710568099998 meters 0.03556777335021151 Centerline is valid? [True, True] Translation: X:150.93, Y:42.33, Z:5.83 [[ 8.24002736e-01 -5.65488706e-01 -3.52422219e-02 1.50933737e+02] [ 5.64811597e-01 8.24750486e-01 -2.78297768e-02 4.23283335e+01] [ 4.48034641e-02 3.02659662e-03 9.98991236e-01 5.83086478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.94710568099998 meters 0.036053112270022565 Centerline is valid? [True, True] Translation: X:150.96, Y:42.35, Z:5.83 [[ 8.24877375e-01 -5.64208711e-01 -3.52965573e-02 1.50959622e+02] [ 5.63528579e-01 8.25626393e-01 -2.78675470e-02 4.23477940e+01] [ 4.48648820e-02 3.09669025e-03 9.98988265e-01 5.83270729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97710568099998 meters 0.034472082118895485 Centerline is valid? [True, True] Translation: X:150.99, Y:42.36, Z:5.84 [[ 8.22693778e-01 -5.67448156e-01 -3.43152733e-02 1.50987269e+02] [ 5.66808726e-01 8.23404272e-01 -2.70790164e-02 4.23627296e+01] [ 4.36212805e-02 2.82754201e-03 9.99044138e-01 5.83684266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.00710568099998 meters 0.033447845686449 Centerline is valid? [True, True] Translation: X:151.01, Y:42.38, Z:5.84 [[ 8.20207929e-01 -5.71055833e-01 -3.39733487e-02 1.51014764e+02] [ 5.70432259e-01 8.20907081e-01 -2.68067717e-02 4.23769386e+01] [ 4.31971259e-02 2.60763262e-03 9.99063165e-01 5.83710918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03710568099999 meters 0.029078768259524723 Centerline is valid? [True, True] Translation: X:151.05, Y:42.38, Z:5.83 [[ 8.13673378e-01 -5.80334232e-01 -3.38793793e-02 1.51050161e+02] [ 5.79722099e-01 8.14375667e-01 -2.67312649e-02 4.23827929e+01] [ 4.31036102e-02 2.10989374e-03 9.99068380e-01 5.83335784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.067105681 meters 0.026398975172181902 Centerline is valid? [True, True] Translation: X:151.08, Y:42.39, Z:5.83 [[ 8.06857604e-01 -5.89728114e-01 -3.46634921e-02 1.51081011e+02] [ 5.89095953e-01 8.07600175e-01 -2.73480443e-02 4.23920184e+01] [ 4.41221529e-02 1.64585455e-03 9.99024788e-01 5.83167064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.097105681 meters 0.02371764821830004 Centerline is valid? [True, True] Translation: X:151.11, Y:42.41, Z:5.83 [[ 8.03566118e-01 -5.94173272e-01 -3.52081932e-02 1.51111126e+02] [ 5.93525351e-01 8.04335811e-01 -2.77769928e-02 4.24050346e+01] [ 4.48235573e-02 1.42369507e-03 9.98993905e-01 5.83251752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.127105681 meters 0.021287190155357853 Centerline is valid? [True, True] Translation: X:151.14, Y:42.41, Z:5.83 [[ 7.97430767e-01 -6.02378909e-01 -3.52678703e-02 1.51143131e+02] [ 6.01736874e-01 7.98209698e-01 -2.78210757e-02 4.24129768e+01] [ 4.49099853e-02 9.63403743e-04 9.98990573e-01 5.83142839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.157105681 meters 0.01975356620429632 Centerline is valid? [True, True] Translation: X:151.17, Y:42.43, Z:5.83 [[ 7.94581960e-01 -6.06102655e-01 -3.57642246e-02 1.51173811e+02] [ 6.05446231e-01 7.95386063e-01 -2.82111983e-02 4.24267044e+01] [ 4.55452480e-02 7.62794220e-04 9.98961986e-01 5.83148309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.187105681 meters 0.01858221157991166 Centerline is valid? [True, True] Translation: X:151.21, Y:42.44, Z:5.83 [[ 7.90838950e-01 -6.10905654e-01 -3.69869727e-02 1.51205393e+02] [ 6.10209194e-01 7.91703249e-01 -2.91668278e-02 4.24392304e+01] [ 4.71008865e-02 4.96472635e-04 9.98890014e-01 5.83483333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.217105681 meters 0.018324230021460927 Centerline is valid? [True, True] Translation: X:151.23, Y:42.46, Z:5.84 [[ 7.88740992e-01 -6.13563727e-01 -3.77782940e-02 1.51231990e+02] [ 6.12841046e-01 7.89645138e-01 -2.97726244e-02 4.24564449e+01] [ 4.80988486e-02 3.30800064e-04 9.98842526e-01 5.83764872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24710568099997 meters 0.01826109110819492 Centerline is valid? [True, True] Translation: X:151.26, Y:42.48, Z:5.84 [[ 7.88878812e-01 -6.13412171e-01 -3.73594586e-02 1.51259153e+02] [ 6.12706086e-01 7.89762879e-01 -2.94252969e-02 4.24753720e+01] [ 4.75549488e-02 3.22625587e-04 9.98868571e-01 5.83824709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27710568099997 meters 0.018149916754205044 Centerline is valid? [True, True] Translation: X:151.29, Y:42.49, Z:5.84 [[ 7.89590320e-01 -6.12509003e-01 -3.71463182e-02 1.51287225e+02] [ 6.11810902e-01 7.90463530e-01 -2.92374395e-02 4.24929099e+01] [ 4.72710047e-02 3.59076772e-04 9.98882037e-01 5.83649366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30710568099997 meters 0.01836773441740164 Centerline is valid? [True, True] Translation: X:151.31, Y:42.51, Z:5.84 [[ 7.90137978e-01 -6.11738667e-01 -3.81808850e-02 1.51311885e+02] [ 6.11001204e-01 7.91059823e-01 -3.00313976e-02 4.25128798e+01] [ 4.85747313e-02 4.00381052e-04 9.98819471e-01 5.83668024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33710568099997 meters 0.018647331800045443 Centerline is valid? [True, True] Translation: X:151.33, Y:42.54, Z:5.84 [[ 7.92071753e-01 -6.09205922e-01 -3.86067688e-02 1.51334331e+02] [ 6.08449752e-01 7.93011881e-01 -3.03488914e-02 4.25367644e+01] [ 4.91043508e-02 5.48220711e-04 9.98793503e-01 5.84011748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36710568099997 meters 0.019196669974496757 Centerline is valid? [True, True] Translation: X:151.36, Y:42.56, Z:5.84 [[ 7.94645961e-01 -6.05958073e-01 -3.67778535e-02 1.51356891e+02] [ 6.05269197e-01 7.95496275e-01 -2.88942120e-02 4.25608517e+01] [ 4.67653265e-02 7.00166995e-04 9.98905658e-01 5.84271732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39710568099997 meters 0.019607397807189033 Centerline is valid? [True, True] Translation: X:151.38, Y:42.58, Z:5.84 [[ 7.95654513e-01 -6.04652785e-01 -3.64541559e-02 1.51381006e+02] [ 6.03975405e-01 7.96488818e-01 -2.86229521e-02 4.25812685e+01] [ 4.63422752e-02 7.56567498e-04 9.98925333e-01 5.84394553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42710568099997 meters 0.01927833294546379 Centerline is valid? [True, True] Translation: X:151.41, Y:42.60, Z:5.85 [[ 7.95701785e-01 -6.04782900e-01 -3.31106315e-02 1.51406390e+02] [ 6.04224813e-01 7.96390103e-01 -2.59842159e-02 4.26012406e+01] [ 4.20837887e-02 6.69421783e-04 9.99113861e-01 5.85043229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45710568099997 meters 0.018904528806663545 Centerline is valid? [True, True] Translation: X:151.43, Y:42.62, Z:5.86 [[ 7.94364437e-01 -6.06626702e-01 -3.14513134e-02 1.51430257e+02] [ 6.06125167e-01 7.94986642e-01 -2.46682103e-02 4.26210710e+01] [ 3.99677691e-02 5.32116408e-04 9.99200828e-01 5.85510108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.48710568099997 meters 0.018590007101997985 Centerline is valid? [True, True] Translation: X:151.45, Y:42.64, Z:5.86 [[ 7.92610364e-01 -6.09155424e-01 -2.64287904e-02 1.51453880e+02] [ 6.08802910e-01 7.93050791e-01 -2.07234010e-02 4.26418372e+01] [ 3.35831453e-02 3.35657877e-04 9.99435871e-01 5.86272476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.51710568099998 meters 0.01898296869104772 Centerline is valid? [True, True] Translation: X:151.48, Y:42.66, Z:5.86 [[ 7.94240321e-01 -6.07098877e-01 -2.47642284e-02 1.51477245e+02] [ 6.06788682e-01 7.94626203e-01 -1.94085758e-02 4.26638525e+01] [ 3.14612294e-02 3.88419948e-04 9.99504898e-01 5.86438924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.54710568099998 meters 0.020086537717151135 Centerline is valid? [True, True] Translation: X:151.50, Y:42.69, Z:5.87 [[ 7.97207479e-01 -6.03235135e-01 -2.38245085e-02 1.51498803e+02] [ 6.02946627e-01 7.97563232e-01 -1.86616063e-02 4.26873067e+01] [ 3.02588886e-02 5.12265061e-04 9.99541964e-01 5.86702001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.57710568099998 meters 0.024612846796537465 Centerline is valid? [True, True] Translation: X:151.51, Y:42.72, Z:5.87 [[ 8.05633277e-01 -5.91921395e-01 -2.41678389e-02 1.51511780e+02] [ 5.91619748e-01 8.05995144e-01 -1.89182725e-02 4.27199016e+01] [ 3.06772910e-02 9.43019079e-04 9.99528896e-01 5.86992198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.60710568099998 meters 0.032428231520234184 Centerline is valid? [True, True] Translation: X:151.52, Y:42.75, Z:5.87 [[ 8.15742516e-01 -5.77796640e-01 -2.67430223e-02 1.51522478e+02] [ 5.77419609e-01 8.16179129e-01 -2.09338163e-02 4.27548742e+01] [ 3.39225854e-02 1.63465847e-03 9.99423127e-01 5.87006138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63710568099998 meters 0.034629865530683375 Centerline is valid? [True, True] Translation: X:151.54, Y:42.78, Z:5.87 [[ 8.22875180e-01 -5.67406254e-01 -3.04397817e-02 1.51543593e+02] [ 5.66910631e-01 8.23434649e-01 -2.38267806e-02 4.27783512e+01] [ 3.85846353e-02 2.34983059e-03 9.99252573e-01 5.86560042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.66710568099998 meters 0.034629865530683375 Centerline is valid? [True, True] Translation: X:151.57, Y:42.80, Z:5.87 [[ 8.23060142e-01 -5.67137811e-01 -3.04418452e-02 1.51569474e+02] [ 5.66642102e-01 8.23619535e-01 -2.38241438e-02 4.27984128e+01] [ 3.85840712e-02 2.35907205e-03 9.99252573e-01 5.86681162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69710568099998 meters 0.036153273705912974 Centerline is valid? [True, True] Translation: X:151.59, Y:42.82, Z:5.86 [[ 8.24711093e-01 -5.64617247e-01 -3.25419286e-02 1.51592430e+02] [ 5.64049510e-01 8.25348670e-01 -2.54504132e-02 4.28192735e+01] [ 4.12281798e-02 2.63397923e-03 9.99146285e-01 5.86441004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.72710568099998 meters 0.03399140780405092 Centerline is valid? [True, True] Translation: X:151.62, Y:42.84, Z:5.86 [[ 8.24113602e-01 -5.65245782e-01 -3.65236368e-02 1.51621219e+02] [ 5.64531695e-01 8.24917407e-01 -2.85523628e-02 4.28355154e+01] [ 4.62680864e-02 2.91163999e-03 9.98924815e-01 5.85739842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75710568099998 meters 0.04072084490393991 Centerline is valid? [True, True] Translation: X:151.64, Y:42.86, Z:5.85 [[ 8.22892554e-01 -5.66920574e-01 -3.80645072e-02 1.51640925e+02] [ 5.66147418e-01 8.23767267e-01 -2.97420587e-02 4.28608018e+01] [ 4.82176800e-02 2.92439616e-03 9.98832570e-01 5.85214613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.78710568099999 meters 0.0324870919878525 Centerline is valid? [True, True] Translation: X:151.68, Y:42.87, Z:5.85 [[ 8.19730975e-01 -5.71296818e-01 -4.07562887e-02 1.51676275e+02] [ 5.70415864e-01 8.20738569e-01 -3.18424666e-02 4.28660310e+01] [ 5.16417579e-02 2.85422255e-03 9.98661595e-01 5.85028500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.817105681 meters 0.02919103369145551 Centerline is valid? [True, True] Translation: X:151.71, Y:42.88, Z:5.85 [[ 8.16163785e-01 -5.76360622e-01 -4.10500907e-02 1.51705456e+02] [ 5.75473393e-01 8.17191488e-01 -3.20693993e-02 4.28785853e+01] [ 5.20293237e-02 2.55064731e-03 9.98642300e-01 5.85352525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.847105681 meters 0.029123240435390486 Centerline is valid? [True, True] Translation: X:151.73, Y:42.90, Z:5.85 [[ 8.14229717e-01 -5.79142716e-01 -4.02949473e-02 1.51730693e+02] [ 5.78291345e-01 8.15222851e-01 -3.14773503e-02 4.28954239e+01] [ 5.10792400e-02 2.32757472e-03 9.98691891e-01 5.85452844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.877105681 meters 0.025575506796502043 Centerline is valid? [True, True] Translation: X:151.76, Y:42.90, Z:5.86 [[ 8.09432712e-01 -5.85959513e-01 -3.83423103e-02 1.51763036e+02] [ 5.85196352e-01 8.10338318e-01 -2.99506141e-02 4.29039873e+01] [ 4.86200905e-02 1.80522670e-03 9.98815713e-01 5.85684800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.907105681 meters 0.022786313061851617 Centerline is valid? [True, True] Translation: X:151.79, Y:42.91, Z:5.86 [[ 8.02823513e-01 -5.94859753e-01 -4.02029992e-02 1.51792897e+02] [ 5.94031796e-01 8.03828407e-01 -3.14024968e-02 4.29149505e+01] [ 5.09963943e-02 1.32880297e-03 9.98697953e-01 5.85817073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.937105681 meters 0.021401411677960995 Centerline is valid? [True, True] Translation: X:151.82, Y:42.93, Z:5.86 [[ 7.99188429e-01 -5.99715566e-01 -4.04857319e-02 1.51821048e+02] [ 5.98882162e-01 8.00212589e-01 -3.16222845e-02 4.29299979e+01] [ 5.13615685e-02 1.02598122e-03 9.98679597e-01 5.85924917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.967105681 meters 0.018738845299218737 Centerline is valid? [True, True] Translation: X:151.86, Y:42.94, Z:5.86 [[ 7.90200380e-01 -6.11590384e-01 -3.92500040e-02 1.51856290e+02] [ 6.10821711e-01 7.91174533e-01 -3.06544718e-02 4.29356622e+01] [ 4.98015837e-02 2.48420705e-04 9.98759100e-01 5.85872534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99710568099997 meters 0.0189347051481266 Centerline is valid? [True, True] Translation: X:151.89, Y:42.95, Z:5.86 [[ 7.82946952e-01 -6.20951138e-01 -3.75999264e-02 1.51891170e+02] [ 6.20256777e-01 7.83849203e-01 -2.93591172e-02 4.29450695e+01] [ 4.77032496e-02 -3.34977848e-04 9.98861496e-01 5.86158656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02710568099997 meters 0.01950620966522689 Centerline is valid? [True, True] Translation: X:151.92, Y:42.96, Z:5.86 [[ 7.80456612e-01 -6.24072566e-01 -3.76949581e-02 1.51918631e+02] [ 6.23379278e-01 7.81366200e-01 -2.94132209e-02 4.29628848e+01] [ 4.78095504e-02 -5.42513029e-04 9.98856322e-01 5.86452633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05710568099997 meters 0.020258416928606828 Centerline is valid? [True, True] Translation: X:151.94, Y:42.98, Z:5.87 [[ 7.78487032e-01 -6.26482205e-01 -3.84446070e-02 1.51943737e+02] [ 6.25764875e-01 7.79435392e-01 -2.99798410e-02 4.29816482e+01] [ 4.87469242e-02 -7.18367254e-04 9.98810904e-01 5.86672152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08710568099997 meters 0.020303735852780065 Centerline is valid? [True, True] Translation: X:151.97, Y:43.00, Z:5.87 [[ 7.79587039e-01 -6.25118253e-01 -3.83564617e-02 1.51967479e+02] [ 6.24403378e-01 7.80529791e-01 -2.98942751e-02 4.30027630e+01] [ 4.86258181e-02 -6.44714846e-04 9.98816857e-01 5.86723354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11710568099997 meters 0.019199575266055865 Centerline is valid? [True, True] Translation: X:151.99, Y:43.03, Z:5.87 [[ 7.84720352e-01 -6.18750493e-01 -3.69025287e-02 1.51985702e+02] [ 6.18082476e-01 7.85587528e-01 -2.87452388e-02 4.30314018e+01] [ 4.67762970e-02 -2.51832439e-04 9.98905358e-01 5.87163786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14710568099997 meters 0.019130628080687665 Centerline is valid? [True, True] Translation: X:152.00, Y:43.06, Z:5.88 [[ 7.92512281e-01 -6.08843012e-01 -3.51350375e-02 1.52000941e+02] [ 6.08228353e-01 7.93290674e-01 -2.73528501e-02 4.30631449e+01] [ 4.45258892e-02 3.07343631e-04 9.99008184e-01 5.87685243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17710568099997 meters 0.02049754043783912 Centerline is valid? [True, True] Translation: X:152.02, Y:43.09, Z:5.88 [[ 7.97292179e-01 -6.02619412e-01 -3.42786360e-02 1.52018353e+02] [ 6.02029168e-01 7.98028476e-01 -2.66726966e-02 4.30907367e+01] [ 4.34288124e-02 6.29193748e-04 9.99056326e-01 5.88018881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20710568099997 meters 0.024583458227773258 Centerline is valid? [True, True] Translation: X:152.03, Y:43.13, Z:5.89 [[ 8.07028031e-01 -5.89635156e-01 -3.21891291e-02 1.52030417e+02] [ 5.89104530e-01 8.07668764e-01 -2.50403884e-02 4.31254450e+01] [ 4.07628474e-02 1.24553355e-03 9.99168073e-01 5.88655132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23710568099997 meters 0.026326944841243045 Centerline is valid? [True, True] Translation: X:152.05, Y:43.15, Z:5.89 [[ 8.13715565e-01 -5.80327297e-01 -3.29728445e-02 1.52049297e+02] [ 5.79762893e-01 8.14381454e-01 -2.56483187e-02 4.31521223e+01] [ 4.17368925e-02 1.75400441e-03 9.99127097e-01 5.88617111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.26710568099998 meters 0.02813061327593651 Centerline is valid? [True, True] Translation: X:152.07, Y:43.18, Z:5.89 [[ 8.15878178e-01 -5.77174130e-01 -3.48256069e-02 1.52070093e+02] [ 5.76541805e-01 8.16618604e-01 -2.70850833e-02 4.31755603e+01] [ 4.40720479e-02 2.01971015e-03 9.99026314e-01 5.88554505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.29710568099998 meters 0.02947249065714587 Centerline is valid? [True, True] Translation: X:152.09, Y:43.20, Z:5.88 [[ 8.17822829e-01 -5.74409455e-01 -3.49227644e-02 1.52091286e+02] [ 5.73771604e-01 8.18565263e-01 -2.71487858e-02 4.32003414e+01] [ 4.41810811e-02 2.16520631e-03 9.99021193e-01 5.88496752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.32710568099998 meters 0.03011051530476646 Centerline is valid? [True, True] Translation: X:152.12, Y:43.22, Z:5.88 [[ 8.17913373e-01 -5.74230177e-01 -3.57409802e-02 1.52116473e+02] [ 5.73562172e-01 8.18690889e-01 -2.77788408e-02 4.32206322e+01] [ 4.52122635e-02 2.22101120e-03 9.98974934e-01 5.88410258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.35710568099998 meters 0.03248767645647065 Centerline is valid? [True, True] Translation: X:152.14, Y:43.24, Z:5.88 [[ 8.17085028e-01 -5.75330627e-01 -3.69692678e-02 1.52138979e+02] [ 5.74617872e-01 8.17917932e-01 -2.87151079e-02 4.32432605e+01] [ 4.67585081e-02 2.21948277e-03 9.98903757e-01 5.88392399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.38710568099998 meters 0.027280097069383898 Centerline is valid? [True, True] Translation: X:152.17, Y:43.26, Z:5.89 [[ 8.14448539e-01 -5.78940001e-01 -3.87563208e-02 1.52168527e+02] [ 5.78161357e-01 8.15367445e-01 -3.00894529e-02 4.32564229e+01] [ 4.90206301e-02 2.09890387e-03 9.98795561e-01 5.88769977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41710568099998 meters 0.026434364882441164 Centerline is valid? [True, True] Translation: X:152.19, Y:43.27, Z:5.89 [[ 8.13045585e-01 -5.80938955e-01 -3.82989232e-02 1.52194903e+02] [ 5.80180940e-01 8.13944788e-01 -2.97314555e-02 4.32745858e+01] [ 4.84453696e-02 1.95272334e-03 9.98823925e-01 5.88896845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.44710568099998 meters 0.02623617622936259 Centerline is valid? [True, True] Translation: X:152.22, Y:43.29, Z:5.88 [[ 8.09404788e-01 -5.85998430e-01 -3.83370379e-02 1.52221772e+02] [ 5.85244699e-01 8.10310508e-01 -2.97577475e-02 4.32903152e+01] [ 4.85028980e-02 1.64951512e-03 9.98821680e-01 5.88481765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47710568099998 meters 0.02261938964938074 Centerline is valid? [True, True] Translation: X:152.25, Y:43.30, Z:5.88 [[ 8.04522569e-01 -5.92631329e-01 -3.91349585e-02 1.52252738e+02] [ 5.91853726e-01 8.05472830e-01 -3.03757518e-02 4.33009358e+01] [ 4.95237679e-02 1.27580685e-03 9.98772131e-01 5.88449214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.50710568099998 meters 0.02142999528245045 Centerline is valid? [True, True] Translation: X:152.28, Y:43.32, Z:5.89 [[ 8.01590091e-01 -5.96583517e-01 -3.92610982e-02 1.52279724e+02] [ 5.95805683e-01 8.02550334e-01 -3.04721109e-02 4.33172895e+01] [ 4.96881666e-02 1.03415670e-03 9.98764245e-01 5.88620951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53710568099999 meters 0.019484170689363922 Centerline is valid? [True, True] Translation: X:152.31, Y:43.33, Z:5.89 [[ 7.94599946e-01 -6.05864949e-01 -3.92248615e-02 1.52309657e+02] [ 6.05099866e-01 7.95567381e-01 -3.04416702e-02 4.33279257e+01] [ 4.96495613e-02 4.53991049e-04 9.98766597e-01 5.88856554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.567105681 meters 0.019049173249864725 Centerline is valid? [True, True] Translation: X:152.34, Y:43.34, Z:5.89 [[ 7.88547938e-01 -6.13699521e-01 -3.95606704e-02 1.52340982e+02] [ 6.12931321e-01 7.89539674e-01 -3.06968910e-02 4.33388173e+01] [ 5.00733861e-02 -4.20038658e-05 9.98745540e-01 5.89164215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.597105681 meters 0.01916078391940004 Centerline is valid? [True, True] Translation: X:152.37, Y:43.36, Z:5.89 [[ 7.86263313e-01 -6.16580777e-01 -4.02262179e-02 1.52368983e+02] [ 6.15791161e-01 7.87291615e-01 -3.11955004e-02 4.33560170e+01] [ 5.09043099e-02 -2.43071995e-04 9.98703506e-01 5.89309135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.627105681 meters 0.01976990944547745 Centerline is valid? [True, True] Translation: X:152.40, Y:43.37, Z:5.89 [[ 7.83384745e-01 -6.20138549e-01 -4.16715931e-02 1.52396532e+02] [ 6.19296938e-01 7.84492146e-01 -3.23013287e-02 4.33708341e+01] [ 5.27223366e-02 -5.02721900e-04 9.98609084e-01 5.89041156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.657105681 meters 0.019902992714824482 Centerline is valid? [True, True] Translation: X:152.42, Y:43.39, Z:5.89 [[ 7.82862191e-01 -6.20711401e-01 -4.29435408e-02 1.52422878e+02] [ 6.19818908e-01 7.84038927e-01 -3.32788569e-02 4.33904160e+01] [ 5.43259735e-02 -5.64459775e-04 9.98523094e-01 5.88951913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.687105681 meters 0.02005347426742171 Centerline is valid? [True, True] Translation: X:152.45, Y:43.41, Z:5.89 [[ 7.82875391e-01 -6.20545294e-01 -4.50517491e-02 1.52446960e+02] [ 6.19563912e-01 7.84170378e-01 -3.48909384e-02 4.34124746e+01] [ 5.69796548e-02 -5.97180852e-04 9.98375161e-01 5.88993016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71710568099996 meters 0.01993395880078669 Centerline is valid? [True, True] Translation: X:152.47, Y:43.44, Z:5.89 [[ 7.83121707e-01 -6.20312239e-01 -4.39672401e-02 1.52469831e+02] [ 6.19378324e-01 7.84354758e-01 -3.40309311e-02 4.34353314e+01] [ 5.55957170e-02 -5.81994655e-04 9.98453192e-01 5.89419651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74710568099997 meters 0.02014228433123207 Centerline is valid? [True, True] Translation: X:152.49, Y:43.46, Z:5.90 [[ 7.82724027e-01 -6.20863691e-01 -4.32594049e-02 1.52494821e+02] [ 6.19961575e-01 7.83918290e-01 -3.34628246e-02 4.34558198e+01] [ 5.46876914e-02 -6.27011971e-04 9.98503312e-01 5.89596183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77710568099997 meters 0.020134028988432032 Centerline is valid? [True, True] Translation: X:152.52, Y:43.48, Z:5.90 [[ 7.81498958e-01 -6.22519391e-01 -4.15810942e-02 1.52520478e+02] [ 6.21689379e-01 7.82604035e-01 -3.21440555e-02 4.34763317e+01] [ 5.25518299e-02 -7.29978782e-04 9.98617931e-01 5.89719581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80710568099997 meters 0.020726425173499714 Centerline is valid? [True, True] Translation: X:152.55, Y:43.50, Z:5.90 [[ 7.80300782e-01 -6.23988532e-01 -4.20594989e-02 1.52545761e+02] [ 6.23142601e-01 7.81433030e-01 -3.24918206e-02 4.34962637e+01] [ 5.31412050e-02 -8.55672559e-04 9.98586641e-01 5.89750070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83710568099997 meters 0.0219077224755827 Centerline is valid? [True, True] Translation: X:152.57, Y:43.52, Z:5.90 [[ 7.77708453e-01 -6.27159017e-01 -4.29083838e-02 1.52569323e+02] [ 6.26284239e-01 7.78890457e-01 -3.31316765e-02 4.35181677e+01] [ 5.41997604e-02 -1.10605966e-03 9.98529500e-01 5.89899558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86710568099997 meters 0.023147975268089562 Centerline is valid? [True, True] Translation: X:152.59, Y:43.54, Z:5.90 [[ 7.75055935e-01 -6.30548286e-01 -4.11965703e-02 1.52593289e+02] [ 6.29747209e-01 7.76148941e-01 -3.18005350e-02 4.35392462e+01] [ 5.20264473e-02 -1.29623175e-03 9.98644866e-01 5.90338650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89710568099997 meters 0.024070679084416423 Centerline is valid? [True, True] Translation: X:152.62, Y:43.56, Z:5.91 [[ 7.73491604e-01 -6.32504179e-01 -4.06103823e-02 1.52619282e+02] [ 6.31729404e-01 7.74555642e-01 -3.13291829e-02 4.35589062e+01] [ 5.12708398e-02 -1.42191268e-03 9.98683773e-01 5.90568446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92710568099997 meters 0.025723745680045516 Centerline is valid? [True, True] Translation: X:152.64, Y:43.58, Z:5.91 [[ 7.70368548e-01 -6.36351818e-01 -3.98580317e-02 1.52643378e+02] [ 6.35611530e-01 7.71397178e-01 -3.07307009e-02 4.35793847e+01] [ 5.03019105e-02 -1.66025908e-03 9.98732678e-01 5.90793610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95710568099997 meters 0.027670827475414838 Centerline is valid? [True, True] Translation: X:152.67, Y:43.60, Z:5.91 [[ 7.67045671e-01 -6.40395213e-01 -3.91779186e-02 1.52666556e+02] [ 6.39685881e-01 7.68043197e-01 -3.01930566e-02 4.36003002e+01] [ 4.94258227e-02 -1.90210804e-03 9.98775986e-01 5.91016055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.98710568099997 meters 0.028384640964677108 Centerline is valid? [True, True] Translation: X:152.69, Y:43.62, Z:5.91 [[ 7.65927916e-01 -6.41813029e-01 -3.78214735e-02 1.52690614e+02] [ 6.41153996e-01 7.66858732e-01 -2.91417077e-02 4.36216012e+01] [ 4.77072549e-02 -1.92894147e-03 9.98859498e-01 5.91284690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.01710568099998 meters 0.02952595062824108 Centerline is valid? [True, True] Translation: X:152.71, Y:43.64, Z:5.91 [[ 7.65189793e-01 -6.42694726e-01 -3.77898141e-02 1.52714122e+02] [ 6.42038712e-01 7.66119773e-01 -2.90995914e-02 4.36418945e+01] [ 4.76536778e-02 -1.99581325e-03 9.98861924e-01 5.91410956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.04710568099998 meters 0.028940094985020696 Centerline is valid? [True, True] Translation: X:152.74, Y:43.66, Z:5.92 [[ 7.66191719e-01 -6.41518478e-01 -3.74738852e-02 1.52738719e+02] [ 6.40872692e-01 7.67105185e-01 -2.88414344e-02 4.36636390e+01] [ 4.72487247e-02 -1.91792152e-03 9.98881314e-01 5.91612144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.07710568099998 meters 0.02866439519997741 Centerline is valid? [True, True] Translation: X:152.76, Y:43.68, Z:5.92 [[ 7.67615953e-01 -6.39873989e-01 -3.64283989e-02 1.52761987e+02] [ 6.39262379e-01 7.68477802e-01 -2.80263933e-02 4.36845046e+01] [ 4.59277760e-02 -1.77379831e-03 9.98943188e-01 5.91731142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.10710568099998 meters 0.02754807910113268 Centerline is valid? [True, True] Translation: X:152.79, Y:43.71, Z:5.91 [[ 7.68449627e-01 -6.38864325e-01 -3.65724743e-02 1.52787147e+02] [ 6.38247370e-01 7.69317476e-01 -2.81232345e-02 4.37057503e+01] [ 4.61027748e-02 -1.73099650e-03 9.98935202e-01 5.91422265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13710568099998 meters 0.02770509570208592 Centerline is valid? [True, True] Translation: X:152.81, Y:43.72, Z:5.91 [[ 7.69345612e-01 -6.37813605e-01 -3.60712456e-02 1.52812706e+02] [ 6.37212668e-01 7.70188988e-01 -2.77297332e-02 4.37248892e+01] [ 4.54680773e-02 -1.65130613e-03 9.98964427e-01 5.91360228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.16710568099998 meters 0.027485765106497008 Centerline is valid? [True, True] Translation: X:152.84, Y:43.75, Z:5.91 [[ 7.69709846e-01 -6.37361618e-01 -3.62893893e-02 1.52838160e+02] [ 6.36753690e-01 7.70563074e-01 -2.78798591e-02 4.37464821e+01] [ 4.57328155e-02 -1.64800051e-03 9.98952348e-01 5.91372790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19710568099998 meters 0.028539512781401346 Centerline is valid? [True, True] Translation: X:152.86, Y:43.77, Z:5.92 [[ 7.70667170e-01 -6.36201177e-01 -3.63342205e-02 1.52862177e+02] [ 6.35591316e-01 7.71521560e-01 -2.78955516e-02 4.37667881e+01] [ 4.57798172e-02 -1.59552916e-03 9.98950280e-01 5.91675089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.22710568099998 meters 0.02661877683307836 Centerline is valid? [True, True] Translation: X:152.88, Y:43.79, Z:5.92 [[ 7.71629350e-01 -6.35013597e-01 -3.66861975e-02 1.52884523e+02] [ 6.34391267e-01 7.72499399e-01 -2.81495915e-02 4.37900960e+01] [ 4.62154389e-02 -1.55235226e-03 9.98930290e-01 5.91983569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25710568099998 meters 0.02615250308320143 Centerline is valid? [True, True] Translation: X:152.91, Y:43.81, Z:5.92 [[ 7.73182056e-01 -6.33090115e-01 -3.72346025e-02 1.52908509e+02] [ 6.32447614e-01 7.74076701e-01 -2.85530326e-02 4.38103671e+01] [ 4.68990809e-02 -1.47224306e-03 9.98898548e-01 5.91805396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.28710568099999 meters 0.026000677871468487 Centerline is valid? [True, True] Translation: X:152.93, Y:43.83, Z:5.91 [[ 7.73520898e-01 -6.32630866e-01 -3.79948488e-02 1.52934798e+02] [ 6.31962132e-01 7.74452048e-01 -2.91185252e-02 4.38303408e+01] [ 4.78464662e-02 -1.48751793e-03 9.98853594e-01 5.91493894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.317105681 meters 0.02558880375533826 Centerline is valid? [True, True] Translation: X:152.96, Y:43.85, Z:5.92 [[ 7.73867201e-01 -6.32155774e-01 -3.88411187e-02 1.52960775e+02] [ 6.31457336e-01 7.74839858e-01 -2.97460462e-02 4.38503778e+01] [ 4.88997818e-02 -1.50701985e-03 9.98802553e-01 5.91606725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.347105681 meters 0.02741808221351779 Centerline is valid? [True, True] Translation: X:152.99, Y:43.87, Z:5.92 [[ 7.73841044e-01 -6.32143788e-01 -3.95508432e-02 1.52986557e+02] [ 6.31420580e-01 7.74849553e-01 -3.02691496e-02 4.38680927e+01] [ 4.97804081e-02 -1.54970595e-03 9.98758985e-01 5.91701952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.377105681 meters 0.02653278438829162 Centerline is valid? [True, True] Translation: X:153.01, Y:43.89, Z:5.92 [[ 7.73377511e-01 -6.32696694e-01 -3.97758620e-02 1.53010948e+02] [ 6.31966837e-01 7.74398029e-01 -3.04238323e-02 4.38898626e+01] [ 5.00514073e-02 -1.60791802e-03 9.98745349e-01 5.92059992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.407105681 meters 0.027007052036539664 Centerline is valid? [True, True] Translation: X:153.04, Y:43.91, Z:5.92 [[ 7.73614939e-01 -6.32388066e-01 -4.00657074e-02 1.53036942e+02] [ 6.31648067e-01 7.74650069e-01 -3.06266320e-02 4.39088762e+01] [ 5.04048196e-02 -1.61420661e-03 9.98727565e-01 5.92161173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.437105681 meters 0.026858398880410292 Centerline is valid? [True, True] Translation: X:153.06, Y:43.93, Z:5.92 [[ 7.73586016e-01 -6.32386940e-01 -4.06378473e-02 1.53062324e+02] [ 6.31626655e-01 7.74650907e-01 -3.10441790e-02 4.39294726e+01] [ 5.11120786e-02 -1.65260481e-03 9.98691556e-01 5.92352575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46710568099996 meters 0.02753064278416862 Centerline is valid? [True, True] Translation: X:153.09, Y:43.95, Z:5.93 [[ 7.73850864e-01 -6.32145302e-01 -3.93339172e-02 1.53087621e+02] [ 6.31433596e-01 7.74848221e-01 -3.00307875e-02 4.39475950e+01] [ 4.94616370e-02 -1.59740592e-03 9.98774747e-01 5.92646399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49710568099997 meters 0.026714071035103284 Centerline is valid? [True, True] Translation: X:153.11, Y:43.97, Z:5.93 [[ 7.74311489e-01 -6.31573555e-01 -3.94533020e-02 1.53112308e+02] [ 6.30857626e-01 7.75314357e-01 -3.01048903e-02 4.39678573e+01] [ 4.96021640e-02 -1.57885405e-03 9.98767807e-01 5.92867825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52710568099997 meters 0.026578030572038988 Centerline is valid? [True, True] Translation: X:153.14, Y:43.99, Z:5.93 [[ 7.74149962e-01 -6.31768466e-01 -3.95024387e-02 1.53138027e+02] [ 6.31051903e-01 7.75155483e-01 -3.01242997e-02 4.39868000e+01] [ 4.96521146e-02 -1.60736368e-03 9.98765280e-01 5.92958678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55710568099997 meters 0.02654392658657597 Centerline is valid? [True, True] Translation: X:153.16, Y:44.01, Z:5.93 [[ 7.73859087e-01 -6.32147462e-01 -3.91369459e-02 1.53163902e+02] [ 6.31445477e-01 7.74846390e-01 -2.98275387e-02 4.40060787e+01] [ 4.91805242e-02 -1.63053560e-03 9.98788575e-01 5.93225795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58710568099997 meters 0.02654392658657597 Centerline is valid? [True, True] Translation: X:153.19, Y:44.03, Z:5.93 [[ 7.74073087e-01 -6.31884830e-01 -3.91460936e-02 1.53190018e+02] [ 6.31183116e-01 7.75060583e-01 -2.98155294e-02 4.40257727e+01] [ 4.91805748e-02 -1.62895445e-03 9.98788575e-01 5.93346318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61710568099997 meters 0.027334010766040875 Centerline is valid? [True, True] Translation: X:153.22, Y:44.04, Z:5.94 [[ 7.74314915e-01 -6.31589353e-01 -3.91318473e-02 1.53215489e+02] [ 6.30888674e-01 7.75301395e-01 -2.97863878e-02 4.40445046e+01] [ 4.91517412e-02 -1.62379487e-03 9.98790003e-01 5.93699500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64710568099997 meters 0.026581679609337633 Centerline is valid? [True, True] Translation: X:153.24, Y:44.07, Z:5.94 [[ 7.75163603e-01 -6.30521977e-01 -3.95401725e-02 1.53240400e+02] [ 6.29805820e-01 7.76169784e-01 -3.00848137e-02 4.40652862e+01] [ 4.96590233e-02 -1.58197822e-03 9.98764977e-01 5.93790440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67710568099997 meters 0.02405740980916468 Centerline is valid? [True, True] Translation: X:153.26, Y:44.09, Z:5.94 [[ 7.79576071e-01 -6.25022309e-01 -4.01031479e-02 1.53260706e+02] [ 6.24279028e-01 7.80605872e-01 -3.04986653e-02 4.40905841e+01] [ 5.03670990e-02 -1.25952449e-03 9.98729978e-01 5.93862558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70710568099997 meters 0.023158790985835998 Centerline is valid? [True, True] Translation: X:153.28, Y:44.11, Z:5.94 [[ 7.81709462e-01 -6.22380656e-01 -3.96564886e-02 1.53283268e+02] [ 6.21650695e-01 7.82713965e-01 -3.01539775e-02 4.41121556e+01] [ 4.98069397e-02 -1.08083415e-03 9.98758279e-01 5.94018915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.73710568099997 meters 0.02096932843845635 Centerline is valid? [True, True] Translation: X:153.30, Y:44.14, Z:5.94 [[ 7.86244559e-01 -6.16699311e-01 -3.87485966e-02 1.53302323e+02] [ 6.15995874e-01 7.87198486e-01 -2.94555038e-02 4.41384385e+01] [ 4.86680255e-02 -7.09746122e-04 9.98814757e-01 5.94425874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.76710568099998 meters 0.020261379880115067 Centerline is valid? [True, True] Translation: X:153.33, Y:44.16, Z:5.95 [[ 7.88929308e-01 -6.13250153e-01 -3.89203946e-02 1.53325091e+02] [ 6.12536431e-01 7.89888598e-01 -2.95824802e-02 4.41624780e+01] [ 4.88842365e-02 -5.01674015e-04 9.98804325e-01 5.94641418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.79710568099998 meters 0.01977164396849427 Centerline is valid? [True, True] Translation: X:153.35, Y:44.19, Z:5.95 [[ 7.93121906e-01 -6.07843686e-01 -3.85187671e-02 1.53345169e+02] [ 6.07138650e-01 7.94056688e-01 -2.92683496e-02 4.41881846e+01] [ 4.83766662e-02 -1.72863064e-04 9.98829149e-01 5.94687416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.82710568099998 meters 0.019681425254563886 Centerline is valid? [True, True] Translation: X:153.37, Y:44.21, Z:5.95 [[ 7.94392530e-01 -6.06267137e-01 -3.71573276e-02 1.53369209e+02] [ 6.05610102e-01 7.95261059e-01 -2.82179495e-02 4.42102130e+01] [ 4.66573911e-02 -8.67247132e-05 9.98910947e-01 5.95009378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.85710568099998 meters 0.019716069298758215 Centerline is valid? [True, True] Translation: X:153.39, Y:44.23, Z:5.95 [[ 7.94436537e-01 -6.06232601e-01 -3.67780026e-02 1.53393994e+02] [ 6.05589621e-01 7.95287385e-01 -2.79139194e-02 4.42299489e+01] [ 4.61714095e-02 -9.65391417e-05 9.98933527e-01 5.95288042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.88710568099998 meters 0.019602110655989317 Centerline is valid? [True, True] Translation: X:153.42, Y:44.25, Z:5.96 [[ 7.94690331e-01 -6.05998221e-01 -3.51202873e-02 1.53419162e+02] [ 6.05412220e-01 7.95465994e-01 -2.66438697e-02 4.42506964e+01] [ 4.40831319e-02 -8.86254627e-05 9.99027862e-01 5.95809940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91710568099998 meters 0.019601558033495524 Centerline is valid? [True, True] Translation: X:153.45, Y:44.27, Z:5.96 [[ 7.94451588e-01 -6.06339146e-01 -3.46340199e-02 1.53447001e+02] [ 6.05770290e-01 7.95206153e-01 -2.62588971e-02 4.42692890e+01] [ 4.34629830e-02 -1.18837783e-04 9.99055031e-01 5.95794789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.94710568099998 meters 0.01965526138401112 Centerline is valid? [True, True] Translation: X:153.48, Y:44.29, Z:5.95 [[ 7.94952518e-01 -6.05657704e-01 -3.50605134e-02 1.53475576e+02] [ 6.05074903e-01 7.95725289e-01 -2.65636129e-02 4.42852117e+01] [ 4.39869940e-02 -9.74257711e-05 9.99032099e-01 5.95336212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97710568099998 meters 0.019621487447380275 Centerline is valid? [True, True] Translation: X:153.50, Y:44.30, Z:5.96 [[ 7.96043037e-01 -6.04212451e-01 -3.52533374e-02 1.53501086e+02] [ 6.03622574e-01 7.96823263e-01 -2.66922315e-02 4.43040971e+01] [ 4.42184580e-02 -3.15452201e-05 9.99021885e-01 5.95721905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.00710568099998 meters 0.019661151290981834 Centerline is valid? [True, True] Translation: X:153.53, Y:44.32, Z:5.96 [[ 7.96770920e-01 -6.03200140e-01 -3.61343745e-02 1.53527420e+02] [ 6.02580183e-01 7.97589864e-01 -2.73410246e-02 4.43246347e+01] [ 4.53125207e-02 1.06752979e-05 9.98972860e-01 5.96032899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03710568099999 meters 0.019859140439360316 Centerline is valid? [True, True] Translation: X:153.55, Y:44.34, Z:5.96 [[ 7.99557641e-01 -5.99456048e-01 -3.68785122e-02 1.53553117e+02] [ 5.98807182e-01 8.00407647e-01 -2.78847257e-02 4.43441273e+01] [ 4.62335107e-02 2.12327545e-04 9.98930637e-01 5.95872584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.067105681 meters 0.0208193314051547 Centerline is valid? [True, True] Translation: X:153.58, Y:44.37, Z:5.96 [[ 8.04748734e-01 -5.92415683e-01 -3.77244452e-02 1.53576030e+02] [ 5.91729730e-01 8.05632221e-01 -2.85070257e-02 4.43663207e+01] [ 4.72800377e-02 6.18317093e-04 9.98881482e-01 5.95953232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.097105681 meters 0.021619826638899386 Centerline is valid? [True, True] Translation: X:153.60, Y:44.39, Z:5.96 [[ 8.07954472e-01 -5.88000818e-01 -3.82702097e-02 1.53599863e+02] [ 5.87290557e-01 8.08859855e-01 -2.89056499e-02 4.43877243e+01] [ 4.79517821e-02 8.78716316e-04 9.98849265e-01 5.96094198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.127105681 meters 0.023778441933553347 Centerline is valid? [True, True] Translation: X:153.62, Y:44.41, Z:5.96 [[ 8.12880100e-01 -5.81109050e-01 -3.92200758e-02 1.53622650e+02] [ 5.80355387e-01 8.13824643e-01 -2.96154494e-02 4.44100182e+01] [ 4.91280699e-02 1.31222726e-03 9.98791625e-01 5.96108292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.157105681 meters 0.02454511742546827 Centerline is valid? [True, True] Translation: X:153.65, Y:44.43, Z:5.96 [[ 8.14555504e-01 -5.78706539e-01 -3.99758915e-02 1.53648084e+02] [ 5.77921275e-01 8.15534528e-01 -3.01734008e-02 4.44303433e+01] [ 5.00632641e-02 1.47499156e-03 9.98744959e-01 5.96146268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.187105681 meters 0.025563167537465424 Centerline is valid? [True, True] Translation: X:153.67, Y:44.45, Z:5.96 [[ 8.16861145e-01 -5.75462465e-01 -3.97595494e-02 1.53674061e+02] [ 5.74682094e-01 8.17826506e-01 -3.00049494e-02 4.44495471e+01] [ 4.97831355e-02 1.66077627e-03 9.98758670e-01 5.96062882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21710568099996 meters 0.025597362241933822 Centerline is valid? [True, True] Translation: X:153.70, Y:44.47, Z:5.96 [[ 8.17589311e-01 -5.74509339e-01 -3.85582339e-02 1.53703677e+02] [ 5.73774794e-01 8.18496344e-01 -2.90898749e-02 4.44652003e+01] [ 4.82721783e-02 1.65982808e-03 9.98832840e-01 5.96093624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24710568099997 meters 0.02532012481595762 Centerline is valid? [True, True] Translation: X:153.73, Y:44.48, Z:5.96 [[ 8.16516540e-01 -5.76039069e-01 -3.84672644e-02 1.53731765e+02] [ 5.75310498e-01 8.17420689e-01 -2.90042754e-02 4.44822272e+01] [ 4.81515336e-02 1.55184955e-03 9.98838837e-01 5.96328345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27710568099997 meters 0.022683994118016162 Centerline is valid? [True, True] Translation: X:153.76, Y:44.49, Z:5.97 [[ 8.11580455e-01 -5.82984954e-01 -3.82845788e-02 1.53763985e+02] [ 5.82271220e-01 8.12482162e-01 -2.88610914e-02 4.44917335e+01] [ 4.79311194e-02 1.13108925e-03 9.98850003e-01 5.96705515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30710568099997 meters 0.02184093033889607 Centerline is valid? [True, True] Translation: X:153.79, Y:44.51, Z:5.97 [[ 8.09185607e-01 -5.86308884e-01 -3.82170969e-02 1.53793747e+02] [ 5.85601530e-01 8.10087049e-01 -2.88066110e-02 4.45065310e+01] [ 4.78487472e-02 9.29904553e-04 9.98854160e-01 5.96855259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33710568099997 meters 0.020797642475722238 Centerline is valid? [True, True] Translation: X:153.82, Y:44.52, Z:5.97 [[ 8.05452320e-01 -5.91438728e-01 -3.80367123e-02 1.53823443e+02] [ 5.90743988e-01 8.06349706e-01 -2.86651756e-02 4.45179773e+01] [ 4.76245867e-02 6.18473055e-04 9.98865114e-01 5.96759897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36710568099997 meters 0.020125059447266367 Centerline is valid? [True, True] Translation: X:153.85, Y:44.53, Z:5.97 [[ 8.03734696e-01 -5.93744352e-01 -3.84471481e-02 1.53852654e+02] [ 5.93037455e-01 8.04653598e-01 -2.89683419e-02 4.45325816e+01] [ 4.81364254e-02 4.82262585e-04 9.98840654e-01 5.96974416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39710568099997 meters 0.020238304175598635 Centerline is valid? [True, True] Translation: X:153.88, Y:44.55, Z:5.97 [[ 8.04095656e-01 -5.93273914e-01 -3.81607006e-02 1.53879246e+02] [ 5.92577835e-01 8.05000510e-01 -2.87348004e-02 4.45516970e+01] [ 4.77669909e-02 4.92342879e-04 9.98858384e-01 5.97144894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42710568099997 meters 0.020399427620329355 Centerline is valid? [True, True] Translation: X:153.91, Y:44.57, Z:5.97 [[ 8.05188561e-01 -5.91770081e-01 -3.84649371e-02 1.53905848e+02] [ 5.91062077e-01 8.06106597e-01 -2.89443599e-02 4.45694647e+01] [ 4.81352457e-02 5.70501922e-04 9.98840664e-01 5.97119343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45710568099997 meters 0.02076967006238635 Centerline is valid? [True, True] Translation: X:153.93, Y:44.59, Z:5.97 [[ 8.06788215e-01 -5.89506662e-01 -3.96821387e-02 1.53932553e+02] [ 5.88751301e-01 8.07763200e-01 -2.98415580e-02 4.45878099e+01] [ 4.96455686e-02 7.12906535e-04 9.98766644e-01 5.96864268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.48710568099997 meters 0.021269956884996066 Centerline is valid? [True, True] Translation: X:153.96, Y:44.61, Z:5.97 [[ 8.07717829e-01 -5.88165124e-01 -4.06656584e-02 1.53955855e+02] [ 5.87370980e-01 8.08740468e-01 -3.05644822e-02 4.46080842e+01] [ 5.08649260e-02 8.01649588e-04 9.98705220e-01 5.96847099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.51710568099998 meters 0.021722203928542873 Centerline is valid? [True, True] Translation: X:153.98, Y:44.63, Z:5.97 [[ 8.09412849e-01 -5.85790224e-01 -4.12389869e-02 1.53980075e+02] [ 5.84971058e-01 8.10462154e-01 -3.09832016e-02 4.46291708e+01] [ 5.15722948e-02 9.54587665e-04 9.98668808e-01 5.97020581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.54710568099998 meters 0.021794456315346718 Centerline is valid? [True, True] Translation: X:154.01, Y:44.65, Z:5.97 [[ 8.10613519e-01 -5.84131833e-01 -4.11791736e-02 1.54006083e+02] [ 5.83313863e-01 8.11658126e-01 -3.09196347e-02 4.46488545e+01] [ 5.14845538e-02 1.04349106e-03 9.98673246e-01 5.97212062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.57710568099998 meters 0.022744009686757084 Centerline is valid? [True, True] Translation: X:154.03, Y:44.67, Z:5.97 [[ 8.12654849e-01 -5.81296713e-01 -4.10637070e-02 1.54030452e+02] [ 5.80480647e-01 8.13690776e-01 -3.08146036e-02 4.46690450e+01] [ 5.13255874e-02 1.20494984e-03 9.98681247e-01 5.97343937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.60710568099998 meters 0.023970209448173945 Centerline is valid? [True, True] Translation: X:154.06, Y:44.69, Z:5.98 [[ 8.15307675e-01 -5.77634182e-01 -4.01515501e-02 1.54055801e+02] [ 5.76850222e-01 8.16294562e-01 -3.01165898e-02 4.46890540e+01] [ 5.01718637e-02 1.39285622e-03 9.98739628e-01 5.97634646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63710568099998 meters 0.024152116551001215 Centerline is valid? [True, True] Translation: X:154.08, Y:44.71, Z:5.98 [[ 8.16553247e-01 -5.75922701e-01 -3.94187500e-02 1.54081768e+02] [ 5.75165526e-01 8.17502844e-01 -2.95587330e-02 4.47084950e+01] [ 4.92484856e-02 1.46397333e-03 9.98785484e-01 5.98101469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.66710568099998 meters 0.024630923779976582 Centerline is valid? [True, True] Translation: X:154.11, Y:44.73, Z:5.99 [[ 8.18610316e-01 -5.73178497e-01 -3.66546169e-02 1.54108120e+02] [ 5.72521816e-01 8.19429164e-01 -2.74702619e-02 4.47268947e+01] [ 4.57812255e-02 1.50187202e-03 9.98950361e-01 5.98732428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69710568099998 meters 0.026259070274321325 Centerline is valid? [True, True] Translation: X:154.13, Y:44.74, Z:5.99 [[ 8.21069844e-01 -5.69871482e-01 -3.30273427e-02 1.54134603e+02] [ 5.69336251e-01 8.21732449e-01 -2.47389514e-02 4.47428234e+01] [ 4.12376621e-02 1.50874353e-03 9.99148227e-01 5.98939497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.72710568099998 meters 0.027316882308848878 Centerline is valid? [True, True] Translation: X:154.16, Y:44.76, Z:5.99 [[ 8.22930939e-01 -5.67289199e-01 -3.11068291e-02 1.54161191e+02] [ 5.66812796e-01 8.23517212e-01 -2.32949796e-02 4.47611326e+01] [ 3.88319994e-02 1.53841062e-03 9.99244569e-01 5.99256581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75710568099998 meters 0.029656825953000017 Centerline is valid? [True, True] Translation: X:154.19, Y:44.78, Z:6.00 [[ 8.26729731e-01 -5.61896667e-01 -2.81085067e-02 1.54186366e+02] [ 5.61504702e-01 8.27205853e-01 -2.10462924e-02 4.47794957e+01] [ 3.50773628e-02 1.61653700e-03 9.99383293e-01 5.99815926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.78710568099999 meters 0.030855242297709504 Centerline is valid? [True, True] Translation: X:154.21, Y:44.80, Z:6.00 [[ 8.28646867e-01 -5.59054223e-01 -2.83327550e-02 1.54212139e+02] [ 5.58654405e-01 8.29129252e-01 -2.12117705e-02 4.47974942e+01] [ 3.53500458e-02 1.74884879e-03 9.99373462e-01 5.99950095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.817105681 meters 0.03360029421737018 Centerline is valid? [True, True] Translation: X:154.24, Y:44.81, Z:6.00 [[ 8.31874614e-01 -5.54036960e-01 -3.20573472e-02 1.54239383e+02] [ 5.53521430e-01 8.32489113e-01 -2.39979740e-02 4.48135823e+01] [ 3.99831571e-02 2.21887669e-03 9.99197890e-01 5.99715191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.847105681 meters 0.03330795397253168 Centerline is valid? [True, True] Translation: X:154.27, Y:44.82, Z:5.99 [[ 8.33561705e-01 -5.51306343e-01 -3.51596373e-02 1.54270938e+02] [ 5.50683821e-01 8.34298916e-01 -2.63182209e-02 4.48245433e+01] [ 4.38430494e-02 2.57601773e-03 9.99035110e-01 5.99200092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.877105681 meters 0.03566723125635802 Centerline is valid? [True, True] Translation: X:154.30, Y:44.84, Z:5.99 [[ 8.33821618e-01 -5.50876572e-01 -3.57283177e-02 1.54296897e+02] [ 5.50233550e-01 8.34582560e-01 -2.67393136e-02 4.48424629e+01] [ 4.45482922e-02 2.63689866e-03 9.99003752e-01 5.99046889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.907105681 meters 0.03606002883570726 Centerline is valid? [True, True] Translation: X:154.33, Y:44.86, Z:5.99 [[ 8.33065056e-01 -5.51920291e-01 -3.72371481e-02 1.54327208e+02] [ 5.51223569e-01 8.33892576e-01 -2.78522805e-02 4.48551042e+01] [ 4.64240201e-02 2.67676795e-03 9.98918238e-01 5.98846504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.937105681 meters 0.033393535481900105 Centerline is valid? [True, True] Translation: X:154.36, Y:44.87, Z:5.99 [[ 8.32149233e-01 -5.53138738e-01 -3.95624888e-02 1.54358141e+02] [ 5.52354485e-01 8.33084591e-01 -2.95734299e-02 4.48674981e+01] [ 4.93171095e-02 2.75698889e-03 9.98779366e-01 5.98725803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96710568099996 meters 0.0322219085055629 Centerline is valid? [True, True] Translation: X:154.39, Y:44.88, Z:5.98 [[ 8.29129005e-01 -5.57400627e-01 -4.30073681e-02 1.54390766e+02] [ 5.56480233e-01 8.30239241e-01 -3.21333658e-02 4.48761439e+01] [ 5.36175629e-02 2.70995540e-03 9.98557867e-01 5.98093077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99710568099997 meters 0.030659437354083652 Centerline is valid? [True, True] Translation: X:154.42, Y:44.88, Z:5.98 [[ 8.25894905e-01 -5.62055711e-01 -4.46204383e-02 1.54422292e+02] [ 5.61071751e-01 8.27095605e-01 -3.33369314e-02 4.48835207e+01] [ 5.56425811e-02 2.49753437e-03 9.98447628e-01 5.97914198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02710568099997 meters 0.026201131121347473 Centerline is valid? [True, True] Translation: X:154.46, Y:44.89, Z:5.98 [[ 8.22003317e-01 -5.67640758e-01 -4.57659004e-02 1.54457006e+02] [ 5.66614215e-01 8.23273492e-01 -3.41919483e-02 4.48886687e+01] [ 5.70865961e-02 2.17428520e-03 9.98366863e-01 5.98226158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05710568099997 meters 0.02539838598091921 Centerline is valid? [True, True] Translation: X:154.49, Y:44.90, Z:5.98 [[ 8.20230063e-01 -5.70204700e-01 -4.57082409e-02 1.54485607e+02] [ 5.69184846e-01 8.21500233e-01 -3.41464127e-02 4.49031284e+01] [ 5.70197756e-02 1.99147614e-03 9.98371063e-01 5.98485558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08710568099997 meters 0.02420369241463303 Centerline is valid? [True, True] Translation: X:154.52, Y:44.91, Z:5.99 [[ 8.17101209e-01 -5.74768930e-01 -4.45678333e-02 1.54516043e+02] [ 5.73806246e-01 8.18314133e-01 -3.32922043e-02 4.49127879e+01] [ 5.56058125e-02 1.62979926e-03 9.98451470e-01 5.98719750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11710568099997 meters 0.02348593550622559 Centerline is valid? [True, True] Translation: X:154.55, Y:44.93, Z:5.99 [[ 8.15908368e-01 -5.76495209e-01 -4.41226580e-02 1.54545767e+02] [ 5.75554594e-01 8.17099168e-01 -3.29523775e-02 4.49274749e+01] [ 5.50494749e-02 1.49112208e-03 9.98482515e-01 5.98854390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14710568099997 meters 0.023921772017320743 Centerline is valid? [True, True] Translation: X:154.58, Y:44.94, Z:5.99 [[ 8.12860514e-01 -5.80865845e-01 -4.30424682e-02 1.54575089e+02] [ 5.79977610e-01 8.13998487e-01 -3.21315350e-02 4.49396606e+01] [ 5.37006152e-02 1.15478824e-03 9.98556413e-01 5.98604713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17710568099997 meters 0.021985077631031132 Centerline is valid? [True, True] Translation: X:154.61, Y:44.95, Z:5.99 [[ 8.11293630e-01 -5.83081955e-01 -4.26389391e-02 1.54605676e+02] [ 5.82213764e-01 8.12412733e-01 -3.18226968e-02 4.49523333e+01] [ 5.31956573e-02 9.92573979e-04 9.98583615e-01 5.98882489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20710568099997 meters 0.020393319601404884 Centerline is valid? [True, True] Translation: X:154.64, Y:44.96, Z:5.99 [[ 8.07914768e-01 -5.87713513e-01 -4.32036360e-02 1.54638859e+02] [ 5.86829783e-01 8.09068824e-01 -3.22249010e-02 4.49623022e+01] [ 5.38937247e-02 6.81793041e-04 9.98546444e-01 5.98882434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23710568099997 meters 0.019949585692474896 Centerline is valid? [True, True] Translation: X:154.67, Y:44.98, Z:5.99 [[ 8.06406895e-01 -5.89735001e-01 -4.38240521e-02 1.54668127e+02] [ 5.88829767e-01 8.07596644e-01 -3.26675115e-02 4.49769963e+01] [ 5.46573323e-02 5.38400095e-04 9.98505026e-01 5.99039322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.26710568099998 meters 0.01978788840773861 Centerline is valid? [True, True] Translation: X:154.70, Y:44.99, Z:5.99 [[ 8.05591698e-01 -5.90846829e-01 -4.38410914e-02 1.54697502e+02] [ 5.89943651e-01 8.06783630e-01 -3.26598225e-02 4.49919397e+01] [ 5.46672274e-02 4.46708368e-04 9.98504529e-01 5.99384471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.29710568099998 meters 0.02026930481432869 Centerline is valid? [True, True] Translation: X:154.72, Y:45.01, Z:6.00 [[ 8.07723952e-01 -5.87940479e-01 -4.36807867e-02 1.54723729e+02] [ 5.87040737e-01 8.08903951e-01 -3.25203106e-02 4.50101467e+01] [ 5.44535680e-02 6.25032578e-04 9.98516108e-01 5.99682739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.32710568099998 meters 0.02167136723910561 Centerline is valid? [True, True] Translation: X:154.75, Y:45.03, Z:6.00 [[ 8.11666807e-01 -5.82516256e-01 -4.32643771e-02 1.54747075e+02] [ 5.81626760e-01 8.12818477e-01 -3.21937203e-02 4.50301707e+01] [ 5.39194505e-02 9.66854697e-04 9.98544820e-01 5.99722227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.35710568099998 meters 0.02411553233954998 Centerline is valid? [True, True] Translation: X:154.77, Y:45.05, Z:6.00 [[ 8.14102300e-01 -5.79190577e-01 -4.21393136e-02 1.54767551e+02] [ 5.78342703e-01 8.15191359e-01 -3.13490882e-02 4.50531808e+01] [ 5.25087008e-02 1.15040026e-03 9.98619804e-01 5.99896613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.38710568099998 meters 0.025394514759772783 Centerline is valid? [True, True] Translation: X:154.79, Y:45.08, Z:6.01 [[ 8.18218989e-01 -5.73543706e-01 -3.95639109e-02 1.54789768e+02] [ 5.72789893e-01 8.19173733e-01 -2.94301554e-02 4.50758482e+01] [ 4.92891970e-02 1.41850374e-03 9.98783542e-01 6.00901730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41710568099998 meters 0.02653398726338019 Centerline is valid? [True, True] Translation: X:154.81, Y:45.10, Z:6.01 [[ 8.19981449e-01 -5.71117159e-01 -3.81525104e-02 1.54814710e+02] [ 5.70413781e-01 8.20867179e-01 -2.83759165e-02 4.50964620e+01] [ 4.75241164e-02 1.50500742e-03 9.98868957e-01 6.01168675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.44710568099998 meters 0.029272676390981536 Centerline is valid? [True, True] Translation: X:154.84, Y:45.12, Z:6.01 [[ 8.23211155e-01 -5.66568093e-01 -3.63866762e-02 1.54838402e+02] [ 5.65924142e-01 8.24013208e-01 -2.70572978e-02 4.51150897e+01] [ 4.53129035e-02 1.68177086e-03 9.98971427e-01 6.01256409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47710568099998 meters 0.029272676390981536 Centerline is valid? [True, True] Translation: X:154.86, Y:45.13, Z:6.01 [[ 8.23289157e-01 -5.66454535e-01 -3.63898833e-02 1.54864627e+02] [ 5.65810664e-01 8.24091274e-01 -2.70529840e-02 4.51344060e+01] [ 4.53128708e-02 1.68264432e-03 9.98971427e-01 6.01376850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.50710568099998 meters 0.0327038032422266 Centerline is valid? [True, True] Translation: X:154.89, Y:45.16, Z:6.02 [[ 8.26665185e-01 -5.61394155e-01 -3.82266262e-02 1.54885678e+02] [ 5.60678521e-01 8.27546001e-01 -2.84114808e-02 4.51569896e+01] [ 4.75843309e-02 2.05393375e-03 9.98865112e-01 6.01518415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53710568099999 meters 0.03336524760889828 Centerline is valid? [True, True] Translation: X:154.91, Y:45.18, Z:6.02 [[ 8.28434328e-01 -5.58698616e-01 -3.94007755e-02 1.54909522e+02] [ 5.57935358e-01 8.29367638e-01 -2.92823837e-02 4.51774542e+01] [ 4.90377553e-02 2.27544607e-03 9.98794334e-01 6.01709549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.567105681 meters 0.037841412018705806 Centerline is valid? [True, True] Translation: X:154.93, Y:45.20, Z:6.02 [[ 8.31608061e-01 -5.54020129e-01 -3.85970156e-02 1.54930452e+02] [ 5.53282793e-01 8.32499524e-01 -2.86826257e-02 4.52003241e+01] [ 4.80227491e-02 2.49763812e-03 9.98843119e-01 6.01596505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.597105681 meters 0.03822680546031324 Centerline is valid? [True, True] Translation: X:154.96, Y:45.22, Z:6.02 [[ 8.32553889e-01 -5.52615386e-01 -3.83439340e-02 1.54957394e+02] [ 5.51886318e-01 8.33432470e-01 -2.84922740e-02 4.52182791e+01] [ 4.77023486e-02 2.55986099e-03 9.98858315e-01 6.01544118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.627105681 meters 0.04027665489605739 Centerline is valid? [True, True] Translation: X:154.98, Y:45.24, Z:6.01 [[ 8.32261560e-01 -5.52958010e-01 -3.97257394e-02 1.54983537e+02] [ 5.52176068e-01 8.33204978e-01 -2.95136312e-02 4.52362526e+01] [ 4.94194826e-02 2.62745816e-03 9.98774655e-01 6.01207252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.657105681 meters 0.03742612768218002 Centerline is valid? [True, True] Translation: X:155.01, Y:45.25, Z:6.01 [[ 8.30228043e-01 -5.55942322e-01 -4.06144101e-02 1.55013441e+02] [ 5.55128744e-01 8.31217106e-01 -3.01695145e-02 4.52491397e+01] [ 5.05319024e-02 2.50135055e-03 9.98719315e-01 6.01178171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.687105681 meters 0.03662068892133178 Centerline is valid? [True, True] Translation: X:155.04, Y:45.26, Z:6.01 [[ 8.28660533e-01 -5.58259795e-01 -4.08377615e-02 1.55038804e+02] [ 5.57440135e-01 8.29662810e-01 -3.03334523e-02 4.52632000e+01] [ 5.08155188e-02 2.37152749e-03 9.98705241e-01 6.01162081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71710568099996 meters 0.0340076849927964 Centerline is valid? [True, True] Translation: X:155.07, Y:45.27, Z:6.01 [[ 8.24905434e-01 -5.63631476e-01 -4.30184165e-02 1.55067507e+02] [ 5.62728872e-01 8.26023558e-01 -3.19577652e-02 4.52726181e+01] [ 5.35466278e-02 2.15442914e-03 9.98563026e-01 6.00952813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74710568099997 meters 0.03039785387524746 Centerline is valid? [True, True] Translation: X:155.10, Y:45.28, Z:6.01 [[ 8.22687949e-01 -5.66735725e-01 -4.46671739e-02 1.55097137e+02] [ 5.65766923e-01 8.23897139e-01 -3.31857383e-02 4.52838929e+01] [ 5.56087002e-02 2.03029743e-03 9.98450575e-01 6.00931634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77710568099997 meters 0.029331290296769924 Centerline is valid? [True, True] Translation: X:155.13, Y:45.29, Z:6.00 [[ 8.19199851e-01 -5.71708605e-01 -4.53968668e-02 1.55126097e+02] [ 5.70715385e-01 8.20454938e-01 -3.37289676e-02 4.52936823e+01] [ 5.65292246e-02 1.72207493e-03 9.98399460e-01 6.00495156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80710568099997 meters 0.0277492653471906 Centerline is valid? [True, True] Translation: X:155.15, Y:45.31, Z:6.01 [[ 8.17238251e-01 -5.74519166e-01 -4.52699481e-02 1.55152117e+02] [ 5.73535266e-01 8.18489696e-01 -3.36439488e-02 4.53062525e+01] [ 5.63820794e-02 1.53121015e-03 9.98408091e-01 6.00608550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83710568099997 meters 0.023985887791219584 Centerline is valid? [True, True] Translation: X:155.18, Y:45.32, Z:6.01 [[ 8.13145653e-01 -5.80307917e-01 -4.51316778e-02 1.55182454e+02] [ 5.79338077e-01 8.14396356e-01 -3.35554421e-02 4.53158225e+01] [ 5.62275626e-02 1.13896249e-03 9.98417330e-01 6.01229483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86710568099997 meters 0.02283288908843307 Centerline is valid? [True, True] Translation: X:155.21, Y:45.33, Z:6.01 [[ 8.09420317e-01 -5.85428599e-01 -4.59576476e-02 1.55209993e+02] [ 5.84430886e-01 8.10723574e-01 -3.41734851e-02 4.53254875e+01] [ 5.72650838e-02 8.01644459e-04 9.98358687e-01 6.00856616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89710568099997 meters 0.021864391641767057 Centerline is valid? [True, True] Translation: X:155.24, Y:45.34, Z:6.01 [[ 8.07010902e-01 -5.88709450e-01 -4.64175456e-02 1.55237103e+02] [ 5.87696272e-01 8.08344506e-01 -3.45289874e-02 4.53371252e+01] [ 5.78489091e-02 5.85850786e-04 9.98325178e-01 6.00798707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92710568099997 meters 0.02092503785163752 Centerline is valid? [True, True] Translation: X:155.27, Y:45.35, Z:6.01 [[ 8.01723058e-01 -5.95904603e-01 -4.62368080e-02 1.55265578e+02] [ 5.94910095e-01 8.03055227e-01 -3.44133929e-02 4.53458599e+01] [ 5.76378096e-02 8.32667465e-05 9.98337556e-01 6.01049724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95710568099997 meters 0.020548575696538847 Centerline is valid? [True, True] Translation: X:155.29, Y:45.36, Z:6.02 [[ 7.99016191e-01 -5.99582220e-01 -4.55443627e-02 1.55290675e+02] [ 5.98622377e-01 8.00313148e-01 -3.39133627e-02 4.53598720e+01] [ 5.67836015e-02 -1.66548735e-04 9.98386496e-01 6.01689137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.98710568099997 meters 0.020983383808847518 Centerline is valid? [True, True] Translation: X:155.32, Y:45.37, Z:6.02 [[ 7.94839589e-01 -6.05377432e-01 -4.18113898e-02 1.55317274e+02] [ 6.04575538e-01 7.95938376e-01 -3.11531750e-02 4.53712553e+01] [ 5.21387188e-02 -5.16366660e-04 9.98639719e-01 6.02478631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.01710568099998 meters 0.021172655614440077 Centerline is valid? [True, True] Translation: X:155.34, Y:45.39, Z:6.03 [[ 7.93312497e-01 -6.07429795e-01 -4.10405411e-02 1.55341775e+02] [ 6.06658937e-01 7.94373121e-01 -3.05986783e-02 4.53856504e+01] [ 5.11880516e-02 -6.23297109e-04 9.98688838e-01 6.02669378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.04710568099998 meters 0.021769699215018343 Centerline is valid? [True, True] Translation: X:155.37, Y:45.40, Z:6.03 [[ 7.91717393e-01 -6.09538322e-01 -4.05783781e-02 1.55366970e+02] [ 6.08786681e-01 7.92756261e-01 -3.02702340e-02 4.53982545e+01] [ 5.06196309e-02 -7.38105455e-04 9.98717732e-01 6.02545121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07710568099998 meters 0.022096006499626498 Centerline is valid? [True, True] Translation: X:155.39, Y:45.42, Z:6.03 [[ 7.91076142e-01 -6.10375133e-01 -4.05059724e-02 1.55389918e+02] [ 6.09626749e-01 7.92112104e-01 -3.02265161e-02 4.54157612e+01] [ 5.05347848e-02 -7.82048483e-04 9.98721995e-01 6.02697966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.10710568099998 meters 0.021450573853323177 Centerline is valid? [True, True] Translation: X:155.41, Y:45.44, Z:6.03 [[ 7.92697998e-01 -6.08313538e-01 -3.98060725e-02 1.55407038e+02] [ 6.07587423e-01 7.93696571e-01 -2.97199742e-02 4.54382867e+01] [ 4.96730059e-02 -6.26704995e-04 9.98765338e-01 6.03281548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13710568099998 meters 0.01989215669734311 Centerline is valid? [True, True] Translation: X:155.42, Y:45.47, Z:6.04 [[ 7.96489276e-01 -6.03347482e-01 -3.97070345e-02 1.55422444e+02] [ 6.02618295e-01 7.97478352e-01 -2.96558492e-02 4.54652123e+01] [ 4.95582824e-02 -3.07619544e-04 9.98771186e-01 6.03700839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.16710568099998 meters 0.019645988695763904 Centerline is valid? [True, True] Translation: X:155.44, Y:45.49, Z:6.04 [[ 8.01513545e-01 -5.96770458e-01 -3.79612741e-02 1.55438756e+02] [ 5.96095757e-01 8.02411994e-01 -2.83697014e-02 4.54912382e+01] [ 4.73907813e-02 1.10145564e-04 9.98876420e-01 6.03795943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19710568099998 meters 0.02009103874744812 Centerline is valid? [True, True] Translation: X:155.46, Y:45.51, Z:6.04 [[ 8.04451883e-01 -5.92875597e-01 -3.68197610e-02 1.55457719e+02] [ 5.92235968e-01 8.05293989e-01 -2.75345272e-02 4.55135051e+01] [ 4.59752815e-02 3.44215508e-04 9.98942518e-01 6.03967895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.22710568099998 meters 0.021668142084944473 Centerline is valid? [True, True] Translation: X:155.47, Y:45.54, Z:6.04 [[ 8.09696679e-01 -5.85736561e-01 -3.61104986e-02 1.55472170e+02] [ 5.85113537e-01 8.10501154e-01 -2.70190272e-02 4.55428554e+01] [ 4.50936328e-02 7.48475032e-04 9.98982484e-01 6.04495571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25710568099998 meters 0.022831917153361667 Centerline is valid? [True, True] Translation: X:155.49, Y:45.57, Z:6.05 [[ 8.12363409e-01 -5.82036447e-01 -3.60453405e-02 1.55493565e+02] [ 5.81412014e-01 8.13162141e-01 -2.69704033e-02 4.55676934e+01] [ 4.50084639e-02 9.52574716e-04 9.98986151e-01 6.04840853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.28710568099999 meters 0.027264518354196122 Centerline is valid? [True, True] Translation: X:155.51, Y:45.60, Z:6.05 [[ 8.19416211e-01 -5.72200092e-01 -3.38249477e-02 1.55508093e+02] [ 5.71641998e-01 8.20112856e-01 -2.53047349e-02 4.55973307e+01] [ 4.22196461e-02 1.39934925e-03 9.99107373e-01 6.05363736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.317105681 meters 0.0296304207770186 Centerline is valid? [True, True] Translation: X:155.53, Y:45.62, Z:6.06 [[ 8.22719063e-01 -5.67490192e-01 -3.29882654e-02 1.55529528e+02] [ 5.66955669e-01 8.23378603e-01 -2.46768112e-02 4.56199524e+01] [ 4.11656802e-02 1.59919890e-03 9.99151054e-01 6.05561251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.347105681 meters 0.03508108278436416 Centerline is valid? [True, True] Translation: X:155.55, Y:45.64, Z:6.05 [[ 8.28391057e-01 -5.59110921e-01 -3.41062259e-02 1.55548227e+02] [ 5.58532487e-01 8.29090245e-01 -2.55112894e-02 4.56446467e+01] [ 4.25407797e-02 2.08388888e-03 9.99092558e-01 6.05419291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.377105681 meters 0.03784027817510344 Centerline is valid? [True, True] Translation: X:155.57, Y:45.67, Z:6.05 [[ 8.30285730e-01 -5.56216477e-01 -3.53388956e-02 1.55570406e+02] [ 5.55593061e-01 8.31034235e-01 -2.64282301e-02 4.56655363e+01] [ 4.40676491e-02 2.30893712e-03 9.99025881e-01 6.05224212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.407105681 meters 0.03926754131202135 Centerline is valid? [True, True] Translation: X:155.60, Y:45.68, Z:6.05 [[ 8.30806410e-01 -5.55232341e-01 -3.84415982e-02 1.55595719e+02] [ 5.54493595e-01 8.31691322e-01 -2.87471491e-02 4.56822709e+01] [ 4.79328906e-02 2.56769577e-03 9.98847258e-01 6.04715115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.437105681 meters 0.03496050104591742 Centerline is valid? [True, True] Translation: X:155.63, Y:45.69, Z:6.05 [[ 8.29997445e-01 -5.56364756e-01 -3.95284623e-02 1.55627817e+02] [ 5.55585038e-01 8.30934203e-01 -2.95570003e-02 4.56940163e+01] [ 4.92900246e-02 2.57081255e-03 9.98781199e-01 6.04720186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46710568099996 meters 0.035242035993065426 Centerline is valid? [True, True] Translation: X:155.65, Y:45.71, Z:6.05 [[ 8.29022583e-01 -5.57753563e-01 -4.04044490e-02 1.55654946e+02] [ 5.56940866e-01 8.30002725e-01 -3.02051113e-02 4.57099692e+01] [ 5.03828112e-02 2.53783058e-03 9.98726755e-01 6.04568689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49710568099997 meters 0.033130627061599166 Centerline is valid? [True, True] Translation: X:155.69, Y:45.72, Z:6.04 [[ 8.25665492e-01 -5.62571912e-01 -4.23005761e-02 1.55686012e+02] [ 5.61687568e-01 8.26745025e-01 -3.16186603e-02 4.57197314e+01] [ 5.27595610e-02 2.34672899e-03 9.98604487e-01 6.04394540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52710568099997 meters 0.030828811997095626 Centerline is valid? [True, True] Translation: X:155.72, Y:45.73, Z:6.04 [[ 8.22649505e-01 -5.66900972e-01 -4.32559781e-02 1.55716901e+02] [ 5.65982122e-01 8.23783228e-01 -3.23331115e-02 4.57287402e+01] [ 5.39632216e-02 2.11670791e-03 9.98540680e-01 6.04397425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55710568099997 meters 0.0291469128711313 Centerline is valid? [True, True] Translation: X:155.75, Y:45.74, Z:6.05 [[ 8.21564965e-01 -5.68505351e-01 -4.28097433e-02 1.55746190e+02] [ 5.67607434e-01 8.22677152e-01 -3.20016246e-02 4.57422591e+01] [ 5.34116925e-02 1.99228510e-03 9.98570589e-01 6.04557588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58710568099997 meters 0.02718270106540542 Centerline is valid? [True, True] Translation: X:155.78, Y:45.75, Z:6.05 [[ 8.19494233e-01 -5.71559496e-01 -4.18203862e-02 1.55777587e+02] [ 5.70706775e-01 8.20558763e-01 -3.12585011e-02 4.57534606e+01] [ 5.21821776e-02 1.74898366e-03 9.98636051e-01 6.04890007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61710568099997 meters 0.026625810537261124 Centerline is valid? [True, True] Translation: X:155.80, Y:45.77, Z:6.05 [[ 8.17911262e-01 -5.73850499e-01 -4.14339515e-02 1.55803418e+02] [ 5.73016553e-01 8.18958540e-01 -3.09667557e-02 4.57677454e+01] [ 5.17029766e-02 1.58571820e-03 9.98661248e-01 6.05006559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64710568099997 meters 0.023599406776020883 Centerline is valid? [True, True] Translation: X:155.84, Y:45.77, Z:6.05 [[ 8.13552397e-01 -5.80043390e-01 -4.10141871e-02 1.55835560e+02] [ 5.79234003e-01 8.14584721e-01 -3.06545634e-02 4.57749173e+01] [ 5.11905070e-02 1.18228179e-03 9.98688207e-01 6.05029696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67710568099997 meters 0.021357937187297758 Centerline is valid? [True, True] Translation: X:155.87, Y:45.78, Z:6.05 [[ 8.07658088e-01 -5.88225109e-01 -4.09833509e-02 1.55866252e+02] [ 5.87427282e-01 8.08696963e-01 -3.06334919e-02 4.57826606e+01] [ 5.11625005e-02 6.66649078e-04 9.98690119e-01 6.05219407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70710568099997 meters 0.02051101360435281 Centerline is valid? [True, True] Translation: X:155.89, Y:45.80, Z:6.05 [[ 8.04694914e-01 -5.92311362e-01 -4.04146704e-02 1.55892344e+02] [ 5.91540278e-01 8.05709057e-01 -3.02161439e-02 4.57958341e+01] [ 5.04598313e-02 4.07872015e-04 9.98726008e-01 6.05402984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73710568099997 meters 0.0201264572791533 Centerline is valid? [True, True] Translation: X:155.92, Y:45.81, Z:6.06 [[ 8.01593121e-01 -5.96633897e-01 -3.84247579e-02 1.55920490e+02] [ 5.95940952e-01 8.02513534e-01 -2.87473401e-02 4.58054975e+01] [ 4.79880257e-02 1.44783267e-04 9.98847901e-01 6.05628735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.76710568099998 meters 0.02026111982155099 Centerline is valid? [True, True] Translation: X:155.95, Y:45.82, Z:6.06 [[ 8.01865130e-01 -5.96368677e-01 -3.68335974e-02 1.55945872e+02] [ 5.95730845e-01 8.02710641e-01 -2.75751197e-02 4.58188747e+01] [ 4.60116582e-02 1.68616830e-04 9.98940889e-01 6.05945084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.79710568099998 meters 0.020557295472267454 Centerline is valid? [True, True] Translation: X:155.97, Y:45.84, Z:6.06 [[ 8.03003288e-01 -5.94792388e-01 -3.75197828e-02 1.55967693e+02] [ 5.94127921e-01 8.03879305e-01 -2.81082980e-02 4.58367435e+01] [ 4.68799786e-02 2.79505174e-04 9.98900490e-01 6.06174666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.82710568099998 meters 0.021992562749632863 Centerline is valid? [True, True] Translation: X:155.99, Y:45.86, Z:6.07 [[ 8.07762831e-01 -5.88331145e-01 -3.72246287e-02 1.55986470e+02] [ 5.87669438e-01 8.08619827e-01 -2.79035520e-02 4.58580573e+01] [ 4.65171015e-02 6.63675547e-04 9.98917273e-01 6.06525411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.85710568099998 meters 0.02348880936280819 Centerline is valid? [True, True] Translation: X:156.01, Y:45.88, Z:6.07 [[ 8.10999997e-01 -5.83920347e-01 -3.62771612e-02 1.56006680e+02] [ 5.83287100e-01 8.11810456e-01 -2.72018678e-02 4.58788824e+01] [ 4.53339028e-02 9.00714556e-04 9.98971484e-01 6.06827781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.88710568099998 meters 0.028648987539523968 Centerline is valid? [True, True] Translation: X:156.02, Y:45.91, Z:6.07 [[ 8.18723851e-01 -5.73082704e-01 -3.56015400e-02 1.56024395e+02] [ 5.72461858e-01 8.19496188e-01 -2.67099138e-02 4.59051384e+01] [ 4.44823159e-02 1.48751972e-03 9.99009064e-01 6.07003290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91710568099998 meters 0.03031796794976825 Centerline is valid? [True, True] Translation: X:156.05, Y:45.93, Z:6.07 [[ 8.22075453e-01 -5.68230913e-01 -3.61327985e-02 1.56047514e+02] [ 5.67586666e-01 8.22867226e-01 -2.71091315e-02 4.59252831e+01] [ 4.51367422e-02 1.77725690e-03 9.98979237e-01 6.07045684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.94710568099998 meters 0.03406679677384215 Centerline is valid? [True, True] Translation: X:156.07, Y:45.95, Z:6.07 [[ 8.26307340e-01 -5.61982200e-01 -3.73120274e-02 1.56070489e+02] [ 5.61288804e-01 8.27146430e-01 -2.79939762e-02 4.59450485e+01] [ 4.65946265e-02 2.18880480e-03 9.98911483e-01 6.06783923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97710568099998 meters 0.03732275960171875 Centerline is valid? [True, True] Translation: X:156.09, Y:45.96, Z:6.07 [[ 8.27259052e-01 -5.60542399e-01 -3.78771726e-02 1.56090524e+02] [ 5.59826213e-01 8.28122515e-01 -2.84202592e-02 4.59637889e+01] [ 4.72976998e-02 2.30628257e-03 9.98878175e-01 6.06723505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.00710568099998 meters 0.04020541040514045 Centerline is valid? [True, True] Translation: X:156.11, Y:45.98, Z:6.07 [[ 8.28812059e-01 -5.58148831e-01 -3.92486188e-02 1.56111894e+02] [ 5.57376746e-01 8.29736971e-01 -2.94571186e-02 4.59826878e+01] [ 4.90074864e-02 2.53814766e-03 9.98795186e-01 6.06754471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03710568099999 meters 0.0405368554539304 Centerline is valid? [True, True] Translation: X:156.14, Y:46.00, Z:6.07 [[ 8.32284343e-01 -5.52885543e-01 -4.02535581e-02 1.56138492e+02] [ 5.52067072e-01 8.33252077e-01 -3.02146483e-02 4.59973438e+01] [ 5.02466031e-02 2.92451481e-03 9.98732560e-01 6.06681013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.067105681 meters 0.042382108612031594 Centerline is valid? [True, True] Translation: X:156.16, Y:46.01, Z:6.07 [[ 8.34650831e-01 -5.49243803e-01 -4.11002955e-02 1.56163582e+02] [ 5.48386096e-01 8.35655992e-01 -3.08504937e-02 4.60149431e+01] [ 5.12901507e-02 3.21055964e-03 9.98678633e-01 6.06574251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.097105681 meters 0.048220791412560096 Centerline is valid? [True, True] Translation: X:156.19, Y:46.03, Z:6.07 [[ 8.39363766e-01 -5.41990147e-01 -4.14143550e-02 1.56185221e+02] [ 5.41110460e-01 8.40376771e-01 -3.10862246e-02 4.60342638e+01] [ 5.16520894e-02 3.68290982e-03 9.98658349e-01 6.06723900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.127105681 meters 0.05373761792111572 Centerline is valid? [True, True] Translation: X:156.21, Y:46.06, Z:6.07 [[ 8.43036944e-01 -5.36418436e-01 -3.92934094e-02 1.56205032e+02] [ 5.35620567e-01 8.43943529e-01 -2.94945424e-02 4.60569626e+01] [ 4.89828349e-02 3.81863066e-03 9.98792321e-01 6.07476599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.157105681 meters 0.055567482181457475 Centerline is valid? [True, True] Translation: X:156.23, Y:46.07, Z:6.08 [[ 8.44365331e-01 -5.34359346e-01 -3.88236578e-02 1.56228575e+02] [ 5.33578197e-01 8.45248446e-01 -2.91439923e-02 4.60741893e+01] [ 4.83890011e-02 3.89271942e-03 9.98820981e-01 6.07588045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.187105681 meters 0.054181461916549684 Centerline is valid? [True, True] Translation: X:156.26, Y:46.08, Z:6.07 [[ 8.45627027e-01 -5.32222223e-01 -4.06747701e-02 1.56261557e+02] [ 5.31362106e-01 8.46594224e-01 -3.05373908e-02 4.60810180e+01] [ 5.06877035e-02 4.21021148e-03 9.98705678e-01 6.07019953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21710568099996 meters 0.05877723681854694 Centerline is valid? [True, True] Translation: X:156.28, Y:46.10, Z:6.07 [[ 8.44863643e-01 -5.33306578e-01 -4.23026896e-02 1.56283693e+02] [ 5.32377271e-01 8.45911030e-01 -3.17643024e-02 4.60976888e+01] [ 5.27244231e-02 4.31551376e-03 9.98599775e-01 6.06650923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24710568099997 meters 0.05493499129197307 Centerline is valid? [True, True] Translation: X:156.32, Y:46.10, Z:6.07 [[ 8.41150223e-01 -5.39155404e-01 -4.21634080e-02 1.56317434e+02] [ 5.38238979e-01 8.42197063e-01 -3.16687158e-02 4.61020317e+01] [ 5.25842577e-02 3.94415767e-03 9.98608702e-01 6.06566553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27710568099997 meters 0.047087615166339435 Centerline is valid? [True, True] Translation: X:156.36, Y:46.10, Z:6.07 [[ 8.36357346e-01 -5.46683294e-01 -4.05433811e-02 1.56355069e+02] [ 5.45844596e-01 8.37332800e-01 -3.04542065e-02 4.61024128e+01] [ 5.05971088e-02 3.34021391e-03 9.98713560e-01 6.07178870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30710568099997 meters 0.044848040436442554 Centerline is valid? [True, True] Translation: X:156.38, Y:46.11, Z:6.07 [[ 8.33738802e-01 -5.50679487e-01 -4.03944654e-02 1.56384309e+02] [ 5.49851492e-01 8.34711067e-01 -3.03442083e-02 4.61141021e+01] [ 5.04276404e-02 3.08818677e-03 9.98722943e-01 6.07488283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33710568099997 meters 0.0385885405099152 Centerline is valid? [True, True] Translation: X:156.42, Y:46.11, Z:6.08 [[ 8.29064830e-01 -5.57587592e-01 -4.18041156e-02 1.56421298e+02] [ 5.56709355e-01 8.30113509e-01 -3.14047185e-02 4.61144965e+01] [ 5.22130425e-02 2.76380534e-03 9.98632144e-01 6.07679030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36710568099997 meters 0.037422128008840844 Centerline is valid? [True, True] Translation: X:156.45, Y:46.12, Z:6.08 [[ 8.26991887e-01 -5.60635396e-01 -4.20995455e-02 1.56450481e+02] [ 5.59748483e-01 8.28058714e-01 -3.16291203e-02 4.61245144e+01] [ 5.25932999e-02 2.59186912e-03 9.98612651e-01 6.07696683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39710568099997 meters 0.037422128008840844 Centerline is valid? [True, True] Translation: X:156.47, Y:46.14, Z:6.08 [[ 8.26779930e-01 -5.60948273e-01 -4.20949315e-02 1.56472235e+02] [ 5.60061452e-01 8.27846834e-01 -3.16352595e-02 4.61411604e+01] [ 5.25938999e-02 2.57964919e-03 9.98612651e-01 6.07798182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42710568099997 meters 0.03440841140810587 Centerline is valid? [True, True] Translation: X:156.51, Y:46.14, Z:6.08 [[ 8.23899345e-01 -5.65266476e-01 -4.07882473e-02 1.56507106e+02] [ 5.64438261e-01 8.24905305e-01 -3.06706407e-02 4.61449269e+01] [ 5.09835265e-02 2.24707343e-03 9.98696966e-01 6.08254173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45710568099997 meters 0.03382610041855609 Centerline is valid? [True, True] Translation: X:156.53, Y:46.16, Z:6.09 [[ 8.23778215e-01 -5.65514475e-01 -3.97847983e-02 1.56533604e+02] [ 5.64726511e-01 8.24735483e-01 -2.99224092e-02 4.61575755e+01] [ 4.97334904e-02 2.18189853e-03 9.98760141e-01 6.08743427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.48710568099997 meters 0.03448645644170749 Centerline is valid? [True, True] Translation: X:156.56, Y:46.17, Z:6.09 [[ 8.24528955e-01 -5.64458924e-01 -3.92189510e-02 1.56561315e+02] [ 5.63691056e-01 8.25458145e-01 -2.95168429e-02 4.61688047e+01] [ 4.90346480e-02 2.23011973e-03 9.98794588e-01 6.09260776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.51710568099998 meters 0.036262453170883065 Centerline is valid? [True, True] Translation: X:156.59, Y:46.19, Z:6.09 [[ 8.26067192e-01 -5.62221814e-01 -3.89823919e-02 1.56585943e+02] [ 5.61459925e-01 8.26983104e-01 -2.93547133e-02 4.61850363e+01] [ 4.87416396e-02 2.36191475e-03 9.98808627e-01 6.09456231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.54710568099998 meters 0.042571043944158456 Centerline is valid? [True, True] Translation: X:156.61, Y:46.20, Z:6.10 [[ 8.30427944e-01 -5.55849883e-01 -3.76873596e-02 1.56609125e+02] [ 5.55131112e-01 8.31278471e-01 -2.83822597e-02 4.62022898e+01] [ 4.71049664e-02 2.64799565e-03 9.98886435e-01 6.09746976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.57710568099998 meters 0.046795850837308535 Centerline is valid? [True, True] Translation: X:156.63, Y:46.22, Z:6.10 [[ 8.34635785e-01 -5.49511832e-01 -3.76809299e-02 1.56634382e+02] [ 5.48786727e-01 8.35480518e-01 -2.83801270e-02 4.62190711e+01] [ 4.70768984e-02 3.00827544e-03 9.98886738e-01 6.09903932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.60710568099998 meters 0.04902244634537355 Centerline is valid? [True, True] Translation: X:156.66, Y:46.24, Z:6.10 [[ 8.36226959e-01 -5.47069406e-01 -3.79412408e-02 1.56658551e+02] [ 5.46331647e-01 8.37081251e-01 -2.85781573e-02 4.62363691e+01] [ 4.73941368e-02 3.16932497e-03 9.98871239e-01 6.09928998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63710568099998 meters 0.05203713831103414 Centerline is valid? [True, True] Translation: X:156.69, Y:46.25, Z:6.10 [[ 8.38267413e-01 -5.43868183e-01 -3.89248386e-02 1.56685382e+02] [ 5.43088090e-01 8.39163612e-01 -2.93216509e-02 4.62506457e+01] [ 4.86114211e-02 3.43976822e-03 9.98811843e-01 6.09734903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.66710568099998 meters 0.052986949157592896 Centerline is valid? [True, True] Translation: X:156.71, Y:46.26, Z:6.10 [[ 8.38139710e-01 -5.44047940e-01 -3.91620351e-02 1.56708787e+02] [ 5.43258311e-01 8.39047026e-01 -2.95041613e-02 4.62643493e+01] [ 4.89104673e-02 3.45350814e-03 9.98797196e-01 6.09706297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69710568099998 meters 0.051392013890590116 Centerline is valid? [True, True] Translation: X:156.74, Y:46.27, Z:6.10 [[ 8.36246879e-01 -5.46932129e-01 -3.94512715e-02 1.56738672e+02] [ 5.46133473e-01 8.37170377e-01 -2.97319663e-02 4.62742793e+01] [ 4.92888035e-02 3.31760406e-03 9.98779058e-01 6.09831285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.72710568099998 meters 0.05029183659068343 Centerline is valid? [True, True] Translation: X:156.77, Y:46.29, Z:6.10 [[ 8.34668224e-01 -5.49295811e-01 -4.00383243e-02 1.56765029e+02] [ 5.48475320e-01 8.35621712e-01 -3.01857058e-02 4.62887730e+01] [ 5.00377749e-02 3.23501669e-03 9.98742087e-01 6.09919215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75710568099998 meters 0.04504323832648492 Centerline is valid? [True, True] Translation: X:156.80, Y:46.30, Z:6.10 [[ 8.31290900e-01 -5.54400052e-01 -3.99502364e-02 1.56796472e+02] [ 5.53588437e-01 8.32245150e-01 -3.01305988e-02 4.62969164e+01] [ 4.99527960e-02 2.93130368e-03 9.98747278e-01 6.10243511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.78710568099999 meters 0.03982556422661494 Centerline is valid? [True, True] Translation: X:156.83, Y:46.31, Z:6.11 [[ 8.29489950e-01 -5.57107691e-01 -3.97170492e-02 1.56826159e+02] [ 5.56308482e-01 8.30435690e-01 -2.99572753e-02 4.63066272e+01] [ 4.96718836e-02 2.75432746e-03 9.98761792e-01 6.10534668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.817105681 meters 0.040703689257035026 Centerline is valid? [True, True] Translation: X:156.85, Y:46.32, Z:6.11 [[ 8.25783030e-01 -5.62628988e-01 -3.91281023e-02 1.56850390e+02] [ 5.61859314e-01 8.26706062e-01 -2.95160908e-02 4.63221189e+01] [ 4.89540477e-02 2.38939819e-03 9.98798174e-01 6.10704681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.847105681 meters 0.03617665467370715 Centerline is valid? [True, True] Translation: X:156.88, Y:46.33, Z:6.11 [[ 8.21046369e-01 -5.69556525e-01 -3.85775126e-02 1.56879301e+02] [ 5.68815774e-01 8.21949848e-01 -2.91043443e-02 4.63307318e+01] [ 4.82853498e-02 1.95251855e-03 9.98831674e-01 6.10789907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.877105681 meters 0.02962137043691165 Centerline is valid? [True, True] Translation: X:156.91, Y:46.34, Z:6.11 [[ 8.18772664e-01 -5.72798458e-01 -3.89005276e-02 1.56909316e+02] [ 5.72048661e-01 8.19694308e-01 -2.93525297e-02 4.63383612e+01] [ 4.86996248e-02 1.78005420e-03 9.98811883e-01 6.11032203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.907105681 meters 0.030235951017170883 Centerline is valid? [True, True] Translation: X:156.93, Y:46.35, Z:6.11 [[ 8.15054103e-01 -5.77983039e-01 -4.02792160e-02 1.56932934e+02] [ 5.77185112e-01 8.16047346e-01 -3.03985928e-02 4.63541882e+01] [ 5.04396184e-02 1.52793394e-03 9.98725944e-01 6.10741775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.937105681 meters 0.025754057641949955 Centerline is valid? [True, True] Translation: X:156.96, Y:46.37, Z:6.11 [[ 8.13723163e-01 -5.79809778e-01 -4.09296521e-02 1.56959418e+02] [ 5.78987671e-01 8.14750595e-01 -3.08989476e-02 4.63665860e+01] [ 5.12629703e-02 1.44542544e-03 9.98684144e-01 6.11125067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96710568099996 meters 0.025828860360704302 Centerline is valid? [True, True] Translation: X:156.98, Y:46.38, Z:6.11 [[ 8.13519273e-01 -5.79993224e-01 -4.23586181e-02 1.56982960e+02] [ 5.79111726e-01 8.14619913e-01 -3.20001022e-02 4.63836848e+01] [ 5.30660162e-02 1.50232744e-03 9.98589876e-01 6.11058040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99710568099997 meters 0.02681773527565944 Centerline is valid? [True, True] Translation: X:157.01, Y:46.40, Z:6.11 [[ 8.14695314e-01 -5.78209135e-01 -4.41105719e-02 1.57006499e+02] [ 5.77249235e-01 8.15886812e-01 -3.33471209e-02 4.64005314e+01] [ 5.52708438e-02 1.70494924e-03 9.98469943e-01 6.10942806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02710568099997 meters 0.028660048846362175 Centerline is valid? [True, True] Translation: X:157.03, Y:46.42, Z:6.11 [[ 8.16125893e-01 -5.76176075e-01 -4.42680171e-02 1.57026576e+02] [ 5.75205226e-01 8.17323468e-01 -3.34857746e-02 4.64194848e+01] [ 5.54749914e-02 1.86541289e-03 9.98458334e-01 6.11033164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05710568099997 meters 0.029720258341827562 Centerline is valid? [True, True] Translation: X:157.05, Y:46.44, Z:6.12 [[ 8.17917514e-01 -5.73676333e-01 -4.36623950e-02 1.57046912e+02] [ 5.72727470e-01 8.19079596e-01 -3.30433165e-02 4.64400348e+01] [ 5.47191455e-02 2.02005424e-03 9.98499742e-01 6.11555271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08710568099997 meters 0.032666582757107154 Centerline is valid? [True, True] Translation: X:157.07, Y:46.46, Z:6.12 [[ 8.19632549e-01 -5.71406907e-01 -4.11901885e-02 1.57065350e+02] [ 5.70558788e-01 8.20664300e-01 -3.11893684e-02 4.64615599e+01] [ 5.16251378e-02 2.06239747e-03 9.98664404e-01 6.12157989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11710568099997 meters 0.03216435104910282 Centerline is valid? [True, True] Translation: X:157.09, Y:46.48, Z:6.13 [[ 8.20073606e-01 -5.70953322e-01 -3.86210318e-02 1.57087722e+02] [ 5.70206752e-01 8.20980162e-01 -2.92546276e-02 4.64776581e+01] [ 4.84101278e-02 1.96897489e-03 9.98825602e-01 6.12719374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14710568099997 meters 0.032602812542068316 Centerline is valid? [True, True] Translation: X:157.11, Y:46.49, Z:6.13 [[ 8.21485357e-01 -5.69152610e-01 -3.50301906e-02 1.57110856e+02] [ 5.68536022e-01 8.22229716e-01 -2.65534419e-02 4.64948265e+01] [ 4.39158244e-02 1.89733846e-03 9.99033433e-01 6.13346037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17710568099997 meters 0.033174989174001475 Centerline is valid? [True, True] Translation: X:157.13, Y:46.51, Z:6.13 [[ 8.21677908e-01 -5.68892497e-01 -3.47381822e-02 1.57133022e+02] [ 5.68285129e-01 8.22409677e-01 -2.63502251e-02 4.65132313e+01] [ 4.35594626e-02 1.91020548e-03 9.99049010e-01 6.13463779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20710568099997 meters 0.034198892492972484 Centerline is valid? [True, True] Translation: X:157.15, Y:46.53, Z:6.13 [[ 8.22093658e-01 -5.68242453e-01 -3.55321449e-02 1.57152885e+02] [ 5.67605539e-01 8.22858734e-01 -2.69714018e-02 4.65339957e+01] [ 4.45642313e-02 2.00477611e-03 9.99004510e-01 6.13479244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23710568099997 meters 0.03503319639823437 Centerline is valid? [True, True] Translation: X:157.17, Y:46.56, Z:6.13 [[ 8.23536784e-01 -5.66100222e-01 -3.63001890e-02 1.57173637e+02] [ 5.65432644e-01 8.24333541e-01 -2.75706142e-02 4.65557407e+01] [ 4.55311941e-02 2.18010311e-03 9.98960539e-01 6.13378247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.26710568099998 meters 0.034697635785812406 Centerline is valid? [True, True] Translation: X:157.20, Y:46.57, Z:6.13 [[ 8.23542606e-01 -5.66082660e-01 -3.64416974e-02 1.57196607e+02] [ 5.65409574e-01 8.24345562e-01 -2.76840811e-02 4.65735301e+01] [ 4.57120298e-02 2.19453575e-03 9.98952248e-01 6.13360720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.29710568099998 meters 0.03472429488700853 Centerline is valid? [True, True] Translation: X:157.22, Y:46.59, Z:6.13 [[ 8.22483825e-01 -5.67587481e-01 -3.69433192e-02 1.57219945e+02] [ 5.66896305e-01 8.23310270e-01 -2.80852091e-02 4.65894475e+01] [ 4.63566272e-02 2.15659910e-03 9.98922626e-01 6.13255864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.32710568099998 meters 0.033309831695997084 Centerline is valid? [True, True] Translation: X:157.24, Y:46.61, Z:6.13 [[ 8.21256576e-01 -5.69278969e-01 -3.81980602e-02 1.57243490e+02] [ 5.68540827e-01 8.22141618e-01 -2.90600846e-02 4.66053855e+01] [ 4.79475100e-02 2.14862885e-03 9.98847546e-01 6.13382823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35710568099998 meters 0.032017762618934464 Centerline is valid? [True, True] Translation: X:157.27, Y:46.62, Z:6.13 [[ 8.19595850e-01 -5.71443726e-01 -4.14090599e-02 1.57267322e+02] [ 5.70577679e-01 8.20638273e-01 -3.15267731e-02 4.66223342e+01] [ 5.19976360e-02 2.21212710e-03 9.98644758e-01 6.13213361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.38710568099998 meters 0.032435932359657256 Centerline is valid? [True, True] Translation: X:157.29, Y:46.64, Z:6.13 [[ 8.18856909e-01 -5.72431078e-01 -4.23795263e-02 1.57289627e+02] [ 5.71524241e-01 8.19949848e-01 -3.22844958e-02 4.66383434e+01] [ 5.32297348e-02 2.21545580e-03 9.98579835e-01 6.13085317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41710568099998 meters 0.029532116124526213 Centerline is valid? [True, True] Translation: X:157.32, Y:46.65, Z:6.13 [[ 8.15795106e-01 -5.76734848e-01 -4.30727249e-02 1.57318968e+02] [ 5.75803515e-01 8.16929015e-01 -3.28221986e-02 4.66496701e+01] [ 5.41170645e-02 1.97476258e-03 9.98532645e-01 6.13177094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.44710568099998 meters 0.027369378321585692 Centerline is valid? [True, True] Translation: X:157.35, Y:46.66, Z:6.13 [[ 8.11661952e-01 -5.82562736e-01 -4.27262706e-02 1.57345061e+02] [ 5.81653801e-01 8.12784199e-01 -3.25684233e-02 4.66623406e+01] [ 5.37003874e-02 1.58265236e-03 9.98555839e-01 6.13247089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47710568099998 meters 0.024766591208691582 Centerline is valid? [True, True] Translation: X:157.37, Y:46.68, Z:6.13 [[ 8.09559479e-01 -5.85406255e-01 -4.37374777e-02 1.57371258e+02] [ 5.84457265e-01 8.10738832e-01 -3.33504356e-02 4.66760670e+01] [ 5.49832251e-02 1.43647468e-03 9.98486245e-01 6.13369891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.50710568099998 meters 0.021847348009412553 Centerline is valid? [True, True] Translation: X:157.40, Y:46.69, Z:6.13 [[ 8.04185358e-01 -5.92530995e-01 -4.68287264e-02 1.57400117e+02] [ 5.91453887e-01 8.05546990e-01 -3.57259933e-02 4.66857616e+01] [ 5.88914979e-02 1.03328847e-03 9.98263855e-01 6.12783166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53710568099999 meters 0.02034309516430238 Centerline is valid? [True, True] Translation: X:157.43, Y:46.70, Z:6.13 [[ 8.00327328e-01 -5.97660116e-01 -4.77341960e-02 1.57425912e+02] [ 5.96549497e-01 8.01749293e-01 -3.64248309e-02 4.66981335e+01] [ 6.00405266e-02 6.75977033e-04 9.98195711e-01 6.12684832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.567105681 meters 0.019041398381723616 Centerline is valid? [True, True] Translation: X:157.46, Y:46.70, Z:6.13 [[ 7.90547634e-01 -6.10543296e-01 -4.76583827e-02 1.57456977e+02] [ 6.09458401e-01 7.91982830e-01 -3.63820625e-02 4.67041193e+01] [ 5.99574451e-02 -2.84048290e-04 9.98200894e-01 6.13032795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.597105681 meters 0.020353179213988038 Centerline is valid? [True, True] Translation: X:157.48, Y:46.72, Z:6.13 [[ 7.85548405e-01 -6.16941078e-01 -4.79313034e-02 1.57483750e+02] [ 6.15854014e-01 7.87008981e-01 -3.66155409e-02 4.67160247e+01] [ 6.03119975e-02 -7.55405869e-04 9.98179289e-01 6.13176624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.627105681 meters 0.023350409816330773 Centerline is valid? [True, True] Translation: X:157.51, Y:46.73, Z:6.13 [[ 7.78489441e-01 -6.25824724e-01 -4.79333396e-02 1.57513562e+02] [ 6.24753077e-01 7.79962424e-01 -3.66361981e-02 4.67257033e+01] [ 6.03140422e-02 -1.42560800e-03 9.98178433e-01 6.13434337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.657105681 meters 0.025803718926520336 Centerline is valid? [True, True] Translation: X:157.54, Y:46.74, Z:6.14 [[ 7.74250160e-01 -6.31183653e-01 -4.63021209e-02 1.57538751e+02] [ 6.30192561e-01 7.75631397e-01 -3.54015840e-02 4.67413717e+01] [ 5.82582798e-02 -1.76957004e-03 9.98299976e-01 6.14054886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.687105681 meters 0.025981918990693423 Centerline is valid? [True, True] Translation: X:157.56, Y:46.76, Z:6.15 [[ 7.73436469e-01 -6.32400583e-01 -4.31917896e-02 1.57558908e+02] [ 6.31539194e-01 7.74639618e-01 -3.30410302e-02 4.67625284e+01] [ 5.43532382e-02 -1.72217024e-03 9.98520285e-01 6.14776809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71710568099996 meters 0.025155070604366548 Centerline is valid? [True, True] Translation: X:157.58, Y:46.78, Z:6.15 [[ 7.74245103e-01 -6.31605736e-01 -4.02332622e-02 1.57579933e+02] [ 6.30856294e-01 7.75288227e-01 -3.07977650e-02 4.67822727e+01] [ 5.06444195e-02 -1.53638797e-03 9.98715566e-01 6.15425970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.74710568099997 meters 0.023957634722564413 Centerline is valid? [True, True] Translation: X:157.60, Y:46.81, Z:6.16 [[ 7.77579914e-01 -6.27707140e-01 -3.67861891e-02 1.57596708e+02] [ 6.27075620e-01 7.78448714e-01 -2.81738797e-02 4.68071205e+01] [ 4.63211070e-02 -1.16027938e-03 9.98925928e-01 6.16075880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77710568099997 meters 0.022767560757399607 Centerline is valid? [True, True] Translation: X:157.62, Y:46.83, Z:6.16 [[ 7.78297459e-01 -6.26765823e-01 -3.76519257e-02 1.57615153e+02] [ 6.26102737e-01 7.79206865e-01 -2.88448184e-02 4.68304519e+01] [ 4.74175854e-02 -1.12412487e-03 9.98874521e-01 6.16024266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.80710568099997 meters 0.02198169877224149 Centerline is valid? [True, True] Translation: X:157.63, Y:46.85, Z:6.15 [[ 7.79764583e-01 -6.24752147e-01 -4.06441817e-02 1.57632394e+02] [ 6.23975526e-01 7.80822402e-01 -3.11595856e-02 4.68548906e+01] [ 5.12029056e-02 -1.06383343e-03 9.98687704e-01 6.15325522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83710568099997 meters 0.021841562629974377 Centerline is valid? [True, True] Translation: X:157.65, Y:46.88, Z:6.15 [[ 7.79534147e-01 -6.25019651e-01 -4.09505789e-02 1.57651278e+02] [ 6.24230483e-01 7.80608280e-01 -3.14168382e-02 4.68758235e+01] [ 5.16025022e-02 -1.07210145e-03 9.98667128e-01 6.15323970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.86710568099997 meters 0.02320120484875313 Centerline is valid? [True, True] Translation: X:157.67, Y:46.90, Z:6.16 [[ 7.78591156e-01 -6.26242627e-01 -4.01992961e-02 1.57668063e+02] [ 6.25482806e-01 7.79627427e-01 -3.08599257e-02 4.68996098e+01] [ 5.06662748e-02 -1.11670326e-03 9.98715015e-01 6.15559100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89710568099997 meters 0.0229693504063287 Centerline is valid? [True, True] Translation: X:157.69, Y:46.92, Z:6.16 [[ 7.77799663e-01 -6.27200447e-01 -4.05867487e-02 1.57686803e+02] [ 6.26426615e-01 7.78856985e-01 -3.11687622e-02 4.69225655e+01] [ 5.11603343e-02 -1.18156688e-03 9.98689754e-01 6.15849294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.92710568099997 meters 0.022824348735149 Centerline is valid? [True, True] Translation: X:157.70, Y:46.95, Z:6.16 [[ 7.78463401e-01 -6.26252884e-01 -4.24506704e-02 1.57701128e+02] [ 6.25403610e-01 7.79619137e-01 -3.26240051e-02 4.69495161e+01] [ 5.35262323e-02 -1.15220859e-03 9.98565779e-01 6.15543300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.95710568099997 meters 0.022376904082524022 Centerline is valid? [True, True] Translation: X:157.72, Y:46.98, Z:6.15 [[ 7.80068339e-01 -6.24142064e-01 -4.40462322e-02 1.57715107e+02] [ 6.23222896e-01 7.81310203e-01 -3.38760799e-02 4.69784640e+01] [ 5.55572571e-02 -1.02496298e-03 9.98454977e-01 6.15220624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.98710568099997 meters 0.022145129142688413 Centerline is valid? [True, True] Translation: X:157.73, Y:47.00, Z:6.15 [[ 7.81378466e-01 -6.22462240e-01 -4.45920712e-02 1.57732581e+02] [ 6.21516353e-01 7.82649312e-01 -3.43143892e-02 4.70019482e+01] [ 5.62593654e-02 -9.02176654e-04 9.98415780e-01 6.15230975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.01710568099998 meters 0.020968468332514985 Centerline is valid? [True, True] Translation: X:157.74, Y:47.04, Z:6.15 [[ 7.85396766e-01 -6.17334129e-01 -4.52823720e-02 1.57742593e+02] [ 6.16349352e-01 7.86700891e-01 -3.48595010e-02 4.70355848e+01] [ 5.71436421e-02 -5.31221301e-04 9.98365826e-01 6.15403323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.04710568099998 meters 0.020981871629018378 Centerline is valid? [True, True] Translation: X:157.75, Y:47.07, Z:6.15 [[ 7.92365140e-01 -6.08408357e-01 -4.46850786e-02 1.57751229e+02] [ 6.07433789e-01 7.93624126e-01 -3.44229325e-02 4.70708870e+01] [ 5.64063563e-02 1.32305119e-04 9.98407885e-01 6.15482294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.07710568099998 meters 0.021956672811202383 Centerline is valid? [True, True] Translation: X:157.77, Y:47.10, Z:6.16 [[ 7.96580362e-01 -6.02915603e-01 -4.41871306e-02 1.57766726e+02] [ 6.01952875e-01 7.97804794e-01 -3.40623901e-02 4.70978116e+01] [ 5.57894511e-02 5.34860719e-04 9.98442412e-01 6.15572026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.10710568099998 meters 0.02604150088447425 Centerline is valid? [True, True] Translation: X:157.78, Y:47.13, Z:6.16 [[ 8.04469671e-01 -5.92356843e-01 -4.40672126e-02 1.57777445e+02] [ 5.91382408e-01 8.05674705e-01 -3.39870204e-02 4.71315426e+01] [ 5.56362826e-02 1.28095280e-03 9.98450281e-01 6.15524019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13710568099998 meters 0.02754220446901073 Centerline is valid? [True, True] Translation: X:157.80, Y:47.16, Z:6.16 [[ 8.07379711e-01 -5.88386765e-01 -4.40342742e-02 1.57795651e+02] [ 5.87407596e-01 8.08578127e-01 -3.39665865e-02 4.71553566e+01] [ 5.55906409e-02 1.55786565e-03 9.98452429e-01 6.15700544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.16710568099998 meters 0.030691990675153717 Centerline is valid? [True, True] Translation: X:157.81, Y:47.18, Z:6.16 [[ 8.10981792e-01 -5.83477311e-01 -4.31597002e-02 1.57811353e+02] [ 5.82529445e-01 8.12127307e-01 -3.32968914e-02 4.71819456e+01] [ 5.44791518e-02 1.86137646e-03 9.98513173e-01 6.15846333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19710568099998 meters 0.030982356296345215 Centerline is valid? [True, True] Translation: X:157.83, Y:47.20, Z:6.16 [[ 8.11226216e-01 -5.83129989e-01 -4.32601787e-02 1.57832374e+02] [ 5.82176619e-01 8.12376646e-01 -3.33851724e-02 4.72015255e+01] [ 5.46114540e-02 1.89786251e-03 9.98505877e-01 6.15899754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.22710568099998 meters 0.03050647621307617 Centerline is valid? [True, True] Translation: X:157.86, Y:47.22, Z:6.16 [[ 8.10620827e-01 -5.84031692e-01 -4.24365130e-02 1.57855325e+02] [ 5.83114350e-01 8.11728816e-01 -3.27717032e-02 4.72189521e+01] [ 5.35866537e-02 1.82008551e-03 9.98561544e-01 6.16118202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25710568099998 meters 0.029273677923484953 Centerline is valid? [True, True] Translation: X:157.88, Y:47.24, Z:6.17 [[ 8.10044405e-01 -5.84988247e-01 -4.02096088e-02 1.57879465e+02] [ 5.84164865e-01 8.11040027e-01 -3.10722460e-02 4.72351765e+01] [ 5.07885010e-02 1.68085833e-03 9.98708017e-01 6.16658516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.28710568099999 meters 0.029273677923484953 Centerline is valid? [True, True] Translation: X:157.90, Y:47.25, Z:6.17 [[ 8.09817663e-01 -5.85302809e-01 -4.01991755e-02 1.57900977e+02] [ 5.84479145e-01 8.10813052e-01 -3.10857394e-02 4.72520908e+01] [ 5.07885868e-02 1.67820105e-03 9.98708017e-01 6.16760224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.317105681 meters 0.03059041296787183 Centerline is valid? [True, True] Translation: X:157.92, Y:47.27, Z:6.17 [[ 8.09825614e-01 -5.85264150e-01 -4.05998808e-02 1.57922588e+02] [ 5.84422871e-01 8.10840882e-01 -3.14161059e-02 4.72695960e+01] [ 5.13067636e-02 1.71406835e-03 9.98681470e-01 6.16655172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.347105681 meters 0.02942226042983809 Centerline is valid? [True, True] Translation: X:157.95, Y:47.29, Z:6.17 [[ 8.09915282e-01 -5.85145910e-01 -4.05154226e-02 1.57947151e+02] [ 5.84307384e-01 8.10926186e-01 -3.13624166e-02 4.72852601e+01] [ 5.12066070e-02 1.72743989e-03 9.98686587e-01 6.16829025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.377105681 meters 0.031673547057919804 Centerline is valid? [True, True] Translation: X:157.97, Y:47.31, Z:6.17 [[ 8.10723252e-01 -5.84064711e-01 -3.99527420e-02 1.57965562e+02] [ 5.83247128e-01 8.11705135e-01 -3.09444896e-02 4.73073394e+01] [ 5.05034303e-02 1.78509522e-03 9.98722292e-01 6.17062773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.407105681 meters 0.03074054185989805 Centerline is valid? [True, True] Translation: X:157.99, Y:47.32, Z:6.17 [[ 8.10580221e-01 -5.84244795e-01 -4.02209582e-02 1.57987399e+02] [ 5.83415785e-01 8.11575502e-01 -3.11645164e-02 4.73238611e+01] [ 5.08500508e-02 1.79579874e-03 9.98704685e-01 6.17278870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.437105681 meters 0.027584481218831135 Centerline is valid? [True, True] Translation: X:158.02, Y:47.34, Z:6.17 [[ 8.06779656e-01 -5.89466522e-01 -4.04450979e-02 1.58016069e+02] [ 5.88633798e-01 8.07791431e-01 -3.13569089e-02 4.73353657e+01] [ 5.11550515e-02 1.49076462e-03 9.98689611e-01 6.17245155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.46710568099996 meters 0.024880435785408918 Centerline is valid? [True, True] Translation: X:158.04, Y:47.35, Z:6.17 [[ 8.02951760e-01 -5.94669640e-01 -4.04535474e-02 1.58044786e+02] [ 5.93842968e-01 8.03969320e-01 -3.13665887e-02 4.73467272e+01] [ 5.11761690e-02 1.16280297e-03 9.98688964e-01 6.17268485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.49710568099997 meters 0.021289860313008453 Centerline is valid? [True, True] Translation: X:158.08, Y:47.35, Z:6.17 [[ 7.93386665e-01 -6.07305560e-01 -4.14434202e-02 1.58079161e+02] [ 6.06454776e-01 7.94468265e-01 -3.21368955e-02 4.73517424e+01] [ 5.24423975e-02 3.63424214e-04 9.98623885e-01 6.17219823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.52710568099997 meters 0.020814724705633912 Centerline is valid? [True, True] Translation: X:158.11, Y:47.36, Z:6.17 [[ 7.88627181e-01 -6.13415718e-01 -4.22886196e-02 1.58105501e+02] [ 6.12538091e-01 7.89760189e-01 -3.28013822e-02 4.73637700e+01] [ 5.35187516e-02 -3.53287402e-05 9.98566844e-01 6.17296696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.55710568099997 meters 0.021190598946941072 Centerline is valid? [True, True] Translation: X:158.13, Y:47.37, Z:6.18 [[ 7.82104993e-01 -6.21727557e-01 -4.20312384e-02 1.58133097e+02] [ 6.20871412e-01 7.83233366e-01 -3.26218319e-02 4.73730106e+01] [ 5.32021602e-02 -5.82296725e-04 9.98583592e-01 6.17622532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.58710568099997 meters 0.021378051899284642 Centerline is valid? [True, True] Translation: X:158.16, Y:47.39, Z:6.18 [[ 7.81096110e-01 -6.23011919e-01 -4.17733852e-02 1.58157004e+02] [ 6.22167404e-01 7.82212068e-01 -3.24345782e-02 4.73874699e+01] [ 5.28827749e-02 -6.55515758e-04 9.98600512e-01 6.17979537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.61710568099997 meters 0.02113529182232436 Centerline is valid? [True, True] Translation: X:158.18, Y:47.41, Z:6.18 [[ 7.82329658e-01 -6.21448071e-01 -4.19833496e-02 1.58178669e+02] [ 6.20591509e-01 7.83455175e-01 -3.26215935e-02 4.74055756e+01] [ 5.31646988e-02 -5.33670168e-04 9.98585615e-01 6.18107195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.64710568099997 meters 0.020674808460372878 Centerline is valid? [True, True] Translation: X:158.20, Y:47.43, Z:6.18 [[ 7.88004982e-01 -6.14171685e-01 -4.29102564e-02 1.58196076e+02] [ 6.13264782e-01 7.89172440e-01 -3.33641461e-02 4.74293926e+01] [ 5.43549056e-02 -2.42357724e-05 9.98521679e-01 6.18068226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.67710568099997 meters 0.021173210410100698 Centerline is valid? [True, True] Translation: X:158.21, Y:47.45, Z:6.18 [[ 7.91755421e-01 -6.09306404e-01 -4.32326114e-02 1.58214594e+02] [ 6.08377323e-01 7.92934800e-01 -3.36368175e-02 4.74519754e+01] [ 5.47757704e-02 3.30392171e-04 9.98498626e-01 6.18185014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.70710568099997 meters 0.02455575340656788 Centerline is valid? [True, True] Translation: X:158.23, Y:47.48, Z:6.18 [[ 8.00244227e-01 -5.98165645e-01 -4.25092686e-02 1.58228254e+02] [ 5.97250709e-01 8.01371743e-01 -3.30895719e-02 4.74824073e+01] [ 5.38587718e-02 1.09104803e-03 9.98547967e-01 6.18461359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.73710568099997 meters 0.030340773973062847 Centerline is valid? [True, True] Translation: X:158.24, Y:47.51, Z:6.18 [[ 8.07172661e-01 -5.88806546e-01 -4.21799356e-02 1.58241682e+02] [ 5.87892727e-01 8.08272193e-01 -3.28360188e-02 4.75132510e+01] [ 5.34269318e-02 1.70705929e-03 9.98570302e-01 6.18319549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.76710568099998 meters 0.03211853363653009 Centerline is valid? [True, True] Translation: X:158.26, Y:47.54, Z:6.18 [[ 8.10079689e-01 -5.84824909e-01 -4.18416470e-02 1.58262230e+02] [ 5.83920256e-01 8.11157198e-01 -3.25750654e-02 4.75356061e+01] [ 5.29908628e-02 1.95621362e-03 9.98593081e-01 6.18342261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.79710568099998 meters 0.03450228179584744 Centerline is valid? [True, True] Translation: X:158.28, Y:47.56, Z:6.18 [[ 8.14632775e-01 -5.78466032e-01 -4.18388756e-02 1.58281794e+02] [ 5.77552955e-01 8.15703021e-01 -3.25755244e-02 4.75593964e+01] [ 5.29719316e-02 2.37292360e-03 9.98593182e-01 6.18294489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.82710568099998 meters 0.034352208381770825 Centerline is valid? [True, True] Translation: X:158.30, Y:47.58, Z:6.19 [[ 8.15007513e-01 -5.78054948e-01 -4.01899398e-02 1.58303629e+02] [ 5.77211577e-01 8.15994568e-01 -3.12995337e-02 4.75758097e+01] [ 5.08876228e-02 2.31125657e-03 9.98701711e-01 6.18521157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.85710568099998 meters 0.03336965963323706 Centerline is valid? [True, True] Translation: X:158.33, Y:47.59, Z:6.19 [[ 8.13678881e-01 -5.79976042e-01 -3.94267697e-02 1.58327395e+02] [ 5.79165502e-01 8.14630646e-01 -3.07283643e-02 4.75921563e+01] [ 4.99399700e-02 2.16839615e-03 9.98749867e-01 6.18793986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.88710568099998 meters 0.030593727364367582 Centerline is valid? [True, True] Translation: X:158.35, Y:47.61, Z:6.19 [[ 8.09683998e-01 -5.85563383e-01 -3.90812914e-02 1.58353792e+02] [ 5.84772658e-01 8.10624578e-01 -3.04751094e-02 4.76053849e+01] [ 4.95253635e-02 1.82153782e-03 9.98771205e-01 6.19211661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91710568099998 meters 0.02789291475988133 Centerline is valid? [True, True] Translation: X:158.38, Y:47.62, Z:6.20 [[ 8.07625813e-01 -5.88447679e-01 -3.83389393e-02 1.58380225e+02] [ 5.87689625e-01 8.08533677e-01 -2.99031397e-02 4.76187351e+01] [ 4.85947567e-02 1.61915061e-03 9.98817265e-01 6.19562523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.94710568099998 meters 0.02666798363212628 Centerline is valid? [True, True] Translation: X:158.41, Y:47.63, Z:6.20 [[ 8.05202334e-01 -5.91942693e-01 -3.53984438e-02 1.58406537e+02] [ 5.91299235e-01 8.05978987e-01 -2.76240445e-02 4.76318428e+01] [ 4.48822531e-02 1.31187238e-03 9.98991423e-01 6.19914505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97710568099998 meters 0.025771831187420942 Centerline is valid? [True, True] Translation: X:158.43, Y:47.65, Z:6.20 [[ 8.03707662e-01 -5.93970629e-01 -3.53961176e-02 1.58431987e+02] [ 5.93328974e-01 8.04485826e-01 -2.76275860e-02 4.76467368e+01] [ 4.48856496e-02 1.20296042e-03 9.98991407e-01 6.19938393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.00710568099998 meters 0.023853397822021196 Centerline is valid? [True, True] Translation: X:158.46, Y:47.66, Z:6.20 [[ 8.00155929e-01 -5.98685982e-01 -3.64085793e-02 1.58459160e+02] [ 5.98011180e-01 8.00983231e-01 -2.84339904e-02 4.76572166e+01] [ 4.61856929e-02 9.78888537e-04 9.98932392e-01 6.19659148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03710568099999 meters 0.022230459193761324 Centerline is valid? [True, True] Translation: X:158.48, Y:47.67, Z:6.20 [[ 7.97896586e-01 -6.01651910e-01 -3.70946974e-02 1.58484335e+02] [ 6.00954152e-01 7.98757967e-01 -2.89796150e-02 4.76710399e+01] [ 4.70653258e-02 8.30523409e-04 9.98891468e-01 6.19763982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.067105681 meters 0.021621683347026757 Centerline is valid? [True, True] Translation: X:158.51, Y:47.69, Z:6.20 [[ 7.96457407e-01 -6.03468977e-01 -3.84810588e-02 1.58508233e+02] [ 6.02719107e-01 7.97386107e-01 -3.00844576e-02 4.76862671e+01] [ 4.88392986e-02 7.67719722e-04 9.98806354e-01 6.19837748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.097105681 meters 0.022927368137776533 Centerline is valid? [True, True] Translation: X:158.53, Y:47.71, Z:6.20 [[ 7.99231614e-01 -5.99755552e-01 -3.90141683e-02 1.58530437e+02] [ 5.98979150e-01 8.00182618e-01 -3.05246842e-02 4.77050559e+01] [ 4.95258081e-02 1.02761927e-03 9.98772316e-01 6.19859566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.127105681 meters 0.024454200527848965 Centerline is valid? [True, True] Translation: X:158.55, Y:47.72, Z:6.20 [[ 8.01774195e-01 -5.96326813e-01 -3.94014264e-02 1.58551254e+02] [ 5.95529860e-01 8.02740760e-01 -3.08457135e-02 4.77243241e+01] [ 5.00232570e-02 1.26657114e-03 9.98747250e-01 6.19872464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.157105681 meters 0.02816105194202325 Centerline is valid? [True, True] Translation: X:158.57, Y:47.75, Z:6.20 [[ 8.06945746e-01 -5.89249097e-01 -4.02996760e-02 1.58571025e+02] [ 5.88406185e-01 8.07949526e-01 -3.15550996e-02 4.77483269e+01] [ 5.11539181e-02 1.75067480e-03 9.98689247e-01 6.19926503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.18710568099996 meters 0.03168697569242186 Centerline is valid? [True, True] Translation: X:158.59, Y:47.77, Z:6.20 [[ 8.10782931e-01 -5.83941461e-01 -4.05389887e-02 1.58589884e+02] [ 5.83081750e-01 8.11793052e-01 -3.17445080e-02 4.77709804e+01] [ 5.14462038e-02 2.10036077e-03 9.98673559e-01 6.20021073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21710568099996 meters 0.033152671749951575 Centerline is valid? [True, True] Translation: X:158.61, Y:47.79, Z:6.20 [[ 8.11668218e-01 -5.82717355e-01 -4.04374644e-02 1.58612132e+02] [ 5.81860004e-01 8.12671973e-01 -3.16733389e-02 4.77896222e+01] [ 5.13189982e-02 2.17929937e-03 9.98679934e-01 6.20035572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.24710568099997 meters 0.034003995236597626 Centerline is valid? [True, True] Translation: X:158.63, Y:47.81, Z:6.20 [[ 8.12336615e-01 -5.81789522e-01 -4.03754470e-02 1.58634846e+02] [ 5.80932550e-01 8.13336265e-01 -3.16463642e-02 4.78073284e+01] [ 5.12503383e-02 2.25208896e-03 9.98683299e-01 6.20151259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.27710568099997 meters 0.03253812631608868 Centerline is valid? [True, True] Translation: X:158.66, Y:47.82, Z:6.20 [[ 8.11862366e-01 -5.82506924e-01 -3.95623863e-02 1.58659271e+02] [ 5.81683936e-01 8.12822818e-01 -3.10300773e-02 4.78222792e+01] [ 5.02324452e-02 2.17934737e-03 9.98735176e-01 6.20381148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.30710568099997 meters 0.03242450922330432 Centerline is valid? [True, True] Translation: X:158.68, Y:47.83, Z:6.21 [[ 8.10959075e-01 -5.83909821e-01 -3.73456715e-02 1.58684987e+02] [ 5.83177220e-01 8.11816092e-01 -2.93080864e-02 4.78343525e+01] [ 4.74310965e-02 1.98851379e-03 9.98872533e-01 6.20574523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.33710568099997 meters 0.02986784707706427 Centerline is valid? [True, True] Translation: X:158.71, Y:47.85, Z:6.21 [[ 8.08333119e-01 -5.87670751e-01 -3.52229636e-02 1.58713593e+02] [ 5.87022398e-01 8.09098444e-01 -2.76479903e-02 4.78459094e+01] [ 4.47467602e-02 1.67211765e-03 9.98996963e-01 6.21071749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.36710568099997 meters 0.028554572136647995 Centerline is valid? [True, True] Translation: X:158.74, Y:47.86, Z:6.21 [[ 8.06385253e-01 -5.90316247e-01 -3.56307764e-02 1.58738353e+02] [ 5.89655209e-01 8.07170576e-01 -2.79713294e-02 4.78612345e+01] [ 4.52720445e-02 1.54579461e-03 9.98973499e-01 6.21225029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.39710568099997 meters 0.026827239870249407 Centerline is valid? [True, True] Translation: X:158.76, Y:47.88, Z:6.21 [[ 8.04287145e-01 -5.93156720e-01 -3.58788789e-02 1.58763665e+02] [ 5.92488890e-01 8.05085796e-01 -2.81740242e-02 4.78756504e+01] [ 4.55971876e-02 1.40216833e-03 9.98958923e-01 6.21318958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.42710568099997 meters 0.02420674215426004 Centerline is valid? [True, True] Translation: X:158.79, Y:47.89, Z:6.21 [[ 8.00280954e-01 -5.98580689e-01 -3.53772920e-02 1.58791835e+02] [ 5.97935984e-01 8.01061776e-01 -2.77955040e-02 4.78868112e+01] [ 4.49772482e-02 1.09085656e-03 9.98987416e-01 6.21428140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.45710568099997 meters 0.021999711534630095 Centerline is valid? [True, True] Translation: X:158.82, Y:47.90, Z:6.22 [[ 7.96353132e-01 -6.03827613e-01 -3.48411049e-02 1.58820657e+02] [ 6.03207085e-01 7.97114543e-01 -2.73791544e-02 4.78975976e+01] [ 4.43046408e-02 7.87074066e-04 9.99017757e-01 6.21507647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.48710568099997 meters 0.02165448737210209 Centerline is valid? [True, True] Translation: X:158.84, Y:47.91, Z:6.22 [[ 7.94559376e-01 -6.06187347e-01 -3.48180680e-02 1.58844799e+02] [ 6.05569146e-01 7.95321603e-01 -2.73780227e-02 4.79126005e+01] [ 4.42877726e-02 6.68716908e-04 9.99018591e-01 6.21518066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.51710568099998 meters 0.019386034957709648 Centerline is valid? [True, True] Translation: X:158.87, Y:47.92, Z:6.22 [[ 7.89853108e-01 -6.12288261e-01 -3.51447349e-02 1.58874456e+02] [ 6.11663582e-01 7.90634534e-01 -2.76531424e-02 4.79215757e+01] [ 4.47183356e-02 3.45165973e-04 9.98999575e-01 6.21605084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.54710568099998 meters 0.018678188711665867 Centerline is valid? [True, True] Translation: X:158.90, Y:47.94, Z:6.22 [[ 7.86927207e-01 -6.16029108e-01 -3.54077570e-02 1.58899366e+02] [ 6.15397963e-01 7.87723375e-01 -2.78788665e-02 4.79366631e+01] [ 4.50657111e-02 1.48777022e-04 9.98984014e-01 6.21737442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.57710568099998 meters 0.01871405016986898 Centerline is valid? [True, True] Translation: X:158.92, Y:47.95, Z:6.22 [[ 7.81901978e-01 -6.22354603e-01 -3.61115811e-02 1.58924966e+02] [ 6.21703889e-01 7.82735401e-01 -2.84528856e-02 4.79489950e+01] [ 4.59735972e-02 -2.03342875e-04 9.98942634e-01 6.21733726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.60710568099998 meters 0.01957602298291341 Centerline is valid? [True, True] Translation: X:158.95, Y:47.96, Z:6.22 [[ 7.78216896e-01 -6.26894262e-01 -3.71758810e-02 1.58951562e+02] [ 6.26208704e-01 7.79104207e-01 -2.93137057e-02 4.79624377e+01] [ 4.73404792e-02 -4.67439206e-04 9.98878702e-01 6.21635907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63710568099998 meters 0.019739349554465553 Centerline is valid? [True, True] Translation: X:158.97, Y:47.98, Z:6.22 [[ 7.76976420e-01 -6.28422043e-01 -3.73279795e-02 1.58974747e+02] [ 6.27731669e-01 7.77872378e-01 -2.94536040e-02 4.79789177e+01] [ 4.75456981e-02 -5.47199088e-04 9.98868914e-01 6.21733061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.66710568099998 meters 0.020071759926905422 Centerline is valid? [True, True] Translation: X:159.00, Y:48.00, Z:6.22 [[ 7.75920366e-01 -6.29752704e-01 -3.68662182e-02 1.58996765e+02] [ 6.29079983e-01 7.76795445e-01 -2.91068876e-02 4.79965989e+01] [ 4.69676516e-02 -6.07173091e-04 9.98896226e-01 6.21847751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69710568099998 meters 0.02000144242795861 Centerline is valid? [True, True] Translation: X:159.02, Y:48.02, Z:6.22 [[ 7.76493153e-01 -6.29055171e-01 -3.67147889e-02 1.59018088e+02] [ 6.28386614e-01 7.77360461e-01 -2.89996149e-02 4.80165594e+01] [ 4.67829829e-02 -5.53079419e-04 9.98904924e-01 6.21939882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.72710568099998 meters 0.019232253355312118 Centerline is valid? [True, True] Translation: X:159.03, Y:48.04, Z:6.22 [[ 7.80633884e-01 -6.23868787e-01 -3.73961897e-02 1.59033513e+02] [ 6.23168241e-01 7.81529068e-01 -2.95577373e-02 4.80431126e+01] [ 4.76663589e-02 -2.30346472e-04 9.98863287e-01 6.22010847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75710568099998 meters 0.018971870990040867 Centerline is valid? [True, True] Translation: X:159.05, Y:48.07, Z:6.22 [[ 7.83283549e-01 -6.20543330e-01 -3.73209980e-02 1.59049853e+02] [ 6.19840850e-01 7.84172159e-01 -2.95185631e-02 4.80675163e+01] [ 4.75836350e-02 -1.16742628e-05 9.98867257e-01 6.22280178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.78710568099999 meters 0.020128091949694688 Centerline is valid? [True, True] Translation: X:159.06, Y:48.10, Z:6.23 [[ 7.89379015e-01 -6.12869136e-01 -3.56678014e-02 1.59061390e+02] [ 6.12218825e-01 7.90184296e-01 -2.82292012e-02 4.80975310e+01] [ 4.54849427e-02 4.47039559e-04 9.98964924e-01 6.22649775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.817105681 meters 0.02123878985382685 Centerline is valid? [True, True] Translation: X:159.08, Y:48.12, Z:6.23 [[ 7.91949151e-01 -6.09612197e-01 -3.44892801e-02 1.59079995e+02] [ 6.09000713e-01 7.92699555e-01 -2.73047134e-02 4.81198630e+01] [ 4.39849233e-02 6.19948412e-04 9.99032003e-01 6.22807072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.847105681 meters 0.0241446224549291 Centerline is valid? [True, True] Translation: X:159.09, Y:48.15, Z:6.23 [[ 7.97926888e-01 -6.01918996e-01 -3.17207028e-02 1.59093286e+02] [ 6.01395062e-01 7.98556557e-01 -2.51277686e-02 4.81479700e+01] [ 4.04556564e-02 9.73448151e-04 9.99180861e-01 6.23371151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.877105681 meters 0.02653570099748163 Centerline is valid? [True, True] Translation: X:159.11, Y:48.17, Z:6.24 [[ 8.02489579e-01 -5.95931485e-01 -2.95996721e-02 1.59109839e+02] [ 5.95471051e-01 8.03034395e-01 -2.34518042e-02 4.81738769e+01] [ 3.77452233e-02 1.19408062e-03 9.99286682e-01 6.23644681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.907105681 meters 0.028273543338730795 Centerline is valid? [True, True] Translation: X:159.13, Y:48.19, Z:6.24 [[ 8.04517629e-01 -5.93244561e-01 -2.85004422e-02 1.59129413e+02] [ 5.92815897e-01 8.05021285e-01 -2.25841396e-02 4.81949255e+01] [ 3.63413806e-02 1.27382327e-03 9.99338622e-01 6.23787852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.93710568099996 meters 0.030196199389899894 Centerline is valid? [True, True] Translation: X:159.15, Y:48.22, Z:6.24 [[ 8.07457398e-01 -5.89324182e-01 -2.66375633e-02 1.59149401e+02] [ 5.88947504e-01 8.07895516e-01 -2.11109845e-02 4.82170384e+01] [ 3.39615815e-02 1.35809419e-03 9.99422216e-01 6.24046504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.96710568099996 meters 0.03092376478033095 Centerline is valid? [True, True] Translation: X:159.17, Y:48.24, Z:6.24 [[ 8.07973282e-01 -5.88599546e-01 -2.70138854e-02 1.59170582e+02] [ 5.88211700e-01 8.08423521e-01 -2.14104511e-02 4.82365999e+01] [ 3.44408421e-02 1.40918903e-03 9.99405745e-01 6.24181646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.99710568099997 meters 0.03179263897700894 Centerline is valid? [True, True] Translation: X:159.19, Y:48.25, Z:6.24 [[ 8.08414102e-01 -5.87982109e-01 -2.72704941e-02 1.59192512e+02] [ 5.87585961e-01 8.08872612e-01 -2.16295285e-02 4.82531113e+01] [ 3.47761315e-02 1.46185638e-03 9.99394058e-01 6.24071201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.02710568099997 meters 0.03233711452615757 Centerline is valid? [True, True] Translation: X:159.22, Y:48.27, Z:6.24 [[ 8.08574832e-01 -5.87752359e-01 -2.74573541e-02 1.59215594e+02] [ 5.87350461e-01 8.09039528e-01 -2.17825420e-02 4.82708272e+01] [ 3.50168252e-02 1.48572563e-03 9.99385619e-01 6.24152669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.05710568099997 meters 0.03324278063131134 Centerline is valid? [True, True] Translation: X:159.24, Y:48.29, Z:6.24 [[ 8.09302598e-01 -5.86741373e-01 -2.76381253e-02 1.59238091e+02] [ 5.86333031e-01 8.09772902e-01 -2.19413866e-02 4.82871338e+01] [ 3.52545242e-02 1.55207540e-03 9.99377161e-01 6.24286628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.08710568099997 meters 0.033455281555518336 Centerline is valid? [True, True] Translation: X:159.26, Y:48.30, Z:6.24 [[ 8.09767276e-01 -5.86014890e-01 -2.93855003e-02 1.59262863e+02] [ 5.85552556e-01 8.10298523e-01 -2.33346876e-02 4.83019101e+01] [ 3.74855019e-02 1.68891161e-03 9.99295744e-01 6.24243174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.11710568099997 meters 0.03502739551485293 Centerline is valid? [True, True] Translation: X:159.29, Y:48.32, Z:6.24 [[ 8.09883873e-01 -5.85744990e-01 -3.14788584e-02 1.59285085e+02] [ 5.85213510e-01 8.10493326e-01 -2.50143145e-02 4.83182534e+01] [ 4.01654141e-02 1.83683674e-03 9.99191356e-01 6.24035646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.14710568099997 meters 0.03312649515535686 Centerline is valid? [True, True] Translation: X:159.31, Y:48.33, Z:6.23 [[ 8.07942616e-01 -5.88101825e-01 -3.69455304e-02 1.59313186e+02] [ 5.87371532e-01 8.08784354e-01 -2.93692371e-02 4.83294486e+01] [ 4.71530689e-02 2.02790547e-03 9.98885617e-01 6.23446822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.17710568099997 meters 0.031939661582590984 Centerline is valid? [True, True] Translation: X:159.34, Y:48.34, Z:6.23 [[ 8.06118157e-01 -5.90521902e-01 -3.81759047e-02 1.59338174e+02] [ 5.89743963e-01 8.07019223e-01 -3.03649584e-02 4.83445587e+01] [ 4.87398619e-02 1.96373494e-03 9.98809576e-01 6.23364633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.20710568099997 meters 0.031939661582590984 Centerline is valid? [True, True] Translation: X:159.36, Y:48.36, Z:6.23 [[ 8.05894162e-01 -5.90827875e-01 -3.81709480e-02 1.59359460e+02] [ 5.90049984e-01 8.06795270e-01 -3.03711879e-02 4.83617929e+01] [ 4.87402846e-02 1.95319579e-03 9.98809576e-01 6.23466161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.23710568099997 meters 0.033231648256709455 Centerline is valid? [True, True] Translation: X:159.38, Y:48.38, Z:6.23 [[ 8.04515532e-01 -5.92705718e-01 -3.81404001e-02 1.59383900e+02] [ 5.91930212e-01 8.05416970e-01 -3.03665808e-02 4.83757631e+01] [ 4.87173715e-02 1.85393077e-03 9.98810883e-01 6.23470092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.26710568099998 meters 0.03020995222555953 Centerline is valid? [True, True] Translation: X:159.41, Y:48.39, Z:6.24 [[ 8.04649095e-01 -5.92609541e-01 -3.67935628e-02 1.59409812e+02] [ 5.91887286e-01 8.05487855e-01 -2.93045559e-02 4.83869038e+01] [ 4.70029274e-02 1.80224234e-03 9.98893126e-01 6.23990740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.29710568099998 meters 0.03206559550473303 Centerline is valid? [True, True] Translation: X:159.43, Y:48.40, Z:6.24 [[ 8.05977261e-01 -5.90860241e-01 -3.58445481e-02 1.59431196e+02] [ 5.90172178e-01 8.06771763e-01 -2.85678769e-02 4.84047962e+01] [ 4.57979919e-02 1.87060420e-03 9.98948970e-01 6.24399244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.32710568099998 meters 0.033158361084206986 Centerline is valid? [True, True] Translation: X:159.46, Y:48.42, Z:6.25 [[ 8.07399709e-01 -5.88907100e-01 -3.59741236e-02 1.59455023e+02] [ 5.88211791e-01 8.08198274e-01 -2.86781922e-02 4.84203096e+01] [ 4.59630156e-02 1.99436032e-03 9.98941151e-01 6.24592502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.35710568099998 meters 0.032704046514386985 Centerline is valid? [True, True] Translation: X:159.48, Y:48.43, Z:6.25 [[ 8.07297475e-01 -5.89095752e-01 -3.51707512e-02 1.59479621e+02] [ 5.88430922e-01 8.08060892e-01 -2.80471914e-02 4.84343510e+01] [ 4.49425899e-02 1.94686927e-03 9.98987674e-01 6.24820413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.38710568099998 meters 0.030592545807024068 Centerline is valid? [True, True] Translation: X:159.51, Y:48.44, Z:6.25 [[ 8.05146531e-01 -5.92170992e-01 -3.27502592e-02 1.59508509e+02] [ 5.91596295e-01 8.05810606e-01 -2.61360127e-02 4.84444259e+01] [ 4.18674948e-02 1.66838789e-03 9.99121779e-01 6.25378041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41710568099998 meters 0.029503283921080033 Centerline is valid? [True, True] Translation: X:159.53, Y:48.46, Z:6.26 [[ 8.02980920e-01 -5.95190125e-01 -3.11505404e-02 1.59533573e+02] [ 5.94671890e-01 8.03583608e-01 -2.48742491e-02 4.84575303e+01] [ 3.98369711e-02 1.44919670e-03 9.99205142e-01 6.25766045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.44710568099998 meters 0.025866381631852984 Centerline is valid? [True, True] Translation: X:159.56, Y:48.46, Z:6.26 [[ 7.97480780e-01 -6.02646559e-01 -2.90091318e-02 1.59564943e+02] [ 6.02201764e-01 7.98007585e-01 -2.31717606e-02 4.84638245e+01] [ 3.71138890e-02 1.00968337e-03 9.99310532e-01 6.26327418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47710568099998 meters 0.0222937284160138 Centerline is valid? [True, True] Translation: X:159.60, Y:48.47, Z:6.27 [[ 7.91854633e-01 -6.10023393e-01 -2.89430582e-02 1.59596651e+02] [ 6.09585414e-01 7.92383125e-01 -2.31215422e-02 4.84714037e+01] [ 3.70386725e-02 6.65634134e-04 9.99313611e-01 6.26628691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.50710568099998 meters 0.020896475860305838 Centerline is valid? [True, True] Translation: X:159.62, Y:48.48, Z:6.27 [[ 7.89011486e-01 -6.13658650e-01 -2.97310514e-02 1.59623383e+02] [ 6.13198556e-01 7.89571271e-01 -2.37642554e-02 4.84844157e+01] [ 3.80579250e-02 5.19232693e-04 9.99275400e-01 6.26531680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53710568099999 meters 0.01896073064020066 Centerline is valid? [True, True] Translation: X:159.65, Y:48.49, Z:6.26 [[ 7.84148860e-01 -6.19724125e-01 -3.24433959e-02 1.59654043e+02] [ 6.19180609e-01 7.84819687e-01 -2.59505941e-02 4.84931989e+01] [ 4.15444250e-02 2.60807145e-04 9.99136624e-01 6.26189440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.567105681 meters 0.018825020684680702 Centerline is valid? [True, True] Translation: X:159.68, Y:48.51, Z:6.26 [[ 7.82198929e-01 -6.22165902e-01 -3.27784372e-02 1.59678418e+02] [ 6.21612505e-01 7.82885412e-01 -2.62359403e-02 4.85082014e+01] [ 4.19848678e-02 1.46237972e-04 9.99118236e-01 6.26208375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.597105681 meters 0.018557480667754842 Centerline is valid? [True, True] Translation: X:159.70, Y:48.52, Z:6.26 [[ 7.80138828e-01 -6.24689118e-01 -3.38661194e-02 1.59702257e+02] [ 6.24099872e-01 7.80873552e-01 -2.71264582e-02 4.85214584e+01] [ 4.33907602e-02 2.65624607e-05 9.99058177e-01 6.26198351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.627105681 meters 0.018626936438644267 Centerline is valid? [True, True] Translation: X:159.72, Y:48.54, Z:6.26 [[ 7.79460497e-01 -6.25484858e-01 -3.47854392e-02 1.59724804e+02] [ 6.24863443e-01 7.80236306e-01 -2.78744572e-02 4.85380754e+01] [ 4.45759135e-02 -9.11107851e-06 9.99006000e-01 6.26211587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.657105681 meters 0.01885311342396432 Centerline is valid? [True, True] Translation: X:159.74, Y:48.56, Z:6.26 [[ 7.80738905e-01 -6.23790495e-01 -3.64990560e-02 1.59744642e+02] [ 6.23103386e-01 7.81591585e-01 -2.92705234e-02 4.85595858e+01] [ 4.67860293e-02 1.09950997e-04 9.98904928e-01 6.26214468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.68710568099996 meters 0.02039830024818522 Centerline is valid? [True, True] Translation: X:159.76, Y:48.59, Z:6.26 [[ 7.86175496e-01 -6.16918763e-01 -3.65968433e-02 1.59760092e+02] [ 6.16219541e-01 7.87026652e-01 -2.93687827e-02 4.85864510e+01] [ 4.69208442e-02 5.37327286e-04 9.98898466e-01 6.26301677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.71710568099996 meters 0.024136962363767302 Centerline is valid? [True, True] Translation: X:159.78, Y:48.61, Z:6.26 [[ 7.93326152e-01 -6.07667988e-01 -3.70571713e-02 1.59775265e+02] [ 6.06940099e-01 7.94190391e-01 -2.97546508e-02 4.86147666e+01] [ 4.75113981e-02 1.11365940e-03 9.98870075e-01 6.26373886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.74710568099997 meters 0.026665028560444233 Centerline is valid? [True, True] Translation: X:159.79, Y:48.64, Z:6.27 [[ 7.96456439e-01 -6.03591034e-01 -3.65377185e-02 1.59792341e+02] [ 6.02878962e-01 7.97292961e-01 -2.93409682e-02 4.86385106e+01] [ 4.68412110e-02 1.34098123e-03 9.98901448e-01 6.26541318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.77710568099997 meters 0.031013017097725106 Centerline is valid? [True, True] Translation: X:159.81, Y:48.67, Z:6.27 [[ 8.01475223e-01 -5.96928580e-01 -3.62455272e-02 1.59807970e+02] [ 5.96220766e-01 8.02292531e-01 -2.91117322e-02 4.86655303e+01] [ 4.64571407e-02 1.72199611e-03 9.98918800e-01 6.26637031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.80710568099997 meters 0.032339026976921474 Centerline is valid? [True, True] Translation: X:159.83, Y:48.69, Z:6.27 [[ 8.03476756e-01 -5.94218445e-01 -3.64628906e-02 1.59828939e+02] [ 5.93499120e-01 8.04301469e-01 -2.92906274e-02 4.86861315e+01] [ 4.67321875e-02 1.89364482e-03 9.98905660e-01 6.26698856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.83710568099997 meters 0.03711546543916179 Centerline is valid? [True, True] Translation: X:159.85, Y:48.71, Z:6.27 [[ 8.06568206e-01 -5.90020583e-01 -3.63791274e-02 1.59848328e+02] [ 5.89300091e-01 8.07385379e-01 -2.92276050e-02 4.87079208e+01] [ 4.66168641e-02 2.13583383e-03 9.98910560e-01 6.26815438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.86710568099997 meters 0.03880546974072829 Centerline is valid? [True, True] Translation: X:159.87, Y:48.73, Z:6.27 [[ 8.07495328e-01 -5.88790855e-01 -3.57298758e-02 1.59869638e+02] [ 5.88094339e-01 8.08282504e-01 -2.87130840e-02 4.87268012e+01] [ 4.57858348e-02 2.17314350e-03 9.98948915e-01 6.27032640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.89710568099997 meters 0.04156337244061462 Centerline is valid? [True, True] Translation: X:159.89, Y:48.75, Z:6.27 [[ 8.09852790e-01 -5.85616068e-01 -3.45293933e-02 1.59890493e+02] [ 5.84962052e-01 8.10585341e-01 -2.77633312e-02 4.87469244e+01] [ 4.42476729e-02 2.28582646e-03 9.99017977e-01 6.27425997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.92710568099997 meters 0.03824848712677771 Centerline is valid? [True, True] Translation: X:159.92, Y:48.76, Z:6.28 [[ 8.11027371e-01 -5.84029624e-01 -3.38230890e-02 1.59916534e+02] [ 5.83400472e-01 8.11729004e-01 -2.72013407e-02 4.87601944e+01] [ 4.33415711e-02 2.32862578e-03 9.99057599e-01 6.27776860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.95710568099997 meters 0.04727622454994804 Centerline is valid? [True, True] Translation: X:159.93, Y:48.79, Z:6.28 [[ 8.13884475e-01 -5.80025643e-01 -3.40927511e-02 1.59933630e+02] [ 5.79382177e-01 8.14594143e-01 -2.74349416e-02 4.87857491e+01] [ 4.36847250e-02 2.57614072e-03 9.99042045e-01 6.27788369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.98710568099997 meters 0.04196909320817733 Centerline is valid? [True, True] Translation: X:159.96, Y:48.80, Z:6.28 [[ 8.15192450e-01 -5.78170958e-01 -3.43454840e-02 1.59962899e+02] [ 5.77516166e-01 8.15911188e-01 -2.76407642e-02 4.87964002e+01] [ 4.40039518e-02 2.69747004e-03 9.99027715e-01 6.28049281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.01710568099998 meters 0.042294065876671644 Centerline is valid? [True, True] Translation: X:159.99, Y:48.81, Z:6.28 [[ 8.15017232e-01 -5.78398763e-01 -3.46667488e-02 1.59985951e+02] [ 5.77731587e-01 8.15749654e-01 -2.79054591e-02 4.88127635e+01] [ 4.44198713e-02 2.71535426e-03 9.99009260e-01 6.28010419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.04710568099998 meters 0.04073582332584886 Centerline is valid? [True, True] Translation: X:160.01, Y:48.82, Z:6.28 [[ 8.14392316e-01 -5.79067653e-01 -3.80237876e-02 1.60014908e+02] [ 5.78264377e-01 8.15274121e-01 -3.06336220e-02 4.88234694e+01] [ 4.87387496e-02 2.95998457e-03 9.98807175e-01 6.27521153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.07710568099998 meters 0.04091459857878422 Centerline is valid? [True, True] Translation: X:160.04, Y:48.84, Z:6.27 [[ 8.13547594e-01 -5.80118750e-01 -4.00318455e-02 1.60038295e+02] [ 5.79228563e-01 8.14526139e-01 -3.22713655e-02 4.88387549e+01] [ 5.13282088e-02 3.06670335e-03 9.98677130e-01 6.27419695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.10710568099998 meters 0.03888325805733285 Centerline is valid? [True, True] Translation: X:160.07, Y:48.85, Z:6.28 [[ 8.09884523e-01 -5.85374323e-01 -3.77354019e-02 1.60065606e+02] [ 5.84588732e-01 8.10759047e-01 -3.04266523e-02 4.88498981e+01] [ 4.84052995e-02 2.58238407e-03 9.98824438e-01 6.27780549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13710568099998 meters 0.03299787695532757 Centerline is valid? [True, True] Translation: X:160.10, Y:48.86, Z:6.29 [[ 8.04626485e-01 -5.92745936e-01 -3.50496079e-02 1.60098286e+02] [ 5.92075019e-01 8.05387046e-01 -2.82644412e-02 4.88566710e+01] [ 4.49821328e-02 1.99032074e-03 9.98985809e-01 6.28644396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.16710568099998 meters 0.03090503433209857 Centerline is valid? [True, True] Translation: X:160.12, Y:48.87, Z:6.29 [[ 8.01534669e-01 -5.96915775e-01 -3.51245235e-02 1.60123971e+02] [ 5.96245826e-01 8.02301969e-01 -2.83278186e-02 4.88702944e+01] [ 4.50897962e-02 1.76287820e-03 9.98981382e-01 6.28790387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19710568099998 meters 0.02609829156089142 Centerline is valid? [True, True] Translation: X:160.16, Y:48.88, Z:6.29 [[ 7.95649526e-01 -6.04617834e-01 -3.71363332e-02 1.60155350e+02] [ 6.03876994e-01 7.96514465e-01 -2.99546826e-02 4.88796351e+01] [ 4.76907619e-02 1.40765178e-03 9.98861156e-01 6.28574178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.22710568099998 meters 0.024010338656585774 Centerline is valid? [True, True] Translation: X:160.18, Y:48.89, Z:6.29 [[ 7.92862696e-01 -6.08193959e-01 -3.83256272e-02 1.60181926e+02] [ 6.07408596e-01 7.93787487e-01 -3.09228646e-02 4.88935251e+01] [ 4.92295027e-02 1.23827041e-03 9.98786725e-01 6.28508188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25710568099998 meters 0.021135211381331894 Centerline is valid? [True, True] Translation: X:160.21, Y:48.90, Z:6.29 [[ 7.88197325e-01 -6.14199403e-01 -3.87823501e-02 1.60208442e+02] [ 6.13401550e-01 7.89150369e-01 -3.13086867e-02 4.89049235e+01] [ 4.98348825e-02 8.88269391e-04 9.98757075e-01 6.28552936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.28710568099999 meters 0.02018637602185112 Centerline is valid? [True, True] Translation: X:160.23, Y:48.92, Z:6.29 [[ 7.85490995e-01 -6.17699033e-01 -3.81025140e-02 1.60232898e+02] [ 6.16932496e-01 7.86414309e-01 -3.07706013e-02 4.89193222e+01] [ 4.89713328e-02 6.63351137e-04 9.98799964e-01 6.28841659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.317105681 meters 0.019928943362002752 Centerline is valid? [True, True] Translation: X:160.25, Y:48.94, Z:6.29 [[ 7.85390022e-01 -6.17817381e-01 -3.82648195e-02 1.60254988e+02] [ 6.17043356e-01 7.86321325e-01 -3.09236157e-02 4.89368269e+01] [ 4.91935908e-02 6.76046558e-04 9.98789034e-01 6.29058628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.347105681 meters 0.02175621879540369 Centerline is valid? [True, True] Translation: X:160.27, Y:48.96, Z:6.29 [[ 7.87905707e-01 -6.14558524e-01 -3.90181600e-02 1.60272334e+02] [ 6.13748573e-01 7.88870701e-01 -3.15548025e-02 4.89588968e+01] [ 5.01725562e-02 9.14868945e-04 9.98740145e-01 6.29111592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.377105681 meters 0.022685533661696764 Centerline is valid? [True, True] Translation: X:160.29, Y:48.98, Z:6.29 [[ 7.90402486e-01 -6.11410476e-01 -3.79623458e-02 1.60291919e+02] [ 6.10639425e-01 7.91312850e-01 -3.07158784e-02 4.89798217e+01] [ 4.88201019e-02 1.09660157e-03 9.98806986e-01 6.29448144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.407105681 meters 0.02658452886437872 Centerline is valid? [True, True] Translation: X:160.31, Y:49.00, Z:6.30 [[ 7.96185301e-01 -6.04107899e-01 -3.38025435e-02 1.60307967e+02] [ 6.03489364e-01 7.96901322e-01 -2.73654894e-02 4.90047342e+01] [ 4.34689999e-02 1.38852498e-03 9.99053811e-01 6.30137687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.43710568099996 meters 0.029963734770632668 Centerline is valid? [True, True] Translation: X:160.32, Y:49.03, Z:6.31 [[ 7.99996543e-01 -5.99169173e-01 -3.16517546e-02 1.60324108e+02] [ 5.98622807e-01 8.00620935e-01 -2.56291507e-02 4.90295199e+01] [ 4.06972544e-02 1.55576981e-03 9.99170312e-01 6.30694532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.46710568099996 meters 0.03126888131792972 Centerline is valid? [True, True] Translation: X:160.34, Y:49.05, Z:6.31 [[ 8.01134017e-01 -5.97654367e-01 -3.15205304e-02 1.60344225e+02] [ 5.97111070e-01 8.01752203e-01 -2.55298850e-02 4.90509726e+01] [ 4.05297020e-02 1.63160166e-03 9.99177002e-01 6.30724313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.49710568099997 meters 0.03405641016510435 Centerline is valid? [True, True] Translation: X:160.36, Y:49.07, Z:6.30 [[ 8.03749974e-01 -5.94072270e-01 -3.26208019e-02 1.60363662e+02] [ 5.93486699e-01 8.04409453e-01 -2.64380615e-02 4.90732741e+01] [ 4.19466006e-02 1.88957923e-03 9.99118067e-01 6.30396145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.52710568099997 meters 0.03563431506306851 Centerline is valid? [True, True] Translation: X:160.39, Y:49.09, Z:6.30 [[ 8.04560647e-01 -5.92933534e-01 -3.33464990e-02 1.60385264e+02] [ 5.92320374e-01 8.05248928e-01 -2.70321880e-02 4.90928815e+01] [ 4.28805233e-02 1.99722389e-03 9.99078211e-01 6.30174915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.55710568099997 meters 0.03648110996762841 Centerline is valid? [True, True] Translation: X:160.41, Y:49.11, Z:6.30 [[ 8.04428376e-01 -5.92980559e-01 -3.56236546e-02 1.60407100e+02] [ 5.92279961e-01 8.05213917e-01 -2.88962839e-02 4.91099768e+01] [ 4.58195971e-02 2.14581392e-03 9.98947426e-01 6.29824101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.58710568099997 meters 0.033340413854222865 Centerline is valid? [True, True] Translation: X:160.43, Y:49.12, Z:6.30 [[ 8.01040985e-01 -5.97556363e-01 -3.54927154e-02 1.60433448e+02] [ 5.96865075e-01 8.01824699e-01 -2.87964338e-02 4.91236821e+01] [ 4.56664280e-02 1.88276146e-03 9.98954970e-01 6.30019183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.61710568099997 meters 0.031339830175442375 Centerline is valid? [True, True] Translation: X:160.46, Y:49.14, Z:6.30 [[ 7.98623365e-01 -6.00783241e-01 -3.54995439e-02 1.60458571e+02] [ 6.00094654e-01 7.99410157e-01 -2.88063787e-02 4.91383261e+01] [ 4.56850855e-02 1.70236063e-03 9.98954441e-01 6.30176751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.64710568099997 meters 0.029263583999812843 Centerline is valid? [True, True] Translation: X:160.48, Y:49.15, Z:6.30 [[ 7.96356009e-01 -6.03789363e-01 -3.54331866e-02 1.60483614e+02] [ 6.03106088e-01 7.97142434e-01 -2.87573781e-02 4.91528342e+01] [ 4.56086956e-02 1.53114032e-03 9.98958209e-01 6.30347759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.67710568099997 meters 0.02392532277248513 Centerline is valid? [True, True] Translation: X:160.51, Y:49.16, Z:6.30 [[ 7.91744877e-01 -6.09783104e-01 -3.61194774e-02 1.60514849e+02] [ 6.09079021e-01 7.92567405e-01 -2.93198569e-02 4.91616138e+01] [ 4.65058738e-02 1.21423058e-03 9.98917279e-01 6.30452193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.70710568099997 meters 0.02253410020176011 Centerline is valid? [True, True] Translation: X:160.54, Y:49.17, Z:6.31 [[ 7.89577384e-01 -6.12571068e-01 -3.63901258e-02 1.60540311e+02] [ 6.11859070e-01 7.90414801e-01 -2.95452242e-02 4.91740888e+01] [ 4.68618435e-02 1.06261228e-03 9.98900815e-01 6.30540557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.73710568099997 meters 0.02251705919395555 Centerline is valid? [True, True] Translation: X:160.56, Y:49.19, Z:6.31 [[ 7.89362695e-01 -6.12843928e-01 -3.64534678e-02 1.60562938e+02] [ 6.12129233e-01 7.90203267e-01 -2.96074130e-02 4.91904324e+01] [ 4.69503726e-02 1.05675400e-03 9.98896664e-01 6.30573361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.76710568099998 meters 0.024653180094815978 Centerline is valid? [True, True] Translation: X:160.58, Y:49.21, Z:6.30 [[ 7.91352985e-01 -6.10093588e-01 -3.93226010e-02 1.60583717e+02] [ 6.09257403e-01 7.92328238e-01 -3.19590318e-02 4.92100709e+01] [ 5.06544076e-02 1.33328947e-03 9.98715352e-01 6.30230309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.79710568099998 meters 0.027169868739140696 Centerline is valid? [True, True] Translation: X:160.60, Y:49.23, Z:6.30 [[ 7.94170495e-01 -6.06145912e-01 -4.33631101e-02 1.60604978e+02] [ 6.05122710e-01 7.95351533e-01 -3.52483478e-02 4.92304011e+01] [ 5.58545580e-02 1.75319509e-03 9.98437376e-01 6.29644723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.82710568099998 meters 0.027592710633959353 Centerline is valid? [True, True] Translation: X:160.63, Y:49.25, Z:6.30 [[ 7.94454414e-01 -6.05726036e-01 -4.40244717e-02 1.60627903e+02] [ 6.04670047e-01 7.95671200e-01 -3.57976887e-02 4.92482634e+01] [ 5.67125963e-02 1.81935240e-03 9.98388888e-01 6.29671932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.85710568099998 meters 0.02507237476395309 Centerline is valid? [True, True] Translation: X:160.66, Y:49.26, Z:6.30 [[ 7.91827201e-01 -6.09340230e-01 -4.14025150e-02 1.60655644e+02] [ 6.08410172e-01 7.92907486e-01 -3.36865136e-02 4.92606688e+01] [ 5.33549120e-02 1.48418654e-03 9.98574509e-01 6.30212947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.88710568099998 meters 0.023520357860687003 Centerline is valid? [True, True] Translation: X:160.68, Y:49.28, Z:6.31 [[ 7.88817393e-01 -6.13276706e-01 -4.07284046e-02 1.60679305e+02] [ 6.12381119e-01 7.89867214e-01 -3.31534179e-02 4.92754270e+01] [ 5.25022504e-02 1.21068667e-03 9.98620072e-01 6.30518705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91710568099998 meters 0.018505229383428242 Centerline is valid? [True, True] Translation: X:160.71, Y:49.28, Z:6.31 [[ 7.80056403e-01 -6.24478913e-01 -3.92185481e-02 1.60709842e+02] [ 6.23662173e-01 7.81041539e-01 -3.19313107e-02 4.92837989e+01] [ 5.05717453e-02 4.49098432e-04 9.98720330e-01 6.31150802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.94710568099998 meters 0.017532697989941413 Centerline is valid? [True, True] Translation: X:160.74, Y:49.30, Z:6.31 [[ 7.75508306e-01 -6.30230176e-01 -3.73736967e-02 1.60735049e+02] [ 6.29494899e-01 7.76408346e-01 -3.04343928e-02 4.92969919e+01] [ 4.81979228e-02 7.55730092e-05 9.98837802e-01 6.31482404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97710568099998 meters 0.01825433810792217 Centerline is valid? [True, True] Translation: X:160.76, Y:49.31, Z:6.32 [[ 7.68340042e-01 -6.39103515e-01 -3.46450020e-02 1.60763064e+02] [ 6.38480272e-01 7.69120606e-01 -2.82212085e-02 4.93067578e+01] [ 4.46824585e-02 -4.36665738e-04 9.99001145e-01 6.31957215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.00710568099998 meters 0.019880463930659238 Centerline is valid? [True, True] Translation: X:160.79, Y:49.32, Z:6.32 [[ 7.64293371e-01 -6.43923472e-01 -3.49028116e-02 1.60786081e+02] [ 6.43294945e-01 7.65089579e-01 -2.84526126e-02 4.93237347e+01] [ 4.50250825e-02 -7.06659059e-04 9.98985607e-01 6.32081527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03710568099999 meters 0.02051356079286687 Centerline is valid? [True, True] Translation: X:160.81, Y:49.34, Z:6.32 [[ 7.63089486e-01 -6.45307971e-01 -3.56659329e-02 1.60805877e+02] [ 6.44652255e-01 7.63922115e-01 -2.90941907e-02 4.93449156e+01] [ 4.60207081e-02 -7.90653027e-04 9.98940173e-01 6.32081455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.067105681 meters 0.020421228861127565 Centerline is valid? [True, True] Translation: X:160.82, Y:49.37, Z:6.32 [[ 7.63032551e-01 -6.45344043e-01 -3.62269665e-02 1.60823069e+02] [ 6.44666629e-01 7.63891643e-01 -2.95718665e-02 4.93683394e+01] [ 4.67575049e-02 -7.90019689e-04 9.98905957e-01 6.31888105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.097105681 meters 0.020421228861127565 Centerline is valid? [True, True] Translation: X:160.84, Y:49.39, Z:6.32 [[ 7.62800418e-01 -6.45619007e-01 -3.62163045e-02 1.60844163e+02] [ 6.44941283e-01 7.63659265e-01 -2.95849195e-02 4.93858663e+01] [ 4.67575028e-02 -7.90000940e-04 9.98905957e-01 6.31989847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.127105681 meters 0.020242781676365385 Centerline is valid? [True, True] Translation: X:160.86, Y:49.41, Z:6.32 [[ 7.62907393e-01 -6.45427152e-01 -3.73644331e-02 1.60863671e+02] [ 6.44704407e-01 7.63821428e-01 -3.05459252e-02 4.94058017e+01] [ 4.82549242e-02 -7.85302518e-04 9.98834744e-01 6.31903410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.157105681 meters 0.02039498641787092 Centerline is valid? [True, True] Translation: X:160.88, Y:49.43, Z:6.32 [[ 7.62558984e-01 -6.45750005e-01 -3.88680750e-02 1.60882258e+02] [ 6.44967282e-01 7.63548462e-01 -3.17954571e-02 4.94279041e+01] [ 5.02095755e-02 -8.22725237e-04 9.98738365e-01 6.31805254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.18710568099996 meters 0.019754274017207103 Centerline is valid? [True, True] Translation: X:160.90, Y:49.45, Z:6.32 [[ 7.64693206e-01 -6.43353489e-01 -3.66140563e-02 1.60899095e+02] [ 6.42655894e-01 7.65569005e-01 -2.99583093e-02 4.94515928e+01] [ 4.73043695e-02 -6.21323465e-04 9.98880328e-01 6.32079291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.21710568099996 meters 0.01865778017062323 Centerline is valid? [True, True] Translation: X:160.92, Y:49.47, Z:6.32 [[ 7.66703376e-01 -6.41020028e-01 -3.54860090e-02 1.60917306e+02] [ 6.40361860e-01 7.67524017e-01 -2.90443115e-02 4.94740004e+01] [ 4.58543495e-02 -4.55515001e-04 9.98948032e-01 6.32385193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.24710568099997 meters 0.017901743562616552 Centerline is valid? [True, True] Translation: X:160.93, Y:49.50, Z:6.33 [[ 7.73130070e-01 -6.33377604e-01 -3.32070194e-02 1.60928705e+02] [ 6.32793533e-01 7.73842885e-01 -2.71943739e-02 4.95037967e+01] [ 4.29213231e-02 1.16010893e-05 9.99078455e-01 6.32819041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.27710568099997 meters 0.01838598453717685 Centerline is valid? [True, True] Translation: X:160.94, Y:49.53, Z:6.33 [[ 7.76440023e-01 -6.29359495e-01 -3.23653754e-02 1.60944959e+02] [ 6.28800856e-01 7.77114259e-01 -2.65124876e-02 4.95297560e+01] [ 4.18374806e-02 2.33980709e-04 9.99124402e-01 6.33085652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.30710568099997 meters 0.020988624729829247 Centerline is valid? [True, True] Translation: X:160.96, Y:49.56, Z:6.33 [[ 7.83335487e-01 -6.20771464e-01 -3.20671867e-02 1.60956379e+02] [ 6.20215160e-01 7.83991262e-01 -2.62841651e-02 4.95617839e+01] [ 4.14568538e-02 7.00763979e-04 9.99140049e-01 6.33069006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.33710568099997 meters 0.024487152283156878 Centerline is valid? [True, True] Translation: X:160.97, Y:49.59, Z:6.33 [[ 7.89741839e-01 -6.12661191e-01 -3.08883941e-02 1.60970805e+02] [ 6.12138669e-01 7.90344911e-01 -2.53213579e-02 4.95913572e+01] [ 3.99258983e-02 1.08935532e-03 9.99202050e-01 6.33086910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.36710568099997 meters 0.02588043490227232 Centerline is valid? [True, True] Translation: X:160.99, Y:49.62, Z:6.33 [[ 7.91735777e-01 -6.10093184e-01 -3.06719120e-02 1.60988905e+02] [ 6.09575906e-01 7.92328742e-01 -2.51471432e-02 4.96151103e+01] [ 3.96443381e-02 1.21303443e-03 9.99213118e-01 6.33183250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.39710568099997 meters 0.02846611275323139 Centerline is valid? [True, True] Translation: X:161.00, Y:49.64, Z:6.33 [[ 7.94424923e-01 -6.06473963e-01 -3.28385920e-02 1.61003818e+02] [ 6.05877131e-01 7.95101919e-01 -2.69414280e-02 4.96426767e+01] [ 4.24493021e-02 1.50678994e-03 9.99097486e-01 6.32961940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.42710568099997 meters 0.032267643607851525 Centerline is valid? [True, True] Translation: X:161.02, Y:49.67, Z:6.33 [[ 7.96556264e-01 -6.03628801e-01 -3.36212605e-02 1.61020107e+02] [ 6.03000453e-01 7.97263680e-01 -2.75876452e-02 4.96681459e+01] [ 4.34577071e-02 1.70147628e-03 9.99053819e-01 6.32790431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.45710568099997 meters 0.031364457027723336 Centerline is valid? [True, True] Translation: X:161.04, Y:49.69, Z:6.33 [[ 7.97717951e-01 -6.02094126e-01 -3.35966352e-02 1.61042001e+02] [ 6.01465069e-01 7.98423111e-01 -2.75736502e-02 4.96865048e+01] [ 4.34262628e-02 1.78879321e-03 9.99055033e-01 6.33024207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.48710568099997 meters 0.03400315392102254 Centerline is valid? [True, True] Translation: X:161.06, Y:49.71, Z:6.33 [[ 8.01053897e-01 -5.97604286e-01 -3.43768994e-02 1.61061329e+02] [ 5.96940773e-01 8.01788460e-01 -2.82308090e-02 4.97106121e+01] [ 4.44338537e-02 2.09342662e-03 9.99010135e-01 6.32994751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.51710568099998 meters 0.034494307523241924 Centerline is valid? [True, True] Translation: X:161.08, Y:49.73, Z:6.33 [[ 8.01975021e-01 -5.96404499e-01 -3.37303860e-02 1.61083163e+02] [ 5.95764483e-01 8.02681237e-01 -2.77040304e-02 4.97292985e+01] [ 4.35975563e-02 2.12257435e-03 9.99046920e-01 6.33091041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.54710568099998 meters 0.03565471558189685 Centerline is valid? [True, True] Translation: X:161.11, Y:49.75, Z:6.33 [[ 8.03759178e-01 -5.94089153e-01 -3.20821195e-02 1.61106389e+02] [ 5.93507682e-01 8.04396327e-01 -2.63662704e-02 4.97474881e+01] [ 4.14706543e-02 2.15114748e-03 9.99137407e-01 6.33317392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.57710568099998 meters 0.03624905187546547 Centerline is valid? [True, True] Translation: X:161.13, Y:49.76, Z:6.33 [[ 8.03758821e-01 -5.94061167e-01 -3.26050185e-02 1.61131127e+02] [ 5.93460356e-01 8.04416886e-01 -2.68007377e-02 4.97631994e+01] [ 4.21493050e-02 2.19154346e-03 9.99108920e-01 6.33210785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.60710568099998 meters 0.03554736219100178 Centerline is valid? [True, True] Translation: X:161.16, Y:49.78, Z:6.33 [[ 8.02591307e-01 -5.95639191e-01 -3.25752623e-02 1.61156174e+02] [ 5.95039974e-01 8.03249308e-01 -2.67951031e-02 4.97774025e+01] [ 4.21262705e-02 2.12193358e-03 9.99110041e-01 6.33256665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63710568099998 meters 0.03181217125403229 Centerline is valid? [True, True] Translation: X:161.19, Y:49.79, Z:6.33 [[ 7.98420165e-01 -6.01262834e-01 -3.17528767e-02 1.61188006e+02] [ 6.00697241e-01 7.99049304e-01 -2.61349040e-02 4.97852626e+01] [ 4.10860605e-02 1.79276898e-03 9.99154003e-01 6.33449233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.66710568099998 meters 0.027871011108103267 Centerline is valid? [True, True] Translation: X:161.22, Y:49.79, Z:6.34 [[ 7.93019724e-01 -6.08366560e-01 -3.17780621e-02 1.61219989e+02] [ 6.07805634e-01 7.93654892e-01 -2.61576711e-02 4.97917391e+01] [ 4.11342669e-02 1.42866397e-03 9.99152606e-01 6.33654109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69710568099998 meters 0.023957019788837595 Centerline is valid? [True, True] Translation: X:161.26, Y:49.80, Z:6.33 [[ 7.87376161e-01 -6.15546723e-01 -3.37788780e-02 1.61255414e+02] [ 6.14919282e-01 7.88099593e-01 -2.78084364e-02 4.97951991e+01] [ 4.37385119e-02 1.12441648e-03 9.99042381e-01 6.33398778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.72710568099998 meters 0.022304755026326818 Centerline is valid? [True, True] Translation: X:161.28, Y:49.81, Z:6.33 [[ 7.84089353e-01 -6.19685540e-01 -3.45502316e-02 1.61282646e+02] [ 6.19032900e-01 7.84849660e-01 -2.84478379e-02 4.98061676e+01] [ 4.47454513e-02 9.17916789e-04 9.98997999e-01 6.33391066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75710568099998 meters 0.018735274056361644 Centerline is valid? [True, True] Translation: X:161.31, Y:49.81, Z:6.34 [[ 7.77573811e-01 -6.27772884e-01 -3.57795198e-02 1.61314795e+02] [ 6.27081105e-01 7.78396415e-01 -2.94670668e-02 4.98124121e+01] [ 4.63492755e-02 4.76158614e-04 9.98925181e-01 6.33603441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.78710568099999 meters 0.0182664356015556 Centerline is valid? [True, True] Translation: X:161.34, Y:49.83, Z:6.34 [[ 7.75545156e-01 -6.30282580e-01 -3.56872441e-02 1.61339513e+02] [ 6.29596618e-01 7.76365738e-01 -2.93996578e-02 4.98273649e+01] [ 4.62364457e-02 3.32193988e-04 9.98930468e-01 6.33769993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.817105681 meters 0.01813002837016825 Centerline is valid? [True, True] Translation: X:161.36, Y:49.84, Z:6.34 [[ 7.74863611e-01 -6.31098576e-01 -3.60689850e-02 1.61363536e+02] [ 6.30397873e-01 7.75702582e-01 -2.97325641e-02 4.98406353e+01] [ 4.67429837e-02 3.00870565e-04 9.98906904e-01 6.33821938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.847105681 meters 0.018203247466898893 Centerline is valid? [True, True] Translation: X:161.39, Y:49.86, Z:6.34 [[ 7.75450001e-01 -6.30372082e-01 -3.61708899e-02 1.61386866e+02] [ 6.29666048e-01 7.76293058e-01 -2.98287925e-02 4.98580053e+01] [ 4.68824488e-02 3.55155857e-04 9.98900350e-01 6.33904840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.877105681 meters 0.019481878344226593 Centerline is valid? [True, True] Translation: X:161.41, Y:49.88, Z:6.34 [[ 7.78058625e-01 -6.27203577e-01 -3.52200119e-02 1.61408045e+02] [ 6.26530067e-01 7.78855169e-01 -2.90637471e-02 4.98777490e+01] [ 4.56601745e-02 5.46902707e-04 9.98956881e-01 6.34272814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.907105681 meters 0.02178354159543773 Centerline is valid? [True, True] Translation: X:161.43, Y:49.90, Z:6.35 [[ 7.83685915e-01 -6.20284546e-01 -3.29160918e-02 1.61426164e+02] [ 6.19689514e-01 7.84376358e-01 -2.71778570e-02 4.99013224e+01] [ 4.26766088e-02 9.01146789e-04 9.99088532e-01 6.34989944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.93710568099996 meters 0.025491380897728656 Centerline is valid? [True, True] Translation: X:161.44, Y:49.92, Z:6.35 [[ 7.87329415e-01 -6.15723632e-01 -3.15721481e-02 1.61443346e+02] [ 6.15172382e-01 7.87961412e-01 -2.60720716e-02 4.99248291e+01] [ 4.09308250e-02 1.10499535e-03 9.99161372e-01 6.35290806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.96710568099996 meters 0.029166890464877415 Centerline is valid? [True, True] Translation: X:161.46, Y:49.95, Z:6.36 [[ 7.94207271e-01 -6.06923544e-01 -2.96415616e-02 1.61462478e+02] [ 6.06431314e-01 7.94758866e-01 -2.44827960e-02 4.99482593e+01] [ 3.84170792e-02 1.46884352e-03 9.99260712e-01 6.35659862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.99710568099997 meters 0.032755482189854294 Centerline is valid? [True, True] Translation: X:161.48, Y:49.97, Z:6.36 [[ 7.97312259e-01 -6.02832017e-01 -2.97778733e-02 1.61480618e+02] [ 6.02331838e-01 7.97866354e-01 -2.46097246e-02 4.99706002e+01] [ 3.85942931e-02 1.68547390e-03 9.99253541e-01 6.35673765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.02710568099997 meters 0.039522839973982794 Centerline is valid? [True, True] Translation: X:161.50, Y:50.00, Z:6.35 [[ 8.01844661e-01 -5.96747886e-01 -3.06120977e-02 1.61497163e+02] [ 5.96214598e-01 8.02426197e-01 -2.53051751e-02 4.99960999e+01] [ 3.96647589e-02 2.03943999e-03 9.99210963e-01 6.35346640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.05710568099997 meters 0.0382220612573503 Centerline is valid? [True, True] Translation: X:161.52, Y:50.01, Z:6.35 [[ 8.02945961e-01 -5.95236715e-01 -3.11614752e-02 1.61522389e+02] [ 5.94682774e-01 8.03547513e-01 -2.57641898e-02 5.00110753e+01] [ 4.03755176e-02 2.15605961e-03 9.99182250e-01 6.35080515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.08710568099997 meters 0.03912033107803649 Centerline is valid? [True, True] Translation: X:161.54, Y:50.03, Z:6.35 [[ 8.02396480e-01 -5.95972146e-01 -3.12584358e-02 1.61543928e+02] [ 5.95414614e-01 8.03002257e-01 -2.58614248e-02 5.00284445e+01] [ 4.05132834e-02 2.13938675e-03 9.99176710e-01 6.34993759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.11710568099997 meters 0.03690068074787223 Centerline is valid? [True, True] Translation: X:161.57, Y:50.04, Z:6.35 [[ 7.99605799e-01 -5.99687221e-01 -3.17144024e-02 1.61571761e+02] [ 5.99115823e-01 8.00232021e-01 -2.62477254e-02 5.00405799e+01] [ 4.11193058e-02 1.98723308e-03 9.99152267e-01 6.34898743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.14710568099997 meters 0.03504405060584348 Centerline is valid? [True, True] Translation: X:161.60, Y:50.05, Z:6.35 [[ 7.97400085e-01 -6.02588227e-01 -3.22572925e-02 1.61598274e+02] [ 6.01999273e-01 7.98050074e-01 -2.67012033e-02 5.00545401e+01] [ 4.18327654e-02 1.87267516e-03 9.99122872e-01 6.34907997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.17710568099997 meters 0.030190322199274675 Centerline is valid? [True, True] Translation: X:161.63, Y:50.06, Z:6.35 [[ 7.91803068e-01 -6.09871298e-01 -3.32400607e-02 1.61628831e+02] [ 6.09251982e-01 7.92498978e-01 -2.75207702e-02 5.00632044e+01] [ 4.31268420e-02 1.53945741e-03 9.99068419e-01 6.34868748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.20710568099997 meters 0.025650857955744687 Centerline is valid? [True, True] Translation: X:161.66, Y:50.07, Z:6.35 [[ 7.86080064e-01 -6.17119784e-01 -3.52321711e-02 1.61657546e+02] [ 6.16430363e-01 7.86868267e-01 -2.91879749e-02 5.00747522e+01] [ 4.57355542e-02 1.22590510e-03 9.98952830e-01 6.34604823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.23710568099997 meters 0.024127738054141916 Centerline is valid? [True, True] Translation: X:161.68, Y:50.09, Z:6.35 [[ 7.83670606e-01 -6.20153224e-01 -3.56421096e-02 1.61682566e+02] [ 6.19449949e-01 7.84479969e-01 -2.95455326e-02 5.00899168e+01] [ 4.62832783e-02 1.07546251e-03 9.98927776e-01 6.34567730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.26710568099998 meters 0.021315180327435884 Centerline is valid? [True, True] Translation: X:161.71, Y:50.10, Z:6.35 [[ 7.79602594e-01 -6.25363763e-01 -3.37632892e-02 1.61710039e+02] [ 6.24736893e-01 7.80333018e-01 -2.80034978e-02 5.01002478e+01] [ 4.38589822e-02 7.38427101e-04 9.99037459e-01 6.34997628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.29710568099998 meters 0.020257613500791503 Centerline is valid? [True, True] Translation: X:161.73, Y:50.12, Z:6.35 [[ 7.77730961e-01 -6.27751424e-01 -3.25991238e-02 1.61733751e+02] [ 6.27168844e-01 7.78413645e-01 -2.70450966e-02 5.01160215e+01] [ 4.23532007e-02 5.88654110e-04 9.99102527e-01 6.35416525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.32710568099998 meters 0.018222807580190733 Centerline is valid? [True, True] Translation: X:161.76, Y:50.13, Z:6.36 [[ 7.74166666e-01 -6.32167580e-01 -3.20955441e-02 1.61758678e+02] [ 6.31605944e-01 7.74831611e-01 -2.66440773e-02 5.01303223e+01] [ 4.17121640e-02 3.55220066e-04 9.99129606e-01 6.35617352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.35710568099998 meters 0.01784817154765672 Centerline is valid? [True, True] Translation: X:161.78, Y:50.15, Z:6.36 [[ 7.72594086e-01 -6.34074544e-01 -3.23705340e-02 1.61782606e+02] [ 6.33504131e-01 7.73271880e-01 -2.68908052e-02 5.01472373e+01] [ 4.20819987e-02 2.68810097e-04 9.99114124e-01 6.35520337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.38710568099998 meters 0.01767971070596106 Centerline is valid? [True, True] Translation: X:161.80, Y:50.17, Z:6.36 [[ 7.71890313e-01 -6.34942064e-01 -3.21546386e-02 1.61803979e+02] [ 6.34379210e-01 7.72559720e-01 -2.67300804e-02 5.01651194e+01] [ 4.18134310e-02 2.34455907e-04 9.99125409e-01 6.35602923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41710568099998 meters 0.01779218498059464 Centerline is valid? [True, True] Translation: X:161.82, Y:50.18, Z:6.36 [[ 7.70588028e-01 -6.36428703e-01 -3.39499168e-02 1.61823599e+02] [ 6.35801668e-01 7.71335513e-01 -2.82447304e-02 5.01833368e+01] [ 4.41625337e-02 1.79637414e-04 9.99024343e-01 6.35702232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.44710568099998 meters 0.017743637990030432 Centerline is valid? [True, True] Translation: X:161.84, Y:50.20, Z:6.36 [[ 7.70559037e-01 -6.36461663e-01 -3.39900274e-02 1.61842665e+02] [ 6.35832506e-01 7.71308314e-01 -2.82932616e-02 5.02020388e+01] [ 4.42243671e-02 1.89664153e-04 9.99021606e-01 6.35794100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47710568099998 meters 0.018138941435946312 Centerline is valid? [True, True] Translation: X:161.86, Y:50.22, Z:6.36 [[ 7.72116398e-01 -6.34668676e-01 -3.21238201e-02 1.61859885e+02] [ 6.34104594e-01 7.72784310e-01 -2.67539493e-02 5.02246606e+01] [ 4.18046777e-02 2.87301022e-04 9.99125761e-01 6.36440001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.50710568099998 meters 0.0199212264429288 Centerline is valid? [True, True] Translation: X:161.87, Y:50.25, Z:6.37 [[ 7.76567476e-01 -6.29292252e-01 -3.05649740e-02 1.61874190e+02] [ 6.28776725e-01 7.77168543e-01 -2.54732336e-02 5.02503790e+01] [ 3.97842449e-02 5.63140488e-04 9.99208135e-01 6.36846597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53710568099999 meters 0.02079144407590206 Centerline is valid? [True, True] Translation: X:161.89, Y:50.27, Z:6.37 [[ 7.79310651e-01 -6.25939043e-01 -2.95841858e-02 1.61892692e+02] [ 6.25453443e-01 7.79871658e-01 -2.46614787e-02 5.02724206e+01] [ 3.85084504e-02 7.15422107e-04 9.99258018e-01 6.37125072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.567105681 meters 0.023535431280712813 Centerline is valid? [True, True] Translation: X:161.91, Y:50.30, Z:6.38 [[ 7.83433187e-01 -6.20922343e-01 -2.62275676e-02 1.61907370e+02] [ 6.20537725e-01 7.83871615e-01 -2.18683014e-02 5.02989654e+01] [ 3.41375627e-02 8.57157879e-04 9.99416776e-01 6.37756683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.597105681 meters 0.02499645745974191 Centerline is valid? [True, True] Translation: X:161.93, Y:50.32, Z:6.38 [[ 7.85995836e-01 -6.17758806e-01 -2.41785896e-02 1.61926046e+02] [ 6.17430407e-01 7.86367100e-01 -2.01612850e-02 5.03231953e+01] [ 3.14680587e-02 9.18089654e-04 9.99504336e-01 6.38102069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.627105681 meters 0.027502176318132593 Centerline is valid? [True, True] Translation: X:161.94, Y:50.35, Z:6.38 [[ 7.87449829e-01 -6.15913943e-01 -2.39328504e-02 1.61944086e+02] [ 6.15590991e-01 7.87812816e-01 -1.99674420e-02 5.03452908e+01] [ 3.11528322e-02 9.90511719e-04 9.99514142e-01 6.38195896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.657105681 meters 0.030064604613462706 Centerline is valid? [True, True] Translation: X:161.96, Y:50.37, Z:6.38 [[ 7.91799986e-01 -6.10300039e-01 -2.42207488e-02 1.61961833e+02] [ 6.09966477e-01 7.92169394e-01 -2.02126030e-02 5.03707735e+01] [ 3.15226883e-02 1.23049397e-03 9.99502279e-01 6.38046764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.68710568099996 meters 0.03496726346101549 Centerline is valid? [True, True] Translation: X:161.98, Y:50.40, Z:6.37 [[ 7.96304694e-01 -6.04250579e-01 -2.79297870e-02 1.61978343e+02] [ 6.03803011e-01 7.96792534e-01 -2.33148237e-02 5.03966723e+01] [ 3.63422415e-02 1.70161406e-03 9.99337954e-01 6.37294538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.71710568099996 meters 0.0371427358151784 Centerline is valid? [True, True] Translation: X:162.00, Y:50.42, Z:6.37 [[ 7.98162152e-01 -6.01698393e-01 -2.99369908e-02 1.61999761e+02] [ 6.01181968e-01 7.98720987e-01 -2.50005272e-02 5.04178349e+01] [ 3.89540799e-02 1.95689556e-03 9.99239086e-01 6.36932182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.74710568099997 meters 0.0390521855506776 Centerline is valid? [True, True] Translation: X:162.02, Y:50.44, Z:6.37 [[ 7.99534221e-01 -5.99773804e-01 -3.18812456e-02 1.62022033e+02] [ 5.99186373e-01 8.00166606e-01 -2.66288150e-02 5.04364587e+01] [ 4.14815737e-02 2.18784092e-03 9.99136874e-01 6.36516399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.77710568099997 meters 0.037340308566593754 Centerline is valid? [True, True] Translation: X:162.05, Y:50.45, Z:6.37 [[ 7.99041897e-01 -6.00419437e-01 -3.20709560e-02 1.62046531e+02] [ 5.99825216e-01 7.99682298e-01 -2.67942622e-02 5.04519881e+01] [ 4.17343716e-02 2.17276997e-03 9.99126379e-01 6.36630895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.80710568099997 meters 0.03694572686059501 Centerline is valid? [True, True] Translation: X:162.07, Y:50.47, Z:6.37 [[ 7.97995801e-01 -6.01809041e-01 -3.20714900e-02 1.62070509e+02] [ 6.01215141e-01 7.98637218e-01 -2.68132189e-02 5.04684338e+01] [ 4.17499231e-02 2.11497068e-03 9.99125853e-01 6.36748969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.83710568099997 meters 0.03821555612920096 Centerline is valid? [True, True] Translation: X:162.09, Y:50.49, Z:6.37 [[ 7.97470722e-01 -6.02488253e-01 -3.23782582e-02 1.62091623e+02] [ 6.01882761e-01 7.98124952e-01 -2.70869531e-02 5.04867051e+01] [ 4.21614668e-02 2.11313660e-03 9.99108575e-01 6.36850401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.86710568099997 meters 0.03608602898344847 Centerline is valid? [True, True] Translation: X:162.12, Y:50.50, Z:6.37 [[ 7.96355598e-01 -6.03911558e-01 -3.32955076e-02 1.62120012e+02] [ 6.03272173e-01 7.97048564e-01 -2.78616476e-02 5.04984246e+01] [ 4.33641075e-02 2.10152582e-03 9.99057124e-01 6.36839013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.89710568099997 meters 0.03446041578394502 Centerline is valid? [True, True] Translation: X:162.15, Y:50.51, Z:6.37 [[ 7.93939716e-01 -6.07046979e-01 -3.39660535e-02 1.62148496e+02] [ 6.06383997e-01 7.94663486e-01 -2.84322333e-02 5.05085232e+01] [ 4.42512838e-02 1.97700793e-03 9.99018476e-01 6.36796796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.92710568099997 meters 0.032530905470235974 Centerline is valid? [True, True] Translation: X:162.17, Y:50.52, Z:6.37 [[ 7.91946420e-01 -6.09664393e-01 -3.36183962e-02 1.62174310e+02] [ 6.09016989e-01 7.92657572e-01 -2.81474888e-02 5.05231691e+01] [ 4.38083980e-02 1.81712860e-03 9.99038299e-01 6.37026077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.95710568099997 meters 0.02889765565852129 Centerline is valid? [True, True] Translation: X:162.20, Y:50.54, Z:6.38 [[ 7.87767022e-01 -6.15189281e-01 -3.10687636e-02 1.62200514e+02] [ 6.14640360e-01 7.88378198e-01 -2.60200654e-02 5.05352646e+01] [ 4.05012012e-02 1.40163339e-03 9.99178507e-01 6.37670182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.98710568099997 meters 0.026527951799518164 Centerline is valid? [True, True] Translation: X:162.23, Y:50.55, Z:6.38 [[ 7.85197410e-01 -6.18511526e-01 -3.01416612e-02 1.62227001e+02] [ 6.17997153e-01 7.85774815e-01 -2.52479505e-02 5.05489001e+01] [ 3.93007066e-02 1.19716453e-03 9.99226712e-01 6.37808535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.01710568099998 meters 0.026527951799518164 Centerline is valid? [True, True] Translation: X:162.25, Y:50.57, Z:6.38 [[ 7.84968823e-01 -6.18801808e-01 -3.01374999e-02 1.62247863e+02] [ 6.18287459e-01 7.85546248e-01 -2.52529166e-02 5.05667100e+01] [ 3.93009505e-02 1.18911393e-03 9.99226712e-01 6.37910199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.04710568099998 meters 0.022424867256726683 Centerline is valid? [True, True] Translation: X:162.28, Y:50.57, Z:6.38 [[ 7.79953012e-01 -6.25023076e-01 -3.19288681e-02 1.62280106e+02] [ 6.24450096e-01 7.80605703e-01 -2.67733862e-02 5.05735799e+01] [ 4.16578407e-02 9.43998431e-04 9.99131489e-01 6.37799403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.07710568099998 meters 0.020948600241102462 Centerline is valid? [True, True] Translation: X:162.31, Y:50.59, Z:6.38 [[ 7.77298253e-01 -6.28263075e-01 -3.30595513e-02 1.62305378e+02] [ 6.27651396e-01 7.78000555e-01 -2.77283577e-02 5.05879314e+01] [ 4.31410525e-02 8.03330487e-04 9.99068668e-01 6.37720181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.10710568099998 meters 0.018084206721788575 Centerline is valid? [True, True] Translation: X:162.33, Y:50.60, Z:6.38 [[ 7.71608318e-01 -6.35177931e-01 -3.41993923e-02 1.62333381e+02] [ 6.34529269e-01 7.72365714e-01 -2.87021041e-02 5.05998721e+01] [ 4.46453811e-02 4.46266882e-04 9.99002798e-01 6.37762718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13710568099998 meters 0.017236983802313276 Centerline is valid? [True, True] Translation: X:162.36, Y:50.62, Z:6.38 [[ 7.69002934e-01 -6.38337694e-01 -3.40510777e-02 1.62358303e+02] [ 6.37697270e-01 7.69756400e-01 -2.85880598e-02 5.06156338e+01] [ 4.44598711e-02 2.70022539e-04 9.99011135e-01 6.38081430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.16710568099998 meters 0.01677868205001108 Centerline is valid? [True, True] Translation: X:162.38, Y:50.63, Z:6.39 [[ 7.66101529e-01 -6.41910792e-01 -3.22332606e-02 1.62382326e+02] [ 6.41339485e-01 7.66779323e-01 -2.70764629e-02 5.06295699e+01] [ 4.20964715e-02 7.08568328e-05 9.99113548e-01 6.38704426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19710568099998 meters 0.016607597491986644 Centerline is valid? [True, True] Translation: X:162.40, Y:50.65, Z:6.40 [[ 7.65368729e-01 -6.42926324e-01 -2.92651794e-02 1.62403195e+02] [ 6.42455965e-01 7.65928027e-01 -2.45884415e-02 5.06476971e+01] [ 3.82235774e-02 1.76351380e-05 9.99269212e-01 6.39500584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.22710568099998 meters 0.016710457702760105 Centerline is valid? [True, True] Translation: X:162.42, Y:50.67, Z:6.40 [[ 7.65301614e-01 -6.43045688e-01 -2.83845546e-02 1.62423440e+02] [ 6.42603104e-01 7.65827816e-01 -2.38538662e-02 5.06663346e+01] [ 3.70768073e-02 1.53993832e-05 9.99312419e-01 6.39916874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25710568099998 meters 0.017214266251512043 Centerline is valid? [True, True] Translation: X:162.44, Y:50.69, Z:6.41 [[ 7.67803264e-01 -6.40184853e-01 -2.53278822e-02 1.62441595e+02] [ 6.39830399e-01 7.68220887e-01 -2.13009255e-02 5.06872672e+01] [ 3.30939380e-02 1.49371168e-04 9.99452234e-01 6.40578024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.28710568099999 meters 0.017795518183675082 Centerline is valid? [True, True] Translation: X:162.46, Y:50.71, Z:6.41 [[ 7.69950242e-01 -6.37660505e-01 -2.37845544e-02 1.62460799e+02] [ 6.37346649e-01 7.70317480e-01 -2.00057130e-02 5.07085040e+01] [ 3.10785111e-02 2.44397525e-04 9.99516917e-01 6.40881697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.317105681 meters 0.020271674248947165 Centerline is valid? [True, True] Translation: X:162.47, Y:50.74, Z:6.41 [[ 7.75389524e-01 -6.31042658e-01 -2.35849288e-02 1.62474997e+02] [ 6.30730498e-01 7.75747958e-01 -1.98530676e-02 5.07351258e+01] [ 3.08240929e-02 5.18126799e-04 9.99524690e-01 6.40875170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.347105681 meters 0.022531585533533273 Centerline is valid? [True, True] Translation: X:162.49, Y:50.76, Z:6.40 [[ 7.80218496e-01 -6.24947569e-01 -2.64506290e-02 1.62491317e+02] [ 6.24551202e-01 7.80666256e-01 -2.22709106e-02 5.07613140e+01] [ 3.45672650e-02 8.56404268e-04 9.99402007e-01 6.40354695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.377105681 meters 0.024557141705967914 Centerline is valid? [True, True] Translation: X:162.51, Y:50.78, Z:6.40 [[ 7.82704306e-01 -6.21820435e-01 -2.67079906e-02 1.62509036e+02] [ 6.21414380e-01 7.83159200e-01 -2.24907954e-02 5.07835555e+01] [ 3.49018447e-02 1.00691298e-03 9.99390238e-01 6.40272766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.407105681 meters 0.02955982176265532 Centerline is valid? [True, True] Translation: X:162.52, Y:50.81, Z:6.40 [[ 7.87106437e-01 -6.16245617e-01 -2.65480044e-02 1.62524282e+02] [ 6.15841042e-01 7.87553029e-01 -2.23615103e-02 5.08097391e+01] [ 3.46881440e-02 1.25153800e-03 9.99397402e-01 6.40386293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.43710568099996 meters 0.030752567110602445 Centerline is valid? [True, True] Translation: X:162.55, Y:50.83, Z:6.40 [[ 7.89360518e-01 -6.13304771e-01 -2.76989323e-02 1.62545648e+02] [ 6.12862378e-01 7.89845030e-01 -2.33352474e-02 5.08301883e+01] [ 3.61894826e-02 1.44428944e-03 9.99343902e-01 6.40398820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.46710568099996 meters 0.037110612319402075 Centerline is valid? [True, True] Translation: X:162.56, Y:50.86, Z:6.39 [[ 7.93770443e-01 -6.07356974e-01 -3.23417805e-02 1.62560606e+02] [ 6.06748578e-01 7.94426505e-01 -2.72523744e-02 5.08574076e+01] [ 4.22450873e-02 2.00879997e-03 9.99105258e-01 6.39463469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.49710568099997 meters 0.03938552956744694 Centerline is valid? [True, True] Translation: X:162.58, Y:50.88, Z:6.39 [[ 7.97416635e-01 -6.02385308e-01 -3.54774677e-02 1.62580146e+02] [ 6.01647876e-01 7.98201537e-01 -2.99021719e-02 5.08802819e+01] [ 4.63307983e-02 2.49954616e-03 9.98923025e-01 6.38988197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.52710568099997 meters 0.03799854065146909 Centerline is valid? [True, True] Translation: X:162.60, Y:50.90, Z:6.39 [[ 7.98813832e-01 -6.00513583e-01 -3.57756853e-02 1.62603680e+02] [ 5.99761055e-01 7.99610186e-01 -3.01699594e-02 5.08980984e+01] [ 4.67240728e-02 2.64331811e-03 9.98904337e-01 6.39074881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.55710568099997 meters 0.039000606763450095 Centerline is valid? [True, True] Translation: X:162.63, Y:50.92, Z:6.39 [[ 7.99204303e-01 -5.99954800e-01 -3.64241637e-02 1.62625816e+02] [ 5.99173487e-01 8.00029220e-01 -3.07307478e-02 5.09160621e+01] [ 4.75774550e-02 2.73575270e-03 9.98863805e-01 6.39095906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.58710568099997 meters 0.03647655336746081 Centerline is valid? [True, True] Translation: X:162.65, Y:50.93, Z:6.39 [[ 7.95247334e-01 -6.05314739e-01 -3.42891170e-02 1.62652903e+02] [ 6.04626580e-01 7.95982937e-01 -2.89458531e-02 5.09289853e+01] [ 4.48149036e-02 2.28700097e-03 9.98992690e-01 6.39443032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.61710568099997 meters 0.03380404936342489 Centerline is valid? [True, True] Translation: X:162.68, Y:50.94, Z:6.40 [[ 7.92377700e-01 -6.09185532e-01 -3.21024746e-02 1.62678225e+02] [ 6.08585364e-01 7.93025363e-01 -2.71040460e-02 5.09435980e+01] [ 4.19694693e-02 1.93954548e-03 9.99117011e-01 6.39953873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.64710568099997 meters 0.0293297161887647 Centerline is valid? [True, True] Translation: X:162.71, Y:50.95, Z:6.40 [[ 7.85751664e-01 -6.17842209e-01 -2.94164265e-02 1.62706043e+02] [ 6.17344169e-01 7.86300935e-01 -2.48398044e-02 5.09539635e+01] [ 3.84772433e-02 1.35785826e-03 9.99258554e-01 6.40498170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.67710568099997 meters 0.02683904729373364 Centerline is valid? [True, True] Translation: X:162.73, Y:50.97, Z:6.41 [[ 7.82425231e-01 -6.22022698e-01 -2.99753400e-02 1.62731922e+02] [ 6.21508423e-01 7.82998324e-01 -2.53160850e-02 5.09673572e+01] [ 3.92178204e-02 1.17801737e-03 9.99229991e-01 6.40581314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.70710568099997 meters 0.021396813930537502 Centerline is valid? [True, True] Translation: X:162.76, Y:50.97, Z:6.40 [[ 7.77006329e-01 -6.28684198e-01 -3.18958249e-02 1.62764312e+02] [ 6.28107252e-01 7.77660188e-01 -2.69427539e-02 5.09749353e+01] [ 4.17425968e-02 9.00691354e-04 9.99127992e-01 6.40312194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.73710568099997 meters 0.019116032895330367 Centerline is valid? [True, True] Translation: X:162.79, Y:50.99, Z:6.40 [[ 7.72603037e-01 -6.34023556e-01 -3.31462923e-02 1.62793378e+02] [ 6.33405040e-01 7.73313466e-01 -2.80060311e-02 5.09857953e+01] [ 4.33889577e-02 6.42516109e-04 9.99058049e-01 6.40099823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.76710568099998 meters 0.018235015296688573 Centerline is valid? [True, True] Translation: X:162.82, Y:51.00, Z:6.40 [[ 7.70249279e-01 -6.36882948e-01 -3.31082906e-02 1.62817331e+02] [ 6.36268236e-01 7.70960359e-01 -2.79795658e-02 5.10012009e+01] [ 4.33448880e-02 4.85486745e-04 9.99060051e-01 6.40151777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.79710568099998 meters 0.016823748002889067 Centerline is valid? [True, True] Translation: X:162.84, Y:51.02, Z:6.40 [[ 7.65183601e-01 -6.42964165e-01 -3.30323965e-02 1.62842642e+02] [ 6.42357532e-01 7.65896246e-01 -2.79238563e-02 5.10160526e+01] [ 4.32534275e-02 1.48268238e-04 9.99064122e-01 6.40389791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.82710568099998 meters 0.01676039006816188 Centerline is valid? [True, True] Translation: X:162.86, Y:51.03, Z:6.41 [[ 7.63102918e-01 -6.45417634e-01 -3.33168823e-02 1.62864103e+02] [ 6.44801982e-01 7.63829874e-01 -2.81838006e-02 5.10339507e+01] [ 4.36387519e-02 2.43486841e-05 9.99047376e-01 6.40594655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.85710568099998 meters 0.01683347288989221 Centerline is valid? [True, True] Translation: X:162.89, Y:51.05, Z:6.40 [[ 7.59979235e-01 -6.49004674e-01 -3.49927873e-02 1.62885962e+02] [ 6.48328307e-01 7.60784400e-01 -2.96226825e-02 5.10518006e+01] [ 4.58472261e-02 -1.74190935e-04 9.98948448e-01 6.40396611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.88710568099998 meters 0.017315174694102212 Centerline is valid? [True, True] Translation: X:162.91, Y:51.07, Z:6.40 [[ 7.57495793e-01 -6.51893362e-01 -3.51449721e-02 1.62909258e+02] [ 6.51213745e-01 7.58310574e-01 -2.97612410e-02 5.10684972e+01] [ 4.60519594e-02 -3.42874060e-04 9.98938987e-01 6.40368499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91710568099998 meters 0.0200127808959434 Centerline is valid? [True, True] Translation: X:162.93, Y:51.08, Z:6.41 [[ 7.50912858e-01 -6.59643106e-01 -3.16362543e-02 1.62933006e+02] [ 6.59098634e-01 7.51578639e-01 -2.68056082e-02 5.10822314e+01] [ 4.14592676e-02 -7.22736118e-04 9.99139934e-01 6.41035109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.94710568099998 meters 0.022220512549429552 Centerline is valid? [True, True] Translation: X:162.95, Y:51.10, Z:6.41 [[ 7.47337076e-01 -6.63752878e-01 -3.03218007e-02 1.62954337e+02] [ 6.63255686e-01 7.47951403e-01 -2.57020109e-02 5.11005906e+01] [ 3.97390171e-02 -9.03041056e-04 9.99209685e-01 6.41452765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97710568099998 meters 0.025479452751522032 Centerline is valid? [True, True] Translation: X:162.97, Y:51.12, Z:6.42 [[ 7.40296403e-01 -6.71643330e-01 -2.92655605e-02 1.62973496e+02] [ 6.71185957e-01 7.40873552e-01 -2.48151439e-02 5.11240379e+01] [ 3.83490056e-02 -1.27207150e-03 9.99263597e-01 6.41773715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.00710568099998 meters 0.029648625319755935 Centerline is valid? [True, True] Translation: X:162.99, Y:51.14, Z:6.42 [[ 7.34672301e-01 -6.77841441e-01 -2.80640690e-02 1.62994520e+02] [ 6.77424908e-01 7.35206550e-01 -2.38080716e-02 5.11428334e+01] [ 3.67709848e-02 -1.52016859e-03 9.99322562e-01 6.41927092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03710568099999 meters 0.030536199436512697 Centerline is valid? [True, True] Translation: X:163.01, Y:51.16, Z:6.42 [[ 7.32557054e-01 -6.80150627e-01 -2.74824653e-02 1.63014861e+02] [ 6.79752664e-01 7.33070642e-01 -2.33184256e-02 5.11642213e+01] [ 3.60066303e-02 -1.59920187e-03 9.99350271e-01 6.42000267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.067105681 meters 0.03230987719751436 Centerline is valid? [True, True] Translation: X:163.03, Y:51.19, Z:6.42 [[ 7.30805318e-01 -6.82081261e-01 -2.62438678e-02 1.63028792e+02] [ 6.81719167e-01 7.31274617e-01 -2.22802907e-02 5.11914958e+01] [ 3.43884432e-02 -1.60839278e-03 9.99407248e-01 6.42291943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.097105681 meters 0.031706169577139946 Centerline is valid? [True, True] Translation: X:163.04, Y:51.22, Z:6.43 [[ 7.31407098e-01 -6.81500532e-01 -2.45088207e-02 1.63044104e+02] [ 6.81184382e-01 7.31816130e-01 -2.08083972e-02 5.12176760e+01] [ 3.21168840e-02 -1.47561649e-03 9.99483031e-01 6.42654565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.127105681 meters 0.030568356122163062 Centerline is valid? [True, True] Translation: X:163.05, Y:51.25, Z:6.43 [[ 7.34309596e-01 -6.78427795e-01 -2.29160079e-02 1.63053545e+02] [ 6.78149501e-01 7.34666033e-01 -1.94698267e-02 5.12498792e+01] [ 3.00444842e-02 -1.24359873e-03 9.99547789e-01 6.42944034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.157105681 meters 0.029879809538718285 Centerline is valid? [True, True] Translation: X:163.07, Y:51.27, Z:6.43 [[ 7.36218547e-01 -6.76306408e-01 -2.43288733e-02 1.63069120e+02] [ 6.75991450e-01 7.36619401e-01 -2.06740865e-02 5.12740915e+01] [ 3.19031372e-02 -1.22546439e-03 9.99490214e-01 6.42815395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.18710568099996 meters 0.026675437416466937 Centerline is valid? [True, True] Translation: X:163.08, Y:51.31, Z:6.42 [[ 7.39634145e-01 -6.72491909e-01 -2.63811315e-02 1.63078622e+02] [ 6.72118874e-01 7.40103589e-01 -2.24253653e-02 5.13082636e+01] [ 3.46056468e-02 -1.14469052e-03 9.99400390e-01 6.42386938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.21710568099996 meters 0.02410794405880498 Centerline is valid? [True, True] Translation: X:163.09, Y:51.34, Z:6.42 [[ 7.44345931e-01 -6.67245138e-01 -2.70751055e-02 1.63087575e+02] [ 6.66848228e-01 7.44837628e-01 -2.30292941e-02 5.13409914e+01] [ 3.55327419e-02 -9.13224748e-04 9.99368095e-01 6.42308647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.24710568099997 meters 0.02224479975829967 Centerline is valid? [True, True] Translation: X:163.10, Y:51.37, Z:6.42 [[ 7.47776407e-01 -6.63357347e-01 -2.80619921e-02 1.63101960e+02] [ 6.62928053e-01 7.48302389e-01 -2.38732374e-02 5.13685197e+01] [ 3.68353432e-02 -7.51238141e-04 9.99321066e-01 6.42205828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.27710568099997 meters 0.01863279876986036 Centerline is valid? [True, True] Translation: X:163.11, Y:51.41, Z:6.42 [[ 7.57393493e-01 -6.52183272e-01 -3.18131481e-02 1.63106814e+02] [ 6.51621286e-01 7.58061296e-01 -2.70697682e-02 5.14097878e+01] [ 4.17707662e-02 -2.27658194e-04 9.99127195e-01 6.41769801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.30710568099997 meters 0.019864106323870964 Centerline is valid? [True, True] Translation: X:163.11, Y:51.45, Z:6.41 [[ 7.66699986e-01 -6.41098244e-01 -3.41199960e-02 1.63110366e+02] [ 6.40440422e-01 7.67458711e-01 -2.90377980e-02 5.14484931e+01] [ 4.48017694e-02 4.11454615e-04 9.98995812e-01 6.41204218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.33710568099997 meters 0.020558571658527678 Centerline is valid? [True, True] Translation: X:163.13, Y:51.47, Z:6.41 [[ 7.69291774e-01 -6.38007886e-01 -3.37061486e-02 1.63126467e+02] [ 6.37362657e-01 7.70029603e-01 -2.86924101e-02 5.14732683e+01] [ 4.42607161e-02 5.89794640e-04 9.99019840e-01 6.41258687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.36710568099997 meters 0.02126075414962787 Centerline is valid? [True, True] Translation: X:163.14, Y:51.50, Z:6.42 [[ 7.71314806e-01 -6.35677462e-01 -3.14266526e-02 1.63139954e+02] [ 6.35114356e-01 7.71954468e-01 -2.67591671e-02 5.15012155e+01] [ 4.12701443e-02 6.80223584e-04 9.99147793e-01 6.41674326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.39710568099997 meters 0.02193696223065466 Centerline is valid? [True, True] Translation: X:163.16, Y:51.52, Z:6.42 [[ 7.71442842e-01 -6.35552246e-01 -3.08104516e-02 1.63156127e+02] [ 6.35010236e-01 7.72057557e-01 -2.62512584e-02 5.15229720e+01] [ 4.04714882e-02 6.86393294e-04 9.99180458e-01 6.41823581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.42710568099997 meters 0.022380365042539534 Centerline is valid? [True, True] Translation: X:163.17, Y:51.55, Z:6.42 [[ 7.71169326e-01 -6.35793747e-01 -3.26217972e-02 1.63173350e+02] [ 6.35185895e-01 7.71858660e-01 -2.78044396e-02 5.15460361e+01] [ 4.28573055e-02 7.21025518e-04 9.99080943e-01 6.41527905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.45710568099997 meters 0.022043689610495295 Centerline is valid? [True, True] Translation: X:163.19, Y:51.56, Z:6.41 [[ 7.70438585e-01 -6.36602355e-01 -3.40856085e-02 1.63193885e+02] [ 6.35938929e-01 7.71191888e-01 -2.90645844e-02 5.15645041e+01] [ 4.47891276e-02 7.16111917e-04 9.98996207e-01 6.41335505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.48710568099997 meters 0.021514578780373772 Centerline is valid? [True, True] Translation: X:163.21, Y:51.58, Z:6.41 [[ 7.69626100e-01 -6.37530534e-01 -3.50782648e-02 1.63214027e+02] [ 6.36827786e-01 7.70424772e-01 -2.99339438e-02 5.15840388e+01] [ 4.61089673e-02 6.99130674e-04 9.98936171e-01 6.41398838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.51710568099998 meters 0.021229953944732465 Centerline is valid? [True, True] Translation: X:163.23, Y:51.60, Z:6.42 [[ 7.69112788e-01 -6.38187791e-01 -3.43782391e-02 1.63234642e+02] [ 6.37512493e-01 7.69880448e-01 -2.93584280e-02 5.16036054e+01] [ 4.52033244e-02 6.63385487e-04 9.98977587e-01 6.41746800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.54710568099998 meters 0.021775304011107423 Centerline is valid? [True, True] Translation: X:163.25, Y:51.62, Z:6.42 [[ 7.69645573e-01 -6.37662687e-01 -3.21245877e-02 1.63253974e+02] [ 6.37071845e-01 7.70315428e-01 -2.74518819e-02 5.16235213e+01] [ 4.22511063e-02 6.62549087e-04 9.99106804e-01 6.42276537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.57710568099998 meters 0.021716100199159517 Centerline is valid? [True, True] Translation: X:163.28, Y:51.64, Z:6.42 [[ 7.69637836e-01 -6.37714142e-01 -3.12773649e-02 1.63276627e+02] [ 6.37153276e-01 7.70272835e-01 -2.67481466e-02 5.16404395e+01] [ 4.11497759e-02 6.57910198e-04 9.99152773e-01 6.42408311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.60710568099998 meters 0.021596112065871382 Centerline is valid? [True, True] Translation: X:163.30, Y:51.66, Z:6.42 [[ 7.69031832e-01 -6.38455927e-01 -3.10494784e-02 1.63298756e+02] [ 6.37903032e-01 7.69658128e-01 -2.65723114e-02 5.16574656e+01] [ 4.08627331e-02 6.28396904e-04 9.99164572e-01 6.42462227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63710568099998 meters 0.02105109075402913 Centerline is valid? [True, True] Translation: X:163.32, Y:51.67, Z:6.42 [[ 7.67314639e-01 -6.40501019e-01 -3.14116120e-02 1.63322493e+02] [ 6.39936538e-01 7.67957136e-01 -2.68898708e-02 5.16737197e+01] [ 4.13457612e-02 5.31553329e-04 9.99144757e-01 6.42428123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.66710568099998 meters 0.02136688048654983 Centerline is valid? [True, True] Translation: X:163.34, Y:51.69, Z:6.42 [[ 7.66645708e-01 -6.41258909e-01 -3.22702645e-02 1.63344206e+02] [ 6.40662995e-01 7.67324405e-01 -2.76439007e-02 5.16909761e+01] [ 4.24886591e-02 5.18713500e-04 9.99096815e-01 6.42257924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69710568099998 meters 0.02092744950311101 Centerline is valid? [True, True] Translation: X:163.37, Y:51.71, Z:6.42 [[ 7.66181222e-01 -6.41636673e-01 -3.56190293e-02 1.63367102e+02] [ 6.40909858e-01 7.67008512e-01 -3.05368099e-02 5.17090979e+01] [ 4.69136358e-02 5.68143315e-04 9.98898788e-01 6.41870193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.72710568099998 meters 0.021607867445694214 Centerline is valid? [True, True] Translation: X:163.39, Y:51.73, Z:6.42 [[ 7.66838105e-01 -6.40805155e-01 -3.64427440e-02 1.63388870e+02] [ 6.40042509e-01 7.67703285e-01 -3.12610390e-02 5.17269396e+01] [ 4.80094492e-02 6.47250665e-04 9.98846672e-01 6.41735303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75710568099998 meters 0.02220226924450245 Centerline is valid? [True, True] Translation: X:163.41, Y:51.75, Z:6.42 [[ 7.67937078e-01 -6.39536342e-01 -3.55796447e-02 1.63409921e+02] [ 6.38807722e-01 7.68760533e-01 -3.05276522e-02 5.17456395e+01] [ 4.68757696e-02 7.14764257e-04 9.98900471e-01 6.41924484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.78710568099999 meters 0.022257675154006524 Centerline is valid? [True, True] Translation: X:163.43, Y:51.76, Z:6.42 [[ 7.69004235e-01 -6.38284408e-01 -3.50071609e-02 1.63431928e+02] [ 6.37577332e-01 7.69800233e-01 -3.00457604e-02 5.17642685e+01] [ 4.61262609e-02 7.85544736e-04 9.98935309e-01 6.42226432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.817105681 meters 0.02448116295258038 Centerline is valid? [True, True] Translation: X:163.45, Y:51.79, Z:6.43 [[ 7.72555548e-01 -6.33981409e-01 -3.50071092e-02 1.63449757e+02] [ 6.33269123e-01 7.73347566e-01 -3.00626096e-02 5.17864591e+01] [ 4.61317983e-02 1.05611448e-03 9.98934804e-01 6.42601845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.847105681 meters 0.02765857809749665 Centerline is valid? [True, True] Translation: X:163.47, Y:51.81, Z:6.43 [[ 7.76633567e-01 -6.29060665e-01 -3.35109383e-02 1.63468094e+02] [ 6.28403167e-01 7.77355133e-01 -2.87829492e-02 5.18091484e+01] [ 4.41561210e-02 1.29542482e-03 9.99023803e-01 6.42831815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.877105681 meters 0.02930170674002952 Centerline is valid? [True, True] Translation: X:163.49, Y:51.83, Z:6.43 [[ 7.78333595e-01 -6.26990738e-01 -3.28546607e-02 1.63488855e+02] [ 6.26356657e-01 7.79025470e-01 -2.82250723e-02 5.18290769e+01] [ 4.32914764e-02 1.38978651e-03 9.99061518e-01 6.42948572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.907105681 meters 0.02930170674002952 Centerline is valid? [True, True] Translation: X:163.51, Y:51.85, Z:6.43 [[ 7.78110586e-01 -6.27267946e-01 -3.28456961e-02 1.63509461e+02] [ 6.26633672e-01 7.78802284e-01 -2.82355011e-02 5.18471054e+01] [ 4.32915279e-02 1.38812316e-03 9.99061518e-01 6.43050303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.93710568099996 meters 0.031432901132347105 Centerline is valid? [True, True] Translation: X:163.53, Y:51.87, Z:6.43 [[ 7.80042782e-01 -6.24812740e-01 -3.37979161e-02 1.63530874e+02] [ 6.24137996e-01 7.80773035e-01 -2.90728295e-02 5.18661092e+01] [ 4.45535758e-02 1.58348720e-03 9.99005741e-01 6.42880818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.96710568099996 meters 0.03166422089174142 Centerline is valid? [True, True] Translation: X:163.55, Y:51.88, Z:6.43 [[ 7.80010966e-01 -6.24847860e-01 -3.38828131e-02 1.63553154e+02] [ 6.24169422e-01 7.80744913e-01 -2.91532826e-02 5.18845620e+01] [ 4.46702003e-02 1.59126423e-03 9.99000521e-01 6.42891879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.99710568099997 meters 0.031427698227394815 Centerline is valid? [True, True] Translation: X:163.58, Y:51.90, Z:6.43 [[ 7.79570409e-01 -6.25504975e-01 -3.18355726e-02 1.63575530e+02] [ 6.24905951e-01 7.80218789e-01 -2.74078943e-02 5.19020580e+01] [ 4.19824862e-02 1.47214458e-03 9.99117262e-01 6.43197743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.02710568099997 meters 0.030733958583743715 Centerline is valid? [True, True] Translation: X:163.60, Y:51.92, Z:6.43 [[ 7.78745345e-01 -6.26550286e-01 -3.14710531e-02 1.63597969e+02] [ 6.25965118e-01 7.79379719e-01 -2.71094746e-02 5.19181391e+01] [ 4.15133496e-02 1.41159566e-03 9.99136952e-01 6.43394298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.05710568099997 meters 0.026966955035807882 Centerline is valid? [True, True] Translation: X:163.63, Y:51.93, Z:6.43 [[ 7.77566754e-01 -6.27955150e-01 -3.25925271e-02 1.63625099e+02] [ 6.27328392e-01 7.78248287e-01 -2.80836772e-02 5.19308254e+01] [ 4.30003681e-02 1.39071610e-03 9.99074088e-01 6.43469785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.08710568099997 meters 0.025268496999506562 Centerline is valid? [True, True] Translation: X:163.65, Y:51.94, Z:6.43 [[ 7.74570940e-01 -6.31573272e-01 -3.39861796e-02 1.63652364e+02] [ 6.30894351e-01 7.75315178e-01 -2.93034764e-02 5.19439548e+01] [ 4.48572933e-02 1.25593259e-03 9.98992616e-01 6.43237414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.11710568099997 meters 0.023988562947152087 Centerline is valid? [True, True] Translation: X:163.68, Y:51.96, Z:6.43 [[ 7.72041662e-01 -6.34646302e-01 -3.42891153e-02 1.63677839e+02] [ 6.33957707e-01 7.72801960e-01 -2.95762977e-02 5.19588216e+01] [ 4.52691835e-02 1.09628517e-03 9.98974223e-01 6.43264522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.14710568099997 meters 0.023094276129526945 Centerline is valid? [True, True] Translation: X:163.70, Y:51.97, Z:6.43 [[ 7.66846910e-01 -6.40873170e-01 -3.50342265e-02 1.63703961e+02] [ 6.40159919e-01 7.67646405e-01 -3.02369653e-02 5.19716349e+01] [ 4.62719578e-02 7.59615829e-04 9.98928590e-01 6.43226917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.17710568099997 meters 0.021374332062556137 Centerline is valid? [True, True] Translation: X:163.73, Y:51.99, Z:6.43 [[ 7.63464213e-01 -6.44830107e-01 -3.62840103e-02 1.63730071e+02] [ 6.44069046e-01 7.64325739e-01 -3.13245566e-02 5.19850149e+01] [ 4.79318201e-02 5.45770049e-04 9.98850461e-01 6.43191189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.20710568099997 meters 0.019058960412931158 Centerline is valid? [True, True] Translation: X:163.76, Y:51.99, Z:6.43 [[ 7.56020663e-01 -6.53530640e-01 -3.64754802e-02 1.63764462e+02] [ 6.52770737e-01 7.56900061e-01 -3.15065401e-02 5.19899762e+01] [ 4.81987825e-02 9.46921568e-06 9.98837763e-01 6.43425674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.23710568099997 meters 0.01943178213501524 Centerline is valid? [True, True] Translation: X:163.79, Y:52.00, Z:6.44 [[ 7.52168677e-01 -6.58067438e-01 -3.44895436e-02 1.63791830e+02] [ 6.57392393e-01 7.52958950e-01 -2.98003493e-02 5.20013181e+01] [ 4.55798500e-02 -2.58274229e-04 9.98960665e-01 6.43682223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.26710568099998 meters 0.02051549679078615 Centerline is valid? [True, True] Translation: X:163.82, Y:52.01, Z:6.45 [[ 7.46770193e-01 -6.64336726e-01 -3.14800611e-02 1.63819840e+02] [ 6.63779664e-01 7.47433194e-01 -2.72062036e-02 5.20117145e+01] [ 4.16033228e-02 -5.79042459e-04 9.99134039e-01 6.44597578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.29710568099998 meters 0.02175555016917494 Centerline is valid? [True, True] Translation: X:163.85, Y:52.02, Z:6.45 [[ 7.43561852e-01 -6.67928724e-01 -3.14164316e-02 1.63846068e+02] [ 6.67376721e-01 7.44224849e-01 -2.71603866e-02 5.20246432e+01] [ 4.15220915e-02 -7.71167742e-04 9.99137288e-01 6.44602209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.32710568099998 meters 0.02197931003153918 Centerline is valid? [True, True] Translation: X:163.87, Y:52.04, Z:6.45 [[ 7.42840691e-01 -6.68721509e-01 -3.16109331e-02 1.63868983e+02] [ 6.68162937e-01 7.43512531e-01 -2.73387424e-02 5.20423016e+01] [ 4.17851299e-02 -8.12923551e-04 9.99126289e-01 6.44565972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.35710568099998 meters 0.021112677947059445 Centerline is valid? [True, True] Translation: X:163.89, Y:52.06, Z:6.45 [[ 7.44906556e-01 -6.66363139e-01 -3.27778809e-02 1.63888306e+02] [ 6.65759531e-01 7.45627042e-01 -2.83647858e-02 5.20629453e+01] [ 4.33413221e-02 -6.93071675e-04 9.99060083e-01 6.44583151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.38710568099998 meters 0.019495388405061344 Centerline is valid? [True, True] Translation: X:163.91, Y:52.09, Z:6.45 [[ 7.47729464e-01 -6.63197713e-01 -3.27023355e-02 1.63905430e+02] [ 6.62593499e-01 7.48444081e-01 -2.83074793e-02 5.20870410e+01] [ 4.32493249e-02 -5.02018597e-04 9.99064184e-01 6.44939618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41710568099998 meters 0.01872509207916607 Centerline is valid? [True, True] Translation: X:163.92, Y:52.12, Z:6.46 [[ 7.57158410e-01 -6.52469836e-01 -3.15317994e-02 1.63916558e+02] [ 6.51897986e-01 7.57814685e-01 -2.73115192e-02 5.21173849e+01] [ 4.17152031e-02 1.23629927e-04 9.99129534e-01 6.45508395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.44710568099998 meters 0.02203660687256844 Centerline is valid? [True, True] Translation: X:163.93, Y:52.15, Z:6.45 [[ 7.66776083e-01 -6.41065736e-01 -3.30024393e-02 1.63929023e+02] [ 6.40427830e-01 7.67485562e-01 -2.86025535e-02 5.21482451e+01] [ 4.36650127e-02 7.96073371e-04 9.99045911e-01 6.45462056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47710568099998 meters 0.024011105999928187 Centerline is valid? [True, True] Translation: X:163.95, Y:52.17, Z:6.45 [[ 7.70459733e-01 -6.36583241e-01 -3.39643684e-02 1.63947136e+02] [ 6.35903064e-01 7.71207237e-01 -2.94396046e-02 5.21718076e+01] [ 4.49343256e-02 1.08398398e-03 9.98989355e-01 6.45465838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.50710568099998 meters 0.027490641703192674 Centerline is valid? [True, True] Translation: X:163.96, Y:52.20, Z:6.46 [[ 7.76192513e-01 -6.29686997e-01 -3.19291106e-02 1.63964758e+02] [ 6.29079859e-01 7.76847686e-01 -2.76803863e-02 5.21968015e+01] [ 4.22340350e-02 1.39934821e-03 9.99106765e-01 6.45649031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53710568099999 meters 0.028800110489422354 Centerline is valid? [True, True] Translation: X:163.98, Y:52.22, Z:6.46 [[ 7.78485577e-01 -6.26933358e-01 -3.02451721e-02 1.63984952e+02] [ 6.26386372e-01 7.79071501e-01 -2.62242167e-02 5.22177857e+01] [ 4.00039878e-02 1.47001083e-03 9.99198439e-01 6.45983156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.567105681 meters 0.030557419269541142 Centerline is valid? [True, True] Translation: X:164.00, Y:52.24, Z:6.46 [[ 7.82021243e-01 -6.22555055e-01 -2.94614788e-02 1.64004113e+02] [ 6.22032806e-01 7.82574258e-01 -2.55483541e-02 5.22405566e+01] [ 3.89610519e-02 1.65334931e-03 9.99239362e-01 6.46193885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.597105681 meters 0.03327568424836778 Centerline is valid? [True, True] Translation: X:164.02, Y:52.26, Z:6.46 [[ 7.83284116e-01 -6.20941979e-01 -2.99508239e-02 1.64022717e+02] [ 6.20400889e-01 7.83854541e-01 -2.59768479e-02 5.22609232e+01] [ 3.96072047e-02 1.76573457e-03 9.99213767e-01 6.46112095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.627105681 meters 0.03674334268147573 Centerline is valid? [True, True] Translation: X:164.04, Y:52.28, Z:6.46 [[ 7.85668207e-01 -6.17802929e-01 -3.23266080e-02 1.64042474e+02] [ 6.17169532e-01 7.86330210e-01 -2.80458526e-02 5.22811694e+01] [ 4.27461983e-02 2.08373720e-03 9.99083791e-01 6.45733376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65710568099996 meters 0.03812704086179234 Centerline is valid? [True, True] Translation: X:164.06, Y:52.30, Z:6.46 [[ 7.86246886e-01 -6.16954619e-01 -3.43923308e-02 1.64063680e+02] [ 6.16236441e-01 7.86995446e-01 -2.98465685e-02 5.23006693e+01] [ 4.54805860e-02 2.27296400e-03 9.98962637e-01 6.45521562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.68710568099996 meters 0.036227812491756606 Centerline is valid? [True, True] Translation: X:164.09, Y:52.31, Z:6.45 [[ 7.84586056e-01 -6.18957305e-01 -3.62846469e-02 1.64091877e+02] [ 6.18158960e-01 7.85421286e-01 -3.15103592e-02 5.23117861e+01] [ 4.80023010e-02 2.29290886e-03 9.98844593e-01 6.45256994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.71710568099996 meters 0.03339056304753822 Centerline is valid? [True, True] Translation: X:164.12, Y:52.32, Z:6.45 [[ 7.82450929e-01 -6.21633890e-01 -3.66312750e-02 1.64120320e+02] [ 6.20822210e-01 7.83304936e-01 -3.18301705e-02 5.23239320e+01] [ 4.84801713e-02 2.16403735e-03 9.98821801e-01 6.45336249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.74710568099997 meters 0.03109530871023524 Centerline is valid? [True, True] Translation: X:164.15, Y:52.33, Z:6.45 [[ 7.76733702e-01 -6.28709023e-01 -3.75462438e-02 1.64149609e+02] [ 6.27863986e-01 7.77638616e-01 -3.26343168e-02 5.23342136e+01] [ 4.97148985e-02 1.77423939e-03 9.98761874e-01 6.45457954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.77710568099997 meters 0.02471204173259725 Centerline is valid? [True, True] Translation: X:164.18, Y:52.34, Z:6.46 [[ 7.70983716e-01 -6.35803660e-01 -3.65761488e-02 1.64183819e+02] [ 6.35009461e-01 7.71849758e-01 -3.17952142e-02 5.23391451e+01] [ 4.84468052e-02 1.28739187e-03 9.98824934e-01 6.45982940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.80710568099997 meters 0.023018381772888646 Centerline is valid? [True, True] Translation: X:164.21, Y:52.35, Z:6.46 [[ 7.68352715e-01 -6.39013528e-01 -3.59974469e-02 1.64210472e+02] [ 6.38247414e-01 7.69194746e-01 -3.12998493e-02 5.23524369e+01] [ 4.76900741e-02 1.07404679e-03 9.98861604e-01 6.46181827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.83710568099997 meters 0.02105867970436798 Centerline is valid? [True, True] Translation: X:164.24, Y:52.36, Z:6.46 [[ 7.64164053e-01 -6.43972655e-01 -3.67766087e-02 1.64237899e+02] [ 6.43177822e-01 7.65048094e-01 -3.19953626e-02 5.23627346e+01] [ 4.87400130e-02 7.95806931e-04 9.98811182e-01 6.46256521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.86710568099997 meters 0.019587259992890335 Centerline is valid? [True, True] Translation: X:164.26, Y:52.38, Z:6.46 [[ 7.61727268e-01 -6.46780800e-01 -3.80284861e-02 1.64263238e+02] [ 6.45933783e-01 7.62675671e-01 -3.30963637e-02 5.23776574e+01] [ 5.04094938e-02 6.46518774e-04 9.98728424e-01 6.46197417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.89710568099997 meters 0.018372464062433567 Centerline is valid? [True, True] Translation: X:164.29, Y:52.39, Z:6.46 [[ 7.57137302e-01 -6.52045964e-01 -3.97387305e-02 1.64290590e+02] [ 6.51126932e-01 7.58179367e-01 -3.46087496e-02 5.23895770e+01] [ 5.26955810e-02 3.28617632e-04 9.98610569e-01 6.46019446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.92710568099997 meters 0.01784648792717472 Centerline is valid? [True, True] Translation: X:164.32, Y:52.41, Z:6.46 [[ 7.54984674e-01 -6.54588245e-01 -3.88892155e-02 1.64315145e+02] [ 6.53710312e-01 7.55985583e-01 -3.38913819e-02 5.24051620e+01] [ 5.15845865e-02 1.65192732e-04 9.98668615e-01 6.46292190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.95710568099997 meters 0.017770687130951025 Centerline is valid? [True, True] Translation: X:164.34, Y:52.42, Z:6.47 [[ 7.49259286e-01 -6.61161083e-01 -3.84258324e-02 1.64342994e+02] [ 6.60311345e-01 7.50243928e-01 -3.35108415e-02 5.24160862e+01] [ 5.09848117e-02 -2.64703943e-04 9.98699394e-01 6.46696934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.98710568099997 meters 0.01984516742338056 Centerline is valid? [True, True] Translation: X:164.37, Y:52.43, Z:6.47 [[ 7.41753501e-01 -6.69523501e-01 -3.92431410e-02 1.64372332e+02] [ 6.68647488e-01 7.42790403e-01 -3.42484207e-02 5.24270723e+01] [ 5.20795511e-02 -8.35941681e-04 9.98642589e-01 6.46838230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.01710568099998 meters 0.02140446311290956 Centerline is valid? [True, True] Translation: X:164.40, Y:52.44, Z:6.47 [[ 7.37811891e-01 -6.73867006e-01 -3.92029555e-02 1.64397087e+02] [ 6.72997812e-01 7.38851806e-01 -3.42338034e-02 5.24422588e+01] [ 5.20342051e-02 -1.12539600e-03 9.98644669e-01 6.47049089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.04710568099998 meters 0.024466321162342396 Centerline is valid? [True, True] Translation: X:164.42, Y:52.46, Z:6.47 [[ 7.33433507e-01 -6.78540068e-01 -4.07267304e-02 1.64422084e+02] [ 6.77608041e-01 7.34561864e-01 -3.55838628e-02 5.24562601e+01] [ 5.40613797e-02 -1.49836269e-03 9.98536490e-01 6.47127218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.07710568099998 meters 0.02467307307192692 Centerline is valid? [True, True] Translation: X:164.44, Y:52.48, Z:6.47 [[ 7.32527448e-01 -6.79498957e-01 -4.10451652e-02 1.64442701e+02] [ 6.78553079e-01 7.33674790e-01 -3.58750826e-02 5.24769598e+01] [ 5.44908841e-02 -1.57184055e-03 9.98513031e-01 6.47369796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.10710568099998 meters 0.023346177300991307 Centerline is valid? [True, True] Translation: X:164.46, Y:52.50, Z:6.48 [[ 7.34999573e-01 -6.76912665e-01 -3.95584507e-02 1.64460314e+02] [ 6.76029385e-01 7.36062166e-01 -3.45941976e-02 5.25008846e+01] [ 5.25347294e-02 -1.31595458e-03 9.98618231e-01 6.47773551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13710568099998 meters 0.021653801693514694 Centerline is valid? [True, True] Translation: X:164.48, Y:52.52, Z:6.48 [[ 7.37908930e-01 -6.73817274e-01 -3.82190030e-02 1.64478048e+02] [ 6.72988022e-01 7.38897274e-01 -3.34356141e-02 5.25245652e+01] [ 5.07694114e-02 -1.04849299e-03 9.98709852e-01 6.48215535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.16710568099998 meters 0.018728459662406417 Centerline is valid? [True, True] Translation: X:164.49, Y:52.56, Z:6.49 [[ 7.46568403e-01 -6.64392042e-01 -3.49118139e-02 1.64485935e+02] [ 6.63689084e-01 7.47384163e-01 -3.05567107e-02 5.25591423e+01] [ 4.63941722e-02 -3.57915087e-04 9.98923147e-01 6.48952602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19710568099998 meters 0.01809546005277355 Centerline is valid? [True, True] Translation: X:164.50, Y:52.59, Z:6.49 [[ 7.50773872e-01 -6.59721208e-01 -3.32644043e-02 1.64500679e+02] [ 6.59078173e-01 7.51510428e-01 -2.91210964e-02 5.25865914e+01] [ 4.42103516e-02 -6.04844854e-05 9.99022243e-01 6.49251009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.22710568099998 meters 0.02003733897390899 Centerline is valid? [True, True] Translation: X:164.51, Y:52.62, Z:6.49 [[ 7.59194448e-01 -6.50022548e-01 -3.30828759e-02 1.64510407e+02] [ 6.49376528e-01 7.59914745e-01 -2.89776652e-02 5.26176725e+01] [ 4.39763010e-02 5.16439505e-04 9.99032441e-01 6.49108984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25710568099998 meters 0.023857233473330627 Centerline is valid? [True, True] Translation: X:164.52, Y:52.65, Z:6.48 [[ 7.66210162e-01 -6.41520389e-01 -3.70618125e-02 1.64523068e+02] [ 6.40699147e-01 7.67105147e-01 -3.24699389e-02 5.26483074e+01] [ 4.92604349e-02 1.13332551e-03 9.98785325e-01 6.48424107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.28710568099999 meters 0.02724523627663477 Centerline is valid? [True, True] Translation: X:164.54, Y:52.67, Z:6.48 [[ 7.69250633e-01 -6.37769887e-01 -3.87689998e-02 1.64538089e+02] [ 6.36866203e-01 7.70225614e-01 -3.39697336e-02 5.26747999e+01] [ 5.15257498e-02 1.44057335e-03 9.98670627e-01 6.48104668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.317105681 meters 0.031370268078339564 Centerline is valid? [True, True] Translation: X:164.55, Y:52.70, Z:6.48 [[ 7.73842231e-01 -6.32257722e-01 -3.76613160e-02 1.64552499e+02] [ 6.31398174e-01 7.74756137e-01 -3.30041455e-02 5.27011232e+01] [ 5.00454616e-02 1.76071539e-03 9.98745389e-01 6.48185756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.347105681 meters 0.02901382867593707 Centerline is valid? [True, True] Translation: X:164.58, Y:52.72, Z:6.49 [[ 7.74634182e-01 -6.31335164e-01 -3.68482566e-02 1.64576890e+02] [ 6.30510821e-01 7.75508034e-01 -3.23016055e-02 5.27169444e+01] [ 4.89692585e-02 1.78870320e-03 9.98798685e-01 6.48610509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.377105681 meters 0.028475724234323322 Centerline is valid? [True, True] Translation: X:164.60, Y:52.73, Z:6.49 [[ 7.73156143e-01 -6.33171884e-01 -3.63722852e-02 1.64600187e+02] [ 6.32369686e-01 7.74009421e-01 -3.19060602e-02 5.27338656e+01] [ 4.83545117e-02 1.66763596e-03 9.98828844e-01 6.48736752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40710568099996 meters 0.027873225784840017 Centerline is valid? [True, True] Translation: X:164.62, Y:52.75, Z:6.49 [[ 7.71628917e-01 -6.35006999e-01 -3.68093114e-02 1.64621955e+02] [ 6.34186549e-01 7.72504755e-01 -3.23082869e-02 5.27514270e+01] [ 4.89513564e-02 1.58603824e-03 9.98799904e-01 6.48786403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.43710568099996 meters 0.026110298677194835 Centerline is valid? [True, True] Translation: X:164.65, Y:52.77, Z:6.49 [[ 7.69078122e-01 -6.38051060e-01 -3.75458075e-02 1.64647114e+02] [ 6.37200652e-01 7.69992734e-01 -3.29623827e-02 5.27660390e+01] [ 4.99416822e-02 1.42643440e-03 9.98751117e-01 6.48749865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.46710568099996 meters 0.025489658732949397 Centerline is valid? [True, True] Translation: X:164.67, Y:52.78, Z:6.49 [[ 7.68393558e-01 -6.38886218e-01 -3.73596139e-02 1.64669614e+02] [ 6.38044703e-01 7.69300016e-01 -3.28091820e-02 5.27833804e+01] [ 4.97020858e-02 1.37326035e-03 9.98763144e-01 6.48871282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.49710568099997 meters 0.025442685894822875 Centerline is valid? [True, True] Translation: X:164.69, Y:52.80, Z:6.49 [[ 7.67274756e-01 -6.40215094e-01 -3.76042982e-02 1.64691423e+02] [ 6.39363174e-01 7.68194583e-01 -3.30426026e-02 5.28013726e+01] [ 5.00417911e-02 1.30995139e-03 9.98746266e-01 6.48737156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.52710568099997 meters 0.024142668025052782 Centerline is valid? [True, True] Translation: X:164.71, Y:52.82, Z:6.48 [[ 7.64417952e-01 -6.43459496e-01 -4.03121690e-02 1.64714972e+02] [ 6.42484388e-01 7.65479245e-01 -3.54307338e-02 5.28166444e+01] [ 5.36563708e-02 1.18394973e-03 9.98558757e-01 6.48421570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.55710568099997 meters 0.02295590020739465 Centerline is valid? [True, True] Translation: X:164.74, Y:52.83, Z:6.48 [[ 7.61864490e-01 -6.46491740e-01 -4.01363830e-02 1.64739448e+02] [ 6.45528636e-01 7.62920361e-01 -3.52888472e-02 5.28320871e+01] [ 5.34348120e-02 9.76134934e-04 9.98570863e-01 6.48485820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.58710568099997 meters 0.019379327098666823 Centerline is valid? [True, True] Translation: X:164.77, Y:52.84, Z:6.49 [[ 7.54497921e-01 -6.55226698e-01 -3.75614389e-02 1.64769898e+02] [ 6.54393192e-01 7.55432229e-01 -3.30408589e-02 5.28409818e+01] [ 5.00243744e-02 3.49309461e-04 9.98747936e-01 6.49072440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.61710568099997 meters 0.018508609607541825 Centerline is valid? [True, True] Translation: X:164.80, Y:52.85, Z:6.49 [[ 7.50196356e-01 -6.60212012e-01 -3.64077834e-02 1.64795690e+02] [ 6.59434367e-01 7.51079290e-01 -3.20346062e-02 5.28546745e+01] [ 4.84947639e-02 2.37012555e-05 9.98823437e-01 6.49441366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.64710568099997 meters 0.01899001892086436 Centerline is valid? [True, True] Translation: X:164.82, Y:52.87, Z:6.50 [[ 7.44198557e-01 -6.67011207e-01 -3.55606224e-02 1.64823272e+02] [ 6.66276216e-01 7.45047578e-01 -3.13067170e-02 5.28659463e+01] [ 4.73762867e-02 -3.94783318e-04 9.98877035e-01 6.49733284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.67710568099997 meters 0.01981285325691272 Centerline is valid? [True, True] Translation: X:164.85, Y:52.88, Z:6.50 [[ 7.41917061e-01 -6.69594767e-01 -3.46687688e-02 1.64845561e+02] [ 6.68898564e-01 7.42726436e-01 -3.05311742e-02 5.28832858e+01] [ 4.61929255e-02 -5.38290676e-04 9.98932392e-01 6.50134894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.70710568099997 meters 0.01980601446513669 Centerline is valid? [True, True] Translation: X:164.87, Y:52.90, Z:6.50 [[ 7.42091235e-01 -6.69440577e-01 -3.39103652e-02 1.64865950e+02] [ 6.68773577e-01 7.42865438e-01 -2.98804975e-02 5.29013899e+01] [ 4.51940558e-02 -5.04300965e-04 9.98978099e-01 6.50413093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.73710568099997 meters 0.019229067248580253 Centerline is valid? [True, True] Translation: X:164.89, Y:52.92, Z:6.51 [[ 7.45052090e-01 -6.66201975e-01 -3.27461720e-02 1.64886163e+02] [ 6.65576506e-01 7.45771309e-01 -2.88629619e-02 5.29227090e+01] [ 4.36497177e-02 -2.90672669e-04 9.99046855e-01 6.50605034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.76710568099998 meters 0.019112596506633002 Centerline is valid? [True, True] Translation: X:164.91, Y:52.94, Z:6.51 [[ 7.47394354e-01 -6.63553859e-01 -3.31354228e-02 1.64905796e+02] [ 6.62910075e-01 7.48128506e-01 -2.92227858e-02 5.29426176e+01] [ 4.41804466e-02 -1.24860525e-04 9.99023560e-01 6.50594325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.79710568099998 meters 0.019463882977092527 Centerline is valid? [True, True] Translation: X:164.92, Y:52.97, Z:6.51 [[ 7.53634013e-01 -6.56425768e-01 -3.37784910e-02 1.64921822e+02] [ 6.55749098e-01 7.54390560e-01 -2.97993982e-02 5.29679110e+01] [ 4.50432676e-02 3.07625013e-04 9.98984990e-01 6.50567743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.82710568099998 meters 0.019463882977092527 Centerline is valid? [True, True] Translation: X:164.94, Y:52.99, Z:6.51 [[ 7.53386676e-01 -6.56710139e-01 -3.37684713e-02 1.64942209e+02] [ 6.56033246e-01 7.54143023e-01 -2.98107488e-02 5.29862099e+01] [ 4.50432780e-02 3.05781160e-04 9.98984990e-01 6.50669436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.85710568099998 meters 0.020951527349875754 Centerline is valid? [True, True] Translation: X:164.96, Y:53.01, Z:6.51 [[ 7.57478617e-01 -6.52022122e-01 -3.30650437e-02 1.64959226e+02] [ 6.51367807e-01 7.58199715e-01 -2.92091276e-02 5.30095568e+01] [ 4.41149041e-02 5.87784551e-04 9.99026291e-01 6.50820510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.88710568099998 meters 0.02538693391771775 Centerline is valid? [True, True] Translation: X:164.97, Y:53.04, Z:6.51 [[ 7.66523855e-01 -6.41424652e-01 -3.18684114e-02 1.64971675e+02] [ 6.40807340e-01 7.67185157e-01 -2.81582876e-02 5.30384557e+01] [ 4.25103920e-02 1.16248721e-03 9.99095348e-01 6.50947846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91710568099998 meters 0.028190734372517963 Centerline is valid? [True, True] Translation: X:164.99, Y:53.06, Z:6.51 [[ 7.70193097e-01 -6.36982581e-01 -3.24928293e-02 1.64990156e+02] [ 6.36336669e-01 7.70876851e-01 -2.87145390e-02 5.30614353e+01] [ 4.33386311e-02 1.43936103e-03 9.99059403e-01 6.50831334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.94710568099998 meters 0.03239113875338394 Centerline is valid? [True, True] Translation: X:165.01, Y:53.09, Z:6.51 [[ 7.74070080e-01 -6.32208795e-01 -3.35790218e-02 1.65007829e+02] [ 6.31514253e-01 7.74796047e-01 -2.96788531e-02 5.30853621e+01] [ 4.47801253e-02 1.76788131e-03 9.98995303e-01 6.50658990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97710568099998 meters 0.03185143414843137 Centerline is valid? [True, True] Translation: X:165.03, Y:53.10, Z:6.51 [[ 7.75006624e-01 -6.31023062e-01 -3.42728447e-02 1.65032553e+02] [ 6.30297986e-01 7.75761793e-01 -3.03000027e-02 5.31014190e+01] [ 4.57075639e-02 1.88059786e-03 9.98953093e-01 6.50575875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.00710568099998 meters 0.032735336750134715 Centerline is valid? [True, True] Translation: X:165.05, Y:53.12, Z:6.51 [[ 7.74767616e-01 -6.31323476e-01 -3.41439534e-02 1.65054460e+02] [ 6.30603300e-01 7.75517357e-01 -3.02044017e-02 5.31189515e+01] [ 4.55479763e-02 1.87010262e-03 9.98960402e-01 6.50634852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03710568099999 meters 0.030222979771150377 Centerline is valid? [True, True] Translation: X:165.08, Y:53.13, Z:6.51 [[ 7.72018157e-01 -6.34748752e-01 -3.28935674e-02 1.65082227e+02] [ 6.34083009e-01 7.72716903e-01 -2.91088584e-02 5.31322043e+01] [ 4.38942271e-02 1.61531505e-03 9.99034878e-01 6.51091393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.067105681 meters 0.028891107035989336 Centerline is valid? [True, True] Translation: X:165.11, Y:53.15, Z:6.51 [[ 7.70140528e-01 -6.36978525e-01 -3.37923863e-02 1.65106419e+02] [ 6.36277256e-01 7.70880004e-01 -2.99211053e-02 5.31482816e+01] [ 4.51089764e-02 1.54212906e-03 9.98980882e-01 6.51182054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.097105681 meters 0.02543825246842771 Centerline is valid? [True, True] Translation: X:165.14, Y:53.16, Z:6.51 [[ 7.65556946e-01 -6.42428891e-01 -3.47517249e-02 1.65135224e+02] [ 6.41691985e-01 7.66344249e-01 -3.07877926e-02 5.31596557e+01] [ 4.64107519e-02 1.26990515e-03 9.98921633e-01 6.51045550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.127105681 meters 0.02265496141529454 Centerline is valid? [True, True] Translation: X:165.16, Y:53.17, Z:6.51 [[ 7.62621407e-01 -6.45899195e-01 -3.49688385e-02 1.65162091e+02] [ 6.45156306e-01 7.63421955e-01 -3.09880618e-02 5.31730776e+01] [ 4.67111432e-02 1.07179266e-03 9.98907864e-01 6.51046407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15710568099996 meters 0.019431775338866333 Centerline is valid? [True, True] Translation: X:165.19, Y:53.18, Z:6.51 [[ 7.55995647e-01 -6.53630161e-01 -3.51879833e-02 1.65192140e+02] [ 6.52885408e-01 7.56813872e-01 -3.11994613e-02 5.31825467e+01] [ 4.70236628e-02 6.12936034e-04 9.98893588e-01 6.51147231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.18710568099996 meters 0.017746934661896616 Centerline is valid? [True, True] Translation: X:165.22, Y:53.19, Z:6.51 [[ 7.51725812e-01 -6.58593801e-01 -3.40955694e-02 1.65219284e+02] [ 6.57899331e-01 7.52498582e-01 -3.02383041e-02 5.31947685e+01] [ 4.55716273e-02 2.99461357e-04 9.98961029e-01 6.51383760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.21710568099996 meters 0.01754472583415159 Centerline is valid? [True, True] Translation: X:165.25, Y:53.20, Z:6.52 [[ 7.42652343e-01 -6.68861370e-01 -3.30448993e-02 1.65251933e+02] [ 6.68218358e-01 7.43387097e-01 -2.93232173e-02 5.32003158e+01] [ 4.41783191e-02 -3.04252328e-04 9.99023615e-01 6.51605981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.24710568099997 meters 0.020371511979675773 Centerline is valid? [True, True] Translation: X:165.28, Y:53.21, Z:6.52 [[ 7.35253036e-01 -6.77009745e-01 -3.25695927e-02 1.65282042e+02] [ 6.76392664e-01 7.35973645e-01 -2.89094833e-02 5.32103767e+01] [ 4.35423638e-02 -7.74048197e-04 9.99051282e-01 6.51803509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.27710568099997 meters 0.02145814683972238 Centerline is valid? [True, True] Translation: X:165.31, Y:53.23, Z:6.52 [[ 7.31895030e-01 -6.80660815e-01 -3.21017136e-02 1.65305726e+02] [ 6.80064142e-01 7.32598065e-01 -2.85103316e-02 5.32263943e+01] [ 4.29235188e-02 -9.64654367e-04 9.99077895e-01 6.52075648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.30710568099997 meters 0.023131855054188983 Centerline is valid? [True, True] Translation: X:165.33, Y:53.24, Z:6.52 [[ 7.28399060e-01 -6.84436083e-01 -3.13377867e-02 1.65330264e+02] [ 6.83870206e-01 7.29071969e-01 -2.78496732e-02 5.32417124e+01] [ 4.19088231e-02 -1.14530286e-03 9.99120783e-01 6.52318973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.33710568099997 meters 0.02413855569834069 Centerline is valid? [True, True] Translation: X:165.35, Y:53.26, Z:6.52 [[ 7.28398349e-01 -6.84439618e-01 -3.12770630e-02 1.65351276e+02] [ 6.83875211e-01 7.29068674e-01 -2.78130376e-02 5.32580095e+01] [ 4.18394717e-02 -1.13063744e-03 9.99123706e-01 6.52462104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.36710568099997 meters 0.021694235694685222 Centerline is valid? [True, True] Translation: X:165.37, Y:53.28, Z:6.53 [[ 7.31885819e-01 -6.80714897e-01 -3.11508692e-02 1.65367016e+02] [ 6.80151295e-01 7.32547886e-01 -2.77093920e-02 5.32832887e+01] [ 4.16816993e-02 -9.07192949e-04 9.99130528e-01 6.52857257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.39710568099997 meters 0.020042323471112303 Centerline is valid? [True, True] Translation: X:165.38, Y:53.31, Z:6.53 [[ 7.35006178e-01 -6.77330362e-01 -3.14563117e-02 1.65384015e+02] [ 6.76752258e-01 7.35678644e-01 -2.79877557e-02 5.33074344e+01] [ 4.20986934e-02 -7.16956648e-04 9.99113200e-01 6.52897761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.42710568099997 meters 0.017627109318523657 Centerline is valid? [True, True] Translation: X:165.40, Y:53.34, Z:6.53 [[ 7.41917899e-01 -6.69798004e-01 -3.04707124e-02 1.65397413e+02] [ 6.69248530e-01 7.42543307e-01 -2.71264248e-02 5.33351944e+01] [ 4.07950487e-02 -2.66899409e-04 9.99167500e-01 6.52961671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.45710568099997 meters 0.017247501511142814 Centerline is valid? [True, True] Translation: X:165.41, Y:53.36, Z:6.53 [[ 7.48448184e-01 -6.62465795e-01 -3.10545741e-02 1.65410631e+02] [ 6.61888465e-01 7.49092151e-01 -2.76515696e-02 5.33620080e+01] [ 4.15809567e-02 1.41102620e-04 9.99135128e-01 6.52920515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.48710568099997 meters 0.017933027330976976 Centerline is valid? [True, True] Translation: X:165.43, Y:53.39, Z:6.53 [[ 7.51170145e-01 -6.59362930e-01 -3.13678167e-02 1.65427774e+02] [ 6.58770845e-01 7.51824728e-01 -2.79383423e-02 5.33864588e+01] [ 4.20046075e-02 3.22245514e-04 9.99117365e-01 6.52943019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.51710568099998 meters 0.020518291874406947 Centerline is valid? [True, True] Translation: X:165.44, Y:53.41, Z:6.53 [[ 7.56356005e-01 -6.53422352e-01 -3.10616116e-02 1.65440333e+02] [ 6.52836051e-01 7.56993260e-01 -2.76820286e-02 5.34136661e+01] [ 4.16014868e-02 6.59328668e-04 9.99134066e-01 6.53053753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.54710568099998 meters 0.021832604660777615 Centerline is valid? [True, True] Translation: X:165.46, Y:53.44, Z:6.53 [[ 7.59597899e-01 -6.49630792e-01 -3.14780374e-02 1.65458165e+02] [ 6.49025055e-01 7.60249335e-01 -2.80611312e-02 5.34372580e+01] [ 4.21605319e-02 8.85141320e-04 9.99110457e-01 6.53138532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.57710568099998 meters 0.022244954486987288 Centerline is valid? [True, True] Translation: X:165.48, Y:53.46, Z:6.53 [[ 7.59760611e-01 -6.49398284e-01 -3.23370226e-02 1.65478267e+02] [ 6.48757963e-01 7.60447888e-01 -2.88464202e-02 5.34583345e+01] [ 4.33234363e-02 9.37472939e-04 9.99060659e-01 6.53074075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.60710568099998 meters 0.022918278012345295 Centerline is valid? [True, True] Translation: X:165.50, Y:53.48, Z:6.53 [[ 7.58975751e-01 -6.50301765e-01 -3.26101718e-02 1.65497450e+02] [ 6.49650618e-01 7.59675451e-01 -2.91081197e-02 5.34792898e+01] [ 4.37022086e-02 9.07138789e-04 9.99044190e-01 6.52892585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63710568099998 meters 0.02222318576632417 Centerline is valid? [True, True] Translation: X:165.52, Y:53.50, Z:6.53 [[ 7.58084330e-01 -6.51337956e-01 -3.26651977e-02 1.65520830e+02] [ 6.50685065e-01 7.58787277e-01 -2.91687295e-02 5.34968948e+01] [ 4.37846371e-02 8.57600456e-04 9.99040625e-01 6.52815722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.66710568099998 meters 0.021091360477765882 Centerline is valid? [True, True] Translation: X:165.55, Y:53.51, Z:6.53 [[ 7.55746671e-01 -6.54032681e-01 -3.29882022e-02 1.65546237e+02] [ 6.53368605e-01 7.56465949e-01 -2.94743037e-02 5.35106850e+01] [ 4.42316095e-02 7.21651233e-04 9.99021043e-01 6.52773636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69710568099998 meters 0.0199168163121179 Centerline is valid? [True, True] Translation: X:165.57, Y:53.53, Z:6.53 [[ 7.54127143e-01 -6.55881962e-01 -3.33332344e-02 1.65570057e+02] [ 6.55205209e-01 7.54863205e-01 -2.97939043e-02 5.35265212e+01] [ 4.47033166e-02 6.28283129e-04 9.99000109e-01 6.52968863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.72710568099998 meters 0.018899986886532105 Centerline is valid? [True, True] Translation: X:165.59, Y:53.54, Z:6.53 [[ 7.52168829e-01 -6.58106934e-01 -3.37241165e-02 1.65594209e+02] [ 6.57415563e-01 7.52924297e-01 -3.01625757e-02 5.35426942e+01] [ 4.52419069e-02 5.16590220e-04 9.98975927e-01 6.53359515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75710568099998 meters 0.019110659065852808 Centerline is valid? [True, True] Translation: X:165.61, Y:53.56, Z:6.53 [[ 7.51615767e-01 -6.58703713e-01 -3.43970622e-02 1.65614773e+02] [ 6.57984213e-01 7.52402262e-01 -3.07833018e-02 5.35607909e+01] [ 4.61575026e-02 5.04491074e-04 9.98934047e-01 6.53381786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.78710568099999 meters 0.018793982553156487 Centerline is valid? [True, True] Translation: X:165.64, Y:53.57, Z:6.53 [[ 7.51319349e-01 -6.58995732e-01 -3.52684116e-02 1.65640797e+02] [ 6.58239005e-01 7.52146506e-01 -3.15760403e-02 5.35743475e+01] [ 4.73354883e-02 5.08645853e-04 9.98878918e-01 6.53172208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.817105681 meters 0.017896345242557968 Centerline is valid? [True, True] Translation: X:165.67, Y:53.59, Z:6.53 [[ 7.49410278e-01 -6.61137092e-01 -3.58047552e-02 1.65665248e+02] [ 6.60358705e-01 7.50265014e-01 -3.20747436e-02 5.35892745e+01] [ 4.80688579e-02 3.93160796e-04 9.98843947e-01 6.53165246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.847105681 meters 0.017433711833006526 Centerline is valid? [True, True] Translation: X:165.69, Y:53.61, Z:6.53 [[ 7.47133406e-01 -6.63701299e-01 -3.59480001e-02 1.65688783e+02] [ 6.62919100e-01 7.47997680e-01 -3.22139516e-02 5.36062672e+01] [ 4.82694622e-02 2.37503540e-04 9.98834322e-01 6.53391990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.877105681 meters 0.017265667752492348 Centerline is valid? [True, True] Translation: X:165.72, Y:53.62, Z:6.54 [[ 7.40992423e-01 -6.70591872e-01 -3.51677350e-02 1.65716747e+02] [ 6.69849989e-01 7.41826466e-01 -3.15355009e-02 5.36172429e+01] [ 4.72358072e-02 -1.89539684e-04 9.98883748e-01 6.53719645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90710568099996 meters 0.01765422347905404 Centerline is valid? [True, True] Translation: X:165.74, Y:53.63, Z:6.54 [[ 7.37458835e-01 -6.74488040e-01 -3.49335061e-02 1.65742512e+02] [ 6.73759385e-01 7.38285654e-01 -3.13461963e-02 5.36310180e+01] [ 4.69335409e-02 -4.20248172e-04 9.98897926e-01 6.53925249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.93710568099996 meters 0.01974007017302808 Centerline is valid? [True, True] Translation: X:165.77, Y:53.64, Z:6.54 [[ 7.31660997e-01 -6.80743023e-01 -3.55122910e-02 1.65772208e+02] [ 6.79996467e-01 7.32521852e-01 -3.18832519e-02 5.36409970e+01] [ 4.77178304e-02 -8.20500588e-04 9.98860519e-01 6.53939623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.96710568099996 meters 0.02067269090586525 Centerline is valid? [True, True] Translation: X:165.80, Y:53.66, Z:6.54 [[ 7.30342021e-01 -6.82077937e-01 -3.70165033e-02 1.65795390e+02] [ 6.81268086e-01 7.31278882e-01 -3.32414131e-02 5.36572993e+01] [ 4.97426216e-02 -9.40561560e-04 9.98761627e-01 6.53890473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.99710568099997 meters 0.01989286181047059 Centerline is valid? [True, True] Translation: X:165.82, Y:53.68, Z:6.54 [[ 7.31710880e-01 -6.80615329e-01 -3.69047600e-02 1.65815305e+02] [ 6.79807819e-01 7.32640490e-01 -3.31548180e-02 5.36779511e+01] [ 4.96035988e-02 -8.28403346e-04 9.98768640e-01 6.54012800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.02710568099997 meters 0.017476708718895916 Centerline is valid? [True, True] Translation: X:165.83, Y:53.70, Z:6.55 [[ 7.37520956e-01 -6.74337149e-01 -3.64999801e-02 1.65830429e+02] [ 6.73538688e-01 7.38423496e-01 -3.28081790e-02 5.37041668e+01] [ 4.90762168e-02 -3.87429116e-04 9.98794961e-01 6.54603218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.05710568099997 meters 0.017145791045993102 Centerline is valid? [True, True] Translation: X:165.85, Y:53.73, Z:6.55 [[ 7.41217084e-01 -6.70296791e-01 -3.60478355e-02 1.65847057e+02] [ 6.69512892e-01 7.42093120e-01 -3.24081592e-02 5.37270697e+01] [ 4.84739358e-02 -1.13009348e-04 9.98824441e-01 6.54670404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.08710568099997 meters 0.01800606154576838 Centerline is valid? [True, True] Translation: X:165.86, Y:53.75, Z:6.55 [[ 7.47414505e-01 -6.63422433e-01 -3.52453355e-02 1.65862444e+02] [ 6.62664878e-01 7.48244989e-01 -3.16969242e-02 5.37533616e+01] [ 4.74005963e-02 3.34894971e-04 9.98875904e-01 6.54835236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.11710568099997 meters 0.01880661381682994 Centerline is valid? [True, True] Translation: X:165.88, Y:53.77, Z:6.55 [[ 7.49683926e-01 -6.60920578e-01 -3.40294251e-02 1.65881518e+02] [ 6.60211051e-01 7.50455696e-01 -3.06205445e-02 5.37738949e+01] [ 4.57753238e-02 4.89127502e-04 9.98951641e-01 6.54916232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.14710568099997 meters 0.01986006797738663 Centerline is valid? [True, True] Translation: X:165.90, Y:53.80, Z:6.55 [[ 7.52336467e-01 -6.57995257e-01 -3.21260309e-02 1.65900956e+02] [ 6.57359896e-01 7.53021804e-01 -2.89159057e-02 5.37954308e+01] [ 4.32181305e-02 6.36125939e-04 9.99065458e-01 6.55380833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.17710568099997 meters 0.019940852374798507 Centerline is valid? [True, True] Translation: X:165.92, Y:53.81, Z:6.56 [[ 7.52857005e-01 -6.57460426e-01 -3.08564247e-02 1.65921729e+02] [ 6.56873132e-01 7.53488793e-01 -2.77907817e-02 5.38144587e+01] [ 4.15213094e-02 6.53728327e-04 9.99137405e-01 6.55619364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.20710568099997 meters 0.021783748640336227 Centerline is valid? [True, True] Translation: X:165.94, Y:53.83, Z:6.56 [[ 7.54941820e-01 -6.55119687e-01 -2.96823857e-02 1.65940985e+02] [ 6.54573686e-01 7.55524723e-01 -2.67522580e-02 5.38346504e+01] [ 3.99517071e-02 7.67089729e-04 9.99201317e-01 6.55902009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.23710568099997 meters 0.024424871769531432 Centerline is valid? [True, True] Translation: X:165.96, Y:53.86, Z:6.56 [[ 7.58064151e-01 -6.51432125e-01 -3.12238506e-02 1.65960391e+02] [ 6.50824489e-01 7.58706236e-01 -2.81484045e-02 5.38569521e+01] [ 4.20265051e-02 1.01704977e-03 9.99115978e-01 6.55688004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.26710568099998 meters 0.0273416958202407 Centerline is valid? [True, True] Translation: X:165.98, Y:53.88, Z:6.55 [[ 7.62096390e-01 -6.46589320e-01 -3.36354598e-02 1.65979628e+02] [ 6.45879046e-01 7.62837020e-01 -3.03304996e-02 5.38801935e+01] [ 4.52697510e-02 1.39032555e-03 9.98973832e-01 6.55339344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.29710568099998 meters 0.027431674647671572 Centerline is valid? [True, True] Translation: X:166.00, Y:53.90, Z:6.55 [[ 7.64171995e-01 -6.44065929e-01 -3.49319622e-02 1.66002823e+02] [ 6.43296417e-01 7.64968288e-01 -3.15156737e-02 5.38989646e+01] [ 4.70200150e-02 1.61178913e-03 9.98892647e-01 6.55192181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.32710568099998 meters 0.0306702813674434 Centerline is valid? [True, True] Translation: X:166.02, Y:53.92, Z:6.55 [[ 7.67295847e-01 -6.40157291e-01 -3.81539683e-02 1.66024707e+02] [ 6.39233565e-01 7.68241175e-01 -3.44375633e-02 5.39188636e+01] [ 5.13569067e-02 2.03450211e-03 9.98678291e-01 6.54595477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.35710568099998 meters 0.031907163175937385 Centerline is valid? [True, True] Translation: X:166.05, Y:53.94, Z:6.55 [[ 7.67850348e-01 -6.39462468e-01 -3.86470521e-02 1.66045170e+02] [ 6.38513459e-01 7.68819411e-01 -3.48894970e-02 5.39374865e+01] [ 5.20231277e-02 2.11324947e-03 9.98643644e-01 6.54563213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38710568099998 meters 0.031656571594894614 Centerline is valid? [True, True] Translation: X:166.07, Y:53.95, Z:6.55 [[ 7.67381054e-01 -6.40035818e-01 -3.84768661e-02 1.66070530e+02] [ 6.39095229e-01 7.68342272e-01 -3.47482554e-02 5.39512873e+01] [ 5.18035308e-02 2.07477130e-03 9.98655140e-01 6.54930720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41710568099998 meters 0.03093651064313117 Centerline is valid? [True, True] Translation: X:166.10, Y:53.97, Z:6.55 [[ 7.66108653e-01 -6.41629419e-01 -3.72722456e-02 1.66095018e+02] [ 6.40747997e-01 7.67012396e-01 -3.36747366e-02 5.39672331e+01] [ 5.01949761e-02 1.91639038e-03 9.98737599e-01 6.55128184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44710568099998 meters 0.028150083052355133 Centerline is valid? [True, True] Translation: X:166.12, Y:53.98, Z:6.55 [[ 7.62815061e-01 -6.45529906e-01 -3.74742945e-02 1.66124796e+02] [ 6.44642627e-01 7.63733138e-01 -3.38759106e-02 5.39782213e+01] [ 5.04882739e-02 1.68352720e-03 9.98723235e-01 6.55350869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47710568099998 meters 0.02696495156171461 Centerline is valid? [True, True] Translation: X:166.15, Y:53.99, Z:6.55 [[ 7.60837568e-01 -6.47830323e-01 -3.79745602e-02 1.66149218e+02] [ 6.46921614e-01 7.61783070e-01 -3.43362622e-02 5.39924886e+01] [ 5.11724489e-02 1.55775447e-03 9.98688617e-01 6.55342514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.50710568099998 meters 0.023253723016784474 Centerline is valid? [True, True] Translation: X:166.18, Y:54.00, Z:6.55 [[ 7.57390356e-01 -6.51843370e-01 -3.82108603e-02 1.66180074e+02] [ 6.50927985e-01 7.58352509e-01 -3.45576424e-02 5.40008164e+01] [ 5.15034718e-02 1.30110684e-03 9.98671968e-01 6.55468526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53710568099999 meters 0.021404487860417695 Centerline is valid? [True, True] Translation: X:166.21, Y:54.01, Z:6.56 [[ 7.54338961e-01 -6.55480254e-01 -3.63093391e-02 1.66206855e+02] [ 6.54657635e-01 7.55211642e-01 -3.28444125e-02 5.40122558e+01] [ 4.89500995e-02 1.00563393e-03 9.98800719e-01 6.55940906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.567105681 meters 0.021430034819175398 Centerline is valid? [True, True] Translation: X:166.23, Y:54.03, Z:6.56 [[ 7.53384838e-01 -6.56601467e-01 -3.58580403e-02 1.66229536e+02] [ 6.55800038e-01 7.54237133e-01 -3.24446779e-02 5.40287592e+01] [ 4.83486886e-02 9.27624236e-04 9.98830088e-01 6.56175455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.597105681 meters 0.02027832328076574 Centerline is valid? [True, True] Translation: X:166.26, Y:54.04, Z:6.56 [[ 7.51933819e-01 -6.58200550e-01 -3.69806425e-02 1.66256878e+02] [ 6.57349321e-01 7.52842143e-01 -3.34750237e-02 5.40419813e+01] [ 4.98738651e-02 8.61802177e-04 9.98755153e-01 6.56383067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.627105681 meters 0.02018993048123471 Centerline is valid? [True, True] Translation: X:166.28, Y:54.06, Z:6.56 [[ 7.51418541e-01 -6.58770933e-01 -3.72965631e-02 1.66278757e+02] [ 6.57904618e-01 7.52343098e-01 -3.37842568e-02 5.40592264e+01] [ 5.03158982e-02 8.48535796e-04 9.98732993e-01 6.56414732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65710568099996 meters 0.020033612190884526 Centerline is valid? [True, True] Translation: X:166.30, Y:54.08, Z:6.57 [[ 7.51381976e-01 -6.58807459e-01 -3.73879467e-02 1.66302093e+02] [ 6.57935635e-01 7.52311093e-01 -3.38927759e-02 5.40757910e+01] [ 5.04561806e-02 8.67558526e-04 9.98725899e-01 6.56518816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.68710568099996 meters 0.021125092437920254 Centerline is valid? [True, True] Translation: X:166.32, Y:54.09, Z:6.57 [[ 7.51705478e-01 -6.58437243e-01 -3.74068336e-02 1.66323000e+02] [ 6.57562996e-01 7.52635085e-01 -3.39313357e-02 5.40945829e+01] [ 5.04953505e-02 9.09021327e-04 9.98723882e-01 6.56575045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.71710568099996 meters 0.021125092437920254 Centerline is valid? [True, True] Translation: X:166.34, Y:54.11, Z:6.57 [[ 7.51469577e-01 -6.58706815e-01 -3.74006298e-02 1.66343149e+02] [ 6.57832561e-01 7.52399177e-01 -3.39381724e-02 5.41132108e+01] [ 5.04955085e-02 9.00151985e-04 9.98723882e-01 6.56676711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.74710568099997 meters 0.020952441318048718 Centerline is valid? [True, True] Translation: X:166.37, Y:54.13, Z:6.57 [[ 7.51472277e-01 -6.58705965e-01 -3.73613238e-02 1.66367913e+02] [ 6.57832301e-01 7.52399899e-01 -3.39272101e-02 5.41272359e+01] [ 5.04587119e-02 9.17872192e-04 9.98725726e-01 6.57122926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.77710568099997 meters 0.020198112235270675 Centerline is valid? [True, True] Translation: X:166.39, Y:54.14, Z:6.58 [[ 7.50305489e-01 -6.60118257e-01 -3.58547140e-02 1.66390344e+02] [ 6.59314167e-01 7.51161258e-01 -3.25820963e-02 5.41446598e+01] [ 4.84407087e-02 8.07004774e-04 9.98825734e-01 6.57625907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.80710568099997 meters 0.018674226313232144 Centerline is valid? [True, True] Translation: X:166.41, Y:54.16, Z:6.59 [[ 7.47229336e-01 -6.63803344e-01 -3.18345721e-02 1.66413159e+02] [ 6.63172203e-01 7.47906982e-01 -2.89443657e-02 5.41599317e+01] [ 4.30226655e-02 5.16275850e-04 9.99073963e-01 6.58549453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.83710568099997 meters 0.01730344541901873 Centerline is valid? [True, True] Translation: X:166.44, Y:54.17, Z:6.59 [[ 7.42354730e-01 -6.69377446e-01 -2.90394364e-02 1.66441421e+02] [ 6.68856302e-01 7.42922473e-01 -2.64091998e-02 5.41709314e+01] [ 3.92517727e-02 1.81784363e-04 9.99229336e-01 6.59144296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.86710568099997 meters 0.017467319832040796 Centerline is valid? [True, True] Translation: X:166.47, Y:54.18, Z:6.59 [[ 7.35788297e-01 -6.76667721e-01 -2.71362709e-02 1.66469816e+02] [ 6.76217043e-01 7.36288505e-01 -2.46930951e-02 5.41813175e+01] [ 3.66891447e-02 -1.81118459e-04 9.99326710e-01 6.59421982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.89710568099997 meters 0.018363771767377402 Centerline is valid? [True, True] Translation: X:166.49, Y:54.20, Z:6.59 [[ 7.32502344e-01 -6.80207241e-01 -2.75395320e-02 1.66492398e+02] [ 6.79744870e-01 7.33019773e-01 -2.50783489e-02 5.41972046e+01] [ 3.72454959e-02 -3.49906269e-04 9.99306085e-01 6.59406727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.92710568099997 meters 0.01933816380486493 Centerline is valid? [True, True] Translation: X:166.51, Y:54.22, Z:6.59 [[ 7.29490778e-01 -6.83278230e-01 -3.12100103e-02 1.66514605e+02] [ 6.82686728e-01 7.30157886e-01 -2.84304861e-02 5.42156734e+01] [ 4.22141673e-02 -5.66882393e-04 9.99108424e-01 6.58840153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.95710568099997 meters 0.019223934432448964 Centerline is valid? [True, True] Translation: X:166.54, Y:54.24, Z:6.59 [[ 7.29344407e-01 -6.83362094e-01 -3.27564466e-02 1.66535838e+02] [ 6.82709721e-01 7.30079383e-01 -2.98585312e-02 5.42355685e+01] [ 4.43189947e-02 -5.85991751e-04 9.99017259e-01 6.58635173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.98710568099997 meters 0.01840768854712999 Centerline is valid? [True, True] Translation: X:166.55, Y:54.26, Z:6.59 [[ 7.31153467e-01 -6.81371309e-01 -3.38784124e-02 1.66553616e+02] [ 6.80670521e-01 7.31937784e-01 -3.08985801e-02 5.42579185e+01] [ 4.58502960e-02 -4.68432657e-04 9.98948212e-01 6.58539938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.01710568099998 meters 0.01741536874768009 Centerline is valid? [True, True] Translation: X:166.57, Y:54.28, Z:6.59 [[ 7.32751975e-01 -6.79637234e-01 -3.41726830e-02 1.66570330e+02] [ 6.78921874e-01 7.33548296e-01 -3.11766893e-02 5.42822356e+01] [ 4.62561523e-02 -3.55801332e-04 9.98929548e-01 6.58819894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.04710568099998 meters 0.016987194595570205 Centerline is valid? [True, True] Translation: X:166.58, Y:54.31, Z:6.59 [[ 7.37119189e-01 -6.74811599e-01 -3.58414066e-02 1.66582990e+02] [ 6.74017906e-01 7.37990044e-01 -3.27193864e-02 5.43085963e+01] [ 4.85300227e-02 -3.96621946e-05 9.98821723e-01 6.58633161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.07710568099998 meters 0.017220251830943854 Centerline is valid? [True, True] Translation: X:166.60, Y:54.33, Z:6.59 [[ 7.40136003e-01 -6.71484828e-01 -3.61500062e-02 1.66599602e+02] [ 6.70672771e-01 7.41018279e-01 -3.30143062e-02 5.43335357e+01] [ 4.89564211e-02 1.90251882e-04 9.98800897e-01 6.58726205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.10710568099998 meters 0.020721617391982392 Centerline is valid? [True, True] Translation: X:166.61, Y:54.37, Z:6.59 [[ 7.47610808e-01 -6.63257422e-01 -3.41712257e-02 1.66608580e+02] [ 6.62522491e-01 7.48391006e-01 -3.12226053e-02 5.43650997e+01] [ 4.62820627e-02 7.03151593e-04 9.98928164e-01 6.59139393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13710568099998 meters 0.023378226119624996 Centerline is valid? [True, True] Translation: X:166.62, Y:54.39, Z:6.60 [[ 7.54218040e-01 -6.55847027e-01 -3.19347123e-02 1.66622764e+02] [ 6.55198264e-01 7.54893035e-01 -2.91845998e-02 5.43925434e+01] [ 4.32479249e-02 1.08798353e-03 9.99063778e-01 6.59735326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.16710568099998 meters 0.024954706631726872 Centerline is valid? [True, True] Translation: X:166.64, Y:54.41, Z:6.60 [[ 7.56241559e-01 -6.53553657e-01 -3.10857139e-02 1.66641667e+02] [ 6.52936767e-01 7.56879250e-01 -2.84144228e-02 5.44144958e+01] [ 4.20984818e-02 1.19116187e-03 9.99112756e-01 6.59932136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19710568099998 meters 0.02981927352705495 Centerline is valid? [True, True] Translation: X:166.66, Y:54.44, Z:6.60 [[ 7.57695057e-01 -6.51929964e-01 -2.97577136e-02 1.66656732e+02] [ 6.51362768e-01 7.58278172e-01 -2.72168785e-02 5.44390055e+01] [ 4.03081233e-02 1.23902760e-03 9.99186529e-01 6.60052341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.22710568099998 meters 0.02468713473415735 Centerline is valid? [True, True] Translation: X:166.68, Y:54.45, Z:6.60 [[ 7.55678495e-01 -6.54144402e-01 -3.23282230e-02 1.66683590e+02] [ 6.53476535e-01 7.56368694e-01 -2.95773078e-02 5.44518815e+01] [ 4.37998861e-02 1.22520027e-03 9.99039573e-01 6.59748836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25710568099998 meters 0.024280088544350053 Centerline is valid? [True, True] Translation: X:166.71, Y:54.47, Z:6.60 [[ 7.54460218e-01 -6.55459125e-01 -3.41044744e-02 1.66705962e+02] [ 6.54716264e-01 7.55229654e-01 -3.12215164e-02 5.44689880e+01] [ 4.62211382e-02 1.22663805e-03 9.98930479e-01 6.59535781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.28710568099999 meters 0.022706526606787368 Centerline is valid? [True, True] Translation: X:166.73, Y:54.48, Z:6.60 [[ 7.52035126e-01 -6.58247683e-01 -3.39581663e-02 1.66731469e+02] [ 6.57513559e-01 7.52800683e-01 -3.10974592e-02 5.44835376e+01] [ 4.60335612e-02 1.05842687e-03 9.98939333e-01 6.59700802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.317105681 meters 0.02178786759035596 Centerline is valid? [True, True] Translation: X:166.75, Y:54.50, Z:6.60 [[ 7.50507601e-01 -6.60066724e-01 -3.24077276e-02 1.66753949e+02] [ 6.59399090e-01 7.51206417e-01 -2.96944344e-02 5.45003608e+01] [ 4.39452009e-02 9.16272593e-04 9.99033523e-01 6.60159024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.347105681 meters 0.018517791860620577 Centerline is valid? [True, True] Translation: X:166.78, Y:54.51, Z:6.61 [[ 7.44588558e-01 -6.66818343e-01 -3.06785981e-02 1.66780664e+02] [ 6.66225456e-01 7.45220135e-01 -2.81174588e-02 5.45138438e+01] [ 4.16115464e-02 4.97075069e-04 9.99133741e-01 6.60853527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.377105681 meters 0.016879112988594652 Centerline is valid? [True, True] Translation: X:166.81, Y:54.53, Z:6.61 [[ 7.39304408e-01 -6.72686589e-01 -3.03602604e-02 1.66807927e+02] [ 6.72110159e-01 7.39927511e-01 -2.78426322e-02 5.45269334e+01] [ 4.11937572e-02 1.78741275e-04 9.99151161e-01 6.60964380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.40710568099996 meters 0.016590457262112245 Centerline is valid? [True, True] Translation: X:166.83, Y:54.54, Z:6.61 [[ 7.37176121e-01 -6.75016223e-01 -3.04050227e-02 1.66829675e+02] [ 6.74439321e-01 7.37802884e-01 -2.79017441e-02 5.45425519e+01] [ 4.12670433e-02 6.21566829e-05 9.99148151e-01 6.60933564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.43710568099996 meters 0.016797089801850948 Centerline is valid? [True, True] Translation: X:166.85, Y:54.56, Z:6.61 [[ 7.32703202e-01 -6.79765814e-01 -3.26260109e-02 1.66854931e+02] [ 6.79105439e-01 7.33429203e-01 -2.99567487e-02 5.45578821e+01] [ 4.42924428e-02 -2.07095807e-04 9.99018587e-01 6.60579517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.46710568099996 meters 0.0173937712573015 Centerline is valid? [True, True] Translation: X:166.88, Y:54.57, Z:6.60 [[ 7.30113747e-01 -6.82483744e-01 -3.39095229e-02 1.66877908e+02] [ 6.81772337e-01 7.30900678e-01 -3.11557280e-02 5.45749701e+01] [ 4.60477712e-02 -3.71349348e-04 9.98939170e-01 6.60441222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.49710568099997 meters 0.020221689004877225 Centerline is valid? [True, True] Translation: X:166.90, Y:54.59, Z:6.60 [[ 7.24112345e-01 -6.88778374e-01 -3.52939503e-02 1.66904054e+02] [ 6.88014201e-01 7.24971537e-01 -3.24457878e-02 5.45882538e+01] [ 4.79350663e-02 -7.88343551e-04 9.98850143e-01 6.60293218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.52710568099997 meters 0.022049695820613058 Centerline is valid? [True, True] Translation: X:166.93, Y:54.61, Z:6.61 [[ 7.20539915e-01 -6.92546592e-01 -3.46619211e-02 1.66926452e+02] [ 6.91813457e-01 7.21372436e-01 -3.18739580e-02 5.46059469e+01] [ 4.70783555e-02 -1.01312448e-03 9.98890686e-01 6.60597691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.55710568099997 meters 0.027059092874027715 Centerline is valid? [True, True] Translation: X:166.95, Y:54.62, Z:6.61 [[ 7.14631556e-01 -6.98644849e-01 -3.45993383e-02 1.66951431e+02] [ 6.97920629e-01 7.15467274e-01 -3.18335583e-02 5.46200518e+01] [ 4.69950457e-02 -1.39832661e-03 9.98894144e-01 6.60913430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.58710568099997 meters 0.02640293773730402 Centerline is valid? [True, True] Translation: X:166.97, Y:54.64, Z:6.61 [[ 7.12606762e-01 -7.00750220e-01 -3.37747108e-02 1.66972160e+02] [ 7.00062070e-01 7.13405142e-01 -3.10837636e-02 5.46405397e+01] [ 4.58770066e-02 -1.49389382e-03 9.98945979e-01 6.61208962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.61710568099997 meters 0.03144629666849111 Centerline is valid? [True, True] Translation: X:167.00, Y:54.65, Z:6.61 [[ 7.09666027e-01 -7.03760582e-01 -3.30933955e-02 1.66996910e+02] [ 7.03102405e-01 7.10435323e-01 -3.04739246e-02 5.46542744e+01] [ 4.49570640e-02 -1.64173691e-03 9.98987571e-01 6.61363295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.64710568099997 meters 0.032552473768361255 Centerline is valid? [True, True] Translation: X:167.01, Y:54.68, Z:6.62 [[ 7.08952591e-01 -7.04558499e-01 -3.13615178e-02 1.67013301e+02] [ 7.03967940e-01 7.09644111e-01 -2.88855387e-02 5.46774162e+01] [ 4.26070682e-02 -1.59902554e-03 9.99090627e-01 6.61934651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.67710568099997 meters 0.03119334589472754 Centerline is valid? [True, True] Translation: X:167.03, Y:54.70, Z:6.62 [[ 7.10650676e-01 -7.02866480e-01 -3.08922148e-02 1.67029535e+02] [ 7.02291573e-01 7.11320287e-01 -2.84604139e-02 5.47023533e+01] [ 4.19781301e-02 -1.46992972e-03 9.99117449e-01 6.62180120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.70710568099997 meters 0.022918998097172547 Centerline is valid? [True, True] Translation: X:167.04, Y:54.74, Z:6.62 [[ 7.16697363e-01 -6.96668453e-01 -3.15904400e-02 1.67035260e+02] [ 6.96060452e-01 7.17392373e-01 -2.91209738e-02 5.47394438e+01] [ 4.29504045e-02 -1.11793086e-03 9.99076580e-01 6.62397506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.73710568099997 meters 0.02102415434678375 Centerline is valid? [True, True] Translation: X:167.05, Y:54.76, Z:6.63 [[ 7.20802471e-01 -6.92432178e-01 -3.13285236e-02 1.67050352e+02] [ 6.91829527e-01 7.21482476e-01 -2.88953711e-02 5.47648285e+01] [ 4.26110655e-02 -8.46142751e-04 9.99091378e-01 6.62521369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.76710568099998 meters 0.01732555420878539 Centerline is valid? [True, True] Translation: X:167.06, Y:54.80, Z:6.63 [[ 7.29920609e-01 -6.82781673e-01 -3.20170605e-02 1.67056946e+02] [ 6.82142593e-01 7.30622412e-01 -2.95359846e-02 5.47999998e+01] [ 4.35590109e-02 -2.81276784e-04 9.99050816e-01 6.62629908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.79710568099998 meters 0.0177750230550065 Centerline is valid? [True, True] Translation: X:167.06, Y:54.84, Z:6.63 [[ 7.38134240e-01 -6.73820897e-01 -3.35148128e-02 1.67061385e+02] [ 6.73110869e-01 7.38894666e-01 -3.09262221e-02 5.48373552e+01] [ 4.56026511e-02 2.68518720e-04 9.98959622e-01 6.62530396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.82710568099998 meters 0.019115804689164646 Centerline is valid? [True, True] Translation: X:167.08, Y:54.86, Z:6.62 [[ 7.41632458e-01 -6.69943624e-01 -3.40123144e-02 1.67075070e+02] [ 6.69207278e-01 7.42411785e-01 -3.14063756e-02 5.48649609e+01] [ 4.62916442e-02 5.30699212e-04 9.98927826e-01 6.62371873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.85710568099998 meters 0.022120147831563564 Centerline is valid? [True, True] Translation: X:167.09, Y:54.89, Z:6.62 [[ 7.47111631e-01 -6.63738312e-01 -3.57164499e-02 1.67086189e+02] [ 6.62918208e-01 7.47964236e-01 -3.29992594e-02 5.48947257e+01] [ 4.86174999e-02 9.77045535e-04 9.98816992e-01 6.61802365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.88710568099998 meters 0.022878689232113492 Centerline is valid? [True, True] Translation: X:167.11, Y:54.92, Z:6.62 [[ 7.48185005e-01 -6.62534428e-01 -3.55995833e-02 1.67105371e+02] [ 6.61717807e-01 7.49030713e-01 -3.29018979e-02 5.49169259e+01] [ 4.84638214e-02 1.05982838e-03 9.98824376e-01 6.61804548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91710568099998 meters 0.0225935221006735 Centerline is valid? [True, True] Translation: X:167.12, Y:54.94, Z:6.62 [[ 7.47456088e-01 -6.63469289e-01 -3.34349958e-02 1.67123487e+02] [ 6.62749065e-01 7.48202910e-01 -3.09205865e-02 5.49395810e+01] [ 4.55310207e-02 9.52768388e-04 9.98962471e-01 6.62185824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.94710568099998 meters 0.021073623253335273 Centerline is valid? [True, True] Translation: X:167.14, Y:54.96, Z:6.62 [[ 7.43523921e-01 -6.67808587e-01 -3.46968275e-02 1.67144288e+02] [ 6.67036624e-01 7.44332694e-01 -3.21089309e-02 5.49598776e+01] [ 4.72686029e-02 7.29703515e-04 9.98881948e-01 6.61949353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97710568099998 meters 0.019633050292889632 Centerline is valid? [True, True] Translation: X:167.17, Y:54.98, Z:6.62 [[ 7.40663003e-01 -6.70926727e-01 -3.57161342e-02 1.67168476e+02] [ 6.70111371e-01 7.41523440e-01 -3.30717289e-02 5.49769084e+01] [ 4.86730576e-02 5.61218413e-04 9.98814607e-01 6.61933166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.00710568099998 meters 0.018457087395560956 Centerline is valid? [True, True] Translation: X:167.19, Y:54.99, Z:6.62 [[ 7.34683669e-01 -6.77462954e-01 -3.58308845e-02 1.67194659e+02] [ 6.76649351e-01 7.35556881e-01 -3.31923275e-02 5.49912335e+01] [ 4.88422259e-02 1.40916219e-04 9.98806496e-01 6.61956184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03710568099999 meters 0.01839159766764648 Centerline is valid? [True, True] Translation: X:167.22, Y:55.01, Z:6.62 [[ 7.31336416e-01 -6.81050354e-01 -3.62968620e-02 1.67217498e+02] [ 6.80218898e-01 7.32236579e-01 -3.36428794e-02 5.50073688e+01] [ 4.94903850e-02 -8.55486359e-05 9.98774596e-01 6.62000508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.067105681 meters 0.0191488709463177 Centerline is valid? [True, True] Translation: X:167.24, Y:55.02, Z:6.62 [[ 7.25765456e-01 -6.86847986e-01 -3.87859085e-02 1.67241849e+02] [ 6.85906251e-01 7.26800927e-01 -3.59586872e-02 5.50226598e+01] [ 5.28877861e-02 -5.05924073e-04 9.98600334e-01 6.61773325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.097105681 meters 0.020001141870703582 Centerline is valid? [True, True] Translation: X:167.26, Y:55.04, Z:6.62 [[ 7.23894061e-01 -6.88750840e-01 -3.99958707e-02 1.67262666e+02] [ 6.87751538e-01 7.24997829e-01 -3.70940850e-02 5.50428344e+01] [ 5.45455017e-02 -6.55033747e-04 9.98511071e-01 6.61717047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.127105681 meters 0.01997790807570305 Centerline is valid? [True, True] Translation: X:167.28, Y:55.07, Z:6.62 [[ 7.22693132e-01 -6.89929800e-01 -4.13703786e-02 1.67281394e+02] [ 6.88861061e-01 7.23875892e-01 -3.83944257e-02 5.50656053e+01] [ 5.64364782e-02 -7.51055180e-04 9.98405909e-01 6.61708904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15710568099996 meters 0.019520389130356065 Centerline is valid? [True, True] Translation: X:167.30, Y:55.09, Z:6.62 [[ 7.24405581e-01 -6.88178772e-01 -4.05774771e-02 1.67299205e+02] [ 6.87146812e-01 7.25540923e-01 -3.76779414e-02 5.50865990e+01] [ 5.53697796e-02 -5.88572981e-04 9.98465744e-01 6.61917723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.18710568099996 meters 0.019264312854126595 Centerline is valid? [True, True] Translation: X:167.32, Y:55.11, Z:6.62 [[ 7.25654351e-01 -6.86843214e-01 -4.08920772e-02 1.67317508e+02] [ 6.85792193e-01 7.26805455e-01 -3.79854894e-02 5.51073334e+01] [ 5.58106604e-02 -4.79131656e-04 9.98441255e-01 6.61920622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.21710568099996 meters 0.01856622020962426 Centerline is valid? [True, True] Translation: X:167.33, Y:55.13, Z:6.62 [[ 7.30298258e-01 -6.81958720e-01 -3.99594631e-02 1.67332207e+02] [ 6.80946357e-01 7.31390660e-01 -3.71451408e-02 5.51338742e+01] [ 5.45574308e-02 -8.32192364e-05 9.98510631e-01 6.62266603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.24710568099997 meters 0.018761975558043452 Centerline is valid? [True, True] Translation: X:167.35, Y:55.16, Z:6.63 [[ 7.33259746e-01 -6.78821556e-01 -3.91336112e-02 1.67348826e+02] [ 6.77844914e-01 7.34303253e-01 -3.64006066e-02 5.51581241e+01] [ 5.34454544e-02 1.64580210e-04 9.98570757e-01 6.62588186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.27710568099997 meters 0.020711413062839364 Centerline is valid? [True, True] Translation: X:167.36, Y:55.18, Z:6.63 [[ 7.38161595e-01 -6.73447513e-01 -3.98234361e-02 1.67362642e+02] [ 6.72427192e-01 7.39234815e-01 -3.70615728e-02 5.51846932e+01] [ 5.43978944e-02 5.79068404e-04 9.98519170e-01 6.62509004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.30710568099997 meters 0.021270484752125642 Centerline is valid? [True, True] Translation: X:167.38, Y:55.21, Z:6.63 [[ 7.40070156e-01 -6.71341238e-01 -3.99638298e-02 1.67381640e+02] [ 6.70310163e-01 7.41148022e-01 -3.72007361e-02 5.52057980e+01] [ 5.45935016e-02 7.42993266e-04 9.98508386e-01 6.62505656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.33710568099997 meters 0.022800575475073425 Centerline is valid? [True, True] Translation: X:167.40, Y:55.23, Z:6.63 [[ 7.43637031e-01 -6.67465486e-01 -3.86495869e-02 1.67400587e+02] [ 6.66495241e-01 7.44640059e-01 -3.59899443e-02 5.52272304e+01] [ 5.28020763e-02 1.00368956e-03 9.98604493e-01 6.62671278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.36710568099997 meters 0.025569650114435804 Centerline is valid? [True, True] Translation: X:167.42, Y:55.25, Z:6.63 [[ 7.46422954e-01 -6.64424363e-01 -3.73234431e-02 1.67417107e+02] [ 6.63514842e-01 7.47354565e-01 -3.47736668e-02 5.52493663e+01] [ 5.09983170e-02 1.19120464e-03 9.98698029e-01 6.63014977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.39710568099997 meters 0.025177364314316875 Centerline is valid? [True, True] Translation: X:167.44, Y:55.27, Z:6.64 [[ 7.47147190e-01 -6.63692750e-01 -3.58191348e-02 1.67437203e+02] [ 6.62853646e-01 7.48004340e-01 -3.33848916e-02 5.52680337e+01] [ 4.89501788e-02 1.20058380e-03 9.98800500e-01 6.63644315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.42710568099997 meters 0.025252165810541138 Centerline is valid? [True, True] Translation: X:167.46, Y:55.29, Z:6.64 [[ 7.46589396e-01 -6.64548612e-01 -3.12956211e-02 1.67457176e+02] [ 6.63908154e-01 7.47244348e-01 -2.91864285e-02 5.52869039e+01] [ 4.27812766e-02 1.01286001e-03 9.99083949e-01 6.64446922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.45710568099997 meters 0.02367153383733887 Centerline is valid? [True, True] Translation: X:167.48, Y:55.30, Z:6.65 [[ 7.43897833e-01 -6.67612098e-01 -3.01678750e-02 1.67481460e+02] [ 6.67019131e-01 7.44508848e-01 -2.81434550e-02 5.53017208e+01] [ 4.12491609e-02 8.13305376e-04 9.99148560e-01 6.64695222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.48710568099997 meters 0.023168532191964346 Centerline is valid? [True, True] Translation: X:167.50, Y:55.32, Z:6.65 [[ 7.42653191e-01 -6.68983141e-01 -3.04597302e-02 1.67504658e+02] [ 6.68379470e-01 7.43277199e-01 -2.84233834e-02 5.53186686e+01] [ 4.16547872e-02 7.50058024e-04 9.99131781e-01 6.64711361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.51710568099998 meters 0.02369773797242379 Centerline is valid? [True, True] Translation: X:167.53, Y:55.33, Z:6.65 [[ 7.42988888e-01 -6.68597620e-01 -3.07365457e-02 1.67527702e+02] [ 6.67981897e-01 7.43623962e-01 -2.86982338e-02 5.53346982e+01] [ 4.20440028e-02 7.91012726e-04 9.99115447e-01 6.64710910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.54710568099998 meters 0.023783335009237436 Centerline is valid? [True, True] Translation: X:167.55, Y:55.35, Z:6.65 [[ 7.44398142e-01 -6.66989281e-01 -3.15706414e-02 1.67549403e+02] [ 6.66337859e-01 7.45066753e-01 -2.94854376e-02 5.53536470e+01] [ 4.31887061e-02 9.12191371e-04 9.99066516e-01 6.64752806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.57710568099998 meters 0.02578295708213829 Centerline is valid? [True, True] Translation: X:167.57, Y:55.38, Z:6.64 [[ 7.47933596e-01 -6.62889400e-01 -3.42487711e-02 1.67569325e+02] [ 6.62117392e-01 7.48716266e-01 -3.20079880e-02 5.53762356e+01] [ 4.68603680e-02 1.26314261e-03 9.98900651e-01 6.64474529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.60710568099998 meters 0.02753293300947989 Centerline is valid? [True, True] Translation: X:167.59, Y:55.40, Z:6.64 [[ 7.49311008e-01 -6.61253123e-01 -3.57396224e-02 1.67589047e+02] [ 6.60409715e-01 7.50161477e-01 -3.34180610e-02 5.53954635e+01] [ 4.89082851e-02 1.43772715e-03 9.98802239e-01 6.64165822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63710568099998 meters 0.02753293300947989 Centerline is valid? [True, True] Translation: X:167.61, Y:55.41, Z:6.64 [[ 7.49060682e-01 -6.61537128e-01 -3.57312539e-02 1.67608895e+02] [ 6.60693618e-01 7.49911047e-01 -3.34270067e-02 5.54143711e+01] [ 4.89084681e-02 1.43144507e-03 9.98802239e-01 6.64267482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.66710568099998 meters 0.027091735847444405 Centerline is valid? [True, True] Translation: X:167.64, Y:55.43, Z:6.64 [[ 7.49195776e-01 -6.61305724e-01 -3.71541203e-02 1.67636187e+02] [ 6.60392231e-01 7.50114942e-01 -3.47803741e-02 5.54267818e+01] [ 5.08703213e-02 1.52101700e-03 9.98704109e-01 6.64056283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69710568099998 meters 0.024936807712075827 Centerline is valid? [True, True] Translation: X:167.66, Y:55.44, Z:6.65 [[ 7.45687884e-01 -6.65329460e-01 -3.58648762e-02 1.67663601e+02] [ 6.64482568e-01 7.46548891e-01 -3.35808004e-02 5.54389062e+01] [ 4.91171794e-02 1.20921098e-03 9.98792291e-01 6.64519402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.72710568099998 meters 0.023682097081526653 Centerline is valid? [True, True] Translation: X:167.69, Y:55.46, Z:6.65 [[ 7.43433403e-01 -6.67855701e-01 -3.57146762e-02 1.67687665e+02] [ 6.67018340e-01 7.44290044e-01 -3.34494231e-02 5.54559023e+01] [ 4.89214659e-02 1.04507442e-03 9.98802081e-01 6.64806704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75710568099998 meters 0.021831677304338732 Centerline is valid? [True, True] Translation: X:167.71, Y:55.47, Z:6.65 [[ 7.40141661e-01 -6.71515659e-01 -3.54547920e-02 1.67714872e+02] [ 6.70693625e-01 7.40989918e-01 -3.32265273e-02 5.54692823e+01] [ 4.85837768e-02 8.13034134e-04 9.98818780e-01 6.65083704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.78710568099999 meters 0.020414541563379802 Centerline is valid? [True, True] Translation: X:167.74, Y:55.48, Z:6.65 [[ 7.36215862e-01 -6.75785975e-01 -3.60488632e-02 1.67741243e+02] [ 6.74940295e-01 7.37097693e-01 -3.38022196e-02 5.54814423e+01] [ 4.94145998e-02 5.54899935e-04 9.98778198e-01 6.65076335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.817105681 meters 0.019833857394775823 Centerline is valid? [True, True] Translation: X:167.77, Y:55.50, Z:6.65 [[ 7.33928688e-01 -6.78250735e-01 -3.63953601e-02 1.67765375e+02] [ 6.77391144e-01 7.34830443e-01 -3.41388077e-02 5.54982894e+01] [ 4.98990900e-02 4.01555713e-04 9.98754184e-01 6.65074791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.847105681 meters 0.01894198528767408 Centerline is valid? [True, True] Translation: X:167.79, Y:55.52, Z:6.65 [[ 7.31423544e-01 -6.80923210e-01 -3.69212903e-02 1.67788160e+02] [ 6.80040760e-01 7.32354781e-01 -3.46560174e-02 5.55150800e+01] [ 5.06375700e-02 2.40244696e-04 9.98717066e-01 6.65185217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.877105681 meters 0.01889187357637665 Centerline is valid? [True, True] Translation: X:167.81, Y:55.53, Z:6.65 [[ 7.28237679e-01 -6.84287765e-01 -3.76847241e-02 1.67809691e+02] [ 6.83371608e-01 7.29212078e-01 -3.53976197e-02 5.55311517e+01] [ 5.17023141e-02 2.52099194e-05 9.98662541e-01 6.65311926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90710568099996 meters 0.018825856253909694 Centerline is valid? [True, True] Translation: X:167.83, Y:55.55, Z:6.66 [[ 7.27371230e-01 -6.85225408e-01 -3.73795985e-02 1.67830070e+02] [ 6.84324225e-01 7.28331064e-01 -3.51314109e-02 5.55501284e+01] [ 5.12976581e-02 -2.61872013e-05 9.98683408e-01 6.65560553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.93710568099996 meters 0.018999674010971676 Centerline is valid? [True, True] Translation: X:167.85, Y:55.57, Z:6.66 [[ 7.27787778e-01 -6.84756046e-01 -3.78696087e-02 1.67850972e+02] [ 6.83829068e-01 7.28772363e-01 -3.56180957e-02 5.55703524e+01] [ 5.19880305e-02 2.60755037e-05 9.98647708e-01 6.65560802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.96710568099996 meters 0.019269941520255084 Centerline is valid? [True, True] Translation: X:167.87, Y:55.59, Z:6.65 [[ 7.28728718e-01 -6.83666304e-01 -3.94314709e-02 1.67869966e+02] [ 6.82658278e-01 7.29794744e-01 -3.71120934e-02 5.55923640e+01] [ 5.41491679e-02 1.26428218e-04 9.98532850e-01 6.65387048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.99710568099997 meters 0.019439103258726408 Centerline is valid? [True, True] Translation: X:167.89, Y:55.61, Z:6.65 [[ 7.29837107e-01 -6.82428918e-01 -4.03555370e-02 1.67887736e+02] [ 6.81370023e-01 7.30951924e-01 -3.80023148e-02 5.56134260e+01] [ 5.54318360e-02 2.38446339e-04 9.98462445e-01 6.65367464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.02710568099997 meters 0.021019553862827667 Centerline is valid? [True, True] Translation: X:167.90, Y:55.64, Z:6.65 [[ 7.33986873e-01 -6.77919165e-01 -4.10959339e-02 1.67904196e+02] [ 6.76813038e-01 7.35136207e-01 -3.87152322e-02 5.56383978e+01] [ 5.64569068e-02 6.02208387e-04 9.98404855e-01 6.65289712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.05710568099997 meters 0.0215702166537224 Centerline is valid? [True, True] Translation: X:167.92, Y:55.66, Z:6.66 [[ 7.35811018e-01 -6.75963337e-01 -4.06904395e-02 1.67923838e+02] [ 6.74874579e-01 7.36934858e-01 -3.83577695e-02 5.56596949e+01] [ 5.59146491e-02 7.63126234e-04 9.98435261e-01 6.65570306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.08710568099997 meters 0.023358287188649594 Centerline is valid? [True, True] Translation: X:167.94, Y:55.68, Z:6.66 [[ 7.39822591e-01 -6.71644869e-01 -3.94424178e-02 1.67942224e+02] [ 6.70614455e-01 7.40872469e-01 -3.72053467e-02 5.56814749e+01] [ 5.42105816e-02 1.07470045e-03 9.98528947e-01 6.65952826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.11710568099997 meters 0.02458254077419245 Centerline is valid? [True, True] Translation: X:167.96, Y:55.70, Z:6.66 [[ 7.41273420e-01 -6.70170178e-01 -3.72243077e-02 1.67960254e+02] [ 6.69249523e-01 7.42206610e-01 -3.51343721e-02 5.57019299e+01] [ 5.11741356e-02 1.13182601e-03 9.98689104e-01 6.66340731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.14710568099997 meters 0.02456078183209888 Centerline is valid? [True, True] Translation: X:167.98, Y:55.72, Z:6.67 [[ 7.41430984e-01 -6.70229686e-01 -3.27454305e-02 1.67982304e+02] [ 6.69516728e-01 7.42153058e-01 -3.09223214e-02 5.57201086e+01] [ 4.50271791e-02 1.00315372e-03 9.98985259e-01 6.67210515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.17710568099997 meters 0.024245579077123925 Centerline is valid? [True, True] Translation: X:168.01, Y:55.74, Z:6.67 [[ 7.41224009e-01 -6.70527749e-01 -3.12970540e-02 1.68006324e+02] [ 6.69875955e-01 7.41883835e-01 -2.95733040e-02 5.57369922e+01] [ 4.30484994e-02 9.55299000e-04 9.99072527e-01 6.67452564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.20710568099997 meters 0.02463720176828468 Centerline is valid? [True, True] Translation: X:168.03, Y:55.75, Z:6.68 [[ 7.40915009e-01 -6.70829737e-01 -3.21312014e-02 1.68031014e+02] [ 6.70142157e-01 7.41610753e-01 -3.03805937e-02 5.57494495e+01] [ 4.42090501e-02 9.76965215e-04 9.99021824e-01 6.67730188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.23710568099997 meters 0.024767575816961793 Centerline is valid? [True, True] Translation: X:168.05, Y:55.77, Z:6.68 [[ 7.41234041e-01 -6.70404868e-01 -3.36067007e-02 1.68052908e+02] [ 6.69651619e-01 7.41994740e-01 -3.17886033e-02 5.57687226e+01] [ 4.62472295e-02 1.05801331e-03 9.98929464e-01 6.67582985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.26710568099998 meters 0.025211437921358246 Centerline is valid? [True, True] Translation: X:168.07, Y:55.79, Z:6.68 [[ 7.42703160e-01 -6.68717951e-01 -3.47608531e-02 1.68074572e+02] [ 6.67909139e-01 7.43515174e-01 -3.29023944e-02 5.57882715e+01] [ 4.78476435e-02 1.21962081e-03 9.98853901e-01 6.67507461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.29710568099998 meters 0.03088689020585193 Centerline is valid? [True, True] Translation: X:168.09, Y:55.81, Z:6.67 [[ 7.48415602e-01 -6.62291714e-01 -3.52671748e-02 1.68093479e+02] [ 6.61451063e-01 7.49244217e-01 -3.34005150e-02 5.58100219e+01] [ 4.85446111e-02 1.66995631e-03 9.98819619e-01 6.67209222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.32710568099998 meters 0.03537715666156152 Centerline is valid? [True, True] Translation: X:168.11, Y:55.83, Z:6.67 [[ 7.52992213e-01 -6.57028153e-01 -3.62868089e-02 1.68114871e+02] [ 6.56131552e-01 7.53863182e-01 -3.43757033e-02 5.58306855e+01] [ 4.99410941e-02 2.07571668e-03 9.98750008e-01 6.67106281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.35710568099998 meters 0.03684075093156214 Centerline is valid? [True, True] Translation: X:168.13, Y:55.85, Z:6.67 [[ 7.54078157e-01 -6.55747004e-01 -3.69052828e-02 1.68134918e+02] [ 6.54817004e-01 7.54977463e-01 -3.49817238e-02 5.58512056e+01] [ 5.08018174e-02 2.21274709e-03 9.98706303e-01 6.67051676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.38710568099998 meters 0.03822699234001461 Centerline is valid? [True, True] Translation: X:168.16, Y:55.87, Z:6.67 [[ 7.55228224e-01 -6.54349663e-01 -3.81686859e-02 1.68156369e+02] [ 6.53352073e-01 7.56188308e-01 -3.61982237e-02 5.58691909e+01] [ 5.25490094e-02 2.40033011e-03 9.98615462e-01 6.66849609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41710568099998 meters 0.03713536412115549 Centerline is valid? [True, True] Translation: X:168.18, Y:55.89, Z:6.67 [[ 7.54522415e-01 -6.55172196e-01 -3.80173528e-02 1.68180743e+02] [ 6.54182912e-01 7.55475946e-01 -3.60667808e-02 5.58852078e+01] [ 5.23511475e-02 2.34289201e-03 9.98625990e-01 6.67021880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.44710568099998 meters 0.03442666278148721 Centerline is valid? [True, True] Translation: X:168.21, Y:55.90, Z:6.68 [[ 7.51289622e-01 -6.59000058e-01 -3.58165774e-02 1.68211706e+02] [ 6.58125384e-01 7.52140304e-01 -3.39991389e-02 5.58951587e+01] [ 4.93445259e-02 1.97140142e-03 9.98779871e-01 6.67599862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47710568099998 meters 0.028094815695702085 Centerline is valid? [True, True] Translation: X:168.25, Y:55.90, Z:6.68 [[ 7.44772088e-01 -6.66425797e-01 -3.45136689e-02 1.68246102e+02] [ 6.65620624e-01 7.45569969e-01 -3.27811951e-02 5.59013759e+01] [ 4.75785892e-02 1.44150933e-03 9.98866457e-01 6.67930566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.50710568099998 meters 0.025490157165764044 Centerline is valid? [True, True] Translation: X:168.27, Y:55.91, Z:6.68 [[ 7.41222271e-01 -6.70315667e-01 -3.55872373e-02 1.68273090e+02] [ 6.69463180e-01 7.42075038e-01 -3.38184618e-02 5.59147674e+01] [ 4.90774453e-02 1.24265201e-03 9.98794203e-01 6.67842243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53710568099999 meters 0.021713028830914773 Centerline is valid? [True, True] Translation: X:168.30, Y:55.93, Z:6.68 [[ 7.34582340e-01 -6.77453532e-01 -3.80196984e-02 1.68301880e+02] [ 6.76489362e-01 7.35565107e-01 -3.61402470e-02 5.59253968e+01] [ 5.24493015e-02 8.28065679e-04 9.98623245e-01 6.67549194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.567105681 meters 0.019437626677259498 Centerline is valid? [True, True] Translation: X:168.33, Y:55.94, Z:6.68 [[ 7.30546716e-01 -6.81818171e-01 -3.77555050e-02 1.68329669e+02] [ 6.80872174e-01 7.31521501e-01 -3.59078900e-02 5.59384418e+01] [ 5.21016156e-02 5.25718345e-04 9.98641650e-01 6.67753697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.597105681 meters 0.01957271759694372 Centerline is valid? [True, True] Translation: X:168.35, Y:55.96, Z:6.68 [[ 7.30048586e-01 -6.82321154e-01 -3.83001894e-02 1.68351064e+02] [ 6.81347358e-01 7.31052380e-01 -3.64444159e-02 5.59560142e+01] [ 5.28662405e-02 5.10461401e-04 9.98601472e-01 6.67572531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.627105681 meters 0.019646827015930388 Centerline is valid? [True, True] Translation: X:168.37, Y:55.97, Z:6.68 [[ 7.29697414e-01 -6.82664118e-01 -3.88765457e-02 1.68373506e+02] [ 6.81660799e-01 7.30732135e-01 -3.70013852e-02 5.59730349e+01] [ 5.36678592e-02 4.99197965e-04 9.98558717e-01 6.67522241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65710568099996 meters 0.019066380070730075 Centerline is valid? [True, True] Translation: X:168.39, Y:55.99, Z:6.68 [[ 7.28917017e-01 -6.83503661e-01 -3.87650331e-02 1.68394317e+02] [ 6.82506524e-01 7.29946947e-01 -3.69093360e-02 5.59913438e+01] [ 5.35240839e-02 4.46455090e-04 9.98566459e-01 6.67852067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.68710568099996 meters 0.019256377175852987 Centerline is valid? [True, True] Translation: X:168.41, Y:56.01, Z:6.68 [[ 7.28281343e-01 -6.84171113e-01 -3.89380722e-02 1.68412596e+02] [ 6.83164766e-01 7.29321408e-01 -3.70969965e-02 5.60107082e+01] [ 5.37790630e-02 4.15931461e-04 9.98552772e-01 6.67800137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.71710568099996 meters 0.018198591432275573 Centerline is valid? [True, True] Translation: X:168.43, Y:56.03, Z:6.68 [[ 7.25532305e-01 -6.87031408e-01 -3.98838237e-02 1.68434109e+02] [ 6.85978864e-01 7.26627687e-01 -3.80158120e-02 5.60283925e+01] [ 5.50987474e-02 2.22239620e-04 9.98480885e-01 6.67770483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.74710568099997 meters 0.01806023576089064 Centerline is valid? [True, True] Translation: X:168.46, Y:56.04, Z:6.68 [[ 7.22424335e-01 -6.90281984e-01 -4.01729137e-02 1.68455926e+02] [ 6.89217816e-01 7.23540450e-01 -3.83147367e-02 5.60446050e+01] [ 5.55147005e-02 -8.38968421e-06 9.98457870e-01 6.67902800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.77710568099997 meters 0.017869699234745892 Centerline is valid? [True, True] Translation: X:168.48, Y:56.06, Z:6.68 [[ 7.21333061e-01 -6.91480172e-01 -3.91635941e-02 1.68477786e+02] [ 6.90469751e-01 7.22395435e-01 -3.73678776e-02 5.60631636e+01] [ 5.41307480e-02 -8.65915301e-05 9.98533853e-01 6.68308007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.80710568099997 meters 0.01765821037500987 Centerline is valid? [True, True] Translation: X:168.50, Y:56.08, Z:6.69 [[ 7.21322385e-01 -6.91648910e-01 -3.62739899e-02 1.68498418e+02] [ 6.90781327e-01 7.22233881e-01 -3.46320579e-02 5.60823796e+01] [ 5.01515296e-02 -7.65162915e-05 9.98741617e-01 6.69081746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.83710568099997 meters 0.017596930203577128 Centerline is valid? [True, True] Translation: X:168.52, Y:56.11, Z:6.70 [[ 7.24135738e-01 -6.88842691e-01 -3.35138893e-02 1.68515633e+02] [ 6.88098266e-01 7.24910844e-01 -3.20163176e-02 5.61063574e+01] [ 4.63487882e-02 1.23310714e-04 9.98925310e-01 6.69696785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.86710568099997 meters 0.017796431785242834 Centerline is valid? [True, True] Translation: X:168.53, Y:56.13, Z:6.70 [[ 7.26084396e-01 -6.86793769e-01 -3.34031248e-02 1.68533004e+02] [ 6.86051255e-01 7.26852287e-01 -3.19284681e-02 5.61288725e+01] [ 4.62074106e-02 2.66506796e-04 9.98931832e-01 6.69805557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.89710568099997 meters 0.019061621723249968 Centerline is valid? [True, True] Translation: X:168.55, Y:56.16, Z:6.70 [[ 7.29941415e-01 -6.82765763e-01 -3.18817021e-02 1.68546786e+02] [ 6.82085136e-01 7.30637159e-01 -3.04829386e-02 5.61565052e+01] [ 4.41066631e-02 5.04724268e-04 9.99026700e-01 6.70119999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.92710568099997 meters 0.01985460752793024 Centerline is valid? [True, True] Translation: X:168.56, Y:56.18, Z:6.70 [[ 7.31872573e-01 -6.80759320e-01 -3.04841723e-02 1.68564574e+02] [ 6.80134579e-01 7.32506910e-01 -2.91647249e-02 5.61793532e+01] [ 4.21840252e-02 6.11522538e-04 9.99109671e-01 6.70414149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.95710568099997 meters 0.02123006192569031 Centerline is valid? [True, True] Translation: X:168.58, Y:56.20, Z:6.71 [[ 7.34322226e-01 -6.78234519e-01 -2.77273599e-02 1.68582348e+02] [ 6.77715308e-01 7.34845187e-01 -2.65426674e-02 5.62013366e+01] [ 3.83774702e-02 6.99614312e-04 9.99263069e-01 6.70829283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.98710568099997 meters 0.020850646429908963 Centerline is valid? [True, True] Translation: X:168.60, Y:56.22, Z:6.71 [[ 7.34299939e-01 -6.78276509e-01 -2.72869387e-02 1.68602616e+02] [ 6.77773463e-01 7.34806437e-01 -2.61272599e-02 5.62202453e+01] [ 3.77721248e-02 6.90882352e-04 9.99286140e-01 6.70956866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.01710568099998 meters 0.02037745980056015 Centerline is valid? [True, True] Translation: X:168.62, Y:56.24, Z:6.71 [[ 7.32724413e-01 -6.79931816e-01 -2.84193685e-02 1.68621518e+02] [ 6.79386555e-01 7.33275057e-01 -2.72323414e-02 5.62409090e+01] [ 3.93553494e-02 6.46064536e-04 9.99225069e-01 6.70828942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.04710568099998 meters 0.019713908768169294 Centerline is valid? [True, True] Translation: X:168.64, Y:56.26, Z:6.70 [[ 7.30470401e-01 -6.82227419e-01 -3.12848612e-02 1.68642248e+02] [ 6.81568233e-01 7.31139801e-01 -2.99889313e-02 5.62596197e+01] [ 4.33328784e-02 5.83259149e-04 9.99060519e-01 6.70300521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.07710568099998 meters 0.018559805401868346 Centerline is valid? [True, True] Translation: X:168.66, Y:56.28, Z:6.70 [[ 7.29444303e-01 -6.83263252e-01 -3.25935173e-02 1.68663762e+02] [ 6.82548301e-01 7.30171915e-01 -3.12536599e-02 5.62769829e+01] [ 4.51533482e-02 5.51154332e-04 9.98979915e-01 6.70286025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.10710568099998 meters 0.018754604032871245 Centerline is valid? [True, True] Translation: X:168.68, Y:56.30, Z:6.70 [[ 7.29691466e-01 -6.82992975e-01 -3.27255193e-02 1.68681882e+02] [ 6.82270877e-01 7.30424706e-01 -3.14038307e-02 5.62990144e+01] [ 4.53521236e-02 5.87438520e-04 9.98970890e-01 6.70317393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13710568099998 meters 0.020037701907894057 Centerline is valid? [True, True] Translation: X:168.70, Y:56.32, Z:6.70 [[ 7.31512425e-01 -6.81043774e-01 -3.26947963e-02 1.68698932e+02] [ 6.80320214e-01 7.32242349e-01 -3.13934697e-02 5.63216824e+01] [ 4.53208415e-02 7.21782338e-04 9.98972222e-01 6.70370145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.16710568099998 meters 0.023001472919543253 Centerline is valid? [True, True] Translation: X:168.72, Y:56.35, Z:6.70 [[ 7.37126854e-01 -6.74961771e-01 -3.27201569e-02 1.68715890e+02] [ 6.74230495e-01 7.37851870e-01 -3.14302083e-02 5.63465341e+01] [ 4.53568181e-02 1.10712297e-03 9.98970236e-01 6.70374807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19710568099998 meters 0.02633442624364665 Centerline is valid? [True, True] Translation: X:168.73, Y:56.37, Z:6.70 [[ 7.40593143e-01 -6.71142055e-01 -3.30172549e-02 1.68732686e+02] [ 6.70392902e-01 7.41327510e-01 -3.17313659e-02 5.63707976e+01] [ 4.57728535e-02 1.36549870e-03 9.98950940e-01 6.70296939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.22710568099998 meters 0.03091235508387932 Centerline is valid? [True, True] Translation: X:168.75, Y:56.40, Z:6.70 [[ 7.46831595e-01 -6.64151944e-01 -3.38343526e-02 1.68746814e+02] [ 6.63357645e-01 7.47595336e-01 -3.25245842e-02 5.63988569e+01] [ 4.68956700e-02 1.84611063e-03 9.98898087e-01 6.70318863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25710568099998 meters 0.03277284997510111 Centerline is valid? [True, True] Translation: X:168.77, Y:56.42, Z:6.70 [[ 7.48681916e-01 -6.62021190e-01 -3.46891003e-02 1.68765689e+02] [ 6.61182962e-01 7.49482329e-01 -3.33665879e-02 5.64221715e+01] [ 4.80882559e-02 2.04511886e-03 9.98840997e-01 6.70261057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.28710568099999 meters 0.03182855923444783 Centerline is valid? [True, True] Translation: X:168.79, Y:56.44, Z:6.70 [[ 7.49095528e-01 -6.61501877e-01 -3.56533005e-02 1.68789917e+02] [ 6.60614759e-01 7.49940422e-01 -3.43147666e-02 5.64390857e+01] [ 4.94371338e-02 2.15194165e-03 9.98774919e-01 6.70104976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.317105681 meters 0.02948291097373701 Centerline is valid? [True, True] Translation: X:168.81, Y:56.45, Z:6.70 [[ 7.45182588e-01 -6.65814653e-01 -3.73330890e-02 1.68814246e+02] [ 6.64846231e-01 7.46114581e-01 -3.59516369e-02 5.64546649e+01] [ 5.17918887e-02 1.96977031e-03 9.98655957e-01 6.69856229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.347105681 meters 0.027187016670650245 Centerline is valid? [True, True] Translation: X:168.84, Y:56.47, Z:6.70 [[ 7.41980629e-01 -6.69378554e-01 -3.73777664e-02 1.68837992e+02] [ 6.68411725e-01 7.42919479e-01 -3.60057413e-02 5.64723324e+01] [ 5.18701418e-02 1.73182520e-03 9.98652336e-01 6.69958182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.377105681 meters 0.023393850428686046 Centerline is valid? [True, True] Translation: X:168.86, Y:56.49, Z:6.70 [[ 7.36466215e-01 -6.75540467e-01 -3.55329623e-02 1.68863439e+02] [ 6.74673056e-01 7.37321858e-01 -3.42453757e-02 5.64865079e+01] [ 4.93333668e-02 1.24743000e-03 9.98781589e-01 6.70439710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40710568099996 meters 0.02152079857072624 Centerline is valid? [True, True] Translation: X:168.89, Y:56.50, Z:6.71 [[ 7.33556420e-01 -6.78700558e-01 -3.55039464e-02 1.68887662e+02] [ 6.77837868e-01 7.34414372e-01 -3.42250533e-02 5.65033534e+01] [ 4.93031712e-02 1.04008824e-03 9.98783318e-01 6.70587610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.43710568099996 meters 0.018618346267460145 Centerline is valid? [True, True] Translation: X:168.91, Y:56.52, Z:6.70 [[ 7.27511581e-01 -6.85157051e-01 -3.58708085e-02 1.68914003e+02] [ 6.84283670e-01 7.28395108e-01 -3.45893789e-02 5.65160608e+01] [ 4.98272783e-02 6.18365258e-04 9.98757658e-01 6.70491213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.46710568099996 meters 0.016589072762464015 Centerline is valid? [True, True] Translation: X:168.94, Y:56.53, Z:6.71 [[ 7.20950799e-01 -6.92055426e-01 -3.59058935e-02 1.68940271e+02] [ 6.91188212e-01 7.21844349e-01 -3.46351234e-02 5.65304924e+01] [ 4.98878914e-02 1.52489540e-04 9.98754812e-01 6.70728770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.49710568099997 meters 0.01647422167669353 Centerline is valid? [True, True] Translation: X:168.96, Y:56.55, Z:6.71 [[ 7.18491625e-01 -6.94622983e-01 -3.56187658e-02 1.68962353e+02] [ 6.93771794e-01 7.19373972e-01 -3.43771079e-02 5.65471365e+01] [ 4.95023422e-02 -1.16309149e-05 9.98774007e-01 6.70820438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.52710568099997 meters 0.01647422167669353 Centerline is valid? [True, True] Translation: X:168.98, Y:56.57, Z:6.71 [[ 7.18241581e-01 -6.94881839e-01 -3.56126445e-02 1.68981925e+02] [ 6.94030655e-01 7.19123931e-01 -3.43834479e-02 5.65663804e+01] [ 4.95023385e-02 -2.06450169e-05 9.98774008e-01 6.70922116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.55710568099997 meters 0.016694192503570494 Centerline is valid? [True, True] Translation: X:169.00, Y:56.58, Z:6.71 [[ 7.15778922e-01 -6.97432922e-01 -3.53249871e-02 1.69004628e+02] [ 6.96597334e-01 7.16650046e-01 -3.41301225e-02 5.65831152e+01] [ 4.91191246e-02 -1.77669598e-04 9.98792911e-01 6.71106481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.58710568099997 meters 0.017593673563827454 Centerline is valid? [True, True] Translation: X:169.03, Y:56.60, Z:6.71 [[ 7.11088517e-01 -7.02263027e-01 -3.43476568e-02 1.69028840e+02] [ 7.01477571e-01 7.11917419e-01 -3.32085321e-02 5.65995656e+01] [ 4.77738195e-02 -4.79905029e-04 9.98858064e-01 6.71450051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.61710568099997 meters 0.019973219955634433 Centerline is valid? [True, True] Translation: X:169.05, Y:56.62, Z:6.72 [[ 7.06175473e-01 -7.07247891e-01 -3.34159019e-02 1.69051828e+02] [ 7.06509215e-01 7.06965211e-01 -3.23252142e-02 5.66161145e+01] [ 4.64858197e-02 -7.81369227e-04 9.98918644e-01 6.71747756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.64710568099997 meters 0.021368393915266147 Centerline is valid? [True, True] Translation: X:169.07, Y:56.64, Z:6.72 [[ 7.03839219e-01 -7.09562419e-01 -3.36381702e-02 1.69073644e+02] [ 7.08816037e-01 7.04641967e-01 -3.25503180e-02 5.66354697e+01] [ 4.67993488e-02 -9.33084025e-04 9.98903874e-01 6.71923211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.67710568099997 meters 0.024750679154879735 Centerline is valid? [True, True] Translation: X:169.09, Y:56.65, Z:6.72 [[ 6.98802612e-01 -7.14591183e-01 -3.21613295e-02 1.69094712e+02] [ 7.13913392e-01 6.99541279e-01 -3.11394930e-02 5.66540864e+01] [ 4.47501847e-02 -1.20004479e-03 9.98997488e-01 6.72222452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.70710568099997 meters 0.024626470629332108 Centerline is valid? [True, True] Translation: X:169.11, Y:56.68, Z:6.72 [[ 6.95741605e-01 -7.17596082e-01 -3.16145890e-02 1.69112874e+02] [ 7.16943486e-01 6.96458198e-01 -3.06270509e-02 5.66766305e+01] [ 4.39960914e-02 -1.35736005e-03 9.99030781e-01 6.72413410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.73710568099997 meters 0.027400864675230032 Centerline is valid? [True, True] Translation: X:169.13, Y:56.70, Z:6.73 [[ 6.91003283e-01 -7.22172178e-01 -3.13338294e-02 1.69133988e+02] [ 7.21534921e-01 6.91711445e-01 -3.03748959e-02 5.66969096e+01] [ 4.36098731e-02 -1.61929938e-03 9.99047325e-01 6.72536343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.76710568099998 meters 0.02809604150951379 Centerline is valid? [True, True] Translation: X:169.15, Y:56.72, Z:6.73 [[ 6.90589335e-01 -7.22553491e-01 -3.16673836e-02 1.69147041e+02] [ 7.21902242e-01 6.91313050e-01 -3.07151406e-02 5.67233233e+01] [ 4.40854076e-02 -1.64920671e-03 9.99026405e-01 6.72501726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.79710568099998 meters 0.0297076062150718 Centerline is valid? [True, True] Translation: X:169.16, Y:56.75, Z:6.72 [[ 6.92240304e-01 -7.20946318e-01 -3.22454340e-02 1.69164719e+02] [ 7.20268989e-01 6.92989136e-01 -3.12832518e-02 5.67451066e+01] [ 4.48992807e-02 -1.56985844e-03 9.98990285e-01 6.72341412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.82710568099998 meters 0.024688509679751655 Centerline is valid? [True, True] Translation: X:169.17, Y:56.78, Z:6.72 [[ 6.96513189e-01 -7.16786804e-01 -3.29553466e-02 1.69171945e+02] [ 7.16074187e-01 6.97291135e-01 -3.19817231e-02 5.67798789e+01] [ 4.59035482e-02 -1.32278106e-03 9.98945001e-01 6.72300883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.85710568099998 meters 0.022840971943529364 Centerline is valid? [True, True] Translation: X:169.19, Y:56.81, Z:6.72 [[ 6.98772034e-01 -7.14550754e-01 -3.36877599e-02 1.69185028e+02] [ 7.13802563e-01 6.99582596e-01 -3.27122621e-02 5.68083078e+01] [ 4.69419421e-02 -1.18799549e-03 9.98896913e-01 6.72364053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.88710568099998 meters 0.02045504290454476 Centerline is valid? [True, True] Translation: X:169.19, Y:56.84, Z:6.72 [[ 7.02650944e-01 -7.10716684e-01 -3.41093381e-02 1.69191937e+02] [ 7.09944245e-01 7.03477740e-01 -3.31396698e-02 5.68433036e+01] [ 4.75480763e-02 -9.30108034e-04 9.98868518e-01 6.72457352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91710568099998 meters 0.020020189089167053 Centerline is valid? [True, True] Translation: X:169.21, Y:56.87, Z:6.72 [[ 7.03529986e-01 -7.09859678e-01 -3.38348453e-02 1.69208397e+02] [ 7.09098050e-01 7.04342604e-01 -3.28854272e-02 5.68683469e+01] [ 4.71753618e-02 -8.56338698e-04 9.98886256e-01 6.72452724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.94710568099998 meters 0.020528771632610784 Centerline is valid? [True, True] Translation: X:169.22, Y:56.89, Z:6.72 [[ 7.03305221e-01 -7.10028326e-01 -3.49505743e-02 1.69222436e+02] [ 7.09214925e-01 7.04172561e-01 -3.39881583e-02 5.68940336e+01] [ 4.87437905e-02 -8.83419727e-04 9.98810924e-01 6.72156583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97710568099998 meters 0.02124052563055056 Centerline is valid? [True, True] Translation: X:169.24, Y:56.92, Z:6.72 [[ 7.01726855e-01 -7.11545375e-01 -3.58134103e-02 1.69240445e+02] [ 7.10692662e-01 7.02639431e-01 -3.48392126e-02 5.69166444e+01] [ 4.99535948e-02 -1.00471680e-03 9.98751034e-01 6.72123633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.00710568099998 meters 0.02329839662904132 Centerline is valid? [True, True] Translation: X:169.26, Y:56.94, Z:6.72 [[ 6.99124159e-01 -7.14155431e-01 -3.47480906e-02 1.69256220e+02] [ 7.13355047e-01 6.99986224e-01 -3.38210499e-02 5.69396123e+01] [ 4.84766712e-02 -1.14261270e-03 9.98823662e-01 6.72297638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03710568099999 meters 0.022694538458483907 Centerline is valid? [True, True] Translation: X:169.27, Y:56.97, Z:6.73 [[ 6.98753179e-01 -7.14607228e-01 -3.28710268e-02 1.69269788e+02] [ 7.13891037e-01 6.99525048e-01 -3.20046097e-02 5.69668980e+01] [ 4.58648320e-02 -1.10300864e-03 9.98947046e-01 6.72783908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.067105681 meters 0.022092723454176056 Centerline is valid? [True, True] Translation: X:169.29, Y:56.99, Z:6.73 [[ 7.00416182e-01 -7.13001591e-01 -3.23404274e-02 1.69285117e+02] [ 7.12305837e-01 7.01161744e-01 -3.15056155e-02 5.69907189e+01] [ 4.51394245e-02 -9.69232325e-04 9.98980227e-01 6.72968552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.097105681 meters 0.02010958917627797 Centerline is valid? [True, True] Translation: X:169.30, Y:57.02, Z:6.73 [[ 7.05733057e-01 -7.07722204e-01 -3.27128980e-02 1.69297123e+02] [ 7.07004296e-01 7.06490539e-01 -3.18754453e-02 5.70192784e+01] [ 4.56703134e-02 -6.32603919e-04 9.98956367e-01 6.72630778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.12710568099996 meters 0.019149639068099716 Centerline is valid? [True, True] Translation: X:169.31, Y:57.04, Z:6.73 [[ 7.08121371e-01 -7.05302132e-01 -3.33620407e-02 1.69313755e+02] [ 7.04552336e-01 7.08906674e-01 -3.25166691e-02 5.70434654e+01] [ 4.65846494e-02 -4.79555415e-04 9.98914231e-01 6.72538759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15710568099996 meters 0.018250363425099923 Centerline is valid? [True, True] Translation: X:169.33, Y:57.07, Z:6.73 [[ 7.11707503e-01 -7.01648728e-01 -3.40806737e-02 1.69325048e+02] [ 7.00861086e-01 7.12522988e-01 -3.32374552e-02 5.70737107e+01] [ 4.76042817e-02 -2.30471750e-04 9.98866247e-01 6.72570968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.18710568099996 meters 0.0184457959611625 Centerline is valid? [True, True] Translation: X:169.34, Y:57.10, Z:6.73 [[ 7.13556849e-01 -6.99768159e-01 -3.40756098e-02 1.69336624e+02] [ 6.98977567e-01 7.14370013e-01 -3.32542423e-02 5.71017877e+01] [ 4.76128537e-02 -8.92945449e-05 9.98865861e-01 6.72833685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.21710568099996 meters 0.018659747868845535 Centerline is valid? [True, True] Translation: X:169.35, Y:57.12, Z:6.73 [[ 7.14167161e-01 -6.99201387e-01 -3.29042121e-02 1.69354338e+02] [ 6.98462683e-01 7.14924765e-01 -3.21319312e-02 5.71233450e+01] [ 4.59907270e-02 -3.47941588e-05 9.98941866e-01 6.72930683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.24710568099997 meters 0.018458340967671103 Centerline is valid? [True, True] Translation: X:169.37, Y:57.14, Z:6.73 [[ 7.15195043e-01 -6.98176393e-01 -3.23384494e-02 1.69372567e+02] [ 6.97461382e-01 7.15925781e-01 -3.15895207e-02 5.71445747e+01] [ 4.52069872e-02 3.78490141e-05 9.98977641e-01 6.73055379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.27710568099997 meters 0.01861767682293097 Centerline is valid? [True, True] Translation: X:169.39, Y:57.16, Z:6.73 [[ 7.14957513e-01 -6.98419127e-01 -3.23493063e-02 1.69392124e+02] [ 6.97702867e-01 7.15688984e-01 -3.16225733e-02 5.71638882e+01] [ 4.52378522e-02 3.85926155e-05 9.98976244e-01 6.73234957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.30710568099997 meters 0.018781100188723202 Centerline is valid? [True, True] Translation: X:169.41, Y:57.19, Z:6.73 [[ 7.16548423e-01 -6.96807680e-01 -3.18969312e-02 1.69407289e+02] [ 6.96108732e-01 7.17257996e-01 -3.12025769e-02 5.71868037e+01] [ 4.46205242e-02 1.54424933e-04 9.99003996e-01 6.73487353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.33710568099997 meters 0.020066926678458108 Centerline is valid? [True, True] Translation: X:169.42, Y:57.21, Z:6.73 [[ 7.21354133e-01 -6.91743345e-01 -3.37544024e-02 1.69420536e+02] [ 6.90954250e-01 7.22143260e-01 -3.30354017e-02 5.72133937e+01] [ 4.72275334e-02 5.07475753e-04 9.98884029e-01 6.73371803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.36710568099997 meters 0.02158791787049278 Centerline is valid? [True, True] Translation: X:169.44, Y:57.24, Z:6.73 [[ 7.24218333e-01 -6.88722689e-01 -3.41886453e-02 1.69438288e+02] [ 6.87909251e-01 7.25024507e-01 -3.34712683e-02 5.72364130e+01] [ 4.78400276e-02 7.21820750e-04 9.98854750e-01 6.73290266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.39710568099997 meters 0.024415214092605074 Centerline is valid? [True, True] Translation: X:169.45, Y:57.26, Z:6.73 [[ 7.29434960e-01 -6.83250982e-01 -3.30565327e-02 1.69454359e+02] [ 6.82484104e-01 7.30182837e-01 -3.23801275e-02 5.72605114e+01] [ 4.62610667e-02 1.05863894e-03 9.98928823e-01 6.73474898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.42710568099997 meters 0.026277985282642375 Centerline is valid? [True, True] Translation: X:169.47, Y:57.28, Z:6.74 [[ 7.31939551e-01 -6.80592389e-01 -3.25345045e-02 1.69472392e+02] [ 6.79846526e-01 7.32661263e-01 -3.18774774e-02 5.72828796e+01] [ 4.55323397e-02 1.21391667e-03 9.98962128e-01 6.73602619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.45710568099997 meters 0.03166905555639884 Centerline is valid? [True, True] Translation: X:169.49, Y:57.31, Z:6.73 [[ 7.38022714e-01 -6.73933957e-01 -3.36971043e-02 1.69487661e+02] [ 6.73125953e-01 7.38789643e-01 -3.30350450e-02 5.73080478e+01] [ 4.71585103e-02 1.69821815e-03 9.98885975e-01 6.73361155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.48710568099997 meters 0.033947175176612276 Centerline is valid? [True, True] Translation: X:169.51, Y:57.33, Z:6.73 [[ 7.40228368e-01 -6.71389845e-01 -3.60227556e-02 1.69507121e+02] [ 6.70463008e-01 7.41101678e-01 -3.53221913e-02 5.73297011e+01] [ 5.04114852e-02 1.99456293e-03 9.98726541e-01 6.73100897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.51710568099998 meters 0.03678416341379474 Centerline is valid? [True, True] Translation: X:169.53, Y:57.35, Z:6.73 [[ 7.41792497e-01 -6.69505890e-01 -3.88040649e-02 1.69528418e+02] [ 6.68427373e-01 7.42803212e-01 -3.80556839e-02 5.73481467e+01] [ 5.43022885e-02 2.29172162e-03 9.98521912e-01 6.72711874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.54710568099998 meters 0.03591079610543904 Centerline is valid? [True, True] Translation: X:169.55, Y:57.36, Z:6.73 [[ 7.40723936e-01 -6.70715852e-01 -3.83183576e-02 1.69553132e+02] [ 6.69665311e-01 7.41711187e-01 -3.75883795e-02 5.73645536e+01] [ 5.36322765e-02 2.18213759e-03 9.98558369e-01 6.72862457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.57710568099998 meters 0.03042564805005721 Centerline is valid? [True, True] Translation: X:169.59, Y:57.37, Z:6.74 [[ 7.36562282e-01 -6.75460089e-01 -3.50667048e-02 1.69586660e+02] [ 6.74585108e-01 7.37394610e-01 -3.44110703e-02 5.73713568e+01] [ 4.91013037e-02 1.69041961e-03 9.98792373e-01 6.73588038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.60710568099998 meters 0.026311707096175477 Centerline is valid? [True, True] Translation: X:169.62, Y:57.38, Z:6.74 [[ 7.30983066e-01 -6.81491166e-01 -3.51218953e-02 1.69619785e+02] [ 6.80619495e-01 7.31825183e-01 -3.44819524e-02 5.73774698e+01] [ 4.92022334e-02 1.30107662e-03 9.98787989e-01 6.73777795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63710568099998 meters 0.02337310768480632 Centerline is valid? [True, True] Translation: X:169.65, Y:57.39, Z:6.74 [[ 7.28113715e-01 -6.84508871e-01 -3.60281051e-02 1.69647396e+02] [ 6.83594683e-01 7.29003648e-01 -3.53834891e-02 5.73906202e+01] [ 5.04849322e-02 1.13458260e-03 9.98724178e-01 6.73921662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.66710568099998 meters 0.021313443201102285 Centerline is valid? [True, True] Translation: X:169.68, Y:57.40, Z:6.74 [[ 7.24612524e-01 -6.88219989e-01 -3.59156814e-02 1.69675802e+02] [ 6.87314865e-01 7.25501518e-01 -3.52962155e-02 5.74032905e+01] [ 5.03484425e-02 8.90698071e-04 9.98731316e-01 6.74176465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69710568099998 meters 0.020665954344624256 Centerline is valid? [True, True] Translation: X:169.70, Y:57.42, Z:6.74 [[ 7.23535799e-01 -6.89392509e-01 -3.51271461e-02 1.69699179e+02] [ 6.88527039e-01 7.24387546e-01 -3.45427138e-02 5.74202906e+01] [ 4.92591553e-02 8.06900083e-04 9.98785705e-01 6.74418865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.72710568099998 meters 0.019793843037827438 Centerline is valid? [True, True] Translation: X:169.73, Y:57.43, Z:6.75 [[ 7.22296775e-01 -6.90695634e-01 -3.50272701e-02 1.69726504e+02] [ 6.89835482e-01 7.23145216e-01 -3.44674404e-02 5.74334011e+01] [ 4.91363134e-02 7.32667304e-04 9.98791813e-01 6.74617442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75710568099998 meters 0.01940054109654197 Centerline is valid? [True, True] Translation: X:169.75, Y:57.45, Z:6.75 [[ 7.20413793e-01 -6.92655984e-01 -3.50949556e-02 1.69750775e+02] [ 6.91793690e-01 7.21267848e-01 -3.45569458e-02 5.74490340e+01] [ 4.92489384e-02 6.16831537e-04 9.98786344e-01 6.74591816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.78710568099999 meters 0.01751661627578453 Centerline is valid? [True, True] Translation: X:169.78, Y:57.46, Z:6.75 [[ 7.15589659e-01 -6.97645551e-01 -3.49588928e-02 1.69780909e+02] [ 6.96794917e-01 7.16443021e-01 -3.44418505e-02 5.74575752e+01] [ 4.90742586e-02 2.87053215e-04 9.98795091e-01 6.74745104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.817105681 meters 0.0170076403735066 Centerline is valid? [True, True] Translation: X:169.81, Y:57.47, Z:6.75 [[ 7.12863663e-01 -7.00438482e-01 -3.48041785e-02 1.69806633e+02] [ 6.99598128e-01 7.13712773e-01 -3.43006819e-02 5.74728340e+01] [ 4.88657043e-02 1.02771597e-04 9.98805353e-01 6.74952555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.847105681 meters 0.01712261436154852 Centerline is valid? [True, True] Translation: X:169.83, Y:57.49, Z:6.75 [[ 7.08143872e-01 -7.05148060e-01 -3.60342741e-02 1.69833302e+02] [ 7.04252283e-01 7.09060059e-01 -3.55324547e-02 5.74855898e+01] [ 5.06061060e-02 -2.15129702e-04 9.98718667e-01 6.75003328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87710568099996 meters 0.01742441935715318 Centerline is valid? [True, True] Translation: X:169.86, Y:57.50, Z:6.75 [[ 7.06352667e-01 -7.06929282e-01 -3.62891076e-02 1.69856781e+02] [ 7.06022494e-01 7.07284156e-01 -3.57961102e-02 5.75032557e+01] [ 5.09720293e-02 -3.36248371e-04 9.98700025e-01 6.75278767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90710568099996 meters 0.017608967380854233 Centerline is valid? [True, True] Translation: X:169.88, Y:57.52, Z:6.75 [[ 7.06560085e-01 -7.06707656e-01 -3.65668603e-02 1.69877523e+02] [ 7.05785571e-01 7.07505614e-01 -3.60906326e-02 5.75208467e+01] [ 5.13767853e-02 -3.08161938e-04 9.98679293e-01 6.75184312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.93710568099996 meters 0.01723475292157387 Centerline is valid? [True, True] Translation: X:169.90, Y:57.54, Z:6.75 [[ 7.08678064e-01 -7.04517537e-01 -3.78211875e-02 1.69897456e+02] [ 7.03527333e-01 7.09686564e-01 -3.73399667e-02 5.75405558e+01] [ 5.31478499e-02 -1.46223843e-04 9.98586644e-01 6.75106159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.96710568099996 meters 0.016915816777242923 Centerline is valid? [True, True] Translation: X:169.92, Y:57.56, Z:6.75 [[ 7.09683687e-01 -7.03472161e-01 -3.84185225e-02 1.69916616e+02] [ 7.02448128e-01 7.10722812e-01 -3.79435399e-02 5.75622130e+01] [ 5.39971444e-02 -5.91079642e-05 9.98541088e-01 6.75338787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.99710568099997 meters 0.017066872836693593 Centerline is valid? [True, True] Translation: X:169.93, Y:57.59, Z:6.76 [[ 7.12603521e-01 -7.00593696e-01 -3.69417671e-02 1.69934123e+02] [ 6.99641821e-01 7.13560400e-01 -3.65086127e-02 5.75856037e+01] [ 5.19378860e-02 1.70160783e-04 9.98650303e-01 6.75779575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.02710568099997 meters 0.017406036531581452 Centerline is valid? [True, True] Translation: X:169.95, Y:57.61, Z:6.76 [[ 7.15185984e-01 -6.98096435e-01 -3.42107639e-02 1.69952003e+02] [ 6.97276274e-01 7.16003667e-01 -3.38311513e-02 5.76087047e+01] [ 4.81124386e-02 3.41211275e-04 9.98841868e-01 6.76468506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.05710568099997 meters 0.017789423781834523 Centerline is valid? [True, True] Translation: X:169.97, Y:57.63, Z:6.77 [[ 7.16278167e-01 -6.97029877e-01 -3.30898635e-02 1.69971346e+02] [ 6.96260442e-01 7.17041964e-01 -3.27447391e-02 5.76294366e+01] [ 4.65508822e-02 4.15178666e-04 9.98915834e-01 6.76729863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.08710568099997 meters 0.018369393407527124 Centerline is valid? [True, True] Translation: X:169.99, Y:57.65, Z:6.77 [[ 7.18379764e-01 -6.94914986e-01 -3.19949516e-02 1.69990732e+02] [ 6.94192630e-01 7.19091692e-01 -3.16817181e-02 5.76488484e+01] [ 4.50234046e-02 5.48845519e-04 9.98985782e-01 6.77107883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.11710568099997 meters 0.018515119730554974 Centerline is valid? [True, True] Translation: X:170.01, Y:57.67, Z:6.77 [[ 7.18801555e-01 -6.94492100e-01 -3.17024862e-02 1.70010153e+02] [ 6.93782032e-01 7.19500097e-01 -3.14022813e-02 5.76692162e+01] [ 4.46185782e-02 5.77393331e-04 9.99003928e-01 6.77321617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.14710568099997 meters 0.018994518297260853 Centerline is valid? [True, True] Translation: X:170.03, Y:57.69, Z:6.78 [[ 7.19491643e-01 -6.93786354e-01 -3.15003381e-02 1.70027197e+02] [ 6.93083708e-01 7.20180599e-01 -3.12230311e-02 5.76914220e+01] [ 4.43480453e-02 6.32338775e-04 9.99015941e-01 6.77606640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.17710568099997 meters 0.018601891333333953 Centerline is valid? [True, True] Translation: X:170.05, Y:57.71, Z:6.78 [[ 7.19166166e-01 -6.94154527e-01 -3.08142503e-02 1.70047304e+02] [ 6.93482097e-01 7.19825763e-01 -3.05524496e-02 5.77101912e+01] [ 4.33890124e-02 6.03157085e-04 9.99058071e-01 6.77859126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.20710568099997 meters 0.017426184511192645 Centerline is valid? [True, True] Translation: X:170.07, Y:57.72, Z:6.78 [[ 7.15607606e-01 -6.97844709e-01 -3.03070281e-02 1.70072569e+02] [ 6.97196650e-01 7.16248986e-01 -3.00702579e-02 5.77240089e+01] [ 4.26917485e-02 3.88546736e-04 9.99088216e-01 6.77970987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.23710568099997 meters 0.016549546610199264 Centerline is valid? [True, True] Translation: X:170.10, Y:57.74, Z:6.78 [[ 7.11838070e-01 -7.01701358e-01 -3.00294299e-02 1.70097140e+02] [ 7.01068168e-01 7.12471177e-01 -2.98034667e-02 5.77403454e+01] [ 4.23082363e-02 1.62564843e-04 9.99104592e-01 6.78114732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.26710568099998 meters 0.017356593756611107 Centerline is valid? [True, True] Translation: X:170.12, Y:57.75, Z:6.78 [[ 7.01962637e-01 -7.11541920e-01 -3.09281816e-02 1.70124152e+02] [ 7.10878818e-01 7.02643519e-01 -3.07146640e-02 5.77528059e+01] [ 4.35862574e-02 -4.25642589e-04 9.99049577e-01 6.78126345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.29710568099998 meters 0.021668306030541342 Centerline is valid? [True, True] Translation: X:170.15, Y:57.77, Z:6.78 [[ 6.91640446e-01 -7.21538633e-01 -3.18668352e-02 1.70152781e+02] [ 7.20844683e-01 6.92373340e-01 -3.16559725e-02 5.77655780e+01] [ 4.49047543e-02 -1.07648781e-03 9.98990693e-01 6.78115716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.32710568099998 meters 0.024823027599596547 Centerline is valid? [True, True] Translation: X:170.18, Y:57.78, Z:6.78 [[ 6.87323029e-01 -7.25667626e-01 -3.15206250e-02 1.70177645e+02] [ 7.24992369e-01 6.88044149e-01 -3.13259266e-02 5.77802643e+01] [ 4.44197924e-02 -1.32118182e-03 9.99012080e-01 6.78161175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.35710568099998 meters 0.02986589340966692 Centerline is valid? [True, True] Translation: X:170.20, Y:57.80, Z:6.78 [[ 6.80029791e-01 -7.32473069e-01 -3.22906573e-02 1.70203296e+02] [ 7.31771568e-01 6.80793627e-01 -3.21000001e-02 5.77953461e+01] [ 4.54956592e-02 -1.80042852e-03 9.98962914e-01 6.78185469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.38710568099998 meters 0.03362948716494709 Centerline is valid? [True, True] Translation: X:170.22, Y:57.82, Z:6.78 [[ 6.75389777e-01 -7.36699470e-01 -3.35043228e-02 1.70222245e+02] [ 7.35948459e-01 6.76216881e-01 -3.33256049e-02 5.78160835e+01] [ 4.72071441e-02 -2.14968190e-03 9.98882808e-01 6.78277269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41710568099998 meters 0.033332583863834225 Centerline is valid? [True, True] Translation: X:170.24, Y:57.84, Z:6.78 [[ 6.73443269e-01 -7.38436233e-01 -3.44397039e-02 1.70239139e+02] [ 7.37644260e-01 6.74319303e-01 -3.42698712e-02 5.78402184e+01] [ 4.85294717e-02 -2.32543573e-03 9.98819044e-01 6.78407867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.44710568099998 meters 0.033332583863834225 Centerline is valid? [True, True] Translation: X:170.26, Y:57.86, Z:6.79 [[ 6.73170542e-01 -7.38685391e-01 -3.44284093e-02 1.70258452e+02] [ 7.37893164e-01 6.74046346e-01 -3.42812152e-02 5.78597543e+01] [ 4.85293763e-02 -2.32738366e-03 9.98819044e-01 6.78509696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47710568099998 meters 0.03697527012330019 Centerline is valid? [True, True] Translation: X:170.28, Y:57.88, Z:6.78 [[ 6.70807882e-01 -7.40764721e-01 -3.58387212e-02 1.70275307e+02] [ 7.39908036e-01 6.71759669e-01 -3.57077872e-02 5.78829853e+01] [ 5.05260765e-02 -2.56429270e-03 9.98719450e-01 6.78295313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.50710568099998 meters 0.03647679772367674 Centerline is valid? [True, True] Translation: X:170.29, Y:57.91, Z:6.78 [[ 6.69610899e-01 -7.41843638e-01 -3.59062797e-02 1.70292288e+02] [ 7.40984643e-01 6.70567695e-01 -3.57872069e-02 5.79067959e+01] [ 5.06261029e-02 -2.64249808e-03 9.98714181e-01 6.78299170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53710568099999 meters 0.036145512914059603 Centerline is valid? [True, True] Translation: X:170.31, Y:57.93, Z:6.79 [[ 6.67843841e-01 -7.43531268e-01 -3.38505129e-02 1.70306271e+02] [ 7.42769031e-01 6.68696124e-01 -3.37588599e-02 5.79332218e+01] [ 4.77364747e-02 -2.59746594e-03 9.98856587e-01 6.78641717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.567105681 meters 0.03701115839816339 Centerline is valid? [True, True] Translation: X:170.32, Y:57.96, Z:6.79 [[ 6.66667021e-01 -7.44664435e-01 -3.20930285e-02 1.70318934e+02] [ 7.43979837e-01 6.67434260e-01 -3.20236049e-02 5.79602649e+01] [ 4.52668264e-02 -2.52748484e-03 9.98971734e-01 6.79242498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.597105681 meters 0.037365898487162603 Centerline is valid? [True, True] Translation: X:170.33, Y:57.98, Z:6.79 [[ 6.66315568e-01 -7.44969049e-01 -3.23215146e-02 1.70334400e+02] [ 7.44274539e-01 6.67094121e-01 -3.22621262e-02 5.79848194e+01] [ 4.55957779e-02 -2.55932340e-03 9.98956693e-01 6.79484889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62710568099996 meters 0.035048217395184156 Centerline is valid? [True, True] Translation: X:170.34, Y:58.02, Z:6.80 [[ 6.68873731e-01 -7.42658033e-01 -3.26646374e-02 1.70343196e+02] [ 7.41944873e-01 6.69666507e-01 -3.26278127e-02 5.80174265e+01] [ 4.61057208e-02 -2.41147344e-03 9.98933655e-01 6.79641369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65710568099996 meters 0.033509558304889595 Centerline is valid? [True, True] Translation: X:170.36, Y:58.04, Z:6.80 [[ 6.71126077e-01 -7.40620100e-01 -3.27361716e-02 1.70358174e+02] [ 7.39900496e-01 6.71920193e-01 -3.27186515e-02 5.80436959e+01] [ 4.62281856e-02 -2.26316934e-03 9.98928342e-01 6.79720746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.68710568099996 meters 0.028061120294813946 Centerline is valid? [True, True] Translation: X:170.36, Y:58.08, Z:6.80 [[ 6.78623717e-01 -7.33746847e-01 -3.29456358e-02 1.70364147e+02] [ 7.33009061e-01 6.79420600e-01 -3.29448794e-02 5.80795869e+01] [ 4.65571450e-02 -1.79227302e-03 9.98914020e-01 6.79685050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.71710568099996 meters 0.024735421530843495 Centerline is valid? [True, True] Translation: X:170.38, Y:58.11, Z:6.80 [[ 6.83613748e-01 -7.29109208e-01 -3.27414974e-02 1.70375976e+02] [ 7.28374872e-01 6.84395812e-01 -3.27478153e-02 5.81096764e+01] [ 4.62848774e-02 -1.46122716e-03 9.98927212e-01 6.79835330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.74710568099997 meters 0.019637943163007945 Centerline is valid? [True, True] Translation: X:170.38, Y:58.15, Z:6.80 [[ 6.96473969e-01 -7.16895060e-01 -3.13924015e-02 1.70376308e+02] [ 7.16207086e-01 6.97180823e-01 -3.14055681e-02 5.81516589e+01] [ 4.44006769e-02 -6.10299719e-04 9.99013617e-01 6.80113927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.77710568099997 meters 0.01859329587880594 Centerline is valid? [True, True] Translation: X:170.39, Y:58.18, Z:6.80 [[ 7.02373412e-01 -7.11167622e-01 -3.02027286e-02 1.70387021e+02] [ 7.10525202e-01 7.03022446e-01 -3.02221256e-02 5.81804250e+01] [ 4.27261933e-02 -2.32582380e-04 9.99086792e-01 6.80305585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.80710568099997 meters 0.019319855532594698 Centerline is valid? [True, True] Translation: X:170.39, Y:58.21, Z:6.81 [[ 7.10356330e-01 -7.03275677e-01 -2.82348477e-02 1.70392183e+02] [ 7.02707683e-01 7.10917201e-01 -2.82603182e-02 5.82145919e+01] [ 3.99474333e-02 2.34051562e-04 9.99201755e-01 6.80780502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.83710568099997 meters 0.02064198559974498 Centerline is valid? [True, True] Translation: X:170.40, Y:58.24, Z:6.81 [[ 7.14873567e-01 -6.98651107e-01 -2.90243654e-02 1.70404345e+02] [ 6.98046205e-01 7.15462339e-01 -2.90712323e-02 5.82426602e+01] [ 4.10764889e-02 5.21907390e-04 9.99155869e-01 6.80603959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.86710568099997 meters 0.022440164369473468 Centerline is valid? [True, True] Translation: X:170.42, Y:58.27, Z:6.80 [[ 7.18349843e-01 -6.94989071e-01 -3.10434089e-02 1.70418110e+02] [ 6.94293179e-01 7.19019866e-01 -3.11032894e-02 5.82694677e+01] [ 4.39372739e-02 7.89816016e-04 9.99033979e-01 6.80271108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.89710568099997 meters 0.023057231121429017 Centerline is valid? [True, True] Translation: X:170.44, Y:58.29, Z:6.80 [[ 7.19989403e-01 -6.93267721e-01 -3.15456289e-02 1.70435659e+02] [ 6.92546524e-01 7.20679548e-01 -3.16275355e-02 5.82924461e+01] [ 4.46606390e-02 9.24674764e-04 9.99001788e-01 6.80438555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.92710568099997 meters 0.024589692189857827 Centerline is valid? [True, True] Translation: X:170.45, Y:58.32, Z:6.81 [[ 7.22558662e-01 -6.90648247e-01 -3.02320717e-02 1.70449975e+02] [ 6.89982815e-01 7.23190076e-01 -3.03286638e-02 5.83175753e+01] [ 4.28099728e-02 1.05462877e-03 9.99082676e-01 6.80867744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.95710568099997 meters 0.024933067841519607 Centerline is valid? [True, True] Translation: X:170.47, Y:58.34, Z:6.81 [[ 7.22933515e-01 -6.90248702e-01 -3.03951110e-02 1.70469346e+02] [ 6.89575321e-01 7.23571379e-01 -3.05014155e-02 5.83392196e+01] [ 4.30465948e-02 1.09077707e-03 9.99072470e-01 6.80966424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.98710568099997 meters 0.025571702521512238 Centerline is valid? [True, True] Translation: X:170.49, Y:58.36, Z:6.80 [[ 7.22857624e-01 -6.90197900e-01 -3.32221807e-02 1.70491739e+02] [ 6.89392179e-01 7.23619642e-01 -3.33621957e-02 5.83580425e+01] [ 4.70667399e-02 1.21300594e-03 9.98891010e-01 6.80343276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.01710568099998 meters 0.02539666152286983 Centerline is valid? [True, True] Translation: X:170.51, Y:58.38, Z:6.80 [[ 7.22194332e-01 -6.90828074e-01 -3.45241900e-02 1.70513701e+02] [ 6.89957446e-01 7.23018012e-01 -3.46940414e-02 5.83762645e+01] [ 4.89292290e-02 1.23561805e-03 9.98801484e-01 6.80204178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.04710568099998 meters 0.025840718384485064 Centerline is valid? [True, True] Translation: X:170.54, Y:58.39, Z:6.80 [[ 7.21836106e-01 -6.91169991e-01 -3.51664540e-02 1.70536645e+02] [ 6.90265713e-01 7.22691130e-01 -3.53663238e-02 5.83928940e+01] [ 4.98586261e-02 1.25449199e-03 9.98755497e-01 6.80148195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.07710568099998 meters 0.026660839902940537 Centerline is valid? [True, True] Translation: X:170.56, Y:58.41, Z:6.80 [[ 7.22410252e-01 -6.90529188e-01 -3.59564633e-02 1.70558420e+02] [ 6.89581868e-01 7.23303279e-01 -3.61830695e-02 5.84105371e+01] [ 5.09928934e-02 1.34409524e-03 9.98698112e-01 6.80222215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.10710568099998 meters 0.026589923137008656 Centerline is valid? [True, True] Translation: X:170.58, Y:58.43, Z:6.80 [[ 7.22607080e-01 -6.90348903e-01 -3.54598372e-02 1.70579492e+02] [ 6.89426722e-01 7.23475347e-01 -3.56961946e-02 5.84292217e+01] [ 5.02971468e-02 1.34736361e-03 9.98733389e-01 6.80427431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13710568099998 meters 0.026459522508461706 Centerline is valid? [True, True] Translation: X:170.60, Y:58.44, Z:6.81 [[ 7.21816329e-01 -6.91201098e-01 -3.49603904e-02 1.70603541e+02] [ 6.90304680e-01 7.22661325e-01 -3.52144674e-02 5.84448933e+01] [ 4.96048006e-02 1.28505647e-03 9.98768097e-01 6.80549342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.16710568099998 meters 0.024033502563312215 Centerline is valid? [True, True] Translation: X:170.63, Y:58.46, Z:6.81 [[ 7.17834027e-01 -6.95416658e-01 -3.33163811e-02 1.70633145e+02] [ 6.94606796e-01 7.18606126e-01 -3.35653620e-02 5.84551403e+01] [ 4.72832674e-02 9.52574202e-04 9.98881067e-01 6.80895405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19710568099998 meters 0.021969006489122863 Centerline is valid? [True, True] Translation: X:170.66, Y:58.47, Z:6.81 [[ 7.15061972e-01 -6.98320857e-01 -3.21614058e-02 1.70659893e+02] [ 6.97568753e-01 7.15784487e-01 -3.24099089e-02 5.84689097e+01] [ 4.56531507e-02 7.40301617e-04 9.98957077e-01 6.81326200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.22710568099998 meters 0.020551119681027484 Centerline is valid? [True, True] Translation: X:170.69, Y:58.48, Z:6.82 [[ 7.10974497e-01 -7.02517478e-01 -3.13760660e-02 1.70687793e+02] [ 7.01804811e-01 7.11666331e-01 -3.16392239e-02 5.84813335e+01] [ 4.45563976e-02 4.74807225e-04 9.99006758e-01 6.81779561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25710568099998 meters 0.019752484737386306 Centerline is valid? [True, True] Translation: X:170.71, Y:58.50, Z:6.82 [[ 7.09121356e-01 -7.04460822e-01 -2.96960218e-02 1.70713737e+02] [ 7.03823360e-01 7.09742791e-01 -2.99641199e-02 5.84958486e+01] [ 4.21850859e-02 3.47443508e-04 9.99109753e-01 6.82405459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.28710568099999 meters 0.019750774072414625 Centerline is valid? [True, True] Translation: X:170.74, Y:58.51, Z:6.82 [[ 7.07499094e-01 -7.06098213e-01 -2.95016191e-02 1.70736303e+02] [ 7.05469706e-01 7.08113864e-01 -2.97867265e-02 5.85119927e+01] [ 4.19228599e-02 2.61583460e-04 9.99120816e-01 6.82475373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.317105681 meters 0.01903862494585588 Centerline is valid? [True, True] Translation: X:170.77, Y:58.52, Z:6.83 [[ 7.01662549e-01 -7.11871153e-01 -3.01517657e-02 1.70765837e+02] [ 7.11219496e-01 7.02310085e-01 -3.04527890e-02 5.85215855e+01] [ 4.28543512e-02 -7.69419949e-05 9.99081327e-01 6.82540743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.347105681 meters 0.019379161533232034 Centerline is valid? [True, True] Translation: X:170.79, Y:58.54, Z:6.83 [[ 6.97758050e-01 -7.15692273e-01 -3.03030427e-02 1.70791996e+02] [ 7.15036649e-01 6.98415694e-01 -3.06285542e-02 5.85361923e+01] [ 4.30847402e-02 -2.96465911e-04 9.99071377e-01 6.82582981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37710568099996 meters 0.02100553272737428 Centerline is valid? [True, True] Translation: X:170.82, Y:58.55, Z:6.83 [[ 6.91068959e-01 -7.22134416e-01 -3.07502656e-02 1.70821637e+02] [ 7.21464780e-01 6.91752415e-01 -3.10993064e-02 5.85465479e+01] [ 4.37294500e-02 -6.93468333e-04 9.99043169e-01 6.82755028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.40710568099996 meters 0.022282842566432804 Centerline is valid? [True, True] Translation: X:170.84, Y:58.56, Z:6.83 [[ 6.88460995e-01 -7.24628982e-01 -3.05662562e-02 1.70844741e+02] [ 7.23969471e-01 6.89138687e-01 -3.09204678e-02 5.85623804e+01] [ 4.34702568e-02 -8.41500299e-04 9.99054367e-01 6.82993123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.43710568099996 meters 0.022850908467524203 Centerline is valid? [True, True] Translation: X:170.87, Y:58.58, Z:6.83 [[ 6.86557368e-01 -7.26447711e-01 -3.02109961e-02 1.70866563e+02] [ 7.25804822e-01 6.87221101e-01 -3.05699152e-02 5.85813501e+01] [ 4.29690789e-02 -9.39286076e-04 9.99075961e-01 6.83265434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.46710568099996 meters 0.02145814649300166 Centerline is valid? [True, True] Translation: X:170.88, Y:58.60, Z:6.83 [[ 6.90217277e-01 -7.22907458e-01 -3.17004433e-02 1.70882300e+02] [ 7.22194932e-01 6.90944469e-01 -3.20970488e-02 5.86047000e+01] [ 4.51064420e-02 -7.39961868e-04 9.98981912e-01 6.83216209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.49710568099997 meters 0.02035846952831515 Centerline is valid? [True, True] Translation: X:170.90, Y:58.63, Z:6.83 [[ 6.93264562e-01 -7.19970560e-01 -3.20412242e-02 1.70899684e+02] [ 7.19239003e-01 6.94004390e-01 -3.24524807e-02 5.86271207e+01] [ 4.56015810e-02 -5.47143313e-04 9.98959557e-01 6.83212068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.52710568099997 meters 0.019162192237686452 Centerline is valid? [True, True] Translation: X:170.91, Y:58.65, Z:6.84 [[ 6.99243560e-01 -7.14221775e-01 -3.07522483e-02 1.70914410e+02] [ 7.13541929e-01 6.99919447e-01 -3.11557974e-02 5.86530279e+01] [ 4.37762455e-02 -1.57527940e-04 9.99041348e-01 6.83601254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.55710568099997 meters 0.01958058847944649 Centerline is valid? [True, True] Translation: X:170.93, Y:58.68, Z:6.84 [[ 7.04921269e-01 -7.08728605e-01 -2.81028395e-02 1.70926898e+02] [ 7.08155814e-01 7.05481206e-01 -2.84888034e-02 5.86796963e+01] [ 4.00168550e-02 1.81174274e-04 9.99198988e-01 6.84406065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.58710568099997 meters 0.02053612565427217 Centerline is valid? [True, True] Translation: X:170.94, Y:58.70, Z:6.85 [[ 7.08075334e-01 -7.05643236e-01 -2.63996973e-02 1.70941336e+02] [ 7.05134935e-01 7.08567218e-01 -2.67809705e-02 5.87049294e+01] [ 3.76037708e-02 3.47595843e-04 9.99292668e-01 6.84849919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.61710568099997 meters 0.02297288030544083 Centerline is valid? [True, True] Translation: X:170.95, Y:58.73, Z:6.85 [[ 7.14254949e-01 -6.99392778e-01 -2.62604206e-02 1.70953776e+02] [ 6.98885337e-01 7.14737211e-01 -2.66459112e-02 5.87341782e+01] [ 3.74052577e-02 6.78951096e-04 9.99299948e-01 6.84916533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.64710568099997 meters 0.02707029541568214 Centerline is valid? [True, True] Translation: X:170.97, Y:58.76, Z:6.85 [[ 7.20506063e-01 -6.92943730e-01 -2.64575028e-02 1.70968276e+02] [ 6.92423706e-01 7.20990928e-01 -2.68606094e-02 5.87598779e+01] [ 3.76885104e-02 1.03342979e-03 9.99289001e-01 6.84586607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.67710568099997 meters 0.028452530281347834 Centerline is valid? [True, True] Translation: X:170.99, Y:58.78, Z:6.85 [[ 7.22746692e-01 -6.90633253e-01 -2.57473910e-02 1.70987184e+02] [ 6.90139110e-01 7.23204286e-01 -2.61451601e-02 5.87818134e+01] [ 3.66773405e-02 1.12704651e-03 9.99326524e-01 6.84725303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.70710568099997 meters 0.02880709798813295 Centerline is valid? [True, True] Translation: X:171.01, Y:58.80, Z:6.85 [[ 7.24771256e-01 -6.88517844e-01 -2.54912722e-02 1.71006978e+02] [ 6.88031577e-01 7.25218351e-01 -2.59016101e-02 5.88021691e+01] [ 3.63204591e-02 1.23394228e-03 9.99339433e-01 6.84863285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.73710568099997 meters 0.030738902879082448 Centerline is valid? [True, True] Translation: X:171.02, Y:58.82, Z:6.85 [[ 7.25003970e-01 -6.88264484e-01 -2.57146752e-02 1.71024040e+02] [ 6.87769263e-01 7.25458757e-01 -2.61348968e-02 5.88246126e+01] [ 3.66426575e-02 1.26214069e-03 9.99327635e-01 6.84887391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.76710568099998 meters 0.030337996118253264 Centerline is valid? [True, True] Translation: X:171.05, Y:58.84, Z:6.85 [[ 7.24388234e-01 -6.88891940e-01 -2.62598805e-02 1.71045939e+02] [ 6.88375655e-01 7.24862956e-01 -2.66955620e-02 5.88429415e+01] [ 3.74251721e-02 1.26128857e-03 9.99298637e-01 6.84959418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.79710568099998 meters 0.02785523305748396 Centerline is valid? [True, True] Translation: X:171.07, Y:58.86, Z:6.85 [[ 7.22173622e-01 -6.91209906e-01 -2.63462634e-02 1.71073192e+02] [ 6.90691116e-01 7.22653117e-01 -2.68002756e-02 5.88566055e+01] [ 3.75638253e-02 1.15732202e-03 9.99293560e-01 6.85033416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.82710568099998 meters 0.0263702098856963 Centerline is valid? [True, True] Translation: X:171.10, Y:58.87, Z:6.85 [[ 7.20458629e-01 -6.93006496e-01 -2.61028687e-02 1.71097861e+02] [ 6.92497782e-01 7.20930551e-01 -2.65699539e-02 5.88733685e+01] [ 3.72315062e-02 1.06637390e-03 9.99306098e-01 6.85173301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.85710568099998 meters 0.024615030676745423 Centerline is valid? [True, True] Translation: X:171.12, Y:58.89, Z:6.85 [[ 7.16976585e-01 -6.96597494e-01 -2.63914348e-02 1.71124580e+02] [ 6.96079253e-01 7.17461579e-01 -2.68803985e-02 5.88880012e+01] [ 3.76596588e-02 9.02086096e-04 9.99290216e-01 6.85152242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.88710568099998 meters 0.022684171765814935 Centerline is valid? [True, True] Translation: X:171.15, Y:58.90, Z:6.85 [[ 7.12961637e-01 -7.00654436e-01 -2.77320178e-02 1.71149271e+02] [ 7.00084877e-01 7.13500405e-01 -2.82548530e-02 5.89045336e+01] [ 3.95836940e-02 7.29860021e-04 9.99215992e-01 6.85133033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91710568099998 meters 0.021387264508047652 Centerline is valid? [True, True] Translation: X:171.17, Y:58.92, Z:6.85 [[ 7.10195522e-01 -7.03461715e-01 -2.76393971e-02 1.71171970e+02] [ 7.02897829e-01 7.10732920e-01 -2.81666163e-02 5.89228182e+01] [ 3.94583656e-02 5.76132505e-04 9.99221049e-01 6.85282268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.94710568099998 meters 0.019746430803361865 Centerline is valid? [True, True] Translation: X:171.20, Y:58.94, Z:6.85 [[ 7.04469754e-01 -7.09217775e-01 -2.70649848e-02 1.71199602e+02] [ 7.08680609e-01 7.04989418e-01 -2.75991930e-02 5.89366155e+01] [ 3.86543662e-02 2.62366762e-04 9.99252606e-01 6.85399337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97710568099998 meters 0.01930325357790485 Centerline is valid? [True, True] Translation: X:171.22, Y:58.95, Z:6.85 [[ 7.01167422e-01 -7.12468887e-01 -2.74286575e-02 1.71223196e+02] [ 7.11919003e-01 7.01703695e-01 -2.79867391e-02 5.89530669e+01] [ 3.91864712e-02 9.64071939e-05 9.99231911e-01 6.85382595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.00710568099998 meters 0.01946716612488613 Centerline is valid? [True, True] Translation: X:171.25, Y:58.97, Z:6.86 [[ 6.95599919e-01 -7.17882729e-01 -2.80203447e-02 1.71249699e+02] [ 7.17312904e-01 6.96164021e-01 -2.85981308e-02 5.89679850e+01] [ 4.00368601e-02 -2.06497358e-04 9.99198182e-01 6.85512320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03710568099999 meters 0.019395728181055075 Centerline is valid? [True, True] Translation: X:171.27, Y:58.99, Z:6.86 [[ 6.94419928e-01 -7.19021164e-01 -2.80985669e-02 1.71270126e+02] [ 7.18448336e-01 6.94988128e-01 -2.86965125e-02 5.89874233e+01] [ 4.01615702e-02 -2.59938453e-04 9.99193165e-01 6.85783997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.067105681 meters 0.019426821489591392 Centerline is valid? [True, True] Translation: X:171.29, Y:59.01, Z:6.86 [[ 6.95517782e-01 -7.17976191e-01 -2.76623140e-02 1.71288862e+02] [ 7.17419398e-01 6.96067637e-01 -2.82710487e-02 5.90078444e+01] [ 3.95527814e-02 -1.82463621e-04 9.99217466e-01 6.85925689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.097105681 meters 0.019191240528863507 Centerline is valid? [True, True] Translation: X:171.31, Y:59.03, Z:6.86 [[ 6.95825680e-01 -7.17633432e-01 -2.87902977e-02 1.71308079e+02] [ 7.17029527e-01 6.96421016e-01 -2.94351025e-02 5.90286850e+01] [ 4.11737820e-02 -1.61793369e-04 9.99151987e-01 6.86051321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.12710568099996 meters 0.019293202455027966 Centerline is valid? [True, True] Translation: X:171.33, Y:59.05, Z:6.86 [[ 6.94988556e-01 -7.18413663e-01 -2.95417775e-02 1.71328230e+02] [ 7.17777517e-01 6.95616108e-01 -3.02269086e-02 5.90476153e+01] [ 4.22651605e-02 -1.97068183e-04 9.99106409e-01 6.86042340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15710568099996 meters 0.01938242647166235 Centerline is valid? [True, True] Translation: X:171.35, Y:59.07, Z:6.86 [[ 6.92666783e-01 -7.20674386e-01 -2.90027069e-02 1.71350812e+02] [ 7.20062318e-01 6.93273633e-01 -2.96972603e-02 5.90663225e+01] [ 4.15088669e-02 -3.13450623e-04 9.99138086e-01 6.86249207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.18710568099996 meters 0.020657030148001552 Centerline is valid? [True, True] Translation: X:171.37, Y:59.08, Z:6.87 [[ 6.89124972e-01 -7.24132431e-01 -2.71844779e-02 1.71373647e+02] [ 7.23596747e-01 6.89660783e-01 -2.78523392e-02 5.90829515e+01] [ 3.89168503e-02 -4.76857308e-04 9.99242339e-01 6.86544494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.21710568099996 meters 0.02062408731752348 Centerline is valid? [True, True] Translation: X:171.39, Y:59.10, Z:6.87 [[ 6.87329008e-01 -7.25861072e-01 -2.65431574e-02 1.71393538e+02] [ 7.25351412e-01 6.87841111e-01 -2.72017540e-02 5.91033855e+01] [ 3.80021692e-02 -5.56562064e-04 9.99277502e-01 6.86754547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.24710568099997 meters 0.02184314825622656 Centerline is valid? [True, True] Translation: X:171.41, Y:59.12, Z:6.87 [[ 6.84329106e-01 -7.28743437e-01 -2.50335285e-02 1.71414380e+02] [ 7.28291467e-01 6.84786508e-01 -2.56705772e-02 5.91229959e+01] [ 3.58498872e-02 -6.64581983e-04 9.99356965e-01 6.86921782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.27710568099997 meters 0.022359925815514704 Centerline is valid? [True, True] Translation: X:171.43, Y:59.14, Z:6.87 [[ 6.82676237e-01 -7.30297514e-01 -2.48736046e-02 1.71434270e+02] [ 7.29851740e-01 6.83128837e-01 -2.55231166e-02 5.91436846e+01] [ 3.56313452e-02 -7.30018436e-04 9.99364735e-01 6.87041971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.30710568099997 meters 0.024045125161455825 Centerline is valid? [True, True] Translation: X:171.45, Y:59.16, Z:6.87 [[ 6.79859468e-01 -7.32906319e-01 -2.52869742e-02 1.71453528e+02] [ 7.32446761e-01 6.80329017e-01 -2.59647908e-02 5.91643666e+01] [ 3.62332216e-02 -8.68953547e-04 9.99342983e-01 6.86895302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.33710568099997 meters 0.024045125161455825 Centerline is valid? [True, True] Translation: X:171.47, Y:59.18, Z:6.87 [[ 6.79593087e-01 -7.33153428e-01 -2.52841242e-02 1.71472501e+02] [ 7.32693937e-01 6.80062703e-01 -2.59675658e-02 5.91841693e+01] [ 3.62329997e-02 -8.78146258e-04 9.99342983e-01 6.86996927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.36710568099997 meters 0.025267090175560385 Centerline is valid? [True, True] Translation: X:171.49, Y:59.21, Z:6.87 [[ 6.76660263e-01 -7.35830744e-01 -2.61534808e-02 1.71490982e+02] [ 7.35340336e-01 6.77164699e-01 -2.68805069e-02 5.92058040e+01] [ 3.74897173e-02 -1.04273852e-03 9.99296469e-01 6.86946027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.39710568099997 meters 0.02510471843695289 Centerline is valid? [True, True] Translation: X:171.51, Y:59.23, Z:6.87 [[ 6.76098098e-01 -7.36339469e-01 -2.63732652e-02 1.71508421e+02] [ 7.35840803e-01 6.76611436e-01 -2.71160068e-02 5.92284961e+01] [ 3.78110388e-02 -1.07344404e-03 9.99284330e-01 6.86888425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.42710568099997 meters 0.026140053367447874 Centerline is valid? [True, True] Translation: X:171.52, Y:59.25, Z:6.87 [[ 6.75607771e-01 -7.36704505e-01 -2.86463313e-02 1.71524297e+02] [ 7.36115669e-01 6.76213792e-01 -2.94725235e-02 5.92519860e+01] [ 4.10835852e-02 -1.17514743e-03 9.99155022e-01 6.86567632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.45710568099997 meters 0.026022010088158846 Centerline is valid? [True, True] Translation: X:171.54, Y:59.27, Z:6.86 [[ 6.74395108e-01 -7.37800576e-01 -2.90094567e-02 1.71542265e+02] [ 7.37197376e-01 6.75017587e-01 -2.98544250e-02 5.92743463e+01] [ 4.16085054e-02 -1.25201715e-03 9.99133207e-01 6.86498891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.48710568099997 meters 0.03033319765800898 Centerline is valid? [True, True] Translation: X:171.56, Y:59.29, Z:6.87 [[ 6.69491275e-01 -7.42284283e-01 -2.82041666e-02 1.71564834e+02] [ 7.41717358e-01 6.70083477e-01 -2.90429870e-02 5.92914439e+01] [ 4.04572988e-02 -1.47549351e-03 9.99180179e-01 6.86541275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.51710568099998 meters 0.036535451305931076 Centerline is valid? [True, True] Translation: X:171.59, Y:59.31, Z:6.87 [[ 6.62469733e-01 -7.48596546e-01 -2.71489188e-02 1.71586311e+02] [ 7.48076227e-01 6.63023397e-01 -2.79630764e-02 5.93100703e+01] [ 3.89334307e-02 -1.78476897e-03 9.99240213e-01 6.86864709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.54710568099998 meters 0.03572682572784577 Centerline is valid? [True, True] Translation: X:171.60, Y:59.33, Z:6.87 [[ 6.59161045e-01 -7.51494884e-01 -2.76071654e-02 1.71603536e+02] [ 7.50959123e-01 6.59735932e-01 -2.84410953e-02 5.93346787e+01] [ 3.95867766e-02 -1.98459062e-03 9.99214165e-01 6.86822049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.57710568099998 meters 0.042626859958919974 Centerline is valid? [True, True] Translation: X:171.63, Y:59.35, Z:6.86 [[ 6.53885874e-01 -7.56056603e-01 -2.84899364e-02 1.71626799e+02] [ 7.55489659e-01 6.54502117e-01 -2.93658697e-02 5.93515096e+01] [ 4.08489834e-02 -2.32192499e-03 9.99162634e-01 6.86451214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.60710568099998 meters 0.039100895095686185 Centerline is valid? [True, True] Translation: X:171.64, Y:59.38, Z:6.87 [[ 6.51686641e-01 -7.57958516e-01 -2.83444759e-02 1.71641274e+02] [ 7.57398865e-01 6.52298253e-01 -2.92223889e-02 5.93788515e+01] [ 4.06384106e-02 -2.42423338e-03 9.99170978e-01 6.86516481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63710568099998 meters 0.04322700126430846 Centerline is valid? [True, True] Translation: X:171.66, Y:59.40, Z:6.87 [[ 6.47740525e-01 -7.61344683e-01 -2.80443540e-02 1.71658604e+02] [ 7.60799346e-01 6.48342134e-01 -2.89280778e-02 5.94018684e+01] [ 4.02065746e-02 -2.59823790e-03 9.99188011e-01 6.86658168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.66710568099998 meters 0.04224344194390933 Centerline is valid? [True, True] Translation: X:171.67, Y:59.43, Z:6.87 [[ 6.45892235e-01 -7.62904544e-01 -2.82821089e-02 1.71673389e+02] [ 7.62351044e-01 6.46505452e-01 -2.91819353e-02 5.94285809e+01] [ 4.05475686e-02 -2.71250987e-03 9.99173927e-01 6.86770395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69710568099998 meters 0.04855422322114367 Centerline is valid? [True, True] Translation: X:171.69, Y:59.45, Z:6.87 [[ 6.44193298e-01 -7.64303598e-01 -2.92404628e-02 1.71691913e+02] [ 7.63712703e-01 6.44850126e-01 -3.01864779e-02 5.94505721e+01] [ 4.19273498e-02 -2.88538611e-03 9.99116496e-01 6.86592868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.72710568099998 meters 0.044059839333177635 Centerline is valid? [True, True] Translation: X:171.70, Y:59.48, Z:6.87 [[ 6.42517279e-01 -7.65716287e-01 -2.91567109e-02 1.71700251e+02] [ 7.65130038e-01 6.43171648e-01 -3.01040848e-02 5.94829652e+01] [ 4.18039578e-02 -2.96628068e-03 9.99121429e-01 6.86597046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75710568099998 meters 0.056502029145263075 Centerline is valid? [True, True] Translation: X:171.72, Y:59.50, Z:6.87 [[ 6.40043706e-01 -7.67794994e-01 -2.88946699e-02 1.71724009e+02] [ 7.67221150e-01 6.40688236e-01 -2.98377379e-02 5.94994434e+01] [ 4.14217408e-02 -3.07114554e-03 9.99137031e-01 6.86706487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.78710568099999 meters 0.048662564783008205 Centerline is valid? [True, True] Translation: X:171.73, Y:59.53, Z:6.87 [[ 6.38658483e-01 -7.68975600e-01 -2.81401570e-02 1.71730953e+02] [ 7.68432226e-01 6.39270799e-01 -2.90647503e-02 5.95328433e+01] [ 4.03392644e-02 -3.06135415e-03 9.99181351e-01 6.87076159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.817105681 meters 0.04832012612813072 Centerline is valid? [True, True] Translation: X:171.74, Y:59.56, Z:6.87 [[ 6.37333186e-01 -7.70132879e-01 -2.64907114e-02 1.71741132e+02] [ 7.69651765e-01 6.37876712e-01 -2.73762909e-02 5.95634703e+01] [ 3.79811896e-02 -2.94080409e-03 9.99274127e-01 6.87311219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.847105681 meters 0.04968499061904625 Centerline is valid? [True, True] Translation: X:171.76, Y:59.59, Z:6.87 [[ 6.37218593e-01 -7.70244890e-01 -2.59860235e-02 1.71756288e+02] [ 7.69781484e-01 6.37741722e-01 -2.68693677e-02 5.95870347e+01] [ 3.72683645e-02 -2.88189899e-03 9.99301138e-01 6.87483498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87710568099996 meters 0.04965380119274911 Centerline is valid? [True, True] Translation: X:171.76, Y:59.62, Z:6.88 [[ 6.39066628e-01 -7.68719411e-01 -2.57742357e-02 1.71764568e+02] [ 7.68262085e-01 6.39580186e-01 -2.66562217e-02 5.96179459e+01] [ 3.69758455e-02 -2.76626633e-03 9.99312331e-01 6.87596375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.90710568099996 meters 0.04581278583524386 Centerline is valid? [True, True] Translation: X:171.78, Y:59.65, Z:6.88 [[ 6.40899720e-01 -7.67193486e-01 -2.57236076e-02 1.71775135e+02] [ 7.66736548e-01 6.41410188e-01 -2.66089720e-02 5.96482318e+01] [ 3.69136140e-02 -2.66954740e-03 9.99314895e-01 6.87601937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.93710568099996 meters 0.04620538369681048 Centerline is valid? [True, True] Translation: X:171.78, Y:59.68, Z:6.88 [[ 6.46696412e-01 -7.62353436e-01 -2.45150638e-02 1.71783645e+02] [ 7.61934830e-01 6.47156900e-01 -2.53625874e-02 5.96799993e+01] [ 3.52003484e-02 -2.27698670e-03 9.99377682e-01 6.87675673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.96710568099996 meters 0.03855383888558758 Centerline is valid? [True, True] Translation: X:171.78, Y:59.72, Z:6.88 [[ 6.54440872e-01 -7.55712233e-01 -2.46204234e-02 1.71783786e+02] [ 7.55285204e-01 6.54900999e-01 -2.54743323e-02 5.97213527e+01] [ 3.53752044e-02 -1.92399731e-03 9.99372250e-01 6.87854502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.99710568099997 meters 0.03625891797339072 Centerline is valid? [True, True] Translation: X:171.80, Y:59.75, Z:6.88 [[ 6.59556388e-01 -7.51255667e-01 -2.45008856e-02 1.71796172e+02] [ 7.50829205e-01 6.60009201e-01 -2.53645533e-02 5.97491241e+01] [ 3.52260743e-02 -1.66662727e-03 9.99377980e-01 6.87880060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.02710568099997 meters 0.02792517515545612 Centerline is valid? [True, True] Translation: X:171.80, Y:59.79, Z:6.88 [[ 6.70706736e-01 -7.41293350e-01 -2.52317972e-02 1.71797570e+02] [ 7.40833778e-01 6.71180154e-01 -2.61249707e-02 5.97893774e+01] [ 3.63013486e-02 -1.17037383e-03 9.99340203e-01 6.87808984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.05710568099997 meters 0.02253394540866239 Centerline is valid? [True, True] Translation: X:171.80, Y:59.83, Z:6.88 [[ 6.83550382e-01 -7.29476368e-01 -2.49620475e-02 1.71799432e+02] [ 7.29018506e-01 6.84005810e-01 -2.58470520e-02 5.98285401e+01] [ 3.59289991e-02 -5.30032314e-04 9.99354205e-01 6.88022127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.08710568099997 meters 0.020994596033898135 Centerline is valid? [True, True] Translation: X:171.81, Y:59.86, Z:6.88 [[ 6.89616916e-01 -7.23727180e-01 -2.54455773e-02 1.71810374e+02] [ 7.23247359e-01 6.90086165e-01 -2.63503729e-02 5.98561661e+01] [ 3.66301219e-02 -2.31783632e-04 9.99328865e-01 6.88075091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.11710568099997 meters 0.020793146862228478 Centerline is valid? [True, True] Translation: X:171.82, Y:59.89, Z:6.88 [[ 6.98267098e-01 -7.15332111e-01 -2.68892481e-02 1.71816897e+02] [ 7.14789697e-01 6.98784602e-01 -2.78526334e-02 5.98894119e+01] [ 3.87136755e-02 2.28419969e-04 9.99250319e-01 6.87816626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.14710568099997 meters 0.02130878427576725 Centerline is valid? [True, True] Translation: X:171.83, Y:59.92, Z:6.88 [[ 7.01823451e-01 -7.11820904e-01 -2.74744236e-02 1.71830399e+02] [ 7.11251111e-01 7.02360877e-01 -2.84790439e-02 5.99152752e+01] [ 3.95689390e-02 4.46046601e-04 9.99216743e-01 6.87501519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.17710568099997 meters 0.0212296234251632 Centerline is valid? [True, True] Translation: X:171.85, Y:59.94, Z:6.87 [[ 7.01481213e-01 -7.12165831e-01 -2.72752157e-02 1.71849672e+02] [ 7.11604253e-01 7.02011143e-01 -2.82797164e-02 5.99358721e+01] [ 3.92873531e-02 4.28530236e-04 9.99227862e-01 6.87468484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.20710568099997 meters 0.020740693295972116 Centerline is valid? [True, True] Translation: X:171.87, Y:59.96, Z:6.88 [[ 6.99343186e-01 -7.14288252e-01 -2.66720960e-02 1.71869232e+02] [ 7.13752045e-01 6.99851550e-01 -2.76735590e-02 5.99554921e+01] [ 3.84334058e-02 3.16051909e-04 9.99261114e-01 6.87655315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.23710568099997 meters 0.020541955684719605 Centerline is valid? [True, True] Translation: X:171.89, Y:59.98, Z:6.88 [[ 6.97650938e-01 -7.15941275e-01 -2.66694492e-02 1.71889693e+02] [ 7.15406123e-01 6.98160468e-01 -2.76774281e-02 5.99750748e+01] [ 3.84349683e-02 2.29696388e-04 9.99261077e-01 6.87740192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.26710568099998 meters 0.020322786410186547 Centerline is valid? [True, True] Translation: X:171.91, Y:59.99, Z:6.88 [[ 6.95008412e-01 -7.18459957e-01 -2.79033489e-02 1.71910121e+02] [ 7.17875427e-01 6.95568313e-01 -2.89757371e-02 5.99935707e+01] [ 4.02265922e-02 1.07252551e-04 9.99190577e-01 6.87801067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.29710568099998 meters 0.02005158860469772 Centerline is valid? [True, True] Translation: X:171.93, Y:60.01, Z:6.88 [[ 6.93032120e-01 -7.20340318e-01 -2.85710759e-02 1.71929855e+02] [ 7.19728720e-01 6.93620809e-01 -2.96773170e-02 6.00130441e+01] [ 4.11952607e-02 3.91005549e-06 9.99151115e-01 6.87967069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.32710568099998 meters 0.02007011064398975 Centerline is valid? [True, True] Translation: X:171.95, Y:60.03, Z:6.88 [[ 6.91757335e-01 -7.21581777e-01 -2.81341035e-02 1.71949920e+02] [ 7.20988916e-01 6.92329210e-01 -2.92446238e-02 6.00320813e+01] [ 4.05804493e-02 -5.41937346e-05 9.99176273e-01 6.88026263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.35710568099998 meters 0.020196880439918144 Centerline is valid? [True, True] Translation: X:171.97, Y:60.05, Z:6.88 [[ 6.89484047e-01 -7.23774314e-01 -2.76132437e-02 1.71972743e+02] [ 7.23204114e-01 6.90036749e-01 -2.87244597e-02 6.00486799e+01] [ 3.98441790e-02 -1.64954717e-04 9.99205892e-01 6.87779700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.38710568099998 meters 0.02035964406655867 Centerline is valid? [True, True] Translation: X:171.99, Y:60.07, Z:6.88 [[ 6.88083776e-01 -7.25121111e-01 -2.72046255e-02 1.71994664e+02] [ 7.24567928e-01 6.88621321e-01 -2.83195009e-02 6.00662669e+01] [ 3.92687531e-02 -2.25410044e-04 9.99228660e-01 6.87734019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41710568099998 meters 0.02094823804571189 Centerline is valid? [True, True] Translation: X:172.02, Y:60.08, Z:6.88 [[ 6.85845448e-01 -7.27236845e-01 -2.72505548e-02 1.72017138e+02] [ 7.26683191e-01 6.86386520e-01 -2.83740394e-02 6.00832970e+01] [ 3.93390603e-02 -3.42314337e-04 9.99225861e-01 6.87869895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.44710568099998 meters 0.021131100936392113 Centerline is valid? [True, True] Translation: X:172.04, Y:60.10, Z:6.88 [[ 6.84135238e-01 -7.28851057e-01 -2.71129530e-02 1.72036691e+02] [ 7.28303858e-01 6.84672151e-01 -2.82406833e-02 6.01041334e+01] [ 3.91467357e-02 -4.26021665e-04 9.99233382e-01 6.88449812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.47710568099998 meters 0.02144599725699896 Centerline is valid? [True, True] Translation: X:172.06, Y:60.12, Z:6.89 [[ 6.83586602e-01 -7.29352986e-01 -2.74514096e-02 1.72057412e+02] [ 7.28791765e-01 6.84137428e-01 -2.86101733e-02 6.01233749e+01] [ 3.96474520e-02 -4.48830128e-04 9.99213630e-01 6.88517224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.50710568099998 meters 0.021773153064557904 Centerline is valid? [True, True] Translation: X:172.08, Y:60.14, Z:6.88 [[ 6.83180195e-01 -7.29681366e-01 -2.88084163e-02 1.72081071e+02] [ 7.29063275e-01 6.83787151e-01 -3.00311963e-02 6.01394280e+01] [ 4.16120292e-02 -4.86439770e-04 9.99133726e-01 6.88115369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.53710568099999 meters 0.021093171343134657 Centerline is valid? [True, True] Translation: X:172.10, Y:60.16, Z:6.88 [[ 6.83795248e-01 -7.29068452e-01 -2.97195386e-02 1.72101602e+02] [ 7.28409668e-01 6.84440635e-01 -3.09898802e-02 6.01581034e+01] [ 4.29350038e-02 -4.57266385e-04 9.99077763e-01 6.87994183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.567105681 meters 0.02096661755947784 Centerline is valid? [True, True] Translation: X:172.12, Y:60.18, Z:6.88 [[ 6.85016077e-01 -7.27916075e-01 -2.98523508e-02 1.72121054e+02] [ 7.27249323e-01 6.85666136e-01 -3.11508000e-02 6.01798456e+01] [ 4.31439141e-02 -3.71303079e-04 9.99068799e-01 6.88188846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.597105681 meters 0.02033448178822258 Centerline is valid? [True, True] Translation: X:172.14, Y:60.20, Z:6.89 [[ 6.90330857e-01 -7.22926580e-01 -2.86438069e-02 1.72135946e+02] [ 7.22307751e-01 6.90924857e-01 -2.99057737e-02 6.02034828e+01] [ 4.14103969e-02 -4.47653310e-05 9.99142221e-01 6.88779369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.62710568099996 meters 0.020375292171231945 Centerline is valid? [True, True] Translation: X:172.15, Y:60.22, Z:6.89 [[ 6.92766589e-01 -7.20644152e-01 -2.73214084e-02 1.72153360e+02] [ 7.20079102e-01 6.93305126e-01 -2.85322579e-02 6.02249335e+01] [ 3.95036773e-02 9.26197761e-05 9.99219421e-01 6.89244040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.65710568099996 meters 0.021166216394119024 Centerline is valid? [True, True] Translation: X:172.17, Y:60.25, Z:6.90 [[ 6.98177780e-01 -7.15457310e-01 -2.58577794e-02 1.72171028e+02] [ 7.14946906e-01 6.98656348e-01 -2.70227445e-02 6.02473147e+01] [ 3.73993218e-02 3.79740365e-04 9.99300328e-01 6.89564943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.68710568099996 meters 0.022375595677516194 Centerline is valid? [True, True] Translation: X:172.19, Y:60.27, Z:6.89 [[ 7.02269257e-01 -7.11454388e-01 -2.55057698e-02 1.72191823e+02] [ 7.10954514e-01 7.02732024e-01 -2.66717620e-02 6.02675128e+01] [ 3.68994633e-02 5.97316335e-04 9.99318804e-01 6.89448418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.71710568099996 meters 0.024670517709527565 Centerline is valid? [True, True] Translation: X:172.21, Y:60.29, Z:6.90 [[ 7.06943771e-01 -7.06852978e-01 -2.42769660e-02 1.72209785e+02] [ 7.06396808e-01 7.07360030e-01 -2.54035214e-02 6.02892098e+01] [ 3.51291102e-02 8.09689905e-04 9.99382454e-01 6.89781897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.74710568099997 meters 0.026157791722810696 Centerline is valid? [True, True] Translation: X:172.23, Y:60.31, Z:6.90 [[ 7.09202556e-01 -7.04586598e-01 -2.42788018e-02 1.72228630e+02] [ 7.04128863e-01 7.09617410e-01 -2.54101429e-02 6.03099063e+01] [ 3.51323066e-02 9.25533199e-04 9.99382241e-01 6.89854482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.77710568099997 meters 0.028845576691510482 Centerline is valid? [True, True] Translation: X:172.25, Y:60.33, Z:6.90 [[ 7.13061076e-01 -7.00622013e-01 -2.59364190e-02 1.72248975e+02] [ 7.00096615e-01 7.13531599e-01 -2.71548689e-02 6.03294548e+01] [ 3.75317534e-02 1.20508091e-03 9.99294709e-01 6.89726347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.80710568099997 meters 0.028260737134961765 Centerline is valid? [True, True] Translation: X:172.27, Y:60.35, Z:6.90 [[ 7.14289000e-01 -6.99344136e-01 -2.66271283e-02 1.72272258e+02] [ 6.98789283e-01 7.14783927e-01 -2.78832291e-02 6.03463374e+01] [ 3.85326162e-02 1.30993189e-03 9.99256484e-01 6.89674439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.83710568099997 meters 0.030120957126162272 Centerline is valid? [True, True] Translation: X:172.30, Y:60.36, Z:6.89 [[ 7.16248645e-01 -6.97308087e-01 -2.73735268e-02 1.72296263e+02] [ 6.96719913e-01 7.16770037e-01 -2.86718784e-02 6.03618898e+01] [ 3.96136565e-02 1.46451287e-03 9.99213998e-01 6.89464084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.86710568099997 meters 0.030605844156896947 Centerline is valid? [True, True] Translation: X:172.32, Y:60.38, Z:6.89 [[ 7.16497346e-01 -6.97024824e-01 -2.80704102e-02 1.72319126e+02] [ 6.96405753e-01 7.17045377e-01 -2.94101000e-02 6.03795794e+01] [ 4.06273276e-02 1.52386344e-03 9.99173207e-01 6.89421601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.89710568099997 meters 0.03100490840066235 Centerline is valid? [True, True] Translation: X:172.34, Y:60.39, Z:6.89 [[ 7.16544481e-01 -6.96909001e-01 -2.96959611e-02 1.72344771e+02] [ 6.96215079e-01 7.17157703e-01 -3.11350630e-02 6.03945078e+01] [ 4.29949929e-02 1.63488168e-03 9.99073950e-01 6.89105872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.92710568099997 meters 0.030889019456461633 Centerline is valid? [True, True] Translation: X:172.37, Y:60.41, Z:6.89 [[ 7.15398773e-01 -6.98094726e-01 -2.94677667e-02 1.72372121e+02] [ 6.97411557e-01 7.16003701e-01 -3.09163444e-02 6.04075320e+01] [ 4.26815670e-02 1.56635382e-03 9.99087499e-01 6.89013296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.95710568099997 meters 0.03050790415813198 Centerline is valid? [True, True] Translation: X:172.40, Y:60.42, Z:6.89 [[ 7.14301542e-01 -6.99212250e-01 -2.95894681e-02 1.72396355e+02] [ 6.98523490e-01 7.14912524e-01 -3.10647136e-02 6.04237774e+01] [ 4.28747097e-02 1.52063432e-03 9.99079300e-01 6.89064211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.98710568099997 meters 0.02930645888875811 Centerline is valid? [True, True] Translation: X:172.42, Y:60.44, Z:6.89 [[ 7.11981077e-01 -7.01550959e-01 -3.01529064e-02 1.72424961e+02] [ 7.00836963e-01 7.12617875e-01 -3.16751501e-02 6.04361544e+01] [ 4.37092320e-02 1.41983607e-03 9.99043286e-01 6.89225831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.01710568099998 meters 0.028729581612081726 Centerline is valid? [True, True] Translation: X:172.45, Y:60.45, Z:6.89 [[ 7.10991261e-01 -7.02560466e-01 -3.00036393e-02 1.72449222e+02] [ 7.01854067e-01 7.11622758e-01 -3.15264657e-02 6.04530396e+01] [ 4.35005210e-02 1.35686534e-03 9.99052483e-01 6.89348825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.04710568099998 meters 0.029512501942434335 Centerline is valid? [True, True] Translation: X:172.48, Y:60.47, Z:6.89 [[ 7.10757348e-01 -7.02861715e-01 -2.84499873e-02 1.72477107e+02] [ 7.02226133e-01 7.11325360e-01 -2.99113775e-02 6.04652872e+01] [ 4.12607596e-02 1.28140679e-03 9.99147591e-01 6.89495101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.07710568099998 meters 0.028925864726688948 Centerline is valid? [True, True] Translation: X:172.51, Y:60.48, Z:6.90 [[ 7.10070707e-01 -7.03579670e-01 -2.78430995e-02 1.72506765e+02] [ 7.02971168e-01 7.10615341e-01 -2.92809459e-02 6.04770082e+01] [ 4.03872119e-02 1.21864580e-03 9.99183361e-01 6.89720084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.10710568099998 meters 0.028757029538288494 Centerline is valid? [True, True] Translation: X:172.53, Y:60.49, Z:6.90 [[ 7.09714120e-01 -7.03937508e-01 -2.78900157e-02 1.72533365e+02] [ 7.03326509e-01 7.10260877e-01 -2.93480461e-02 6.04894156e+01] [ 4.04683774e-02 1.21293532e-03 9.99180083e-01 6.89999958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.13710568099998 meters 0.029029672029778006 Centerline is valid? [True, True] Translation: X:172.56, Y:60.51, Z:6.90 [[ 7.09877351e-01 -7.03765166e-01 -2.80844654e-02 1.72556916e+02] [ 7.03145060e-01 7.10431599e-01 -2.95629520e-02 6.05063914e+01] [ 4.07574675e-02 1.23861702e-03 9.99168301e-01 6.90053267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.16710568099998 meters 0.03151515688241954 Centerline is valid? [True, True] Translation: X:172.58, Y:60.52, Z:6.90 [[ 7.12994294e-01 -7.00537075e-01 -2.97815933e-02 1.72582946e+02] [ 6.99836108e-01 7.13614383e-01 -3.13677239e-02 6.05210925e+01] [ 4.32268269e-02 1.52277375e-03 9.99064123e-01 6.89703456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19710568099998 meters 0.033156023939170415 Centerline is valid? [True, True] Translation: X:172.60, Y:60.54, Z:6.90 [[ 7.14348734e-01 -6.99106024e-01 -3.09298026e-02 1.72604668e+02] [ 6.98348373e-01 7.15016056e-01 -3.25820351e-02 6.05396285e+01] [ 4.48936025e-02 1.67515817e-03 9.98990369e-01 6.89569179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.22710568099998 meters 0.03270822244921588 Centerline is valid? [True, True] Translation: X:172.63, Y:60.55, Z:6.90 [[ 7.17509111e-01 -6.95868081e-01 -3.07943176e-02 1.72633394e+02] [ 6.95113760e-01 7.18167180e-01 -3.24462986e-02 6.05533647e+01] [ 4.46938118e-02 1.87496100e-03 9.98998973e-01 6.89678063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.25710568099998 meters 0.03270822244921588 Centerline is valid? [True, True] Translation: X:172.65, Y:60.57, Z:6.90 [[ 7.17242337e-01 -6.96143261e-01 -3.07894313e-02 1.72652083e+02] [ 6.95388994e-01 7.17900469e-01 -3.24509345e-02 6.05734006e+01] [ 4.46942466e-02 1.86455247e-03 9.98998973e-01 6.89779627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.28710568099999 meters 0.03636993074625644 Centerline is valid? [True, True] Translation: X:172.67, Y:60.59, Z:6.90 [[ 7.18721985e-01 -6.94614828e-01 -3.08050112e-02 1.72670906e+02] [ 6.93857413e-01 7.19379131e-01 -3.24893337e-02 6.05939661e+01] [ 4.47280551e-02 1.97651303e-03 9.98997244e-01 6.89856182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.317105681 meters 0.035452202310382 Centerline is valid? [True, True] Translation: X:172.70, Y:60.61, Z:6.90 [[ 7.21087776e-01 -6.92179782e-01 -3.03243902e-02 1.72698517e+02] [ 6.91443377e-01 7.21722067e-01 -3.19892847e-02 6.06083428e+01] [ 4.40281177e-02 2.09948340e-03 9.99028086e-01 6.90331719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.347105681 meters 0.03559761053482292 Centerline is valid? [True, True] Translation: X:172.72, Y:60.62, Z:6.91 [[ 7.20074700e-01 -6.93254105e-01 -2.98525161e-02 1.72722642e+02] [ 6.92541189e-01 7.20690451e-01 -3.14956396e-02 6.06238051e+01] [ 4.33489047e-02 2.00511630e-03 9.99057982e-01 6.90613722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.37710568099996 meters 0.03334575284758905 Centerline is valid? [True, True] Translation: X:172.75, Y:60.64, Z:6.91 [[ 7.18148032e-01 -6.95248954e-01 -2.98713171e-02 1.72748054e+02] [ 6.94536535e-01 7.18766523e-01 -3.15228063e-02 6.06393530e+01] [ 4.33867009e-02 1.89132021e-03 9.99056564e-01 6.90781245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.40710568099996 meters 0.02984188876174862 Centerline is valid? [True, True] Translation: X:172.78, Y:60.65, Z:6.91 [[ 7.12797397e-01 -7.00721353e-01 -3.01571873e-02 1.72778555e+02] [ 6.99999802e-01 7.13433314e-01 -3.18305527e-02 6.06498416e+01] [ 4.38194900e-02 1.57871001e-03 9.99038217e-01 6.90890770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.43710568099996 meters 0.027432325124138675 Centerline is valid? [True, True] Translation: X:172.80, Y:60.67, Z:6.91 [[ 7.09004939e-01 -7.04559167e-01 -3.01392857e-02 1.72804992e+02] [ 7.03841583e-01 7.09643972e-01 -3.18191640e-02 6.06654199e+01] [ 4.38066461e-02 1.34666193e-03 9.99039120e-01 6.90884997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.46710568099996 meters 0.023583839450706204 Centerline is valid? [True, True] Translation: X:172.84, Y:60.68, Z:6.91 [[ 7.02657212e-01 -7.10907645e-01 -2.97180473e-02 1.72835471e+02] [ 7.10214811e-01 7.03284731e-01 -3.13928069e-02 6.06767018e+01] [ 4.32176354e-02 9.52184814e-04 9.99065228e-01 6.91153123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.49710568099997 meters 0.021047224356373108 Centerline is valid? [True, True] Translation: X:172.86, Y:60.69, Z:6.92 [[ 6.97779675e-01 -7.15764933e-01 -2.80015212e-02 1.72862843e+02] [ 7.15153086e-01 6.98341012e-01 -2.95955052e-02 6.06885407e+01] [ 4.07380354e-02 6.25767672e-04 9.99169666e-01 6.91699684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.52710568099997 meters 0.020431253288696504 Centerline is valid? [True, True] Translation: X:172.89, Y:60.71, Z:6.92 [[ 6.95741556e-01 -7.17788484e-01 -2.68956960e-02 1.72885389e+02] [ 7.17225192e-01 6.96261049e-01 -2.84354748e-02 6.07058607e+01] [ 3.91370819e-02 4.93470796e-04 9.99233729e-01 6.91981817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.55710568099997 meters 0.018870284831504047 Centerline is valid? [True, True] Translation: X:172.91, Y:60.72, Z:6.92 [[ 6.92723459e-01 -7.20720765e-01 -2.63777846e-02 1.72911866e+02] [ 7.20180827e-01 6.93225412e-01 -2.78945332e-02 6.07205364e+01] [ 3.83899199e-02 3.26422816e-04 9.99262782e-01 6.92356889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.58710568099997 meters 0.018653637101214506 Centerline is valid? [True, True] Translation: X:172.93, Y:60.74, Z:6.92 [[ 6.91790892e-01 -7.21593197e-01 -2.69929545e-02 1.72933184e+02] [ 7.21027707e-01 6.92317246e-01 -2.85635488e-02 6.07390686e+01] [ 3.92989505e-02 2.97334801e-04 9.99227454e-01 6.92307002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.61710568099997 meters 0.01871919758619517 Centerline is valid? [True, True] Translation: X:172.96, Y:60.76, Z:6.92 [[ 6.91796243e-01 -7.21599251e-01 -2.66922999e-02 1.72956847e+02] [ 7.21046018e-01 6.92310936e-01 -2.82525765e-02 6.07550337e+01] [ 3.88664092e-02 2.98649710e-04 9.99244371e-01 6.92330883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.64710568099997 meters 0.01891100572024297 Centerline is valid? [True, True] Translation: X:172.98, Y:60.77, Z:6.92 [[ 6.92354190e-01 -7.21068702e-01 -2.65631918e-02 1.72976751e+02] [ 7.20519604e-01 6.92863487e-01 -2.81369624e-02 6.07741402e+01] [ 3.86933486e-02 3.41443386e-04 9.99251074e-01 6.92480038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.67710568099997 meters 0.018905174743803158 Centerline is valid? [True, True] Translation: X:173.00, Y:60.79, Z:6.92 [[ 6.92348647e-01 -7.21005016e-01 -2.83745897e-02 1.72998239e+02] [ 7.20377468e-01 6.92929736e-01 -3.00779667e-02 6.07922956e+01] [ 4.13479618e-02 3.84024484e-04 9.99144734e-01 6.92449020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.70710568099997 meters 0.018561047867815626 Centerline is valid? [True, True] Translation: X:173.02, Y:60.81, Z:6.93 [[ 6.91346642e-01 -7.21962458e-01 -2.84610228e-02 1.73021078e+02] [ 7.21331530e-01 6.91932149e-01 -3.01782177e-02 6.08096498e+01] [ 4.14806369e-02 3.33776359e-04 9.99139252e-01 6.92667803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.73710568099997 meters 0.01814765052054641 Centerline is valid? [True, True] Translation: X:173.04, Y:60.83, Z:6.93 [[ 6.91188258e-01 -7.22157180e-01 -2.73459103e-02 1.73041324e+02] [ 7.21574062e-01 6.91728922e-01 -2.90167358e-02 6.08290832e+01] [ 3.98706011e-02 3.23927503e-04 9.99204799e-01 6.93119822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.76710568099998 meters 0.018265200997597198 Centerline is valid? [True, True] Translation: X:173.06, Y:60.85, Z:6.94 [[ 6.91891110e-01 -7.21556975e-01 -2.53421224e-02 1.73060329e+02] [ 7.21055087e-01 6.92354975e-01 -2.69100255e-02 6.08485553e+01] [ 3.69628611e-02 3.45741160e-04 9.99316580e-01 6.93692611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.79710568099998 meters 0.0190999854411725 Centerline is valid? [True, True] Translation: X:173.08, Y:60.87, Z:6.94 [[ 6.94018398e-01 -7.19530941e-01 -2.47727300e-02 1.73080762e+02] [ 7.19049577e-01 6.94460236e-01 -2.63189165e-02 6.08693932e+01] [ 3.61409507e-02 4.52991201e-04 9.99346600e-01 6.93849846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.82710568099998 meters 0.020558431348480788 Centerline is valid? [True, True] Translation: X:173.10, Y:60.89, Z:6.94 [[ 6.96606395e-01 -7.17060742e-01 -2.37365305e-02 1.73097667e+02] [ 7.16616793e-01 6.97010451e-01 -2.52349462e-02 6.08916340e+01] [ 3.46395991e-02 5.68828534e-04 9.99399707e-01 6.94108337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.85710568099998 meters 0.023916900258643653 Centerline is valid? [True, True] Translation: X:173.11, Y:60.92, Z:6.95 [[ 7.02810819e-01 -7.11036230e-01 -2.20098187e-02 1.73110770e+02] [ 7.10651338e-01 7.03154909e-01 -2.34061889e-02 6.09196760e+01] [ 3.21189603e-02 8.08815655e-04 9.99483726e-01 6.94541133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.88710568099998 meters 0.0253453590624724 Centerline is valid? [True, True] Translation: X:173.13, Y:60.94, Z:6.95 [[ 7.05898184e-01 -7.07994873e-01 -2.12370611e-02 1.73128144e+02] [ 7.07634789e-01 7.06216970e-01 -2.25964059e-02 6.09437863e+01] [ 3.09961125e-02 9.22678629e-04 9.99519079e-01 6.94646858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.91710568099998 meters 0.029420319084195307 Centerline is valid? [True, True] Translation: X:173.14, Y:60.97, Z:6.95 [[ 7.11497658e-01 -7.02369632e-01 -2.11656089e-02 1.73143438e+02] [ 7.02008992e-01 7.11811435e-01 -2.25356822e-02 6.09688197e+01] [ 3.08943013e-02 1.17563732e-03 9.99521966e-01 6.94607687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.94710568099998 meters 0.03242923332270172 Centerline is valid? [True, True] Translation: X:173.16, Y:60.99, Z:6.94 [[ 7.15042620e-01 -6.98681747e-01 -2.36192380e-02 1.73163065e+02] [ 6.98230398e-01 7.15431047e-01 -2.51541057e-02 6.09914464e+01] [ 3.44726506e-02 1.49458768e-03 9.99404524e-01 6.94284317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.97710568099998 meters 0.03342217151650943 Centerline is valid? [True, True] Translation: X:173.18, Y:61.01, Z:6.94 [[ 7.15777384e-01 -6.97872403e-01 -2.52358005e-02 1.73183130e+02] [ 6.97356021e-01 7.16220207e-01 -2.68923092e-02 6.10117506e+01] [ 3.68417908e-02 1.65056930e-03 9.99319748e-01 6.94042825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.00710568099998 meters 0.03441320720017397 Centerline is valid? [True, True] Translation: X:173.21, Y:61.03, Z:6.94 [[ 7.16291054e-01 -6.97313573e-01 -2.60941998e-02 1.73205325e+02] [ 6.96760346e-01 7.16764060e-01 -2.78262942e-02 6.10285406e+01] [ 3.81070372e-02 1.75032192e-03 9.99272130e-01 6.93693773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.03710568099999 meters 0.03460262238797282 Centerline is valid? [True, True] Translation: X:173.23, Y:61.05, Z:6.94 [[ 7.16337511e-01 -6.97262691e-01 -2.61784150e-02 1.73227654e+02] [ 6.96705394e-01 7.16813516e-01 -2.79280685e-02 6.10468647e+01] [ 3.82382419e-02 1.76728012e-03 9.99267088e-01 6.93690654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.067105681 meters 0.03446366548516507 Centerline is valid? [True, True] Translation: X:173.25, Y:61.06, Z:6.94 [[ 7.14675341e-01 -6.98919970e-01 -2.73867082e-02 1.73253243e+02] [ 6.98310414e-01 7.15197692e-01 -2.92374134e-02 6.10618269e+01] [ 4.00215226e-02 1.77083488e-03 9.99197249e-01 6.93593765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.097105681 meters 0.032305212751327535 Centerline is valid? [True, True] Translation: X:173.28, Y:61.07, Z:6.94 [[ 7.11807177e-01 -7.01833627e-01 -2.75699565e-02 1.73282441e+02] [ 7.01217287e-01 7.12339033e-01 -2.94519601e-02 6.10741142e+01] [ 4.03095322e-02 1.63158649e-03 9.99185908e-01 6.93643042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.12710568099996 meters 0.031034350769809368 Centerline is valid? [True, True] Translation: X:173.31, Y:61.09, Z:6.94 [[ 7.09520084e-01 -7.04159094e-01 -2.72253479e-02 1.73307582e+02] [ 7.03559253e-01 7.10040667e-01 -2.90968840e-02 6.10901148e+01] [ 3.98199396e-02 1.49017816e-03 9.99205760e-01 6.93828541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.15710568099996 meters 0.027738475980228567 Centerline is valid? [True, True] Translation: X:173.34, Y:61.10, Z:6.94 [[ 7.04615912e-01 -7.09061424e-01 -2.73553063e-02 1.73337565e+02] [ 7.08458875e-01 7.05145646e-01 -2.92513404e-02 6.10999115e+01] [ 4.00304722e-02 1.23085040e-03 9.99197701e-01 6.93828173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.18710568099996 meters 0.02628523548048768 Centerline is valid? [True, True] Translation: X:173.36, Y:61.12, Z:6.94 [[ 7.02435155e-01 -7.11225368e-01 -2.72640362e-02 1.73361386e+02] [ 7.10628150e-01 7.02963189e-01 -2.91614160e-02 6.11171128e+01] [ 3.99059526e-02 1.10941217e-03 9.99202824e-01 6.93855291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.21710568099996 meters 0.02292922871337486 Centerline is valid? [True, True] Translation: X:173.39, Y:61.13, Z:6.94 [[ 6.98282269e-01 -7.15248094e-01 -2.86711966e-02 1.73389658e+02] [ 7.14590132e-01 6.98870003e-01 -3.06864990e-02 6.11298919e+01] [ 4.19858992e-02 9.39684020e-04 9.99117761e-01 6.93621955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.24710568099997 meters 0.020650165259390986 Centerline is valid? [True, True] Translation: X:173.42, Y:61.14, Z:6.94 [[ 6.93998638e-01 -7.19459880e-01 -2.72648344e-02 1.73418208e+02] [ 7.18867533e-01 6.94533687e-01 -2.91963653e-02 6.11426094e+01] [ 3.99419595e-02 6.62433554e-04 9.99201782e-01 6.94117445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.27710568099997 meters 0.019435338229671643 Centerline is valid? [True, True] Translation: X:173.44, Y:61.16, Z:6.94 [[ 6.92079505e-01 -7.21326176e-01 -2.67302471e-02 1.73441906e+02] [ 7.20757606e-01 6.92595293e-01 -2.86397251e-02 6.11599939e+01] [ 3.91718267e-02 5.54937880e-04 9.99232335e-01 6.94389505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.30710568099997 meters 0.018671388763291497 Centerline is valid? [True, True] Translation: X:173.46, Y:61.18, Z:6.95 [[ 6.89536251e-01 -7.23750185e-01 -2.69337685e-02 1.73464198e+02] [ 7.23173990e-01 6.90061940e-01 -2.88773060e-02 6.11778869e+01] [ 3.94859241e-02 4.34148451e-04 9.99220032e-01 6.94591207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.33710568099997 meters 0.018931147034149776 Centerline is valid? [True, True] Translation: X:173.48, Y:61.20, Z:6.95 [[ 6.89312100e-01 -7.23958700e-01 -2.70671485e-02 1.73481750e+02] [ 7.23376198e-01 6.89843178e-01 -2.90390472e-02 6.11978365e+01] [ 3.96951586e-02 4.37235599e-04 9.99211741e-01 6.94661403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.36710568099997 meters 0.019178809019639784 Centerline is valid? [True, True] Translation: X:173.50, Y:61.22, Z:6.95 [[ 6.90727905e-01 -7.22594817e-01 -2.74169846e-02 1.73501190e+02] [ 7.21995653e-01 6.91271618e-01 -2.94249457e-02 6.12185708e+01] [ 4.02148966e-02 5.29687374e-04 9.99190913e-01 6.94709416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.39710568099997 meters 0.020234307410871413 Centerline is valid? [True, True] Translation: X:173.52, Y:61.24, Z:6.95 [[ 6.92207268e-01 -7.21250176e-01 -2.54417255e-02 1.73518459e+02] [ 7.20732717e-01 6.92674419e-01 -2.73221451e-02 6.12395396e+01] [ 3.73289344e-02 5.75903503e-04 9.99302866e-01 6.95355387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.42710568099997 meters 0.02085456749929523 Centerline is valid? [True, True] Translation: X:173.54, Y:61.26, Z:6.96 [[ 6.93270174e-01 -7.20281332e-01 -2.39012340e-02 1.73536747e+02] [ 7.19823740e-01 6.93681805e-01 -2.56775520e-02 6.12612273e+01] [ 3.50749125e-02 5.96805256e-04 9.99384508e-01 6.95819335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.45710568099997 meters 0.02300691323076889 Centerline is valid? [True, True] Translation: X:173.55, Y:61.28, Z:6.97 [[ 6.96179278e-01 -7.17529729e-01 -2.20340921e-02 1.73551398e+02] [ 7.17138987e-01 6.96527540e-01 -2.36867030e-02 6.12846282e+01] [ 3.23432655e-02 6.88685334e-04 9.99476582e-01 6.96559789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.48710568099997 meters 0.023856014143902194 Centerline is valid? [True, True] Translation: X:173.57, Y:61.31, Z:6.97 [[ 6.97508713e-01 -7.16282775e-01 -2.05080785e-02 1.73569067e+02] [ 7.15943543e-01 6.97809786e-01 -2.20532759e-02 6.13069899e+01] [ 3.01071195e-02 6.99725726e-04 9.99546433e-01 6.96952484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.51710568099998 meters 0.02669530425070139 Centerline is valid? [True, True] Translation: X:173.59, Y:61.33, Z:6.97 [[ 7.00900115e-01 -7.12992037e-01 -1.95290554e-02 1.73585339e+02] [ 7.12682699e-01 7.01171660e-01 -2.10160379e-02 6.13300271e+01] [ 2.86774878e-02 8.12123481e-04 9.99588386e-01 6.97220225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.54710568099998 meters 0.027566608029211397 Centerline is valid? [True, True] Translation: X:173.61, Y:61.35, Z:6.97 [[ 7.02578312e-01 -7.11330069e-01 -1.98304917e-02 1.73605554e+02] [ 7.11010399e-01 7.02857548e-01 -2.13419914e-02 6.13509067e+01] [ 2.91192110e-02 8.94734434e-04 9.99575545e-01 6.97154447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.57710568099998 meters 0.028767916669293517 Centerline is valid? [True, True] Translation: X:173.63, Y:61.37, Z:6.97 [[ 7.06779809e-01 -7.07112422e-01 -2.13148817e-02 1.73625624e+02] [ 7.06740598e-01 7.07100185e-01 -2.29576744e-02 6.13720457e+01] [ 3.13054135e-02 1.16192844e-03 9.99509190e-01 6.96809139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.60710568099998 meters 0.04223315786088908 Centerline is valid? [True, True] Translation: X:173.63, Y:61.41, Z:6.96 [[ 7.11648974e-01 -7.02120091e-01 -2.41477683e-02 1.73628262e+02] [ 7.01639797e-01 7.12056820e-01 -2.60130697e-02 6.14087258e+01] [ 3.54588820e-02 1.56913914e-03 9.99369904e-01 6.96479963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63710568099998 meters 0.037346241736370016 Centerline is valid? [True, True] Translation: X:173.65, Y:61.42, Z:6.96 [[ 7.16341905e-01 -6.97257472e-01 -2.61971854e-02 1.73654971e+02] [ 6.96688564e-01 7.16818062e-01 -2.82296197e-02 6.14241125e+01] [ 3.84619289e-02 1.97078008e-03 9.99258123e-01 6.95847389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.66710568099998 meters 0.036194758266312375 Centerline is valid? [True, True] Translation: X:173.68, Y:61.44, Z:6.96 [[ 7.17922873e-01 -6.95613468e-01 -2.66204935e-02 1.73678018e+02] [ 6.95024214e-01 7.18413163e-01 -2.87031086e-02 6.14420074e+01] [ 3.90907818e-02 2.10473066e-03 9.99233447e-01 6.95728189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69710568099998 meters 0.038845034429309755 Centerline is valid? [True, True] Translation: X:173.70, Y:61.46, Z:6.96 [[ 7.18911040e-01 -6.94534695e-01 -2.80797677e-02 1.73697254e+02] [ 6.93877965e-01 7.19455578e-01 -3.02826839e-02 6.14622622e+01] [ 4.12345201e-02 2.28662368e-03 9.99146879e-01 6.95643561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.72710568099998 meters 0.0371233339086601 Centerline is valid? [True, True] Translation: X:173.72, Y:61.48, Z:6.96 [[ 7.18013805e-01 -6.95433946e-01 -2.87715664e-02 1.73719340e+02] [ 6.94744763e-01 7.18586356e-01 -3.10380899e-02 6.14809721e+01] [ 4.22597964e-02 2.29688196e-03 9.99104016e-01 6.95688198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.75710568099998 meters 0.035988720952470944 Centerline is valid? [True, True] Translation: X:173.74, Y:61.50, Z:6.96 [[ 7.15848108e-01 -6.97645814e-01 -2.91856998e-02 1.73742104e+02] [ 6.96937627e-01 7.16439409e-01 -3.15042349e-02 6.14989562e+01] [ 4.28885832e-02 2.21163455e-03 9.99077413e-01 6.95739732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.78710568099999 meters 0.034834685749440146 Centerline is valid? [True, True] Translation: X:173.76, Y:61.52, Z:6.96 [[ 7.14288759e-01 -6.99254290e-01 -2.88964815e-02 1.73764816e+02] [ 6.98561055e-01 7.14869939e-01 -3.11997290e-02 6.15178645e+01] [ 4.24737703e-02 2.09965913e-03 9.99095376e-01 6.95969291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.817105681 meters 0.03407734805814635 Centerline is valid? [True, True] Translation: X:173.79, Y:61.53, Z:6.96 [[ 7.12753199e-01 -7.00857492e-01 -2.79580592e-02 1.73789520e+02] [ 7.00209070e-01 7.13298652e-01 -3.02041577e-02 6.15343306e+01] [ 4.11112561e-02 1.95162345e-03 9.99152669e-01 6.96110119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.847105681 meters 0.03304048335778024 Centerline is valid? [True, True] Translation: X:173.81, Y:61.55, Z:6.96 [[ 7.10046500e-01 -7.03591569e-01 -2.81579814e-02 1.73812897e+02] [ 7.02935463e-01 7.10602286e-01 -3.04323071e-02 6.15504183e+01] [ 4.14210407e-02 1.81510942e-03 9.99140132e-01 6.96060140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.87710568099996 meters 0.031908925916692255 Centerline is valid? [True, True] Translation: X:173.83, Y:61.57, Z:6.96 [[ 7.08181519e-01 -7.05457638e-01 -2.84333905e-02 1.73834491e+02] [ 7.04789650e-01 7.08749974e-01 -3.07412461e-02 6.15693431e+01] [ 4.18388116e-02 1.73082300e-03 9.99122874e-01 6.96069989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.90710568099996 meters 0.028036211597603403 Centerline is valid? [True, True] Translation: X:173.86, Y:61.58, Z:6.96 [[ 7.03440831e-01 -7.10160457e-01 -2.90365698e-02 1.73860197e+02] [ 7.09466966e-01 7.04038271e-01 -3.14123690e-02 6.15845696e+01] [ 4.27506787e-02 1.49625587e-03 9.99084651e-01 6.96173185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.93710568099996 meters 0.024111026004895144 Centerline is valid? [True, True] Translation: X:173.89, Y:61.60, Z:6.96 [[ 6.97112473e-01 -7.16338566e-01 -2.98874349e-02 1.73888304e+02] [ 7.15609051e-01 6.97751903e-01 -3.23414122e-02 6.15984710e+01] [ 4.40214154e-02 1.15788292e-03 9.99029917e-01 6.96247912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.96710568099996 meters 0.02255241819528414 Centerline is valid? [True, True] Translation: X:173.91, Y:61.62, Z:6.96 [[ 6.93025830e-01 -7.20265378e-01 -3.05447939e-02 1.73911295e+02] [ 7.19506337e-01 6.93697987e-01 -3.30716545e-02 6.16152296e+01] [ 4.50092298e-02 9.42338069e-04 9.98986127e-01 6.96218553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.99710568099997 meters 0.018067420924636264 Centerline is valid? [True, True] Translation: X:173.94, Y:61.63, Z:6.96 [[ 6.83808804e-01 -7.29002600e-01 -3.09956334e-02 1.73942691e+02] [ 7.28229344e-01 6.84510820e-01 -3.35702241e-02 6.16261342e+01] [ 4.56896271e-02 3.83684964e-04 9.98955610e-01 6.96417019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.02710568099997 meters 0.017239691180601688 Centerline is valid? [True, True] Translation: X:173.97, Y:61.64, Z:6.97 [[ 6.79282221e-01 -7.33271000e-01 -2.98212186e-02 1.73965915e+02] [ 7.32558550e-01 6.79936490e-01 -3.23162738e-02 6.16422843e+01] [ 4.39731211e-02 1.06081628e-04 9.99032709e-01 6.96706401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.05710568099997 meters 0.017674925952003 Centerline is valid? [True, True] Translation: X:173.99, Y:61.66, Z:6.98 [[ 6.71726499e-01 -7.40303863e-01 -2.70869145e-02 1.73990860e+02] [ 7.39721362e-01 6.72272335e-01 -2.93634723e-02 6.16568991e+01] [ 3.99476752e-02 -3.12546854e-04 9.99201724e-01 6.97561891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.08710568099997 meters 0.01973092368560908 Centerline is valid? [True, True] Translation: X:174.01, Y:61.67, Z:6.98 [[ 6.65828704e-01 -7.45701860e-01 -2.45127224e-02 1.74012988e+02] [ 7.45227792e-01 6.66279536e-01 -2.65916807e-02 6.16734345e+01] [ 3.61617911e-02 -5.62057771e-04 9.99345790e-01 6.98144964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.11710568099997 meters 0.020645124992939648 Centerline is valid? [True, True] Translation: X:174.03, Y:61.69, Z:6.98 [[ 6.63906991e-01 -7.47454052e-01 -2.32367865e-02 1.74032309e+02] [ 7.47028908e-01 6.64313223e-01 -2.52141550e-02 6.16930325e+01] [ 3.42829268e-02 -6.18697456e-04 9.99411976e-01 6.98487132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.14710568099997 meters 0.020645124992939648 Centerline is valid? [True, True] Translation: X:174.05, Y:61.71, Z:6.99 [[ 6.63629848e-01 -7.47700248e-01 -2.32327991e-02 1.74050748e+02] [ 7.47275126e-01 6.64036103e-01 -2.52178286e-02 6.17134014e+01] [ 3.42827941e-02 -6.25989100e-04 9.99411976e-01 6.98588880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.17710568099997 meters 0.02089718723525257 Centerline is valid? [True, True] Translation: X:174.07, Y:61.74, Z:6.99 [[ 6.62877472e-01 -7.48388562e-01 -2.25392459e-02 1.74068862e+02] [ 7.47988252e-01 6.63260253e-01 -2.44829018e-02 6.17352442e+01] [ 3.32721097e-02 -6.29927110e-04 9.99446132e-01 6.98802766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.20710568099997 meters 0.020078548084790968 Centerline is valid? [True, True] Translation: X:174.08, Y:61.76, Z:6.99 [[ 6.64550965e-01 -7.46888149e-01 -2.30240722e-02 1.74081092e+02] [ 7.46468959e-01 6.64949460e-01 -2.50261713e-02 6.17627656e+01] [ 3.40015951e-02 -5.55588881e-04 9.99421624e-01 6.98892792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.23710568099997 meters 0.018399841234313395 Centerline is valid? [True, True] Translation: X:174.09, Y:61.79, Z:6.98 [[ 6.68635079e-01 -7.43142731e-01 -2.58072209e-02 1.74088680e+02] [ 7.42612472e-01 6.69132816e-01 -2.80711875e-02 6.17935922e+01] [ 3.81293573e-02 -3.95383438e-04 9.99272733e-01 6.98369983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.26710568099998 meters 0.017797493171618158 Centerline is valid? [True, True] Translation: X:174.10, Y:61.82, Z:6.98 [[ 6.70690907e-01 -7.41198184e-01 -2.82658847e-02 1.74102152e+02] [ 7.40559921e-01 6.71286198e-01 -3.07545696e-02 6.18206597e+01] [ 4.17697294e-02 -3.05771194e-04 9.99127217e-01 6.98032114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.29710568099998 meters 0.017308488796243734 Centerline is valid? [True, True] Translation: X:174.11, Y:61.85, Z:6.97 [[ 6.73896368e-01 -7.38113007e-01 -3.24480284e-02 1.74112362e+02] [ 7.37266992e-01 6.74677090e-01 -3.53299517e-02 6.18506614e+01] [ 4.79694382e-02 -1.14134196e-04 9.98848797e-01 6.97274498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.32710568099998 meters 0.017395646734774266 Centerline is valid? [True, True] Translation: X:174.13, Y:61.88, Z:6.97 [[ 6.75161428e-01 -7.36909480e-01 -3.34882683e-02 1.74126546e+02] [ 7.36005807e-01 6.75991433e-01 -3.64833500e-02 6.18753358e+01] [ 4.95227090e-02 -1.54092442e-05 9.98772998e-01 6.97158100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.35710568099998 meters 0.01780694328980522 Centerline is valid? [True, True] Translation: X:174.13, Y:61.91, Z:6.98 [[ 6.79590710e-01 -7.32849451e-01 -3.29871187e-02 1.74134399e+02] [ 7.31967082e-01 6.80390770e-01 -3.59526168e-02 6.19057560e+01] [ 4.87919866e-02 2.87579389e-04 9.98808920e-01 6.97540817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.38710568099998 meters 0.020763855334020007 Centerline is valid? [True, True] Translation: X:174.14, Y:61.94, Z:6.98 [[ 6.87483587e-01 -7.25583901e-01 -2.99051846e-02 1.74140912e+02] [ 7.24850862e-01 6.88133306e-01 -3.26156646e-02 6.19383611e+01] [ 4.42441547e-02 7.45935253e-04 9.99020469e-01 6.98442657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.41710568099998 meters 0.022905597468316132 Centerline is valid? [True, True] Translation: X:174.15, Y:61.97, Z:6.99 [[ 6.91752618e-01 -7.21609872e-01 -2.75228715e-02 1.74153935e+02] [ 7.20985116e-01 6.92299300e-01 -3.00356691e-02 6.19650855e+01] [ 4.07281000e-02 9.33672065e-04 9.99169830e-01 6.99022380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.44710568099998 meters 0.02613112482615945 Centerline is valid? [True, True] Translation: X:174.16, Y:61.99, Z:7.00 [[ 6.97115930e-01 -7.16530917e-01 -2.47553249e-02 1.74164364e+02] [ 7.16021715e-01 6.97554438e-01 -2.70316432e-02 6.19948483e+01] [ 3.66371948e-02 1.11883887e-03 9.99328006e-01 6.99671013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.47710568099998 meters 0.028311470720325308 Centerline is valid? [True, True] Translation: X:174.18, Y:62.02, Z:7.00 [[ 6.99823020e-01 -7.13856358e-01 -2.56289217e-02 1.74178969e+02] [ 7.13308117e-01 7.00290918e-01 -2.80028615e-02 6.20201262e+01] [ 3.79377218e-02 1.31572921e-03 9.99279239e-01 6.99504037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.50710568099998 meters 0.028274360786697712 Centerline is valid? [True, True] Translation: X:174.20, Y:62.04, Z:6.99 [[ 7.00222103e-01 -7.13423830e-01 -2.67478006e-02 1.74197996e+02] [ 7.12826054e-01 7.00731382e-01 -2.92326261e-02 6.20420278e+01] [ 3.95982753e-02 1.40280174e-03 9.99214696e-01 6.99329144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.53710568099999 meters 0.029693731817615237 Centerline is valid? [True, True] Translation: X:174.21, Y:62.06, Z:6.99 [[ 7.01132643e-01 -7.12463713e-01 -2.84336724e-02 1.74214956e+02] [ 7.11786521e-01 7.01707213e-01 -3.10955981e-02 6.20642021e+01] [ 4.21065983e-02 1.56343413e-03 9.99111901e-01 6.99196393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.567105681 meters 0.030220886026286888 Centerline is valid? [True, True] Translation: X:174.23, Y:62.09, Z:6.99 [[ 7.01536403e-01 -7.12046677e-01 -2.89172041e-02 1.74234001e+02] [ 7.11345487e-01 7.02130257e-01 -3.16338453e-02 6.20861020e+01] [ 4.28284184e-02 1.62217140e-03 9.99081125e-01 6.99273363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.59710568099996 meters 0.03181533190902016 Centerline is valid? [True, True] Translation: X:174.25, Y:62.11, Z:6.99 [[ 7.03058345e-01 -7.10496215e-01 -3.00681098e-02 1.74253550e+02] [ 7.09735659e-01 7.03698717e-01 -3.29151893e-02 6.21071525e+01] [ 4.45450077e-02 1.80088884e-03 9.99005755e-01 6.99151187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.62710568099996 meters 0.03272374060789071 Centerline is valid? [True, True] Translation: X:174.27, Y:62.13, Z:6.99 [[ 7.03536194e-01 -7.09988982e-01 -3.08621089e-02 1.74272182e+02] [ 7.09186308e-01 7.04210233e-01 -3.38042525e-02 6.21283292e+01] [ 4.57340597e-02 1.89553010e-03 9.98951852e-01 6.99034333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65710568099996 meters 0.0340401945642405 Centerline is valid? [True, True] Translation: X:174.29, Y:62.15, Z:6.99 [[ 7.05728647e-01 -7.07723011e-01 -3.27904974e-02 1.74290625e+02] [ 7.06813809e-01 7.06486654e-01 -3.59283697e-02 6.21515261e+01] [ 4.85933827e-02 2.17890333e-03 9.98816267e-01 6.98881949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.68710568099996 meters 0.03639330766996786 Centerline is valid? [True, True] Translation: X:174.31, Y:62.17, Z:6.99 [[ 7.07019992e-01 -7.06431736e-01 -3.28166501e-02 1.74306661e+02] [ 7.05518780e-01 7.07777501e-01 -3.59758321e-02 6.21740378e+01] [ 4.86413561e-02 2.28286954e-03 9.98813700e-01 6.98912725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.71710568099996 meters 0.037794470851609994 Centerline is valid? [True, True] Translation: X:174.33, Y:62.19, Z:6.99 [[ 7.07828631e-01 -7.05696555e-01 -3.11608957e-02 1.74326541e+02] [ 7.04872304e-01 7.08510715e-01 -3.41701721e-02 6.21932065e+01] [ 4.61916013e-02 2.22217373e-03 9.98930127e-01 6.99278411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.74710568099997 meters 0.03484760405103204 Centerline is valid? [True, True] Translation: X:174.35, Y:62.21, Z:6.99 [[ 7.05059173e-01 -7.08492803e-01 -3.04878676e-02 1.74352752e+02] [ 7.07705814e-01 7.05715192e-01 -3.34447258e-02 6.22091297e+01] [ 4.52110988e-02 2.00406957e-03 9.98975445e-01 6.99454159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.77710568099997 meters 0.032222979132944043 Centerline is valid? [True, True] Translation: X:174.38, Y:62.22, Z:6.99 [[ 7.01028676e-01 -7.12461231e-01 -3.09481949e-02 1.74377291e+02] [ 7.11653296e-01 7.01709198e-01 -3.39674445e-02 6.22241786e+01] [ 4.59171203e-02 1.78776773e-03 9.98943653e-01 6.99461678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.80710568099997 meters 0.030519181084388825 Centerline is valid? [True, True] Translation: X:174.40, Y:62.24, Z:6.99 [[ 6.98320477e-01 -7.15103612e-01 -3.12303660e-02 1.74400878e+02] [ 7.14283030e-01 6.99016558e-01 -3.42870957e-02 6.22420138e+01] [ 4.63493689e-02 1.63606058e-03 9.98923951e-01 6.99468586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.83710568099997 meters 0.02648797432673076 Centerline is valid? [True, True] Translation: X:174.43, Y:62.25, Z:7.00 [[ 6.92889746e-01 -7.20381918e-01 -3.08819143e-02 1.74429118e+02] [ 7.19584039e-01 6.93576422e-01 -3.39198824e-02 6.22535312e+01] [ 4.58542376e-02 1.28060607e-03 9.98947320e-01 6.99683918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.86710568099997 meters 0.02440232945013569 Centerline is valid? [True, True] Translation: X:174.45, Y:62.27, Z:7.00 [[ 6.89873160e-01 -7.23308050e-01 -3.00081270e-02 1.74453148e+02] [ 7.22557028e-01 6.90524682e-01 -3.29697478e-02 6.22705985e+01] [ 4.45686363e-02 1.06236098e-03 9.99005760e-01 6.99937563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.89710568099997 meters 0.02025835062243733 Centerline is valid? [True, True] Translation: X:174.48, Y:62.28, Z:7.00 [[ 6.83609817e-01 -7.29237165e-01 -2.98458755e-02 1.74483831e+02] [ 7.28498950e-01 6.84260685e-01 -3.28114988e-02 6.22819816e+01] [ 4.43497236e-02 6.87573699e-04 9.99015830e-01 7.00134398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.92710568099997 meters 0.019383762505503797 Centerline is valid? [True, True] Translation: X:174.51, Y:62.30, Z:7.00 [[ 6.80912841e-01 -7.31712421e-01 -3.08971946e-02 1.74506520e+02] [ 7.30922951e-01 6.81613250e-01 -3.39855418e-02 6.22994072e+01] [ 4.59275803e-02 5.57723147e-04 9.98944616e-01 6.99974612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.95710568099997 meters 0.017974112922651643 Centerline is valid? [True, True] Translation: X:174.53, Y:62.31, Z:7.00 [[ 6.77038295e-01 -7.35250602e-01 -3.20265566e-02 1.74533316e+02] [ 7.34405733e-01 6.77795278e-01 -3.52389030e-02 6.23141461e+01] [ 4.76168735e-02 3.37600040e-04 9.98865616e-01 6.99900140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.98710568099997 meters 0.017481723275235336 Centerline is valid? [True, True] Translation: X:174.56, Y:62.33, Z:7.00 [[ 6.76032348e-01 -7.36185787e-01 -3.17923229e-02 1.74557743e+02] [ 7.35353218e-01 6.76779437e-01 -3.50034231e-02 6.23299333e+01] [ 4.72854130e-02 2.84859335e-04 9.98881379e-01 7.00336366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.01710568099998 meters 0.017455985951113407 Centerline is valid? [True, True] Translation: X:174.58, Y:62.35, Z:7.01 [[ 6.76345596e-01 -7.35938295e-01 -3.08457636e-02 1.74577278e+02] [ 7.35153154e-01 6.77048543e-01 -3.39869139e-02 6.23494802e+01] [ 4.58963508e-02 3.10539167e-04 9.98946159e-01 7.00677220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.04710568099998 meters 0.018670711793544105 Centerline is valid? [True, True] Translation: X:174.59, Y:62.37, Z:7.01 [[ 6.78560919e-01 -7.33971320e-01 -2.90031059e-02 1.74593066e+02] [ 7.33274450e-01 6.79180325e-01 -3.19791675e-02 6.23713299e+01] [ 4.31701307e-02 4.32576719e-04 9.99067642e-01 7.01157195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.07710568099998 meters 0.01868816252125091 Centerline is valid? [True, True] Translation: X:174.61, Y:62.39, Z:7.02 [[ 6.80188092e-01 -7.32516482e-01 -2.76362612e-02 1.74611749e+02] [ 7.31881915e-01 6.80749104e-01 -3.04880424e-02 6.23929996e+01] [ 4.11463536e-02 5.11123658e-04 9.99152999e-01 7.01696446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.10710568099998 meters 0.02105445417246893 Centerline is valid? [True, True] Translation: X:174.62, Y:62.42, Z:7.02 [[ 6.85037543e-01 -7.28049134e-01 -2.58461390e-02 1.74624995e+02] [ 7.27490248e-01 6.85524549e-01 -2.85312358e-02 6.24182097e+01] [ 3.84903043e-02 7.42153580e-04 9.99258698e-01 7.02138674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.13710568099998 meters 0.02229199047934519 Centerline is valid? [True, True] Translation: X:174.64, Y:62.44, Z:7.02 [[ 6.87516052e-01 -7.25725678e-01 -2.53755582e-02 1.74642173e+02] [ 7.25184993e-01 6.87983644e-01 -2.80219792e-02 6.24411621e+01] [ 3.77942389e-02 8.63586503e-04 9.99285169e-01 7.02288386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.16710568099998 meters 0.02483743871919696 Centerline is valid? [True, True] Translation: X:174.66, Y:62.47, Z:7.02 [[ 6.91082525e-01 -7.22319705e-01 -2.56746547e-02 1.74657086e+02] [ 7.21763103e-01 6.91558448e-01 -2.83714035e-02 6.24650343e+01] [ 3.82487481e-02 1.07596273e-03 9.99267670e-01 7.02266400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19710568099998 meters 0.0257482863038036 Centerline is valid? [True, True] Translation: X:174.67, Y:62.49, Z:7.02 [[ 6.92165643e-01 -7.21228180e-01 -2.71410238e-02 1.74674704e+02] [ 7.20604949e-01 6.92696509e-01 -3.00008946e-02 6.24883249e+01] [ 4.04379830e-02 1.20763237e-03 9.99181320e-01 7.02062558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.22710568099998 meters 0.02774399190905782 Centerline is valid? [True, True] Translation: X:174.69, Y:62.51, Z:7.02 [[ 6.96143264e-01 -7.17262904e-01 -3.03064762e-02 1.74691191e+02] [ 7.16480886e-01 6.96800754e-01 -3.35238591e-02 6.25131254e+01] [ 4.51629960e-02 1.62339779e-03 9.98978312e-01 7.01611754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.25710568099998 meters 0.032418379493291294 Centerline is valid? [True, True] Translation: X:174.70, Y:62.54, Z:7.01 [[ 7.01513826e-01 -7.11902458e-01 -3.27603692e-02 1.74704678e+02] [ 7.10981735e-01 7.02275084e-01 -3.62584989e-02 6.25385055e+01] [ 4.88193055e-02 2.14381411e-03 9.98805326e-01 7.01145212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.28710568099999 meters 0.03467113247289395 Centerline is valid? [True, True] Translation: X:174.72, Y:62.56, Z:7.01 [[ 7.03444330e-01 -7.09997948e-01 -3.26953893e-02 1.74720997e+02] [ 7.09078431e-01 7.04200062e-01 -3.61946200e-02 6.25608121e+01] [ 4.87222011e-02 2.27730480e-03 9.98809772e-01 7.01193438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.317105681 meters 0.03666983740287961 Centerline is valid? [True, True] Translation: X:174.74, Y:62.58, Z:7.02 [[ 7.06196148e-01 -7.07348808e-01 -3.07353872e-02 1.74739107e+02] [ 7.06533408e-01 7.06860869e-01 -3.40331592e-02 6.25830492e+01] [ 4.57989571e-02 2.31850807e-03 9.98947987e-01 7.01605075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.34710568099996 meters 0.03724218178182467 Centerline is valid? [True, True] Translation: X:174.76, Y:62.60, Z:7.02 [[ 7.07597636e-01 -7.05924607e-01 -3.12415634e-02 1.74759046e+02] [ 7.05080146e-01 7.08282712e-01 -3.46061790e-02 6.26038954e+01] [ 4.65572126e-02 2.45944441e-03 9.98912597e-01 7.01544083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.37710568099996 meters 0.037246384311122475 Centerline is valid? [True, True] Translation: X:174.78, Y:62.62, Z:7.01 [[ 7.06923331e-01 -7.06585269e-01 -3.15699415e-02 1.74779646e+02] [ 7.05722537e-01 7.07623641e-01 -3.49926227e-02 6.26240362e+01] [ 4.70649086e-02 2.45748221e-03 9.98888810e-01 7.01475044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.40710568099996 meters 0.03620836155568218 Centerline is valid? [True, True] Translation: X:174.81, Y:62.64, Z:7.01 [[ 7.04110975e-01 -7.09362363e-01 -3.21367853e-02 1.74806169e+02] [ 7.08470260e-01 7.04840140e-01 -3.56408323e-02 6.26387109e+01] [ 4.79335612e-02 2.32714456e-03 9.98847815e-01 7.01336533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.43710568099996 meters 0.034141350149170864 Centerline is valid? [True, True] Translation: X:174.83, Y:62.66, Z:7.01 [[ 7.01822649e-01 -7.11622633e-01 -3.22210717e-02 1.74830608e+02] [ 7.10727736e-01 7.02558504e-01 -3.57440036e-02 6.26551428e+01] [ 4.80734300e-02 2.18554194e-03 9.98841413e-01 7.01383495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.46710568099996 meters 0.031087447097047 Centerline is valid? [True, True] Translation: X:174.86, Y:62.67, Z:7.01 [[ 6.97020948e-01 -7.16326423e-01 -3.22219379e-02 1.74856044e+02] [ 7.15435680e-01 6.97762815e-01 -3.57609032e-02 6.26703247e+01] [ 4.80997499e-02 1.87337458e-03 9.98840780e-01 7.01451041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.49710568099997 meters 0.028047497448597438 Centerline is valid? [True, True] Translation: X:174.88, Y:62.69, Z:7.01 [[ 6.92658093e-01 -7.20467598e-01 -3.39294267e-02 1.74882434e+02] [ 7.19484199e-01 6.93486568e-01 -3.76678638e-02 6.26856548e+01] [ 5.06680770e-02 1.67926433e-03 9.98714136e-01 7.01208803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.52710568099997 meters 0.025792758303691658 Centerline is valid? [True, True] Translation: X:174.91, Y:62.70, Z:7.01 [[ 6.90792618e-01 -7.22206476e-01 -3.49766213e-02 1.74906821e+02] [ 7.21162505e-01 6.91675646e-01 -3.88515493e-02 6.27032205e+01] [ 5.22513176e-02 1.61453564e-03 9.98632662e-01 7.01280015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.55710568099997 meters 0.02480453587225403 Centerline is valid? [True, True] Translation: X:174.93, Y:62.72, Z:7.01 [[ 6.89037664e-01 -7.23853997e-01 -3.55315261e-02 1.74928934e+02] [ 7.22777838e-01 6.89951493e-01 -3.94858669e-02 6.27219968e+01] [ 5.30970321e-02 1.52584987e-03 9.98588192e-01 7.01363871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.58710568099997 meters 0.02460163397823068 Centerline is valid? [True, True] Translation: X:174.95, Y:62.74, Z:7.01 [[ 6.86763785e-01 -7.25981536e-01 -3.61429566e-02 1.74947900e+02] [ 7.24869740e-01 6.87712767e-01 -4.01871966e-02 6.27423171e+01] [ 5.40311354e-02 1.40017573e-03 9.98538270e-01 7.01352864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.61710568099997 meters 0.023922367246134016 Centerline is valid? [True, True] Translation: X:174.97, Y:62.76, Z:7.02 [[ 6.86767044e-01 -7.26020906e-01 -3.52799062e-02 1.74965950e+02] [ 7.24960854e-01 6.87671256e-01 -3.92428849e-02 6.27632919e+01] [ 5.27521322e-02 1.37416907e-03 9.98606691e-01 7.01740835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.64710568099997 meters 0.02444756307143598 Centerline is valid? [True, True] Translation: X:174.98, Y:62.78, Z:7.02 [[ 6.87280678e-01 -7.25566434e-01 -3.46210808e-02 1.74983228e+02] [ 7.24543812e-01 6.88150704e-01 -3.85340519e-02 6.27847809e+01] [ 5.17835357e-02 1.39921950e-03 9.98657352e-01 7.01873145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.67710568099997 meters 0.02467530230655613 Centerline is valid? [True, True] Translation: X:175.00, Y:62.81, Z:7.02 [[ 6.87238107e-01 -7.25686898e-01 -3.28984900e-02 1.75000486e+02] [ 7.24763198e-01 6.88023810e-01 -3.66270918e-02 6.28066318e+01] [ 4.92147451e-02 1.32791840e-03 9.98787337e-01 7.02283278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.70710568099997 meters 0.024291966580705465 Centerline is valid? [True, True] Translation: X:175.02, Y:62.83, Z:7.03 [[ 6.86384854e-01 -7.26566627e-01 -3.12533103e-02 1.75019099e+02] [ 7.25733600e-01 6.87094958e-01 -3.48031710e-02 6.28275382e+01] [ 4.67608145e-02 1.20679207e-03 9.98905386e-01 7.02661324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.73710568099997 meters 0.020662589819541208 Centerline is valid? [True, True] Translation: X:175.04, Y:62.84, Z:7.03 [[ 6.81853556e-01 -7.30928411e-01 -2.86249096e-02 1.75043871e+02] [ 7.30233122e-01 6.82453629e-01 -3.18846737e-02 6.28446234e+01] [ 4.28405873e-02 8.37821103e-04 9.99081569e-01 7.03293115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.76710568099998 meters 0.01742559774926885 Centerline is valid? [True, True] Translation: X:175.07, Y:62.86, Z:7.04 [[ 6.73679113e-01 -7.38539544e-01 -2.67543377e-02 1.75069538e+02] [ 7.37937454e-01 6.74210073e-01 -2.98176355e-02 6.28591002e+01] [ 4.00595469e-02 3.44490375e-04 9.99197235e-01 7.03664120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.79710568099998 meters 0.016456986823522295 Centerline is valid? [True, True] Translation: X:175.09, Y:62.88, Z:7.04 [[ 6.68786985e-01 -7.42990958e-01 -2.62374735e-02 1.75091883e+02] [ 7.42415017e-01 6.69301449e-01 -2.92491507e-02 6.28774151e+01] [ 3.92926335e-02 8.23569592e-05 9.99227743e-01 7.03839365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.82710568099998 meters 0.016749874619478966 Centerline is valid? [True, True] Translation: X:175.11, Y:62.90, Z:7.04 [[ 6.62938151e-01 -7.48236115e-01 -2.56071268e-02 1.75111752e+02] [ 7.47690705e-01 6.63432493e-01 -2.85645996e-02 6.28954585e+01] [ 3.83616650e-02 -2.09647843e-04 9.99263898e-01 7.03991592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.85710568099998 meters 0.016849903061710244 Centerline is valid? [True, True] Translation: X:175.13, Y:62.92, Z:7.04 [[ 6.61974080e-01 -7.49070760e-01 -2.61402755e-02 1.75127428e+02] [ 7.48502532e-01 6.62489949e-01 -2.91723853e-02 6.29177129e+01] [ 3.91698506e-02 -2.54699436e-04 9.99232534e-01 7.03806383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.88710568099998 meters 0.01654399100801897 Centerline is valid? [True, True] Translation: X:175.14, Y:62.94, Z:7.04 [[ 6.62448354e-01 -7.48602628e-01 -2.75006066e-02 1.75143347e+02] [ 7.47972683e-01 6.63018893e-01 -3.07052592e-02 6.29406686e+01] [ 4.12194595e-02 -2.29054041e-04 9.99150091e-01 7.03647237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.91710568099998 meters 0.01621935633048312 Centerline is valid? [True, True] Translation: X:175.15, Y:62.97, Z:7.03 [[ 6.66507148e-01 -7.44912525e-01 -2.95558973e-02 1.75152497e+02] [ 7.44180091e-01 6.67162146e-01 -3.30251813e-02 6.29688128e+01] [ 4.43194471e-02 1.66090694e-05 9.99017410e-01 7.03389482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.94710568099998 meters 0.016541402914534094 Centerline is valid? [True, True] Translation: X:175.17, Y:63.00, Z:7.03 [[ 6.69175553e-01 -7.42472337e-01 -3.06416202e-02 1.75165217e+02] [ 7.41681633e-01 6.69876698e-01 -3.42573368e-02 6.29963900e+01] [ 4.59612322e-02 1.97845372e-04 9.98943205e-01 7.03335291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.97710568099998 meters 0.01888203851739331 Centerline is valid? [True, True] Translation: X:175.17, Y:63.03, Z:7.03 [[ 6.75890863e-01 -7.36326125e-01 -3.15496265e-02 1.75171086e+02] [ 7.35480111e-01 6.76626496e-01 -3.52929378e-02 6.30292540e+01] [ 4.73344253e-02 6.50051403e-04 9.98878886e-01 7.03163772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.00710568099998 meters 0.024909450001280645 Centerline is valid? [True, True] Translation: X:175.18, Y:63.06, Z:7.03 [[ 6.85315244e-01 -7.27595688e-01 -3.07819877e-02 1.75175192e+02] [ 7.26781063e-01 6.86005099e-01 -3.44425675e-02 6.30624587e+01] [ 4.61768641e-02 1.23225082e-03 9.98932520e-01 7.03259067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.03710568099999 meters 0.0292631648821777 Centerline is valid? [True, True] Translation: X:175.19, Y:63.09, Z:7.04 [[ 6.89500777e-01 -7.23678275e-01 -2.96383523e-02 1.75185819e+02] [ 7.22919072e-01 6.90135975e-01 -3.31715526e-02 6.30900147e+01] [ 4.44600251e-02 1.44568112e-03 9.99010118e-01 7.03625255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.067105681 meters 0.0292631648821777 Centerline is valid? [True, True] Translation: X:175.20, Y:63.11, Z:7.04 [[ 6.89252315e-01 -7.23915218e-01 -2.96311302e-02 1.75203918e+02] [ 7.23155956e-01 6.89887443e-01 -3.31780028e-02 6.31106676e+01] [ 4.44602057e-02 1.44008697e-03 9.99010118e-01 7.03726999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09710568099996 meters 0.0324938929354822 Centerline is valid? [True, True] Translation: X:175.22, Y:63.14, Z:7.04 [[ 6.95002566e-01 -7.18496416e-01 -2.70985683e-02 1.75215948e+02] [ 7.17856531e-01 6.95528707e-01 -3.03614729e-02 6.31387084e+01] [ 4.06624416e-02 1.64841732e-03 9.99171581e-01 7.04448422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.12710568099996 meters 0.03434269700504383 Centerline is valid? [True, True] Translation: X:175.23, Y:63.16, Z:7.05 [[ 6.96526707e-01 -7.17057522e-01 -2.60587298e-02 1.75231052e+02] [ 7.16464150e-01 6.97011977e-01 -2.92134519e-02 6.31617693e+01] [ 3.91109722e-02 1.67780375e-03 9.99233465e-01 7.04827342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.15710568099996 meters 0.036590733471274964 Centerline is valid? [True, True] Translation: X:175.25, Y:63.18, Z:7.05 [[ 6.98634036e-01 -7.15053057e-01 -2.46902663e-02 1.75246558e+02] [ 7.14518883e-01 6.99068117e-01 -2.76863476e-02 6.31849122e+01] [ 3.70573854e-02 1.70096327e-03 9.99311692e-01 7.05061507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.18710568099996 meters 0.03815585224564064 Centerline is valid? [True, True] Translation: X:175.26, Y:63.21, Z:7.05 [[ 6.99484858e-01 -7.14144339e-01 -2.68103704e-02 1.75263827e+02] [ 7.13513492e-01 6.99995882e-01 -3.00709479e-02 6.32075858e+01] [ 4.02421461e-02 1.90461169e-03 9.99188142e-01 7.04544987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.21710568099996 meters 0.0390310697301386 Centerline is valid? [True, True] Translation: X:175.28, Y:63.23, Z:7.04 [[ 6.99859283e-01 -7.13714849e-01 -2.84270494e-02 1.75283023e+02] [ 7.13004856e-01 7.00433368e-01 -3.18931379e-02 6.32292104e+01] [ 4.26738601e-02 2.05208430e-03 9.99086948e-01 7.04246873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.24710568099997 meters 0.0394188415401388 Centerline is valid? [True, True] Translation: X:175.30, Y:63.25, Z:7.04 [[ 6.99522356e-01 -7.13958855e-01 -3.05160265e-02 1.75304119e+02] [ 7.13139964e-01 7.00184198e-01 -3.42561033e-02 6.32472529e+01] [ 4.58242878e-02 2.20071200e-03 9.98947091e-01 7.03902329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.27710568099997 meters 0.03802778247681718 Centerline is valid? [True, True] Translation: X:175.33, Y:63.27, Z:7.04 [[ 6.97949567e-01 -7.15541452e-01 -2.94420400e-02 1.75325931e+02] [ 7.14780220e-01 6.98567329e-01 -3.30594020e-02 6.32659523e+01] [ 4.42226198e-02 2.02920745e-03 9.99019641e-01 7.04110837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.30710568099997 meters 0.032866611736640884 Centerline is valid? [True, True] Translation: X:175.35, Y:63.28, Z:7.04 [[ 6.91654284e-01 -7.21656147e-01 -2.87533792e-02 1.75353044e+02] [ 7.20934598e-01 6.92249812e-01 -3.23032854e-02 6.32786125e+01] [ 4.32163859e-02 1.61339984e-03 9.99064433e-01 7.04371662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.33710568099997 meters 0.0257055940739764 Centerline is valid? [True, True] Translation: X:175.38, Y:63.29, Z:7.05 [[ 6.83199242e-01 -7.29727996e-01 -2.71265047e-02 1.75383104e+02] [ 7.29091825e-01 6.83736758e-01 -3.04820617e-02 6.32881660e+01] [ 4.07910022e-02 1.04760863e-03 9.99167152e-01 7.04957096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.36710568099997 meters 0.01999137804077396 Centerline is valid? [True, True] Translation: X:175.41, Y:63.30, Z:7.05 [[ 6.78886583e-01 -7.33782635e-01 -2.60010175e-02 1.75412154e+02] [ 7.33200850e-01 6.79383870e-01 -2.92245040e-02 6.33014180e+01] [ 3.91091054e-02 7.76155518e-04 9.99234645e-01 7.05298593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.39710568099997 meters 0.01759230066476976 Centerline is valid? [True, True] Translation: X:175.44, Y:63.31, Z:7.06 [[ 6.72763095e-01 -7.39449865e-01 -2.45705951e-02 1.75439423e+02] [ 7.38933494e-01 6.73211488e-01 -2.76330196e-02 6.33146670e+01] [ 3.69744395e-02 4.34440074e-04 9.99316117e-01 7.05611454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.42710568099997 meters 0.01685034975884023 Centerline is valid? [True, True] Translation: X:175.46, Y:63.33, Z:7.06 [[ 6.70825954e-01 -7.41213711e-01 -2.43879849e-02 1.75462623e+02] [ 7.40705487e-01 6.71269032e-01 -2.74457255e-02 6.33323034e+01] [ 3.67140470e-02 3.46990751e-04 9.99325752e-01 7.05848157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.45710568099997 meters 0.017052375267339596 Centerline is valid? [True, True] Translation: X:175.48, Y:63.35, Z:7.06 [[ 6.71424806e-01 -7.40665438e-01 -2.45649939e-02 1.75481552e+02] [ 7.40148757e-01 6.71873913e-01 -2.76633695e-02 6.33545179e+01] [ 3.69938803e-02 3.92122781e-04 9.99315415e-01 7.05923150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.48710568099997 meters 0.018096862883950907 Centerline is valid? [True, True] Translation: X:175.50, Y:63.38, Z:7.06 [[ 6.73742395e-01 -7.38482890e-01 -2.67246269e-02 1.75497547e+02] [ 7.37868725e-01 6.74271973e-01 -3.01172848e-02 6.33790882e+01] [ 4.02607664e-02 5.72025204e-04 9.99189043e-01 7.05514145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.51710568099998 meters 0.019151884785567126 Centerline is valid? [True, True] Translation: X:175.51, Y:63.40, Z:7.05 [[ 6.75222378e-01 -7.37057028e-01 -2.86649160e-02 1.75513075e+02] [ 7.36348208e-01 6.75830171e-01 -3.23248432e-02 6.34024999e+01] [ 4.31978680e-02 7.19097972e-04 9.99066278e-01 7.05155819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.54710568099998 meters 0.022200884259603062 Centerline is valid? [True, True] Translation: X:175.53, Y:63.43, Z:7.05 [[ 6.78878154e-01 -7.33577729e-01 -3.14351477e-02 1.75526060e+02] [ 7.32720918e-01 6.79604763e-01 -3.54601456e-02 6.34289329e+01] [ 4.73762492e-02 1.03992787e-03 9.98876574e-01 7.04607140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.57710568099998 meters 0.023252710325224205 Centerline is valid? [True, True] Translation: X:175.54, Y:63.45, Z:7.05 [[ 6.81006211e-01 -7.31598519e-01 -3.15300947e-02 1.75543244e+02] [ 7.30733437e-01 6.81734683e-01 -3.55874472e-02 6.34526469e+01] [ 4.75308828e-02 1.19517810e-03 9.98869054e-01 7.04774207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.60710568099998 meters 0.026614157996493665 Centerline is valid? [True, True] Translation: X:175.56, Y:63.48, Z:7.05 [[ 6.86325187e-01 -7.26663406e-01 -3.02990263e-02 1.75556575e+02] [ 7.25858818e-01 6.86992043e-01 -3.42185619e-02 6.34791603e+01] [ 4.56805667e-02 1.49224544e-03 9.98954983e-01 7.05209621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63710568099998 meters 0.028267305189357318 Centerline is valid? [True, True] Translation: X:175.57, Y:63.50, Z:7.06 [[ 6.88038127e-01 -7.25069738e-01 -2.96211218e-02 1.75572065e+02] [ 7.24298590e-01 6.88673653e-01 -3.34686843e-02 6.35020585e+01] [ 4.46664163e-02 1.57319416e-03 9.99000719e-01 7.05530046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.66710568099998 meters 0.028468396456551397 Centerline is valid? [True, True] Translation: X:175.59, Y:63.52, Z:7.06 [[ 6.90140264e-01 -7.23135877e-01 -2.79449354e-02 1.75589976e+02] [ 7.22447627e-01 6.90703928e-01 -3.15833888e-02 6.35243268e+01] [ 4.21407582e-02 1.60821601e-03 9.99110389e-01 7.05974012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69710568099998 meters 0.028884129554281063 Centerline is valid? [True, True] Translation: X:175.61, Y:63.54, Z:7.07 [[ 6.90115483e-01 -7.23321335e-01 -2.33851946e-02 1.75609000e+02] [ 7.22839000e-01 6.90510271e-01 -2.64451482e-02 6.35440938e+01] [ 3.52760569e-02 1.34647552e-03 9.99376699e-01 7.06789939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.72710568099998 meters 0.027623097639797367 Centerline is valid? [True, True] Translation: X:175.63, Y:63.56, Z:7.07 [[ 6.89140478e-01 -7.24306574e-01 -2.15728626e-02 1.75629953e+02] [ 7.23896481e-01 6.89477013e-01 -2.43994630e-02 6.35633693e+01] [ 3.25466843e-02 1.19813831e-03 9.99469498e-01 7.07164121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75710568099998 meters 0.028332794275914005 Centerline is valid? [True, True] Translation: X:175.65, Y:63.58, Z:7.07 [[ 6.88736769e-01 -7.24708476e-01 -2.09591869e-02 1.75648707e+02] [ 7.24321041e-01 6.89054632e-01 -2.37222105e-02 6.35825662e+01] [ 3.16337118e-02 1.15717849e-03 9.99498859e-01 7.07430887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.78710568099999 meters 0.027413328583495725 Centerline is valid? [True, True] Translation: X:175.67, Y:63.60, Z:7.07 [[ 6.89930478e-01 -7.23557494e-01 -2.14589752e-02 1.75669922e+02] [ 7.23150590e-01 6.90262998e-01 -2.42944117e-02 6.36021474e+01] [ 3.23907402e-02 1.24338445e-03 9.99474509e-01 7.07403391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.817105681 meters 0.03538592900263981 Centerline is valid? [True, True] Translation: X:175.68, Y:63.63, Z:7.07 [[ 6.96787358e-01 -7.16863074e-01 -2.43867062e-02 1.75682154e+02] [ 7.16332597e-01 6.97211698e-01 -2.76307525e-02 6.36286103e+01] [ 3.68101630e-02 1.78376640e-03 9.99320684e-01 7.07033980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.84710568099996 meters 0.0369648838475301 Centerline is valid? [True, True] Translation: X:175.70, Y:63.65, Z:7.07 [[ 7.00280540e-01 -7.13423720e-01 -2.51746039e-02 1.75700676e+02] [ 7.12855814e-01 7.00729943e-01 -2.85330636e-02 6.36508576e+01] [ 3.79967631e-02 2.03528644e-03 9.99275790e-01 7.07003403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87710568099996 meters 0.03983642073022678 Centerline is valid? [True, True] Translation: X:175.72, Y:63.67, Z:7.07 [[ 7.05046091e-01 -7.08710445e-01 -2.52886320e-02 1.75721947e+02] [ 7.08133641e-01 7.05495679e-01 -2.86809022e-02 6.36711708e+01] [ 3.81674755e-02 2.31362696e-03 9.99268678e-01 7.06902031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.90710568099996 meters 0.04112802349908201 Centerline is valid? [True, True] Translation: X:175.75, Y:63.69, Z:7.07 [[ 7.05993548e-01 -7.07801008e-01 -2.43072710e-02 1.75747590e+02] [ 7.07266969e-01 7.06408184e-01 -2.75846507e-02 6.36864774e+01] [ 3.66952987e-02 2.28285550e-03 9.99323893e-01 7.07067872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.93710568099996 meters 0.0420025953832223 Centerline is valid? [True, True] Translation: X:175.77, Y:63.71, Z:7.07 [[ 7.06164363e-01 -7.07618292e-01 -2.46626239e-02 1.75768610e+02] [ 7.07067715e-01 7.06591028e-01 -2.80065082e-02 6.37054746e+01] [ 3.72443063e-02 2.33905285e-03 9.99303453e-01 7.07137389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.96710568099996 meters 0.04290064555109224 Centerline is valid? [True, True] Translation: X:175.79, Y:63.72, Z:7.07 [[ 7.05092702e-01 -7.08658132e-01 -2.54545302e-02 1.75793115e+02] [ 7.08072003e-01 7.05548063e-01 -2.89131575e-02 6.37217543e+01] [ 3.84489387e-02 2.36281616e-03 9.99257773e-01 7.07036021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.99710568099997 meters 0.04010240228928213 Centerline is valid? [True, True] Translation: X:175.82, Y:63.73, Z:7.07 [[ 7.02438982e-01 -7.11343959e-01 -2.38589279e-02 1.75824758e+02] [ 7.10829972e-01 7.02840956e-01 -2.71171772e-02 6.37317155e+01] [ 3.60586719e-02 2.08852133e-03 9.99347492e-01 7.07460066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.02710568099997 meters 0.03828988728633056 Centerline is valid? [True, True] Translation: X:175.85, Y:63.75, Z:7.08 [[ 6.99933551e-01 -7.13827247e-01 -2.33170607e-02 1.75850152e+02] [ 7.13337345e-01 7.00319186e-01 -2.65117113e-02 6.37478269e+01] [ 3.52541669e-02 1.92350607e-03 9.99376528e-01 7.07776556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.05710568099997 meters 0.0345653252745552 Centerline is valid? [True, True] Translation: X:175.88, Y:63.76, Z:7.08 [[ 6.94435826e-01 -7.19177665e-01 -2.32888214e-02 1.75878077e+02] [ 7.18691360e-01 6.94824240e-01 -2.64953723e-02 6.37607781e+01] [ 3.52365176e-02 1.66186106e-03 9.99377619e-01 7.07897148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.08710568099997 meters 0.030646922497472074 Centerline is valid? [True, True] Translation: X:175.90, Y:63.78, Z:7.08 [[ 6.91350659e-01 -7.22155778e-01 -2.29193932e-02 1.75903548e+02] [ 7.21686229e-01 6.91728858e-01 -2.60801658e-02 6.37771816e+01] [ 3.46879481e-02 1.48992944e-03 9.99397081e-01 7.07966738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.11710568099997 meters 0.02714347267011505 Centerline is valid? [True, True] Translation: X:175.93, Y:63.79, Z:7.08 [[ 6.85100157e-01 -7.28119471e-01 -2.19045828e-02 1.75933531e+02] [ 7.27693090e-01 6.85449283e-01 -2.49408761e-02 6.37882239e+01] [ 3.31744181e-02 1.14718459e-03 9.99448919e-01 7.08260020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.14710568099997 meters 0.02402189990408878 Centerline is valid? [True, True] Translation: X:175.96, Y:63.80, Z:7.08 [[ 6.81147153e-01 -7.31818307e-01 -2.19208097e-02 1.75959274e+02] [ 7.31393039e-01 6.81499099e-01 -2.49639827e-02 6.38038551e+01] [ 3.32081116e-02 9.71418111e-04 9.99447986e-01 7.08407638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.17710568099997 meters 0.019058319021767665 Centerline is valid? [True, True] Translation: X:175.99, Y:63.82, Z:7.08 [[ 6.73181653e-01 -7.39122230e-01 -2.29083146e-02 1.75986741e+02] [ 7.38661336e-01 6.73571008e-01 -2.61061067e-02 6.38186501e+01] [ 3.47259804e-02 6.52665770e-04 9.99396658e-01 7.08315353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.20710568099997 meters 0.018146109266331707 Centerline is valid? [True, True] Translation: X:176.01, Y:63.84, Z:7.08 [[ 6.70746821e-01 -7.41340360e-01 -2.26533117e-02 1.76006957e+02] [ 7.40890342e-01 6.71129031e-01 -2.58326551e-02 6.38380064e+01] [ 3.43540849e-02 5.43551492e-04 9.99409576e-01 7.08488569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.23710568099997 meters 0.0180536800678998 Centerline is valid? [True, True] Translation: X:176.03, Y:63.86, Z:7.09 [[ 6.70319259e-01 -7.41762958e-01 -2.14430712e-02 1.76027356e+02] [ 7.41359846e-01 6.70661962e-01 -2.44563051e-02 6.38571872e+01] [ 3.25218335e-02 4.96500352e-04 9.99470902e-01 7.08925042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.26710568099998 meters 0.02165114052587874 Centerline is valid? [True, True] Translation: X:176.04, Y:63.88, Z:7.09 [[ 6.74891033e-01 -7.37566098e-01 -2.27671661e-02 1.76040368e+02] [ 7.37108483e-01 6.75274519e-01 -2.59886013e-02 6.38826853e+01] [ 3.45423984e-02 7.57602729e-04 9.99402946e-01 7.09001103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.29710568099998 meters 0.02320200731036142 Centerline is valid? [True, True] Translation: X:176.06, Y:63.91, Z:7.09 [[ 6.78101220e-01 -7.34587422e-01 -2.36654597e-02 1.76056348e+02] [ 7.34090852e-01 6.78513385e-01 -2.70223336e-02 6.39071605e+01] [ 3.59075975e-02 9.51279919e-04 9.99354662e-01 7.08999069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.32710568099998 meters 0.029459930638459083 Centerline is valid? [True, True] Translation: X:176.07, Y:63.94, Z:7.09 [[ 6.86868476e-01 -7.26446725e-01 -2.20647123e-02 1.76066317e+02] [ 7.26010312e-01 6.87221561e-01 -2.52101755e-02 6.39359719e+01] [ 3.34771954e-02 1.29686616e-03 9.99438640e-01 7.09412296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.35710568099998 meters 0.03214752065395535 Centerline is valid? [True, True] Translation: X:176.08, Y:63.96, Z:7.10 [[ 6.90823236e-01 -7.22701672e-01 -2.15766088e-02 1.76082311e+02] [ 7.22282274e-01 6.91158583e-01 -2.46602924e-02 6.39608316e+01] [ 3.27348929e-02 1.45150096e-03 9.99463016e-01 7.09650935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.38710568099998 meters 0.03638189786998214 Centerline is valid? [True, True] Translation: X:176.10, Y:63.99, Z:7.09 [[ 6.95538580e-01 -7.18090632e-01 -2.39150135e-02 1.76097549e+02] [ 7.17571958e-01 6.95947104e-01 -2.73516674e-02 6.39851478e+01] [ 3.62845606e-02 1.86339684e-03 9.99339761e-01 7.09214702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41710568099998 meters 0.03782084440652448 Centerline is valid? [True, True] Translation: X:176.12, Y:64.00, Z:7.09 [[ 6.95346897e-01 -7.18190735e-01 -2.63583303e-02 1.76117562e+02] [ 7.17560193e-01 6.95843256e-01 -3.01584461e-02 6.40042185e+01] [ 4.00007830e-02 2.05689331e-03 9.99197531e-01 7.08740005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.44710568099998 meters 0.037915365421392094 Centerline is valid? [True, True] Translation: X:176.14, Y:64.02, Z:7.09 [[ 6.94691893e-01 -7.18818318e-01 -2.65216891e-02 1.76138254e+02] [ 7.18179846e-01 6.95194975e-01 -3.03587772e-02 6.40243390e+01] [ 4.02601902e-02 2.04265380e-03 9.99187142e-01 7.08787793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.47710568099998 meters 0.03820713148056246 Centerline is valid? [True, True] Translation: X:176.16, Y:64.04, Z:7.09 [[ 6.94225545e-01 -7.19251644e-01 -2.69808342e-02 1.76159860e+02] [ 7.18590449e-01 6.94746578e-01 -3.09024036e-02 6.40418083e+01] [ 4.09714468e-02 2.06506820e-03 9.99158184e-01 7.08894974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.50710568099998 meters 0.03927608542801371 Centerline is valid? [True, True] Translation: X:176.18, Y:64.06, Z:7.09 [[ 6.94813268e-01 -7.18705066e-01 -2.64111717e-02 1.76179690e+02] [ 7.18070858e-01 6.95312013e-01 -3.02563698e-02 6.40616556e+01] [ 4.01094112e-02 2.05743445e-03 9.99193176e-01 7.09193840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.53710568099999 meters 0.034345752801709144 Centerline is valid? [True, True] Translation: X:176.20, Y:64.08, Z:7.09 [[ 6.94564000e-01 -7.18949113e-01 -2.63253155e-02 1.76203659e+02] [ 7.18318890e-01 6.95059712e-01 -3.01657006e-02 6.40775067e+01] [ 3.99852699e-02 2.04203835e-03 9.99198183e-01 7.09329663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.567105681 meters 0.035906322164256585 Centerline is valid? [True, True] Translation: X:176.22, Y:64.10, Z:7.09 [[ 6.94329627e-01 -7.19157165e-01 -2.68205472e-02 1.76221188e+02] [ 7.18502237e-01 6.94844321e-01 -3.07555766e-02 6.40981489e+01] [ 4.07541981e-02 2.08388489e-03 9.99167029e-01 7.09209390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.59710568099996 meters 0.035819882868974924 Centerline is valid? [True, True] Translation: X:176.24, Y:64.12, Z:7.09 [[ 6.94006346e-01 -7.19467985e-01 -2.68516534e-02 1.76241023e+02] [ 7.18811308e-01 6.94522505e-01 -3.08024963e-02 6.41175662e+01] [ 4.08104875e-02 2.07585581e-03 9.99164749e-01 7.09232558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.62710568099996 meters 0.03846499483102618 Centerline is valid? [True, True] Translation: X:176.26, Y:64.14, Z:7.10 [[ 6.93163834e-01 -7.20349276e-01 -2.49162608e-02 1.76258979e+02] [ 7.19783714e-01 6.93608926e-01 -2.86017842e-02 6.41392977e+01] [ 3.78854154e-02 1.89140362e-03 9.99280300e-01 7.09698551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.65710568099996 meters 0.03324172099814013 Centerline is valid? [True, True] Translation: X:176.28, Y:64.16, Z:7.10 [[ 6.92597622e-01 -7.20910084e-01 -2.44373655e-02 1.76283816e+02] [ 7.20365760e-01 6.93026173e-01 -2.80694881e-02 6.41559310e+01] [ 3.71713109e-02 1.83701937e-03 9.99307220e-01 7.09888983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.68710568099996 meters 0.03322564654337906 Centerline is valid? [True, True] Translation: X:176.30, Y:64.18, Z:7.10 [[ 6.90482457e-01 -7.22895005e-01 -2.56278948e-02 1.76303429e+02] [ 7.22296902e-01 6.90955475e-01 -2.94570472e-02 6.41756212e+01] [ 3.90020864e-02 1.82862532e-03 9.99237456e-01 7.09637276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.71710568099996 meters 0.03063593805192281 Centerline is valid? [True, True] Translation: X:176.33, Y:64.19, Z:7.09 [[ 6.85350272e-01 -7.27739484e-01 -2.62725857e-02 1.76327559e+02] [ 7.27113964e-01 6.85851792e-01 -3.02093095e-02 6.41909673e+01] [ 4.00036073e-02 1.60079449e-03 9.99198253e-01 7.09407892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.74710568099997 meters 0.028037082575035507 Centerline is valid? [True, True] Translation: X:176.35, Y:64.21, Z:7.09 [[ 6.81858880e-01 -7.31002015e-01 -2.65428163e-02 1.76350449e+02] [ 7.30365623e-01 6.82373802e-01 -3.05295059e-02 6.42090195e+01] [ 4.04292528e-02 1.43085416e-03 9.99181379e-01 7.09438144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.77710568099997 meters 0.024851111806411183 Centerline is valid? [True, True] Translation: X:176.37, Y:64.23, Z:7.10 [[ 6.76731494e-01 -7.35754929e-01 -2.64418279e-02 1.76373668e+02] [ 7.35126215e-01 6.77246889e-01 -3.04318829e-02 6.42269333e+01] [ 4.02980535e-02 1.15613272e-03 9.99187035e-01 7.09567774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.80710568099997 meters 0.02623318286673651 Centerline is valid? [True, True] Translation: X:176.39, Y:64.25, Z:7.10 [[ 6.77816414e-01 -7.34754976e-01 -2.64581613e-02 1.76390577e+02] [ 7.34123970e-01 6.78331494e-01 -3.04693603e-02 6.42495551e+01] [ 4.03349182e-02 1.22906214e-03 9.99185460e-01 7.09665350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.83710568099997 meters 0.02647020122921317 Centerline is valid? [True, True] Translation: X:176.41, Y:64.27, Z:7.10 [[ 6.79902181e-01 -7.32814616e-01 -2.67537290e-02 1.76407648e+02] [ 7.32167586e-01 6.80426980e-01 -3.08180271e-02 6.42725174e+01] [ 4.07878597e-02 1.36503069e-03 9.99166897e-01 7.09790194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.86710568099997 meters 0.031050770542903623 Centerline is valid? [True, True] Translation: X:176.42, Y:64.30, Z:7.10 [[ 6.85784754e-01 -7.27395354e-01 -2.43981370e-02 1.76416294e+02] [ 7.26853214e-01 6.86216869e-01 -2.81214008e-02 6.43009705e+01] [ 3.71977895e-02 1.55136365e-03 9.99306719e-01 7.10249503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.89710568099997 meters 0.03272793264669118 Centerline is valid? [True, True] Translation: X:176.43, Y:64.33, Z:7.11 [[ 6.88290221e-01 -7.25059993e-01 -2.33362132e-02 1.76431897e+02] [ 7.24562476e-01 6.88683830e-01 -2.69035435e-02 6.43256930e+01] [ 3.55779558e-02 1.60890147e-03 9.99365609e-01 7.10516530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.92710568099997 meters 0.035069882106250325 Centerline is valid? [True, True] Translation: X:176.45, Y:64.35, Z:7.11 [[ 6.90977391e-01 -7.22531094e-01 -2.23397319e-02 1.76446742e+02] [ 7.22073318e-01 6.91336395e-01 -2.57703929e-02 6.43512425e+01] [ 3.40641799e-02 1.67583451e-03 9.99418242e-01 7.10884567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.95710568099997 meters 0.035069882106250325 Centerline is valid? [True, True] Translation: X:176.46, Y:64.37, Z:7.11 [[ 6.90713314e-01 -7.22783787e-01 -2.23319034e-02 1.76464595e+02] [ 7.22325925e-01 6.91072207e-01 -2.57771749e-02 6.43721903e+01] [ 3.40642819e-02 1.67372512e-03 9.99418242e-01 7.10986426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.98710568099997 meters 0.035562588658626756 Centerline is valid? [True, True] Translation: X:176.48, Y:64.39, Z:7.11 [[ 6.91401116e-01 -7.22139083e-01 -2.19007157e-02 1.76482255e+02] [ 7.21697794e-01 6.91745838e-01 -2.52980036e-02 6.43948439e+01] [ 3.34184060e-02 1.68536969e-03 9.99440028e-01 7.11032150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.01710568099998 meters 0.03587422700304214 Centerline is valid? [True, True] Translation: X:176.50, Y:64.42, Z:7.11 [[ 6.91017628e-01 -7.22475214e-01 -2.28954738e-02 1.76499721e+02] [ 7.21992446e-01 6.91394587e-01 -2.64656962e-02 6.44167797e+01] [ 3.49506161e-02 1.75790347e-03 9.99387495e-01 7.10862707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.04710568099998 meters 0.03595430133473074 Centerline is valid? [True, True] Translation: X:176.52, Y:64.44, Z:7.11 [[ 6.90002848e-01 -7.23423333e-01 -2.35531431e-02 1.76517446e+02] [ 7.22912751e-01 6.90402471e-01 -2.72320247e-02 6.44394257e+01] [ 3.59614303e-02 1.76330712e-03 9.99351623e-01 7.10684289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.07710568099998 meters 0.03415162965910316 Centerline is valid? [True, True] Translation: X:176.54, Y:64.46, Z:7.10 [[ 6.88454382e-01 -7.24844026e-01 -2.51336731e-02 1.76536068e+02] [ 7.24262777e-01 6.88910618e-01 -2.90790348e-02 6.44618588e+01] [ 3.83926189e-02 1.81620512e-03 9.99261081e-01 7.10329213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.10710568099998 meters 0.03404242043341878 Centerline is valid? [True, True] Translation: X:176.56, Y:64.48, Z:7.10 [[ 6.87341463e-01 -7.25786858e-01 -2.81983941e-02 1.76556184e+02] [ 7.25054927e-01 6.87916751e-01 -3.26480812e-02 6.44830586e+01] [ 4.30936960e-02 1.99499532e-03 9.99069043e-01 7.09853986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13710568099998 meters 0.033968258458571994 Centerline is valid? [True, True] Translation: X:176.57, Y:64.50, Z:7.10 [[ 6.86349101e-01 -7.26696425e-01 -2.89347131e-02 1.76574932e+02] [ 7.25925683e-01 6.86955819e-01 -3.35202194e-02 6.45038575e+01] [ 4.42358931e-02 2.00212105e-03 9.99019108e-01 7.09858054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.16710568099998 meters 0.03314525422685004 Centerline is valid? [True, True] Translation: X:176.59, Y:64.53, Z:7.10 [[ 6.84728988e-01 -7.28266406e-01 -2.78254219e-02 1.76594384e+02] [ 7.27554578e-01 6.85291675e-01 -3.22436992e-02 6.45257178e+01] [ 4.25505329e-02 1.83368243e-03 9.99092633e-01 7.10234842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.19710568099998 meters 0.03361944516440089 Centerline is valid? [True, True] Translation: X:176.61, Y:64.55, Z:7.11 [[ 6.84556901e-01 -7.28456283e-01 -2.70793858e-02 1.76611671e+02] [ 7.27781516e-01 6.85089962e-01 -3.13975937e-02 6.45476305e+01] [ 4.14235898e-02 1.78556301e-03 9.99140079e-01 7.10504343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.22710568099998 meters 0.03335651102931807 Centerline is valid? [True, True] Translation: X:176.63, Y:64.57, Z:7.11 [[ 6.83980564e-01 -7.29060345e-01 -2.53298616e-02 1.76630522e+02] [ 7.28469637e-01 6.84447437e-01 -2.93886867e-02 6.45689043e+01] [ 3.87630849e-02 1.64925547e-03 9.99247068e-01 7.10814535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.25710568099998 meters 0.02914701491143944 Centerline is valid? [True, True] Translation: X:176.66, Y:64.59, Z:7.11 [[ 6.80468633e-01 -7.32349267e-01 -2.50397685e-02 1.76656065e+02] [ 7.31773538e-01 6.80927621e-01 -2.90699873e-02 6.45851753e+01] [ 3.83396539e-02 1.45777458e-03 9.99263702e-01 7.10802388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.28710568099999 meters 0.02810477839954094 Centerline is valid? [True, True] Translation: X:176.68, Y:64.60, Z:7.11 [[ 6.77536177e-01 -7.35046090e-01 -2.55337861e-02 1.76677336e+02] [ 7.34448603e-01 6.78015811e-01 -2.96615809e-02 6.46043150e+01] [ 3.91149398e-02 1.34354060e-03 9.99233815e-01 7.10698885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.317105681 meters 0.02437204603830582 Centerline is valid? [True, True] Translation: X:176.70, Y:64.62, Z:7.11 [[ 6.71025910e-01 -7.40970415e-01 -2.62120697e-02 1.76702111e+02] [ 7.40344405e-01 6.71536866e-01 -3.04696464e-02 6.46211108e+01] [ 4.01794777e-02 1.03996308e-03 9.99191938e-01 7.10552841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.34710568099996 meters 0.02371096137566627 Centerline is valid? [True, True] Translation: X:176.72, Y:64.64, Z:7.10 [[ 6.68058400e-01 -7.43647337e-01 -2.62032811e-02 1.76720148e+02] [ 7.43023040e-01 6.68571495e-01 -3.04781677e-02 6.46422464e+01] [ 4.01837750e-02 8.91554421e-04 9.99191908e-01 7.10482816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.37710568099996 meters 0.02094881604968443 Centerline is valid? [True, True] Translation: X:176.74, Y:64.66, Z:7.10 [[ 6.63199566e-01 -7.47966113e-01 -2.67026202e-02 1.76742036e+02] [ 7.47320907e-01 6.63736600e-01 -3.10674752e-02 6.46605261e+01] [ 4.09609250e-02 6.48509709e-04 9.99160539e-01 7.10445761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.40710568099996 meters 0.019714473075271 Centerline is valid? [True, True] Translation: X:176.76, Y:64.68, Z:7.11 [[ 6.61087852e-01 -7.49840895e-01 -2.64855392e-02 1.76763979e+02] [ 7.49206809e-01 6.61617970e-01 -3.08353564e-02 6.46794971e+01] [ 4.06449199e-02 5.41733184e-04 9.99173507e-01 7.10617716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.43710568099996 meters 0.019447296186923826 Centerline is valid? [True, True] Translation: X:176.78, Y:64.70, Z:7.11 [[ 6.59189945e-01 -7.51502413e-01 -2.66971875e-02 1.76781814e+02] [ 7.50858657e-01 6.59730183e-01 -3.11024507e-02 6.47018623e+01] [ 4.09865072e-02 4.56608419e-04 9.99159596e-01 7.10881283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.46710568099996 meters 0.02057862120669871 Centerline is valid? [True, True] Translation: X:176.79, Y:64.73, Z:7.11 [[ 6.61471957e-01 -7.49488299e-01 -2.68726580e-02 1.76791587e+02] [ 7.48833576e-01 6.62017320e-01 -3.13264122e-02 6.47305723e+01] [ 4.12689444e-02 5.98394583e-04 9.99147895e-01 7.10967227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.49710568099997 meters 0.022400365198030042 Centerline is valid? [True, True] Translation: X:176.80, Y:64.76, Z:7.11 [[ 6.64149025e-01 -7.47145356e-01 -2.60747019e-02 1.76804015e+02] [ 7.46526726e-01 6.64660278e-01 -3.04066103e-02 6.47571094e+01] [ 4.00489763e-02 7.29058676e-04 9.99197452e-01 7.11093930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.52710568099997 meters 0.025051059280971507 Centerline is valid? [True, True] Translation: X:176.81, Y:64.79, Z:7.12 [[ 6.69632211e-01 -7.42289059e-01 -2.44878510e-02 1.76814379e+02] [ 7.41739768e-01 6.70079115e-01 -2.85673919e-02 6.47855214e+01] [ 3.76140599e-02 9.66032883e-04 9.99291874e-01 7.11557424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.55710568099997 meters 0.026552031442931296 Centerline is valid? [True, True] Translation: X:176.83, Y:64.81, Z:7.12 [[ 6.71240605e-01 -7.40859205e-01 -2.37421052e-02 1.76828439e+02] [ 7.40341390e-01 6.71659577e-01 -2.77135256e-02 6.48096631e+01] [ 3.64784329e-02 1.02518050e-03 9.99333915e-01 7.11748065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.58710568099997 meters 0.026673496999847956 Centerline is valid? [True, True] Translation: X:176.84, Y:64.83, Z:7.12 [[ 6.71543714e-01 -7.40629887e-01 -2.22802869e-02 1.76843634e+02] [ 7.40173606e-01 6.71912506e-01 -2.60118626e-02 6.48339226e+01] [ 3.42355663e-02 9.76822546e-04 9.99413314e-01 7.11987616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.61710568099997 meters 0.026832697342011467 Centerline is valid? [True, True] Translation: X:176.86, Y:64.86, Z:7.12 [[ 6.70953082e-01 -7.41214002e-01 -2.05855310e-02 1.76857811e+02] [ 7.40824301e-01 6.71268217e-01 -2.40486259e-02 6.48568136e+01] [ 3.16435910e-02 8.85238032e-04 9.99498824e-01 7.12208233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.64710568099997 meters 0.026282374025176487 Centerline is valid? [True, True] Translation: X:176.88, Y:64.88, Z:7.12 [[ 6.70683062e-01 -7.41475460e-01 -1.99592689e-02 1.76875019e+02] [ 7.41109010e-01 6.70979446e-01 -2.33241847e-02 6.48783556e+01] [ 3.06865698e-02 8.51141587e-04 9.99528694e-01 7.12380812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.67710568099997 meters 0.027673061795864803 Centerline is valid? [True, True] Translation: X:176.89, Y:64.90, Z:7.12 [[ 6.72193263e-01 -7.40059926e-01 -2.16222664e-02 1.76889963e+02] [ 7.39628409e-01 6.72540179e-01 -2.52888128e-02 6.49038847e+01] [ 3.32570799e-02 1.00652716e-03 9.99446323e-01 7.12111434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.70710568099997 meters 0.028412609006563203 Centerline is valid? [True, True] Translation: X:176.91, Y:64.93, Z:7.12 [[ 6.73579804e-01 -7.38732846e-01 -2.37493096e-02 1.76906749e+02] [ 7.38210665e-01 6.73997302e-01 -2.77966141e-02 6.49274740e+01] [ 3.65412424e-02 1.19124428e-03 9.99331436e-01 7.11862344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.73710568099997 meters 0.03097629436070089 Centerline is valid? [True, True] Translation: X:176.92, Y:64.95, Z:7.11 [[ 6.77662720e-01 -7.34859817e-01 -2.74642814e-02 1.76919576e+02] [ 7.34157197e-01 6.78217053e-01 -3.21689344e-02 6.49549263e+01] [ 4.22664013e-02 1.63658773e-03 9.99105036e-01 7.11307479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.76710568099998 meters 0.032726571243674576 Centerline is valid? [True, True] Translation: X:176.94, Y:64.98, Z:7.11 [[ 6.80346116e-01 -7.32337937e-01 -2.84659142e-02 1.76935114e+02] [ 7.31580031e-01 6.80938793e-01 -3.33619422e-02 6.49797637e+01] [ 4.38157612e-02 1.87257343e-03 9.99037873e-01 7.11258077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.79710568099998 meters 0.03683183855036026 Centerline is valid? [True, True] Translation: X:176.95, Y:65.01, Z:7.11 [[ 6.85638243e-01 -7.27343649e-01 -2.95197430e-02 1.76946533e+02] [ 7.26523559e-01 6.86269640e-01 -3.46049007e-02 6.50065135e+01] [ 4.54281581e-02 2.27965459e-03 9.98965007e-01 7.11140714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.82710568099998 meters 0.039116537444491783 Centerline is valid? [True, True] Translation: X:176.96, Y:65.03, Z:7.11 [[ 6.88385327e-01 -7.24735626e-01 -2.97307034e-02 1.76960876e+02] [ 7.23900685e-01 6.89022587e-01 -3.48665144e-02 6.50330710e+01] [ 4.57541313e-02 2.47952038e-03 9.98949654e-01 7.11137932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.85710568099998 meters 0.04033542565953607 Centerline is valid? [True, True] Translation: X:176.98, Y:65.06, Z:7.11 [[ 6.89152688e-01 -7.24059023e-01 -2.84095707e-02 1.76977085e+02] [ 7.23295252e-01 6.89733751e-01 -3.33366293e-02 6.50571748e+01] [ 4.37327270e-02 2.42552008e-03 9.99040322e-01 7.11351571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.88710568099998 meters 0.043234756917926186 Centerline is valid? [True, True] Translation: X:176.99, Y:65.08, Z:7.12 [[ 6.90259141e-01 -7.23072378e-01 -2.66205883e-02 1.76991198e+02] [ 7.22400342e-01 6.90768300e-01 -3.12554289e-02 6.50820578e+01] [ 4.09885958e-02 2.34362342e-03 9.99156866e-01 7.11651236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91710568099998 meters 0.03967645533793757 Centerline is valid? [True, True] Translation: X:177.01, Y:65.10, Z:7.12 [[ 6.88790784e-01 -7.24454326e-01 -2.70774151e-02 1.77013363e+02] [ 7.23759696e-01 6.89318946e-01 -3.18008356e-02 6.51006351e+01] [ 4.17032282e-02 2.30658078e-03 9.99127379e-01 7.11719239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.94710568099998 meters 0.04092619620075579 Centerline is valid? [True, True] Translation: X:177.03, Y:65.12, Z:7.12 [[ 6.86797747e-01 -7.26339610e-01 -2.71960593e-02 1.77029734e+02] [ 7.25639513e-01 6.87332425e-01 -3.19598808e-02 6.51230738e+01] [ 4.19064608e-02 2.21543890e-03 9.99119082e-01 7.11676716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.97710568099998 meters 0.03575075402961924 Centerline is valid? [True, True] Translation: X:177.05, Y:65.14, Z:7.12 [[ 6.80966636e-01 -7.31779788e-01 -2.79782493e-02 1.77053789e+02] [ 7.31042991e-01 6.81538385e-01 -3.28872902e-02 6.51401479e+01] [ 4.31345051e-02 1.94184434e-03 9.99067387e-01 7.11582631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.00710568099998 meters 0.033140415177644586 Centerline is valid? [True, True] Translation: X:177.08, Y:65.16, Z:7.12 [[ 6.78084537e-01 -7.34412309e-01 -2.89813913e-02 1.77076121e+02] [ 7.33623519e-01 6.78701074e-01 -3.40790888e-02 6.51590139e+01] [ 4.46978037e-02 1.84707290e-03 9.98998846e-01 7.11512820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.03710568099999 meters 0.03055584306295418 Centerline is valid? [True, True] Translation: X:177.10, Y:65.18, Z:7.12 [[ 6.72817854e-01 -7.39248362e-01 -2.87748929e-02 1.77099418e+02] [ 7.38474205e-01 6.73431153e-01 -3.38575202e-02 6.51753793e+01] [ 4.44070257e-02 1.53042790e-03 9.99012349e-01 7.11594687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.067105681 meters 0.02771438541836962 Centerline is valid? [True, True] Translation: X:177.12, Y:65.19, Z:7.12 [[ 6.70113687e-01 -7.41727448e-01 -2.80720366e-02 1.77122085e+02] [ 7.40992112e-01 6.70700072e-01 -3.30469907e-02 6.51936052e+01] [ 4.33397771e-02 1.34408309e-03 9.99059486e-01 7.11903065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09710568099996 meters 0.02648606730395485 Centerline is valid? [True, True] Translation: X:177.14, Y:65.21, Z:7.12 [[ 6.66181577e-01 -7.45279953e-01 -2.75662493e-02 1.77141567e+02] [ 7.44573043e-01 6.66750753e-01 -3.24717875e-02 6.52133317e+01] [ 4.25803897e-02 1.10702047e-03 9.99092431e-01 7.12218599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.12710568099996 meters 0.02440791623771907 Centerline is valid? [True, True] Translation: X:177.16, Y:65.23, Z:7.12 [[ 6.63382316e-01 -7.47805686e-01 -2.66563102e-02 1.77161687e+02] [ 7.47146213e-01 6.63917017e-01 -3.14122823e-02 6.52342246e+01] [ 4.11878613e-02 9.22191412e-04 9.99150994e-01 7.12476889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.15710568099996 meters 0.023259355376299962 Centerline is valid? [True, True] Translation: X:177.18, Y:65.26, Z:7.12 [[ 6.61069489e-01 -7.49823184e-01 -2.74284979e-02 1.77182081e+02] [ 7.49125733e-01 6.61637738e-01 -3.23440827e-02 6.52550684e+01] [ 4.24000724e-02 8.34292653e-04 9.99100364e-01 7.12349377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.18710568099996 meters 0.020749567129385676 Centerline is valid? [True, True] Translation: X:177.21, Y:65.27, Z:7.12 [[ 6.55363064e-01 -7.54695043e-01 -3.05719845e-02 1.77208337e+02] [ 7.53832508e-01 6.56075480e-01 -3.60765079e-02 6.52714782e+01] [ 4.72842911e-02 5.97055011e-04 9.98881294e-01 7.11875786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.21710568099996 meters 0.0193632222318657 Centerline is valid? [True, True] Translation: X:177.23, Y:65.29, Z:7.12 [[ 6.51300345e-01 -7.58200068e-01 -3.06678485e-02 1.77231864e+02] [ 7.57334919e-01 6.52021877e-01 -3.62117785e-02 6.52900390e+01] [ 4.74518811e-02 3.58911341e-04 9.98873461e-01 7.11923508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.24710568099997 meters 0.01852502113143865 Centerline is valid? [True, True] Translation: X:177.25, Y:65.31, Z:7.12 [[ 6.45917600e-01 -7.62761100e-01 -3.13999802e-02 1.77251599e+02] [ 7.61858434e-01 6.46680372e-01 -3.70974786e-02 6.53095878e+01] [ 4.86022644e-02 3.95745696e-05 9.98818211e-01 7.11799866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.27710568099997 meters 0.018387872110104418 Centerline is valid? [True, True] Translation: X:177.27, Y:65.33, Z:7.12 [[ 6.44784984e-01 -7.63677096e-01 -3.23978030e-02 1.77269230e+02] [ 7.62716345e-01 6.45598399e-01 -3.82947031e-02 6.53324584e+01] [ 5.01607574e-02 -1.84844092e-05 9.98741157e-01 7.11768961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.30710568099997 meters 0.018857643777737708 Centerline is valid? [True, True] Translation: X:177.29, Y:65.36, Z:7.12 [[ 6.48151784e-01 -7.60794906e-01 -3.30208497e-02 1.77285385e+02] [ 7.59791668e-01 6.48992342e-01 -3.90584304e-02 6.53567412e+01] [ 5.11457335e-02 2.26824904e-04 9.98691175e-01 7.12013349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.33710568099997 meters 0.02235001570111599 Centerline is valid? [True, True] Translation: X:177.29, Y:65.39, Z:7.12 [[ 6.57948768e-01 -7.52396453e-01 -3.16701011e-02 1.77290546e+02] [ 7.51462734e-01 6.58709976e-01 -3.74823480e-02 6.53884623e+01] [ 4.90629973e-02 8.62563959e-04 9.98795314e-01 7.12370682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.36710568099997 meters 0.026618625843194164 Centerline is valid? [True, True] Translation: X:177.30, Y:65.42, Z:7.13 [[ 6.66847148e-01 -7.44576005e-01 -3.03554680e-02 1.77296587e+02] [ 7.43709377e-01 6.67536245e-01 -3.59405693e-02 6.54205223e+01] [ 4.70238607e-02 1.39121995e-03 9.98892798e-01 7.12524749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.39710568099997 meters 0.02917894948376927 Centerline is valid? [True, True] Translation: X:177.31, Y:65.45, Z:7.12 [[ 6.69971676e-01 -7.41757049e-01 -3.05684993e-02 1.77310458e+02] [ 7.40874084e-01 6.70666731e-01 -3.62177802e-02 6.54467211e+01] [ 4.73660692e-02 1.61747802e-03 9.98876288e-01 7.12480178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.42710568099997 meters 0.032589685023334744 Centerline is valid? [True, True] Translation: X:177.32, Y:65.47, Z:7.12 [[ 6.73638833e-01 -7.38395152e-01 -3.13579648e-02 1.77323561e+02] [ 7.37461109e-01 6.74365566e-01 -3.71778959e-02 6.54723467e+01] [ 4.85987098e-02 1.91919491e-03 9.98816541e-01 7.12375526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.45710568099997 meters 0.03267982294821496 Centerline is valid? [True, True] Translation: X:177.34, Y:65.50, Z:7.12 [[ 6.73739050e-01 -7.38295549e-01 -3.15495693e-02 1.77341899e+02] [ 7.37348707e-01 6.74474506e-01 -3.74302714e-02 6.54951797e+01] [ 4.89139830e-02 1.95520135e-03 9.98801081e-01 7.12427897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.48710568099997 meters 0.03297018136076365 Centerline is valid? [True, True] Translation: X:177.36, Y:65.52, Z:7.12 [[ 6.73376692e-01 -7.38644596e-01 -3.11125807e-02 1.77358501e+02] [ 7.37723046e-01 6.74092337e-01 -3.69354620e-02 6.55193246e+01] [ 4.82549316e-02 1.91901147e-03 9.98833209e-01 7.12473113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.51710568099998 meters 0.03328669220783837 Centerline is valid? [True, True] Translation: X:177.37, Y:65.54, Z:7.13 [[ 6.73099436e-01 -7.38907175e-01 -3.08761369e-02 1.77373853e+02] [ 7.37998853e-01 6.73804554e-01 -3.66758189e-02 6.55415513e+01] [ 4.79045074e-02 1.89991943e-03 9.98850113e-01 7.12528250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.54710568099998 meters 0.033798398865947515 Centerline is valid? [True, True] Translation: X:177.39, Y:65.56, Z:7.13 [[ 6.73302620e-01 -7.38718300e-01 -3.09653887e-02 1.77390090e+02] [ 7.37803767e-01 6.74011536e-01 -3.67974434e-02 6.55649956e+01] [ 4.80539740e-02 1.92943462e-03 9.98842877e-01 7.12544288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.57710568099998 meters 0.03376177231781731 Centerline is valid? [True, True] Translation: X:177.41, Y:65.59, Z:7.13 [[ 6.73380440e-01 -7.38618607e-01 -3.16439115e-02 1.77409041e+02] [ 7.37662232e-01 6.74120592e-01 -3.76278986e-02 6.55864413e+01] [ 4.91244784e-02 1.99537254e-03 9.98790671e-01 7.12567900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.60710568099998 meters 0.03587065542574326 Centerline is valid? [True, True] Translation: X:177.43, Y:65.61, Z:7.13 [[ 6.74693675e-01 -7.37423265e-01 -3.15495328e-02 1.77425959e+02] [ 7.36470257e-01 6.75427685e-01 -3.75366711e-02 6.56081586e+01] [ 4.89898425e-02 2.09046210e-03 9.98797089e-01 7.12700287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63710568099998 meters 0.03608076447592297 Centerline is valid? [True, True] Translation: X:177.44, Y:65.63, Z:7.13 [[ 6.75759517e-01 -7.36505525e-01 -3.01444368e-02 1.77444154e+02] [ 7.35634146e-01 6.76428367e-01 -3.58757267e-02 6.56296916e+01] [ 4.68132230e-02 2.06808675e-03 9.98901519e-01 7.13175178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.66710568099998 meters 0.03443187704616356 Centerline is valid? [True, True] Translation: X:177.46, Y:65.65, Z:7.13 [[ 6.76369595e-01 -7.35950296e-01 -3.00221918e-02 1.77464913e+02] [ 7.35085017e-01 6.77032300e-01 -3.57391011e-02 6.56491612e+01] [ 4.66281956e-02 2.10397793e-03 9.98910098e-01 7.13298471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.69710568099998 meters 0.03890144260506012 Centerline is valid? [True, True] Translation: X:177.48, Y:65.67, Z:7.13 [[ 6.77236448e-01 -7.35090818e-01 -3.15005131e-02 1.77479867e+02] [ 7.34136577e-01 6.77964818e-01 -3.75125569e-02 6.56732168e+01] [ 4.89313758e-02 2.27919192e-03 9.98799542e-01 7.13019554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.72710568099998 meters 0.03977490219103719 Centerline is valid? [True, True] Translation: X:177.50, Y:65.69, Z:7.13 [[ 6.77231449e-01 -7.35033720e-01 -3.29088794e-02 1.77498564e+02] [ 7.33991444e-01 6.78026324e-01 -3.92028577e-02 6.56933299e+01] [ 5.11285088e-02 2.39457224e-03 9.98689212e-01 7.12745031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.75710568099998 meters 0.03392090725118076 Centerline is valid? [True, True] Translation: X:177.53, Y:65.71, Z:7.13 [[ 6.76238443e-01 -7.35934724e-01 -3.31911249e-02 1.77525143e+02] [ 7.34874795e-01 6.77048395e-01 -3.95538327e-02 6.57085502e+01] [ 5.15810368e-02 2.35650110e-03 9.98666032e-01 7.12979886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.78710568099999 meters 0.03349302664723974 Centerline is valid? [True, True] Translation: X:177.55, Y:65.73, Z:7.13 [[ 6.73972651e-01 -7.37921596e-01 -3.51081623e-02 1.77547341e+02] [ 7.36736925e-01 6.74882360e-01 -4.18629135e-02 6.57267707e+01] [ 5.45854274e-02 2.34897929e-03 9.98506341e-01 7.12943824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.817105681 meters 0.033584710899023554 Centerline is valid? [True, True] Translation: X:177.57, Y:65.75, Z:7.13 [[ 6.72130723e-01 -7.39606441e-01 -3.49657398e-02 1.77566136e+02] [ 7.38432936e-01 6.73035972e-01 -4.17058655e-02 6.57474127e+01] [ 5.43791274e-02 2.21193965e-03 9.98517911e-01 7.13038649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.84710568099996 meters 0.028068712956324682 Centerline is valid? [True, True] Translation: X:177.59, Y:65.76, Z:7.13 [[ 6.66486828e-01 -7.44710159e-01 -3.46711241e-02 1.77594278e+02] [ 7.43562587e-01 6.67385628e-01 -4.13654799e-02 6.57612812e+01] [ 5.39443031e-02 1.78939681e-03 9.98542343e-01 7.13433123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87710568099996 meters 0.028068712956324682 Centerline is valid? [True, True] Translation: X:177.61, Y:65.78, Z:7.14 [[ 6.66212969e-01 -7.44955611e-01 -3.46614578e-02 1.77611755e+02] [ 7.43807950e-01 6.67111656e-01 -4.13735785e-02 6.57825096e+01] [ 5.39445419e-02 1.78214673e-03 9.98542343e-01 7.13534938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.90710568099996 meters 0.02539569629719819 Centerline is valid? [True, True] Translation: X:177.64, Y:65.80, Z:7.14 [[ 6.61756509e-01 -7.48915535e-01 -3.46964423e-02 1.77636434e+02] [ 7.47769358e-01 6.62663811e-01 -4.14446644e-02 6.57991354e+01] [ 5.40306297e-02 1.48134008e-03 9.98538180e-01 7.13660867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.93710568099996 meters 0.019878307022200507 Centerline is valid? [True, True] Translation: X:177.67, Y:65.81, Z:7.14 [[ 6.51650156e-01 -7.57751743e-01 -3.41228798e-02 1.77667541e+02] [ 7.56653853e-01 6.52542507e-01 -4.07826338e-02 6.58093109e+01] [ 5.31697414e-02 7.56801171e-04 9.98585202e-01 7.13972997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.96710568099996 meters 0.01722865436809161 Centerline is valid? [True, True] Translation: X:177.70, Y:65.82, Z:7.14 [[ 6.41742338e-01 -7.66201585e-01 -3.31949254e-02 1.77695916e+02] [ 7.65172922e-01 6.42600285e-01 -3.96897102e-02 6.58209699e+01] [ 5.17413874e-02 7.07093093e-05 9.98660515e-01 7.14241468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.99710568099997 meters 0.017194670545981887 Centerline is valid? [True, True] Translation: X:177.72, Y:65.84, Z:7.15 [[ 6.38915924e-01 -7.68596776e-01 -3.23332358e-02 1.77717631e+02] [ 7.67623166e-01 6.39733526e-01 -3.86741679e-02 6.58399362e+01] [ 5.04094957e-02 -1.10199105e-04 9.98728627e-01 7.14605274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.02710568099997 meters 0.017168240119105373 Centerline is valid? [True, True] Translation: X:177.74, Y:65.86, Z:7.15 [[ 6.37019108e-01 -7.70261192e-01 -3.00724653e-02 1.77738423e+02] [ 7.69419817e-01 6.37728510e-01 -3.59929448e-02 6.58593546e+01] [ 4.69020370e-02 -2.10157216e-04 9.98899472e-01 7.15432048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.05710568099997 meters 0.017126852723712654 Centerline is valid? [True, True] Translation: X:177.76, Y:65.88, Z:7.16 [[ 6.37046603e-01 -7.70271485e-01 -2.92141343e-02 1.77755068e+02] [ 7.69476528e-01 6.37716083e-01 -3.49867063e-02 6.58804372e+01] [ 4.55795856e-02 -1.91428250e-04 9.98960692e-01 7.15580723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.08710568099997 meters 0.01693602006859285 Centerline is valid? [True, True] Translation: X:177.77, Y:65.90, Z:7.16 [[ 6.37245849e-01 -7.70106249e-01 -2.92248657e-02 1.77768185e+02] [ 7.69309848e-01 6.37915618e-01 -3.50145898e-02 6.59041043e+01] [ 4.56079527e-02 -1.70075002e-04 9.98959401e-01 7.15582814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.11710568099997 meters 0.017067876540107028 Centerline is valid? [True, True] Translation: X:177.78, Y:65.93, Z:7.15 [[ 6.36815543e-01 -7.70443472e-01 -2.97123056e-02 1.77784859e+02] [ 7.69619548e-01 6.37508293e-01 -3.56220119e-02 6.59264746e+01] [ 4.63865878e-02 -1.82520364e-04 9.98923546e-01 7.15482629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.14710568099997 meters 0.017319769239275022 Centerline is valid? [True, True] Translation: X:177.80, Y:65.95, Z:7.15 [[ 6.35221393e-01 -7.71728188e-01 -3.04858395e-02 1.77802075e+02] [ 7.70861171e-01 6.35952460e-01 -3.65721649e-02 6.59482282e+01] [ 4.76113152e-02 -2.68928408e-04 9.98865902e-01 7.15395926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.17710568099997 meters 0.016956320000317937 Centerline is valid? [True, True] Translation: X:177.81, Y:65.97, Z:7.16 [[ 6.35432565e-01 -7.71543319e-01 -3.07630059e-02 1.77814515e+02] [ 7.70659506e-01 6.36176741e-01 -3.69199211e-02 6.59738274e+01] [ 4.80560273e-02 -2.47682771e-04 9.98844611e-01 7.15699749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.20710568099997 meters 0.016601177114914465 Centerline is valid? [True, True] Translation: X:177.83, Y:66.00, Z:7.16 [[ 6.36476226e-01 -7.70738623e-01 -2.93255610e-02 1.77829480e+02] [ 7.69933517e-01 6.37151433e-01 -3.52197516e-02 6.59990174e+01] [ 4.58300461e-02 -1.62197768e-04 9.98949238e-01 7.16157868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.23710568099997 meters 0.016385337562068326 Centerline is valid? [True, True] Translation: X:177.84, Y:66.02, Z:7.17 [[ 6.38455532e-01 -7.69211025e-01 -2.62475257e-02 1.77841753e+02] [ 7.68564069e-01 6.38994833e-01 -3.15416328e-02 6.60242846e+01] [ 4.10342050e-02 -3.49752122e-05 9.99157742e-01 7.16887487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.26710568099998 meters 0.01634363264146124 Centerline is valid? [True, True] Translation: X:177.85, Y:66.05, Z:7.17 [[ 6.39720306e-01 -7.68184362e-01 -2.55091308e-02 1.77852771e+02] [ 7.67571985e-01 6.40228697e-01 -3.06669780e-02 6.60509587e+01] [ 3.98895705e-02 3.81943888e-05 9.99204094e-01 7.17135703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.29710568099998 meters 0.016430432385766656 Centerline is valid? [True, True] Translation: X:177.87, Y:66.08, Z:7.17 [[ 6.41731513e-01 -7.66497596e-01 -2.57313370e-02 1.77865365e+02] [ 7.65872202e-01 6.42247157e-01 -3.09573753e-02 6.60766522e+01] [ 4.02546318e-02 1.59407534e-04 9.99189441e-01 7.17090083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.32710568099998 meters 0.018730267604740298 Centerline is valid? [True, True] Translation: X:177.87, Y:66.11, Z:7.16 [[ 6.49297390e-01 -7.59979928e-01 -2.90415016e-02 1.77873491e+02] [ 7.59175320e-01 6.49946212e-01 -3.49679165e-02 6.61078681e+01] [ 4.54503286e-02 6.56985657e-04 9.98966384e-01 7.16313686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.35710568099998 meters 0.02181356741262473 Centerline is valid? [True, True] Translation: X:177.89, Y:66.13, Z:7.16 [[ 6.53865509e-01 -7.55983536e-01 -3.08024105e-02 1.77885527e+02] [ 7.55072705e-01 6.54589853e-01 -3.71124575e-02 6.61346185e+01] [ 4.82193522e-02 1.00849645e-03 9.98836261e-01 7.15973504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.38710568099998 meters 0.02657268245235487 Centerline is valid? [True, True] Translation: X:177.89, Y:66.17, Z:7.16 [[ 6.61341268e-01 -7.49395178e-01 -3.21651102e-02 1.77893809e+02] [ 7.48392868e-01 6.62121131e-01 -3.87778703e-02 6.61655710e+01] [ 5.03571481e-02 1.57326684e-03 9.98730035e-01 7.15709768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41710568099998 meters 0.03038767965919846 Centerline is valid? [True, True] Translation: X:177.90, Y:66.19, Z:7.15 [[ 6.65418335e-01 -7.45698807e-01 -3.39371130e-02 1.77903142e+02] [ 7.44576877e-01 6.66280272e-01 -4.09374307e-02 6.61936102e+01] [ 5.31386221e-02 1.97172742e-03 9.98585199e-01 7.15329885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.44710568099998 meters 0.032161062808241436 Centerline is valid? [True, True] Translation: X:177.92, Y:66.22, Z:7.15 [[ 6.66245596e-01 -7.44910219e-01 -3.50081733e-02 1.77918349e+02] [ 7.43714608e-01 6.67161397e-01 -4.22404091e-02 6.62166873e+01] [ 5.48214141e-02 2.10639665e-03 9.98493954e-01 7.15165123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.47710568099998 meters 0.033397313338549034 Centerline is valid? [True, True] Translation: X:177.94, Y:66.24, Z:7.15 [[ 6.67617448e-01 -7.43640871e-01 -3.58496524e-02 1.77936743e+02] [ 7.42384264e-01 6.68575409e-01 -4.32727117e-02 6.62391754e+01] [ 5.61475530e-02 2.27539956e-03 9.98419889e-01 7.15162019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.50710568099998 meters 0.033845639112788706 Centerline is valid? [True, True] Translation: X:177.96, Y:66.26, Z:7.15 [[ 6.67895216e-01 -7.43432322e-01 -3.49908960e-02 1.77955750e+02] [ 7.42233477e-01 6.68807366e-01 -4.22631400e-02 6.62597333e+01] [ 5.48219534e-02 2.25593459e-03 9.98493597e-01 7.15486205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.53710568099999 meters 0.03150174251950741 Centerline is valid? [True, True] Translation: X:177.98, Y:66.28, Z:7.16 [[ 6.67490046e-01 -7.43822579e-01 -3.44239795e-02 1.77977543e+02] [ 7.42661275e-01 6.68373475e-01 -4.16068430e-02 6.62793093e+01] [ 5.39561840e-02 2.20679700e-03 9.98540866e-01 7.15846706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.567105681 meters 0.031237320572078155 Centerline is valid? [True, True] Translation: X:178.00, Y:66.30, Z:7.16 [[ 6.66835208e-01 -7.44428271e-01 -3.40199199e-02 1.77996865e+02] [ 7.43293455e-01 6.67698979e-01 -4.11450366e-02 6.63007241e+01] [ 5.33445943e-02 2.15017525e-03 9.98573849e-01 7.16092236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59710568099996 meters 0.031565513621872564 Centerline is valid? [True, True] Translation: X:178.01, Y:66.32, Z:7.17 [[ 6.64526750e-01 -7.46590935e-01 -3.17202401e-02 1.78013950e+02] [ 7.45605737e-01 6.65280784e-01 -3.83870279e-02 6.63231247e+01] [ 4.97622732e-02 1.85841391e-03 9.98759362e-01 7.16516876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.62710568099996 meters 0.029211178122359717 Centerline is valid? [True, True] Translation: X:178.04, Y:66.34, Z:7.17 [[ 6.61753709e-01 -7.49114995e-01 -3.01455248e-02 1.78035737e+02] [ 7.48226912e-01 6.62438048e-01 -3.65009610e-02 6.63421213e+01] [ 4.73129598e-02 1.59895338e-03 9.98878835e-01 7.16932409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.65710568099996 meters 0.02592294793626468 Centerline is valid? [True, True] Translation: X:178.06, Y:66.36, Z:7.17 [[ 6.60602946e-01 -7.50125779e-01 -3.02500330e-02 1.78058771e+02] [ 7.49231818e-01 6.61293382e-01 -3.66434935e-02 6.63609241e+01] [ 4.74913757e-02 1.54251252e-03 9.98870457e-01 7.17125297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.68710568099996 meters 0.02461625260111199 Centerline is valid? [True, True] Translation: X:178.08, Y:66.38, Z:7.17 [[ 6.57697764e-01 -7.52669731e-01 -3.03632526e-02 1.78078813e+02] [ 7.51770584e-01 6.58396818e-01 -3.68051601e-02 6.63811687e+01] [ 4.76931988e-02 1.38047135e-03 9.98861078e-01 7.17117063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.71710568099996 meters 0.023034306426184058 Centerline is valid? [True, True] Translation: X:178.10, Y:66.40, Z:7.17 [[ 6.54935371e-01 -7.55082704e-01 -3.01623899e-02 1.78099345e+02] [ 7.54196830e-01 6.55628431e-01 -3.65855426e-02 6.64014651e+01] [ 4.74004308e-02 1.21278703e-03 9.98875232e-01 7.17229762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.74710568099997 meters 0.019333606755292155 Centerline is valid? [True, True] Translation: X:178.12, Y:66.42, Z:7.17 [[ 6.47804811e-01 -7.61151299e-01 -3.15852294e-02 1.78123800e+02] [ 7.60185682e-01 6.48573836e-01 -3.83367846e-02 6.64180496e+01] [ 4.96654469e-02 8.24114357e-04 9.98765570e-01 7.17162648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.77710568099997 meters 0.01723821966187138 Centerline is valid? [True, True] Translation: X:178.14, Y:66.44, Z:7.17 [[ 6.42509694e-01 -7.65570666e-01 -3.29066569e-02 1.78144433e+02] [ 7.64527155e-01 6.43351604e-01 -3.99617712e-02 6.64372570e+01] [ 5.17641103e-02 5.17792564e-04 9.98659206e-01 7.17186551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.80710568099997 meters 0.017133214978021196 Centerline is valid? [True, True] Translation: X:178.16, Y:66.46, Z:7.17 [[ 6.41905891e-01 -7.66080189e-01 -3.28324849e-02 1.78161079e+02] [ 7.65041280e-01 6.42744824e-01 -3.98864700e-02 6.64591186e+01] [ 5.16591442e-02 4.85153785e-04 9.98664657e-01 7.17372210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.83710568099997 meters 0.019718088953113857 Centerline is valid? [True, True] Translation: X:178.17, Y:66.49, Z:7.18 [[ 6.47228620e-01 -7.61635940e-01 -3.17144786e-02 1.78172164e+02] [ 7.60660105e-01 6.48004637e-01 -3.85511952e-02 6.64852269e+01] [ 4.99131050e-02 8.27498242e-04 9.98753221e-01 7.17896006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.86710568099997 meters 0.02305077626273938 Centerline is valid? [True, True] Translation: X:178.18, Y:66.51, Z:7.19 [[ 6.55324578e-01 -7.54735401e-01 -3.04002084e-02 1.78183139e+02] [ 7.53830670e-01 6.56028019e-01 -3.69669964e-02 6.65132407e+01] [ 4.78436893e-02 1.30877188e-03 9.98853978e-01 7.18532498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.89710568099997 meters 0.026571954212745358 Centerline is valid? [True, True] Translation: X:178.19, Y:66.54, Z:7.19 [[ 6.59503795e-01 -7.51106691e-01 -2.98911884e-02 1.78194260e+02] [ 7.50227241e-01 6.60178992e-01 -3.63701105e-02 6.65397658e+01] [ 4.70513680e-02 1.56104212e-03 9.98891251e-01 7.18604391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.92710568099997 meters 0.034606202926471846 Centerline is valid? [True, True] Translation: X:178.20, Y:66.57, Z:7.18 [[ 6.65941981e-01 -7.45393283e-01 -3.01683905e-02 1.78200843e+02] [ 7.44491074e-01 6.66621998e-01 -3.67171982e-02 6.65699348e+01] [ 4.74796656e-02 1.99142629e-03 9.98870220e-01 7.18412664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.95710568099997 meters 0.03739705877335016 Centerline is valid? [True, True] Translation: X:178.22, Y:66.59, Z:7.19 [[ 6.68209061e-01 -7.43365077e-01 -3.00834363e-02 1.78217335e+02] [ 7.42465362e-01 6.68882497e-01 -3.66250143e-02 6.65927524e+01] [ 4.73480406e-02 2.13725702e-03 9.98876166e-01 7.18588316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.98710568099997 meters 0.03138076648615874 Centerline is valid? [True, True] Translation: X:178.24, Y:66.61, Z:7.19 [[ 6.67459370e-01 -7.44067697e-01 -2.93470807e-02 1.78243410e+02] [ 7.43211271e-01 6.68101086e-01 -3.57483516e-02 6.66083328e+01] [ 4.62060101e-02 2.04949103e-03 9.98929829e-01 7.19013601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.01710568099998 meters 0.02823035394975559 Centerline is valid? [True, True] Translation: X:178.27, Y:66.63, Z:7.20 [[ 6.61919729e-01 -7.49080079e-01 -2.72269493e-02 1.78266090e+02] [ 7.48346350e-01 6.62477550e-01 -3.31848729e-02 6.66252451e+01] [ 4.28953698e-02 1.59053394e-03 9.99078304e-01 7.19508786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.04710568099998 meters 0.02486377867941783 Centerline is valid? [True, True] Translation: X:178.29, Y:66.64, Z:7.20 [[ 6.57396591e-01 -7.53076406e-01 -2.65640573e-02 1.78288680e+02] [ 7.52380837e-01 6.57931779e-01 -3.23859564e-02 6.66441876e+01] [ 4.18664372e-02 1.30412967e-03 9.99122365e-01 7.19795495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.07710568099998 meters 0.02029385522595943 Centerline is valid? [True, True] Translation: X:178.31, Y:66.66, Z:7.20 [[ 6.48209023e-01 -7.60990953e-01 -2.67923736e-02 1.78313772e+02] [ 7.60289151e-01 6.48761977e-01 -3.26849303e-02 6.66600145e+01] [ 4.22548096e-02 8.16715751e-04 9.99106533e-01 7.19851870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.10710568099998 meters 0.016815740124478343 Centerline is valid? [True, True] Translation: X:178.34, Y:66.68, Z:7.20 [[ 6.40571305e-01 -7.67443970e-01 -2.64226392e-02 1.78340365e+02] [ 7.66766279e-01 6.41115899e-01 -3.22471291e-02 6.66762374e+01] [ 4.16878389e-02 3.96596807e-04 9.99130605e-01 7.20153013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13710568099998 meters 0.016056988564040718 Centerline is valid? [True, True] Translation: X:178.36, Y:66.70, Z:7.20 [[ 6.37659592e-01 -7.69877493e-01 -2.60555200e-02 1.78359931e+02] [ 7.69219733e-01 6.38191652e-01 -3.18185168e-02 6.66969449e+01] [ 4.11247753e-02 2.46962338e-04 9.99153988e-01 7.20378965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.16710568099998 meters 0.015629573989584773 Centerline is valid? [True, True] Translation: X:178.38, Y:66.72, Z:7.21 [[ 6.34580789e-01 -7.72428836e-01 -2.57082841e-02 1.78377040e+02] [ 7.71789750e-01 6.35101319e-01 -3.14149160e-02 6.67195039e+01] [ 4.05931521e-02 9.39120062e-05 9.99175754e-01 7.20510679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.19710568099998 meters 0.015573799942980339 Centerline is valid? [True, True] Translation: X:178.39, Y:66.74, Z:7.21 [[ 6.34490453e-01 -7.72509462e-01 -2.55146377e-02 1.78392804e+02] [ 7.71879210e-01 6.35003245e-01 -3.11987702e-02 6.67426351e+01] [ 4.03032229e-02 1.01103443e-04 9.99187490e-01 7.20558523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.22710568099998 meters 0.016241515063261606 Centerline is valid? [True, True] Translation: X:178.40, Y:66.77, Z:7.20 [[ 6.37519070e-01 -7.69997046e-01 -2.59612181e-02 1.78403485e+02] [ 7.69341465e-01 6.38047390e-01 -3.17685275e-02 6.67712165e+01] [ 4.10261598e-02 2.80000590e-04 9.99158033e-01 7.20446599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25710568099998 meters 0.019196932649776514 Centerline is valid? [True, True] Translation: X:178.41, Y:66.80, Z:7.20 [[ 6.44550826e-01 -7.64110239e-01 -2.62635670e-02 1.78408199e+02] [ 7.63433511e-01 6.45085330e-01 -3.21588344e-02 6.68037294e+01] [ 4.15151365e-02 6.77516078e-04 9.99137645e-01 7.20431437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.28710568099999 meters 0.02376553819801261 Centerline is valid? [True, True] Translation: X:178.41, Y:66.83, Z:7.20 [[ 6.51354402e-01 -7.58276195e-01 -2.74709896e-02 1.78414867e+02] [ 7.57530004e-01 6.51932500e-01 -3.36497868e-02 6.68348282e+01] [ 4.34250632e-02 1.10783785e-03 9.99056073e-01 7.20215843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.317105681 meters 0.026419472130962508 Centerline is valid? [True, True] Translation: X:178.43, Y:66.86, Z:7.20 [[ 6.53882303e-01 -7.56055647e-01 -2.85970907e-02 1.78427722e+02] [ 7.55243877e-01 6.54506007e-01 -3.50510170e-02 6.68601228e+01] [ 4.52174870e-02 1.32146202e-03 9.98976292e-01 7.20081497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.34710568099996 meters 0.026439565967671046 Centerline is valid? [True, True] Translation: X:178.44, Y:66.88, Z:7.20 [[ 6.55558342e-01 -7.54590689e-01 -2.89162930e-02 1.78444262e+02] [ 7.53758650e-01 6.56194176e-01 -3.54556106e-02 6.68835205e+01] [ 4.57291768e-02 1.44731531e-03 9.98952826e-01 7.20154428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37710568099996 meters 0.029974491645565336 Centerline is valid? [True, True] Translation: X:178.46, Y:66.91, Z:7.20 [[ 6.57296880e-01 -7.53077588e-01 -2.88956497e-02 1.78455858e+02] [ 7.52244291e-01 6.57929856e-01 -3.54518215e-02 6.69093450e+01] [ 4.57092829e-02 1.56578414e-03 9.98953557e-01 7.20190438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.40710568099996 meters 0.027813074381664103 Centerline is valid? [True, True] Translation: X:178.48, Y:66.93, Z:7.20 [[ 6.56714596e-01 -7.53583728e-01 -2.89396567e-02 1.78476236e+02] [ 7.52747621e-01 6.57350121e-01 -3.55223494e-02 6.69290091e+01] [ 4.57925513e-02 1.54378758e-03 9.98949778e-01 7.20348059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.43710568099996 meters 0.025120957063700884 Centerline is valid? [True, True] Translation: X:178.50, Y:66.95, Z:7.20 [[ 6.53974025e-01 -7.55901292e-01 -3.05157737e-02 1.78498114e+02] [ 7.54972761e-01 6.54683940e-01 -3.74842450e-02 6.69486129e+01] [ 4.83125762e-02 1.47514457e-03 9.98831176e-01 7.20173576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.46710568099996 meters 0.024585272022140225 Centerline is valid? [True, True] Translation: X:178.52, Y:66.97, Z:7.20 [[ 6.51477530e-01 -7.58060225e-01 -3.03598998e-02 1.78515357e+02] [ 7.57142464e-01 6.52183215e-01 -3.73141168e-02 6.69703941e+01] [ 4.80865649e-02 1.32253932e-03 9.98842296e-01 7.20101624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.49710568099997 meters 0.02392442272889484 Centerline is valid? [True, True] Translation: X:178.54, Y:66.99, Z:7.20 [[ 6.50964544e-01 -7.58549009e-01 -2.91301070e-02 1.78536355e+02] [ 7.57704103e-01 6.51614809e-01 -3.58138580e-02 6.69907335e+01] [ 4.61481756e-02 1.24155013e-03 9.98933834e-01 7.20426524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.52710568099997 meters 0.024680041021136582 Centerline is valid? [True, True] Translation: X:178.55, Y:67.01, Z:7.20 [[ 6.50707426e-01 -7.58723759e-01 -3.03002246e-02 1.78554278e+02] [ 7.57808678e-01 6.51411225e-01 -3.72749638e-02 6.70124468e+01] [ 4.80193071e-02 1.29332263e-03 9.98845570e-01 7.20275395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.55710568099997 meters 0.025242894135084324 Centerline is valid? [True, True] Translation: X:178.57, Y:67.04, Z:7.20 [[ 6.51491914e-01 -7.57920961e-01 -3.33781763e-02 1.78571902e+02] [ 7.56808590e-01 6.52344670e-01 -4.10754227e-02 6.70350487e+01] [ 5.29059993e-02 1.49941525e-03 9.98598371e-01 7.19737508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.58710568099997 meters 0.02617163374257327 Centerline is valid? [True, True] Translation: X:178.59, Y:67.06, Z:7.20 [[ 6.52176061e-01 -7.57260623e-01 -3.49675998e-02 1.78588527e+02] [ 7.56037783e-01 6.53110759e-01 -4.30489074e-02 6.70584288e+01] [ 5.54369581e-02 1.63864025e-03 9.98460845e-01 7.19555474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.61710568099997 meters 0.026730738269803763 Centerline is valid? [True, True] Translation: X:178.61, Y:67.08, Z:7.20 [[ 6.52189447e-01 -7.57260651e-01 -3.47164519e-02 1.78605610e+02] [ 7.56053982e-01 6.53110716e-01 -4.27641105e-02 6.70796901e+01] [ 5.50572649e-02 1.64278989e-03 9.98481847e-01 7.19683231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.64710568099997 meters 0.025782819736095173 Centerline is valid? [True, True] Translation: X:178.63, Y:67.10, Z:7.20 [[ 6.51664433e-01 -7.57757559e-01 -3.37186545e-02 1.78625282e+02] [ 7.56618897e-01 6.52534308e-01 -4.15550332e-02 6.71004827e+01] [ 5.34912194e-02 1.56776596e-03 9.98567089e-01 7.20086678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.67710568099997 meters 0.022945936936827126 Centerline is valid? [True, True] Translation: X:178.65, Y:67.12, Z:7.21 [[ 6.49232711e-01 -7.59974088e-01 -3.05985798e-02 1.78647574e+02] [ 7.59037844e-01 6.49952127e-01 -3.77330520e-02 6.71190876e+01] [ 4.85637538e-02 1.27205160e-03 9.98819275e-01 7.20983785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.70710568099997 meters 0.024963065633194757 Centerline is valid? [True, True] Translation: X:178.66, Y:67.14, Z:7.21 [[ 6.47532654e-01 -7.61434742e-01 -3.03083555e-02 1.78662965e+02] [ 7.60516553e-01 6.48240518e-01 -3.74005846e-02 6.71430233e+01] [ 4.81252085e-02 1.16809377e-03 9.98840628e-01 7.20952013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.73710568099997 meters 0.01884310119295029 Centerline is valid? [True, True] Translation: X:178.69, Y:67.16, Z:7.21 [[ 6.40193490e-01 -7.67651509e-01 -2.93846230e-02 1.78692666e+02] [ 7.66793908e-01 6.40867129e-01 -3.62825878e-02 6.71555742e+01] [ 4.66840222e-02 6.95926667e-04 9.98909464e-01 7.21453086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.76710568099998 meters 0.01884310119295029 Centerline is valid? [True, True] Translation: X:178.71, Y:67.18, Z:7.22 [[ 6.39906500e-01 -7.67891076e-01 -2.93763026e-02 1.78709763e+02] [ 7.67033418e-01 6.40580066e-01 -3.62893234e-02 6.71770788e+01] [ 4.66841214e-02 6.89168059e-04 9.98909464e-01 7.21554826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.79710568099998 meters 0.017913761901262152 Centerline is valid? [True, True] Translation: X:178.73, Y:67.20, Z:7.22 [[ 6.36996847e-01 -7.70325369e-01 -2.88763229e-02 1.78730352e+02] [ 7.69497955e-01 6.37650810e-01 -3.56979075e-02 6.71968356e+01] [ 4.59120145e-02 5.19183120e-04 9.98945353e-01 7.21762559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.82710568099998 meters 0.017954214112632712 Centerline is valid? [True, True] Translation: X:178.75, Y:67.22, Z:7.22 [[ 6.35340041e-01 -7.71679156e-01 -2.92286223e-02 1.78749055e+02] [ 7.70831851e-01 6.36011860e-01 -3.61548310e-02 6.72175910e+01] [ 4.64896800e-02 4.40258779e-04 9.98918673e-01 7.21706950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.85710568099998 meters 0.017680308830612907 Centerline is valid? [True, True] Translation: X:178.77, Y:67.24, Z:7.22 [[ 6.34812919e-01 -7.72088621e-01 -2.98616702e-02 1.78770215e+02] [ 7.71203954e-01 6.35514734e-01 -3.69524471e-02 6.72364678e+01] [ 4.75080954e-02 4.28452638e-04 9.98870761e-01 7.21860190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.88710568099998 meters 0.01880083035468133 Centerline is valid? [True, True] Translation: X:178.79, Y:67.26, Z:7.22 [[ 6.37741708e-01 -7.69678983e-01 -2.96610521e-02 1.78789120e+02] [ 7.68802292e-01 6.38430793e-01 -3.67308820e-02 6.72586383e+01] [ 4.72075169e-02 6.21330607e-04 9.98884910e-01 7.22206960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91710568099998 meters 0.019603818192803477 Centerline is valid? [True, True] Translation: X:178.81, Y:67.28, Z:7.23 [[ 6.40311250e-01 -7.67596225e-01 -2.82407064e-02 1.78805524e+02] [ 7.66798482e-01 6.40933279e-01 -3.49945706e-02 6.72817557e+01] [ 4.49621089e-02 7.52486473e-04 9.98988410e-01 7.22736570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.94710568099998 meters 0.024123157236366974 Centerline is valid? [True, True] Translation: X:178.82, Y:67.31, Z:7.23 [[ 6.46492450e-01 -7.62509925e-01 -2.50225100e-02 1.78815814e+02] [ 7.61879118e-01 6.46975754e-01 -3.10255082e-02 6.73088428e+01] [ 3.98462153e-02 9.93628971e-04 9.99205330e-01 7.23463468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.97710568099998 meters 0.02452333996999054 Centerline is valid? [True, True] Translation: X:178.83, Y:67.33, Z:7.24 [[ 6.49117282e-01 -7.60314160e-01 -2.38565096e-02 1.78833806e+02] [ 7.59738700e-01 6.49554616e-01 -2.95957589e-02 6.73313764e+01] [ 3.79981805e-02 1.08640496e-03 9.99277218e-01 7.23778572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.00710568099998 meters 0.028333047818870537 Centerline is valid? [True, True] Translation: X:178.85, Y:67.35, Z:7.24 [[ 6.54227155e-01 -7.55944361e-01 -2.31290449e-02 1.78848725e+02] [ 7.55400033e-01 6.54634555e-01 -2.87122050e-02 6.73547711e+01] [ 3.68459014e-02 1.31262295e-03 9.99320097e-01 7.23935890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03710568099999 meters 0.03152985559458771 Centerline is valid? [True, True] Translation: X:178.86, Y:67.38, Z:7.23 [[ 6.57500007e-01 -7.52979435e-01 -2.67527825e-02 1.78864643e+02] [ 7.52248192e-01 6.58041806e-01 -3.32210556e-02 6.73777626e+01] [ 4.26192210e-02 1.71811201e-03 9.99089911e-01 7.23140836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.06710568099996 meters 0.03216974643050421 Centerline is valid? [True, True] Translation: X:178.88, Y:67.40, Z:7.23 [[ 6.58197464e-01 -7.52297810e-01 -2.87071856e-02 1.78881843e+02] [ 7.51454348e-01 6.58820450e-01 -3.56647768e-02 6.74006403e+01] [ 4.57434145e-02 1.90232617e-03 9.98951411e-01 7.22825952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09710568099996 meters 0.033579956238895474 Centerline is valid? [True, True] Translation: X:178.90, Y:67.42, Z:7.22 [[ 6.59032450e-01 -7.51482128e-01 -3.08357057e-02 1.78897321e+02] [ 7.50506876e-01 6.59750043e-01 -3.83315846e-02 6.74241671e+01] [ 4.91493589e-02 2.11934897e-03 9.98789191e-01 7.22385557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.12710568099996 meters 0.034296678973207345 Centerline is valid? [True, True] Translation: X:178.92, Y:67.45, Z:7.22 [[ 6.59179732e-01 -7.51307516e-01 -3.19232951e-02 1.78917212e+02] [ 7.50261291e-01 6.59948559e-01 -3.96975340e-02 6.74455620e+01] [ 5.08927882e-02 2.21699722e-03 9.98701662e-01 7.22278054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.15710568099996 meters 0.0343609123473024 Centerline is valid? [True, True] Translation: X:178.94, Y:67.47, Z:7.22 [[ 6.58714993e-01 -7.51698787e-01 -3.23031030e-02 1.78935769e+02] [ 7.50626579e-01 6.59502810e-01 -4.01967913e-02 6.74665817e+01] [ 5.15198665e-02 2.23066141e-03 9.98669479e-01 7.22303547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.18710568099996 meters 0.03332268870106292 Centerline is valid? [True, True] Translation: X:178.96, Y:67.49, Z:7.23 [[ 6.57732415e-01 -7.52562511e-01 -3.22139228e-02 1.78957173e+02] [ 7.51495972e-01 6.58517231e-01 -4.01106028e-02 6.74869484e+01] [ 5.13991592e-02 2.17341042e-03 9.98675825e-01 7.22568650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.21710568099996 meters 0.03357543668942985 Centerline is valid? [True, True] Translation: X:178.98, Y:67.51, Z:7.23 [[ 6.56738658e-01 -7.53478459e-01 -3.10571637e-02 1.78975601e+02] [ 7.52487575e-01 6.57469446e-01 -3.86830229e-02 6.75082005e+01] [ 4.95659607e-02 2.03450675e-03 9.98768780e-01 7.22836984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.24710568099997 meters 0.03140549204176621 Centerline is valid? [True, True] Translation: X:179.00, Y:67.52, Z:7.23 [[ 6.53175911e-01 -7.56649787e-01 -2.90228865e-02 1.78999520e+02] [ 7.55787002e-01 6.53818215e-01 -3.61628288e-02 6.75243230e+01] [ 4.63382886e-02 1.68556836e-03 9.98924382e-01 7.23405256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.27710568099997 meters 0.026502971887477817 Centerline is valid? [True, True] Translation: X:179.03, Y:67.54, Z:7.24 [[ 6.46271658e-01 -7.62626170e-01 -2.70974186e-02 1.79026589e+02] [ 7.61878458e-01 6.46838398e-01 -3.37831454e-02 6.75372536e+01] [ 4.32915616e-02 1.18814984e-03 9.99061774e-01 7.23855731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.30710568099997 meters 0.023739827911891807 Centerline is valid? [True, True] Translation: X:179.05, Y:67.55, Z:7.24 [[ 6.42396965e-01 -7.65888505e-01 -2.72201580e-02 1.79049518e+02] [ 7.65136142e-01 6.42972649e-01 -3.39537321e-02 6.75547766e+01] [ 4.35065903e-02 9.84647739e-04 9.99052655e-01 7.23889957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.33710568099997 meters 0.01930127529011015 Centerline is valid? [True, True] Translation: X:179.08, Y:67.57, Z:7.24 [[ 6.35795981e-01 -7.71350167e-01 -2.79712414e-02 1.79078733e+02] [ 7.70559841e-01 6.36410641e-01 -3.49145937e-02 6.75683944e+01] [ 4.47325733e-02 6.45043007e-04 9.98998789e-01 7.23877865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.36710568099997 meters 0.01819028291883154 Centerline is valid? [True, True] Translation: X:179.10, Y:67.59, Z:7.24 [[ 6.32529406e-01 -7.74049867e-01 -2.74473008e-02 1.79101455e+02] [ 7.73290412e-01 6.33124467e-01 -3.42833352e-02 6.75865533e+01] [ 4.39145687e-02 4.60483045e-04 9.99035184e-01 7.24108720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.39710568099997 meters 0.017007369002635764 Centerline is valid? [True, True] Translation: X:179.13, Y:67.60, Z:7.25 [[ 6.26840549e-01 -7.78725769e-01 -2.56340082e-02 1.79127332e+02] [ 7.78066443e-01 6.27364453e-01 -3.20383173e-02 6.76025764e+01] [ 4.10309288e-02 1.37954843e-04 9.99157867e-01 7.24673680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.42710568099997 meters 0.01710131147521808 Centerline is valid? [True, True] Translation: X:179.15, Y:67.62, Z:7.25 [[ 6.21401378e-01 -7.83118591e-01 -2.41991650e-02 1.79148877e+02] [ 7.82533597e-01 6.21872379e-01 -3.02640780e-02 6.76198768e+01] [ 3.87491544e-02 -1.30519890e-04 9.99248961e-01 7.25119652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.45710568099997 meters 0.017410049326867565 Centerline is valid? [True, True] Translation: X:179.17, Y:67.64, Z:7.25 [[ 6.19107410e-01 -7.84948880e-01 -2.36911718e-02 1.79166770e+02] [ 7.84388946e-01 6.19560492e-01 -2.96441999e-02 6.76415031e+01] [ 3.79472955e-02 -2.30149418e-04 9.99279715e-01 7.25369555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.48710568099997 meters 0.017819821163019174 Centerline is valid? [True, True] Translation: X:179.18, Y:67.66, Z:7.26 [[ 6.17918249e-01 -7.85890870e-01 -2.35069879e-02 1.79183253e+02] [ 7.85339434e-01 6.18365157e-01 -2.94364875e-02 6.76638372e+01] [ 3.76697690e-02 -2.71621724e-04 9.99290205e-01 7.25611248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.51710568099998 meters 0.017478985252781826 Centerline is valid? [True, True] Translation: X:179.19, Y:67.69, Z:7.26 [[ 6.20427738e-01 -7.83931291e-01 -2.28287701e-02 1.79194544e+02] [ 7.83409479e-01 6.20847575e-01 -2.85985456e-02 6.76907504e+01] [ 3.65924813e-02 -1.40943979e-04 9.99330261e-01 7.26077099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.54710568099998 meters 0.017448691350010006 Centerline is valid? [True, True] Translation: X:179.21, Y:67.72, Z:7.26 [[ 6.23054268e-01 -7.81871097e-01 -2.19309643e-02 1.79205386e+02] [ 7.81387558e-01 6.23440124e-01 -2.74935507e-02 6.77169689e+01] [ 3.51690558e-02 -6.60855795e-06 9.99381377e-01 7.26387123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.57710568099998 meters 0.019107757487188383 Centerline is valid? [True, True] Translation: X:179.21, Y:67.75, Z:7.27 [[ 6.31534337e-01 -7.75070592e-01 -2.07354483e-02 1.79207292e+02] [ 7.74634083e-01 6.31874549e-01 -2.60113893e-02 6.77519789e+01] [ 3.32628649e-02 3.64700485e-04 9.99446571e-01 7.26569164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.60710568099998 meters 0.020427301040512432 Centerline is valid? [True, True] Translation: X:179.22, Y:67.78, Z:7.27 [[ 6.35837176e-01 -7.71541616e-01 -2.08475428e-02 1.79218812e+02] [ 7.71097890e-01 6.36178605e-01 -2.61691931e-02 6.77798407e+01] [ 3.34533823e-02 5.63849601e-04 9.99440120e-01 7.26501487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.63710568099998 meters 0.02421800630125631 Centerline is valid? [True, True] Translation: X:179.23, Y:67.81, Z:7.26 [[ 6.43693538e-01 -7.64930244e-01 -2.32454424e-02 1.79225470e+02] [ 7.64373341e-01 6.44112306e-01 -2.92015854e-02 6.78115762e+01] [ 3.73098513e-02 1.02867535e-03 9.99303216e-01 7.25885197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.66710568099998 meters 0.030199118444331208 Centerline is valid? [True, True] Translation: X:179.23, Y:67.84, Z:7.25 [[ 6.49145944e-01 -7.60184495e-01 -2.70014188e-02 1.79232670e+02] [ 7.59427731e-01 6.49705465e-01 -3.39459859e-02 6.78419776e+01] [ 4.33481815e-02 1.53027284e-03 9.99058854e-01 7.25103623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.69710568099998 meters 0.029792173544122863 Centerline is valid? [True, True] Translation: X:179.25, Y:67.86, Z:7.25 [[ 6.50840037e-01 -7.58682333e-01 -2.84317565e-02 1.79250431e+02] [ 7.57841123e-01 6.51458469e-01 -3.57588496e-02 6.78640760e+01] [ 4.56517160e-02 1.72653667e-03 9.98955925e-01 7.24986195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.72710568099998 meters 0.03081358835063086 Centerline is valid? [True, True] Translation: X:179.27, Y:67.89, Z:7.25 [[ 6.52069607e-01 -7.57563094e-01 -3.00563703e-02 1.79265571e+02] [ 7.56621049e-01 6.52759129e-01 -3.78167689e-02 6.78886277e+01] [ 4.82681585e-02 1.91788322e-03 9.98832572e-01 7.24656133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.75710568099998 meters 0.030624937440239117 Centerline is valid? [True, True] Translation: X:179.28, Y:67.91, Z:7.24 [[ 6.52193112e-01 -7.57433695e-01 -3.06323769e-02 1.79281279e+02] [ 7.56453742e-01 6.52909084e-01 -3.85676740e-02 6.79126186e+01] [ 4.92126130e-02 1.98159525e-03 9.98786360e-01 7.24460704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.78710568099999 meters 0.03154527212417741 Centerline is valid? [True, True] Translation: X:179.30, Y:67.93, Z:7.24 [[ 6.52100768e-01 -7.57504542e-01 -3.08456971e-02 1.79297218e+02] [ 7.56509762e-01 6.52826811e-01 -3.88604423e-02 6.79338846e+01] [ 4.95738596e-02 2.00585331e-03 9.98768446e-01 7.24453134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.81710568099996 meters 0.03001870320683734 Centerline is valid? [True, True] Translation: X:179.32, Y:67.95, Z:7.25 [[ 6.51119722e-01 -7.58311108e-01 -3.17390938e-02 1.79320129e+02] [ 7.57257712e-01 6.51889718e-01 -4.00069134e-02 6.79527575e+01] [ 5.10280757e-02 2.01461681e-03 9.98695187e-01 7.24603811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.84710568099996 meters 0.029190020560782327 Centerline is valid? [True, True] Translation: X:179.34, Y:67.97, Z:7.25 [[ 6.49240127e-01 -7.59929964e-01 -3.15231194e-02 1.79339983e+02] [ 7.58891399e-01 6.50002208e-01 -3.97614695e-02 6.79733173e+01] [ 5.07060293e-02 1.89211736e-03 9.98711830e-01 7.24736357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.87710568099996 meters 0.027594359419430767 Centerline is valid? [True, True] Translation: X:179.36, Y:67.99, Z:7.25 [[ 6.46422831e-01 -7.62357893e-01 -3.07890535e-02 1.79360446e+02] [ 7.61368622e-01 6.47153478e-01 -3.88612575e-02 6.79935783e+01] [ 4.95514294e-02 1.67898483e-03 9.98770162e-01 7.25002128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.90710568099996 meters 0.024460220222716225 Centerline is valid? [True, True] Translation: X:179.38, Y:68.01, Z:7.26 [[ 6.41150712e-01 -7.66924243e-01 -2.74402969e-02 1.79384808e+02] [ 7.66141779e-01 6.41736530e-01 -3.46554436e-02 6.80093608e+01] [ 4.41875408e-02 1.19620449e-03 9.99022537e-01 7.25668618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.93710568099996 meters 0.02141762362738224 Centerline is valid? [True, True] Translation: X:179.41, Y:68.02, Z:7.26 [[ 6.36037327e-01 -7.71232354e-01 -2.56354252e-02 1.79413105e+02] [ 7.70552154e-01 6.36553165e-01 -3.23951526e-02 6.80238808e+01] [ 4.13025008e-02 8.51094086e-04 9.99146325e-01 7.26159435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.96710568099996 meters 0.020085548328457707 Centerline is valid? [True, True] Translation: X:179.44, Y:68.04, Z:7.26 [[ 6.33239713e-01 -7.73534668e-01 -2.55261340e-02 1.79435787e+02] [ 7.72861278e-01 6.33753589e-01 -3.22774421e-02 6.80427703e+01] [ 4.11449995e-02 7.11197697e-04 9.99152933e-01 7.26337937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.99710568099997 meters 0.01899897583800871 Centerline is valid? [True, True] Translation: X:179.46, Y:68.06, Z:7.27 [[ 6.29086391e-01 -7.76931233e-01 -2.50633754e-02 1.79456868e+02] [ 7.76283912e-01 6.29585273e-01 -3.17123320e-02 6.80610255e+01] [ 4.04178332e-02 4.93501371e-04 9.99182744e-01 7.26634287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.02710568099997 meters 0.018756805844287325 Centerline is valid? [True, True] Translation: X:179.47, Y:68.08, Z:7.27 [[ 6.27771426e-01 -7.77984160e-01 -2.53709224e-02 1.79474334e+02] [ 7.77321336e-01 6.28283739e-01 -3.21105000e-02 6.80819419e+01] [ 4.09215984e-02 4.36695079e-04 9.99162265e-01 7.26630223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.05710568099997 meters 0.018458298760053136 Centerline is valid? [True, True] Translation: X:179.49, Y:68.10, Z:7.27 [[ 6.28533206e-01 -7.77350509e-01 -2.59266996e-02 1.79493600e+02] [ 7.76656878e-01 6.29067511e-01 -3.28353645e-02 6.81030646e+01] [ 4.18342317e-02 5.01967398e-04 9.99124439e-01 7.26754691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.08710568099997 meters 0.019791006595186247 Centerline is valid? [True, True] Translation: X:179.51, Y:68.13, Z:7.26 [[ 6.30791906e-01 -7.75441191e-01 -2.81519393e-02 1.79508179e+02] [ 7.74620353e-01 6.31419411e-01 -3.56768260e-02 6.81275408e+01] [ 4.54409614e-02 6.97587906e-04 9.98966782e-01 7.26488330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.11710568099997 meters 0.020389486811983208 Centerline is valid? [True, True] Translation: X:179.52, Y:68.15, Z:7.26 [[ 6.32118249e-01 -7.74328628e-01 -2.90119822e-02 1.79522995e+02] [ 7.73455244e-01 6.32783158e-01 -3.67758201e-02 6.81519820e+01] [ 4.68348641e-02 8.07197245e-04 9.98902320e-01 7.26441749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.14710568099997 meters 0.02271389911542351 Centerline is valid? [True, True] Translation: X:179.54, Y:68.18, Z:7.27 [[ 6.36195976e-01 -7.70997267e-01 -2.85988316e-02 1.79535024e+02] [ 7.70144808e-01 6.36837596e-01 -3.62608685e-02 6.81783335e+01] [ 4.61698417e-02 1.04377700e-03 9.98933059e-01 7.26651599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.17710568099997 meters 0.024025479879447413 Centerline is valid? [True, True] Translation: X:179.55, Y:68.20, Z:7.27 [[ 6.39599362e-01 -7.68216634e-01 -2.74928826e-02 1.79550295e+02] [ 7.67425893e-01 6.40188845e-01 -3.48674788e-02 6.82021840e+01] [ 4.43864139e-02 1.20246723e-03 9.99013714e-01 7.27069056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.20710568099997 meters 0.028875899736578267 Centerline is valid? [True, True] Translation: X:179.56, Y:68.23, Z:7.28 [[ 6.46721871e-01 -7.62315079e-01 -2.50308142e-02 1.79561565e+02] [ 7.61654921e-01 6.47204418e-01 -3.17525192e-02 6.82277600e+01] [ 4.04054777e-02 1.47020588e-03 9.99182284e-01 7.27805377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.23710568099997 meters 0.033266658737051945 Centerline is valid? [True, True] Translation: X:179.58, Y:68.25, Z:7.28 [[ 6.53504002e-01 -7.56528383e-01 -2.44402188e-02 1.79575286e+02] [ 7.55894458e-01 6.53958396e-01 -3.10158703e-02 6.82528055e+01] [ 3.94472725e-02 1.79476944e-03 9.99220042e-01 7.28173402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.26710568099998 meters 0.03726895334278605 Centerline is valid? [True, True] Translation: X:179.59, Y:68.28, Z:7.28 [[ 6.57966162e-01 -7.52593847e-01 -2.61348469e-02 1.79587793e+02] [ 7.51865183e-01 6.58481388e-01 -3.31814375e-02 6.82791871e+01] [ 4.21814560e-02 2.18238161e-03 9.99107583e-01 7.27741722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.29710568099998 meters 0.03741930925979179 Centerline is valid? [True, True] Translation: X:179.61, Y:68.30, Z:7.28 [[ 6.58885025e-01 -7.51741784e-01 -2.74738766e-02 1.79605135e+02] [ 7.50934799e-01 6.59453328e-01 -3.49032505e-02 6.83017392e+01] [ 4.43559711e-02 2.36613909e-03 9.99012988e-01 7.27538251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.32710568099998 meters 0.039651675122817524 Centerline is valid? [True, True] Translation: X:179.62, Y:68.32, Z:7.27 [[ 6.57906104e-01 -7.52536093e-01 -2.91373631e-02 1.79622341e+02] [ 7.51628706e-01 6.58546416e-01 -3.70257504e-02 6.83241188e+01] [ 4.70515196e-02 2.45898867e-03 9.98889437e-01 7.27160058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.35710568099998 meters 0.03535428229763978 Centerline is valid? [True, True] Translation: X:179.65, Y:68.34, Z:7.27 [[ 6.55914512e-01 -7.54249182e-01 -2.97375783e-02 1.79646747e+02] [ 7.53305130e-01 6.56583920e-01 -3.78012741e-02 6.83416397e+01] [ 4.80367958e-02 2.39293394e-03 9.98842700e-01 7.27264927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.38710568099998 meters 0.03221892693302933 Centerline is valid? [True, True] Translation: X:179.67, Y:68.36, Z:7.27 [[ 6.50903508e-01 -7.58531046e-01 -3.09075267e-02 1.79670511e+02] [ 7.57514598e-01 6.51633263e-01 -3.93157027e-02 6.83593399e+01] [ 4.99625536e-02 2.17782608e-03 9.98748717e-01 7.27433641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.41710568099998 meters 0.03192055375752185 Centerline is valid? [True, True] Translation: X:179.69, Y:68.38, Z:7.28 [[ 6.48287245e-01 -7.60788054e-01 -3.04168587e-02 1.79688247e+02] [ 7.59804832e-01 6.48997366e-01 -3.87173980e-02 6.83811197e+01] [ 4.91961950e-02 1.98911905e-03 9.98787153e-01 7.27620786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.44710568099998 meters 0.030682868076624153 Centerline is valid? [True, True] Translation: X:179.71, Y:68.40, Z:7.28 [[ 6.45092234e-01 -7.63538155e-01 -2.94193140e-02 1.79706805e+02] [ 7.62620233e-01 6.45760386e-01 -3.74687073e-02 6.84011996e+01] [ 4.76066152e-02 1.73500803e-03 9.98864655e-01 7.27865198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.47710568099998 meters 0.027904886013912698 Centerline is valid? [True, True] Translation: X:179.73, Y:68.42, Z:7.28 [[ 6.41970831e-01 -7.66205534e-01 -2.83289983e-02 1.79729339e+02] [ 7.65356428e-01 6.42593856e-01 -3.60925683e-02 6.84198913e+01] [ 4.58583658e-02 1.48859516e-03 9.98946843e-01 7.28150750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.50710568099998 meters 0.026960737220599173 Centerline is valid? [True, True] Translation: X:179.75, Y:68.44, Z:7.28 [[ 6.40353766e-01 -7.67575991e-01 -2.78235882e-02 1.79748930e+02] [ 7.66757188e-01 6.40956467e-01 -3.54714341e-02 6.84413995e+01] [ 4.50607300e-02 1.38033017e-03 9.98983296e-01 7.28306641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.53710568099999 meters 0.02270697437163309 Centerline is valid? [True, True] Translation: X:179.77, Y:68.46, Z:7.29 [[ 6.35783963e-01 -7.71372780e-01 -2.76186099e-02 1.79773292e+02] [ 7.70568539e-01 6.36382577e-01 -3.52326821e-02 6.84593822e+01] [ 4.47535341e-02 1.11834232e-03 9.98997433e-01 7.28504910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.56710568099996 meters 0.021811037306961083 Centerline is valid? [True, True] Translation: X:179.79, Y:68.48, Z:7.29 [[ 6.33299898e-01 -7.73412507e-01 -2.76465752e-02 1.79791557e+02] [ 7.72607657e-01 6.33902293e-01 -3.52886756e-02 6.84799893e+01] [ 4.48179305e-02 9.88359011e-04 9.98994683e-01 7.28617839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.59710568099996 meters 0.020064479422997505 Centerline is valid? [True, True] Translation: X:179.81, Y:68.50, Z:7.29 [[ 6.28047105e-01 -7.77637885e-01 -2.89163355e-02 1.79812578e+02] [ 7.76761201e-01 6.28712009e-01 -3.69221556e-02 6.84995687e+01] [ 4.68921144e-02 7.27765461e-04 9.98899695e-01 7.28526044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.62710568099996 meters 0.017813726413467925 Centerline is valid? [True, True] Translation: X:179.84, Y:68.52, Z:7.28 [[ 6.20511151e-01 -7.83527557e-01 -3.24110879e-02 1.79836543e+02] [ 7.82432341e-01 6.21356944e-01 -4.14147297e-02 6.85171835e+01] [ 5.25884365e-02 3.38818216e-04 9.98616213e-01 7.28005755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.65710568099996 meters 0.017447085857882835 Centerline is valid? [True, True] Translation: X:179.86, Y:68.54, Z:7.28 [[ 6.16154243e-01 -7.86899869e-01 -3.38015499e-02 1.79858001e+02] [ 7.85711993e-01 6.17080700e-01 -4.32212144e-02 6.85376025e+01] [ 5.48690521e-02 7.26515055e-05 9.98493556e-01 7.27897276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.68710568099996 meters 0.017447085857882835 Centerline is valid? [True, True] Translation: X:179.87, Y:68.56, Z:7.28 [[ 6.15860824e-01 -7.87130166e-01 -3.37867937e-02 1.79874739e+02] [ 7.85942003e-01 6.16786914e-01 -4.32327479e-02 6.85594169e+01] [ 5.48690522e-02 7.08954131e-05 9.98493556e-01 7.27999024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.71710568099996 meters 0.017554784955871504 Centerline is valid? [True, True] Translation: X:179.90, Y:68.58, Z:7.28 [[ 6.12126339e-01 -7.90030280e-01 -3.39632440e-02 1.79895355e+02] [ 7.88832227e-01 6.13067801e-01 -4.34923979e-02 6.85791472e+01] [ 5.51820827e-02 -1.68459084e-04 9.98476294e-01 7.28142780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.74710568099997 meters 0.018463040993941155 Centerline is valid? [True, True] Translation: X:179.92, Y:68.60, Z:7.29 [[ 6.06945227e-01 -7.94090700e-01 -3.22094849e-02 1.79915136e+02] [ 7.93017442e-01 6.07799078e-01 -4.12749128e-02 6.85977319e+01] [ 5.23529196e-02 -4.91072007e-04 9.98628525e-01 7.28701770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.77710568099997 meters 0.019464178941055576 Centerline is valid? [True, True] Translation: X:179.93, Y:68.62, Z:7.29 [[ 6.03261312e-01 -7.96941445e-01 -3.09858522e-02 1.79931445e+02] [ 7.95950807e-01 6.04056164e-01 -3.97298867e-02 6.86204496e+01] [ 5.03795884e-02 -6.95710456e-04 9.98729900e-01 7.29247039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.80710568099997 meters 0.021010347869177007 Centerline is valid? [True, True] Translation: X:179.95, Y:68.64, Z:7.29 [[ 6.00543780e-01 -7.99018371e-01 -3.02788916e-02 1.79949123e+02] [ 7.98073836e-01 6.01306034e-01 -3.88484912e-02 6.86420390e+01] [ 4.92475384e-02 -8.34571464e-04 9.98786255e-01 7.29429688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.83710568099997 meters 0.02119089889540159 Centerline is valid? [True, True] Translation: X:179.97, Y:68.66, Z:7.30 [[ 5.99260048e-01 -8.00009514e-01 -2.95325724e-02 1.79965762e+02] [ 7.99111362e-01 5.99986665e-01 -3.79082142e-02 6.86639535e+01] [ 4.80460816e-02 -8.82935883e-04 9.98844730e-01 7.29724982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.86710568099997 meters 0.021695075208083305 Centerline is valid? [True, True] Translation: X:179.98, Y:68.69, Z:7.30 [[ 5.97805190e-01 -8.01112847e-01 -2.91060433e-02 1.79982311e+02] [ 8.00240432e-01 5.98512591e-01 -3.73888938e-02 6.86868648e+01] [ 4.73730566e-02 -9.40557924e-04 9.98876824e-01 7.29971327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.89710568099997 meters 0.023666885842568777 Centerline is valid? [True, True] Translation: X:180.00, Y:68.71, Z:7.30 [[ 5.94617380e-01 -8.03473404e-01 -2.93370138e-02 1.79996469e+02] [ 8.02588623e-01 5.95339595e-01 -3.77129856e-02 6.87122857e+01] [ 4.77668668e-02 -1.12075682e-03 9.98857883e-01 7.30013924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.92710568099997 meters 0.026700300808553845 Centerline is valid? [True, True] Translation: X:180.01, Y:68.74, Z:7.30 [[ 5.89804800e-01 -8.07010781e-01 -2.93921336e-02 1.80010135e+02] [ 8.06125975e-01 5.90535055e-01 -3.78055711e-02 6.87365118e+01] [ 4.78665887e-02 -1.39585506e-03 9.98852763e-01 7.30050618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.95710568099997 meters 0.029242624237591393 Centerline is valid? [True, True] Translation: X:180.02, Y:68.76, Z:7.30 [[ 5.85161254e-01 -8.10379240e-01 -2.95261577e-02 1.80023794e+02] [ 8.09489887e-01 5.85903320e-01 -3.79924025e-02 6.87619539e+01] [ 4.80877281e-02 -1.66944411e-03 9.98841721e-01 7.30187132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.98710568099997 meters 0.029657046792470474 Centerline is valid? [True, True] Translation: X:180.04, Y:68.79, Z:7.30 [[ 5.82451712e-01 -8.12307019e-01 -3.01215824e-02 1.80037990e+02] [ 8.11382617e-01 5.83227132e-01 -3.87861034e-02 6.87876671e+01] [ 4.90739481e-02 -1.84909597e-03 9.98793436e-01 7.30339506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.01710568099998 meters 0.03174326388413613 Centerline is valid? [True, True] Translation: X:180.05, Y:68.81, Z:7.30 [[ 5.79093416e-01 -8.14702176e-01 -3.01857547e-02 1.80049836e+02] [ 8.13775746e-01 5.79876022e-01 -3.88951778e-02 6.88147440e+01] [ 4.91919813e-02 -2.04049367e-03 9.98787257e-01 7.30307200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.04710568099998 meters 0.034532787254369514 Centerline is valid? [True, True] Translation: X:180.07, Y:68.84, Z:7.30 [[ 5.78988960e-01 -8.14811028e-01 -2.92364828e-02 1.80065776e+02] [ 8.13940958e-01 5.79723299e-01 -3.76963368e-02 6.88371748e+01] [ 4.76644612e-02 -1.97100794e-03 9.98861459e-01 7.30454342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.07710568099998 meters 0.02941301912410154 Centerline is valid? [True, True] Translation: X:180.07, Y:68.87, Z:7.31 [[ 5.81626422e-01 -8.12962890e-01 -2.83203939e-02 1.80065695e+02] [ 8.12143275e-01 5.82312873e-01 -3.65379072e-02 6.88733329e+01] [ 4.61952925e-02 -1.74880520e-03 9.98930897e-01 7.31027224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.10710568099998 meters 0.03051545416682245 Centerline is valid? [True, True] Translation: X:180.08, Y:68.90, Z:7.31 [[ 5.84170123e-01 -8.11116693e-01 -2.88959809e-02 1.80077608e+02] [ 8.10259904e-01 5.84882114e-01 -3.73068441e-02 6.88991824e+01] [ 4.71609464e-02 -1.61971102e-03 9.98885990e-01 7.30988360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.13710568099998 meters 0.022615782953528805 Centerline is valid? [True, True] Translation: X:180.07, Y:68.94, Z:7.31 [[ 5.92611413e-01 -8.04917125e-01 -3.03337236e-02 1.80074520e+02] [ 8.03963409e-01 5.93386104e-01 -3.91888819e-02 6.89377151e+01] [ 4.95434122e-02 -1.16342519e-03 9.98771294e-01 7.30805787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.16710568099998 meters 0.018343274016020046 Centerline is valid? [True, True] Translation: X:180.08, Y:68.97, Z:7.31 [[ 6.03266292e-01 -7.96965342e-01 -3.02658835e-02 1.80076046e+02] [ 7.96005038e-01 6.04024832e-01 -3.91149747e-02 6.89709994e+01] [ 4.94546244e-02 -4.95049991e-04 9.98776249e-01 7.30765423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.19710568099998 meters 0.017162725350817868 Centerline is valid? [True, True] Translation: X:180.08, Y:69.01, Z:7.31 [[ 6.10928032e-01 -7.91106440e-01 -3.02909383e-02 1.80078812e+02] [ 7.90136502e-01 6.11678511e-01 -3.91625627e-02 6.90053400e+01] [ 4.95100716e-02 -8.46864193e-06 9.98773624e-01 7.31152799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.22710568099998 meters 0.017435168200825378 Centerline is valid? [True, True] Translation: X:180.09, Y:69.03, Z:7.31 [[ 6.14238003e-01 -7.88554691e-01 -2.98860422e-02 1.80088535e+02] [ 7.87606203e-01 6.14964597e-01 -3.86654049e-02 6.90335009e+01] [ 4.88686443e-02 2.11328886e-04 9.98805192e-01 7.31484195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.25710568099998 meters 0.01900526025026615 Centerline is valid? [True, True] Translation: X:180.09, Y:69.06, Z:7.32 [[ 6.19809035e-01 -7.84250464e-01 -2.80707844e-02 1.80093912e+02] [ 7.83408222e-01 6.20444135e-01 -3.63405239e-02 6.90646048e+01] [ 4.59164263e-02 5.33301747e-04 9.98945142e-01 7.32070676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.28710568099999 meters 0.019393957255126146 Centerline is valid? [True, True] Translation: X:180.11, Y:69.09, Z:7.32 [[ 6.21049656e-01 -7.83291201e-01 -2.74266129e-02 1.80108846e+02] [ 7.82485613e-01 6.21654676e-01 -3.55208481e-02 6.90893969e+01] [ 4.48730499e-02 5.99280550e-04 9.98992518e-01 7.32394494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.31710568099996 meters 0.01962102208203016 Centerline is valid? [True, True] Translation: X:180.12, Y:69.11, Z:7.33 [[ 6.21792697e-01 -7.82716360e-01 -2.69989317e-02 1.80124979e+02] [ 7.81934160e-01 6.22378249e-01 -3.49897946e-02 6.91133677e+01] [ 4.41906325e-02 6.45011764e-04 9.99022909e-01 7.32540229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.34710568099996 meters 0.019679663622881226 Centerline is valid? [True, True] Translation: X:180.14, Y:69.14, Z:7.33 [[ 6.21979625e-01 -7.82570851e-01 -2.69111487e-02 1.80141267e+02] [ 7.81792526e-01 6.22561175e-01 -3.49002917e-02 6.91362913e+01] [ 4.40657873e-02 6.68335485e-04 9.99028408e-01 7.32638274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.37710568099996 meters 0.02175346154551845 Centerline is valid? [True, True] Translation: X:180.15, Y:69.16, Z:7.33 [[ 6.25400873e-01 -7.79814081e-01 -2.76359723e-02 1.80152765e+02] [ 7.78989374e-01 6.26010531e-01 -3.58660211e-02 6.91619220e+01] [ 4.52692380e-02 9.02512098e-04 9.98974415e-01 7.32588085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.40710568099996 meters 0.02897902241894535 Centerline is valid? [True, True] Translation: X:180.16, Y:69.19, Z:7.32 [[ 6.34050713e-01 -7.72730291e-01 -2.94548987e-02 1.80158330e+02] [ 7.71785042e-01 6.34732707e-01 -3.82392550e-02 6.91925689e+01] [ 4.82446182e-02 1.51277668e-03 9.98834405e-01 7.32241162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.43710568099996 meters 0.030723994159844878 Centerline is valid? [True, True] Translation: X:180.17, Y:69.22, Z:7.32 [[ 6.39178896e-01 -7.68486152e-01 -2.96542177e-02 1.80174151e+02] [ 7.67522625e-01 6.39863721e-01 -3.85154171e-02 6.92170454e+01] [ 4.85732227e-02 1.85795874e-03 9.98817896e-01 7.32383727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.46710568099996 meters 0.037944651994246695 Centerline is valid? [True, True] Translation: X:180.19, Y:69.24, Z:7.32 [[ 6.48135232e-01 -7.60930870e-01 -3.00820793e-02 1.80186301e+02] [ 7.59929870e-01 6.48828223e-01 -3.90964251e-02 6.92443046e+01] [ 4.92677788e-02 2.47950000e-03 9.98782528e-01 7.32393948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.49710568099997 meters 0.04119014323743534 Centerline is valid? [True, True] Translation: X:180.20, Y:69.27, Z:7.32 [[ 6.51648277e-01 -7.57901841e-01 -3.06483727e-02 1.80201254e+02] [ 7.56858143e-01 6.52362697e-01 -3.98580348e-02 6.92691450e+01] [ 5.02023330e-02 2.77694928e-03 9.98735207e-01 7.32395659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.52710568099997 meters 0.0417325732202457 Centerline is valid? [True, True] Translation: X:180.22, Y:69.29, Z:7.33 [[ 6.51857218e-01 -7.57749085e-01 -2.99748584e-02 1.80219245e+02] [ 7.56749398e-01 6.52540265e-01 -3.90070710e-02 6.92915200e+01] [ 4.91173744e-02 2.74358479e-03 9.98789245e-01 7.32644358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.55710568099997 meters 0.04091480686892237 Centerline is valid? [True, True] Translation: X:180.24, Y:69.31, Z:7.33 [[ 6.49390061e-01 -7.59963736e-01 -2.73435252e-02 1.80242743e+02] [ 7.59132921e-01 6.49961178e-01 -3.56044476e-02 6.93079592e+01] [ 4.48303189e-02 2.36380422e-03 9.98991819e-01 7.33201111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.58710568099997 meters 0.03394371981601143 Centerline is valid? [True, True] Translation: X:180.28, Y:69.32, Z:7.33 [[ 6.43319713e-01 -7.65142598e-01 -2.63922764e-02 1.80275480e+02] [ 7.64372016e-01 6.43857912e-01 -3.43861956e-02 6.93194851e+01] [ 4.33032190e-02 1.94780002e-03 9.99060077e-01 7.33471042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.61710568099997 meters 0.03261354571135658 Centerline is valid? [True, True] Translation: X:180.30, Y:69.34, Z:7.33 [[ 6.40406304e-01 -7.67555210e-01 -2.71802399e-02 1.80296987e+02] [ 7.66739463e-01 6.40980178e-01 -3.54260658e-02 6.93386483e+01] [ 4.46134564e-02 1.84691329e-03 9.99002617e-01 7.33379119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.64710568099997 meters 0.02958996861868989 Centerline is valid? [True, True] Translation: X:180.32, Y:69.35, Z:7.33 [[ 6.35302299e-01 -7.71756277e-01 -2.79863662e-02 1.80323322e+02] [ 7.70894283e-01 6.35916378e-01 -3.65015550e-02 6.93545772e+01] [ 4.59672929e-02 1.61499212e-03 9.98941640e-01 7.33063535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.67710568099997 meters 0.028157178880282987 Centerline is valid? [True, True] Translation: X:180.35, Y:69.37, Z:7.33 [[ 6.32511552e-01 -7.74025768e-01 -2.85174764e-02 1.80345760e+02] [ 7.73131850e-01 6.33152335e-01 -3.72191342e-02 6.93736940e+01] [ 4.68644758e-02 1.49376306e-03 9.98900140e-01 7.32983960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.70710568099997 meters 0.021912899531350595 Centerline is valid? [True, True] Translation: X:180.38, Y:69.39, Z:7.33 [[ 6.25106100e-01 -7.79983905e-01 -2.94528833e-02 1.80378425e+02] [ 7.79035717e-01 6.25798611e-01 -3.84636284e-02 6.93850448e+01] [ 4.84325845e-02 1.09900070e-03 9.98825849e-01 7.32991661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.73710568099997 meters 0.019728745696925207 Centerline is valid? [True, True] Translation: X:180.40, Y:69.40, Z:7.33 [[ 6.16704635e-01 -7.86638437e-01 -2.95865167e-02 1.80403920e+02] [ 7.85688235e-01 6.17413650e-01 -3.86572254e-02 6.94010606e+01] [ 4.86763786e-02 5.94312001e-04 9.98814426e-01 7.32901538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.76710568099998 meters 0.01807071626482731 Centerline is valid? [True, True] Translation: X:180.43, Y:69.42, Z:7.33 [[ 6.12339007e-01 -7.90047322e-01 -2.94307676e-02 1.80427301e+02] [ 7.89109808e-01 6.13045769e-01 -3.84785083e-02 6.94201375e+01] [ 4.84422500e-02 3.37784186e-04 9.98825928e-01 7.32983425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.79710568099998 meters 0.017251301835406525 Centerline is valid? [True, True] Translation: X:180.46, Y:69.43, Z:7.33 [[ 6.03856171e-01 -7.96547975e-01 -2.94796278e-02 1.80456401e+02] [ 7.95613864e-01 6.04575302e-01 -3.85653213e-02 6.94343055e+01] [ 4.85417835e-02 -1.66493364e-04 9.98821139e-01 7.33258679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.82710568099998 meters 0.01776404322088334 Centerline is valid? [True, True] Translation: X:180.48, Y:69.45, Z:7.33 [[ 6.01110718e-01 -7.98603911e-01 -2.99616140e-02 1.80476660e+02] [ 7.97640318e-01 6.01856867e-01 -3.92203241e-02 6.94535809e+01] [ 4.93541074e-02 -3.22834149e-04 9.98781291e-01 7.33316237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.85710568099998 meters 0.017868545517994692 Centerline is valid? [True, True] Translation: X:180.50, Y:69.47, Z:7.34 [[ 6.00980744e-01 -7.98673596e-01 -3.07023125e-02 1.80495647e+02] [ 7.97660849e-01 6.01764390e-01 -4.02093066e-02 6.94749829e+01] [ 5.05896698e-02 -3.25013657e-04 9.98719470e-01 7.33537084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.88710568099998 meters 0.0172864121259585 Centerline is valid? [True, True] Translation: X:180.51, Y:69.50, Z:7.34 [[ 6.06315213e-01 -7.94648769e-01 -3.02522227e-02 1.80506275e+02] [ 7.93659123e-01 6.07069463e-01 -3.96467358e-02 6.95028835e+01] [ 4.98704304e-02 2.84665105e-05 9.98755696e-01 7.34067323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.91710568099998 meters 0.017720980208086837 Centerline is valid? [True, True] Translation: X:180.52, Y:69.53, Z:7.34 [[ 6.10178172e-01 -7.91711916e-01 -2.95776988e-02 1.80517883e+02] [ 7.90761122e-01 6.10894560e-01 -3.87902578e-02 6.95292701e+01] [ 4.87795646e-02 2.80074312e-04 9.98809529e-01 7.34393312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.94710568099998 meters 0.02057070065050238 Centerline is valid? [True, True] Translation: X:180.52, Y:69.56, Z:7.35 [[ 6.18983811e-01 -7.84933444e-01 -2.71759060e-02 1.80524260e+02] [ 7.84123183e-01 6.19579616e-01 -3.56641789e-02 6.95587172e+01] [ 4.48316442e-02 7.66291431e-04 9.98994262e-01 7.35022690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.97710568099998 meters 0.022101151924277338 Centerline is valid? [True, True] Translation: X:180.54, Y:69.58, Z:7.35 [[ 6.21910264e-01 -7.82673873e-01 -2.54800285e-02 1.80537821e+02] [ 7.81959254e-01 6.22431391e-01 -3.34497807e-02 6.95834442e+01] [ 4.20398390e-02 8.78417828e-04 9.99115549e-01 7.35380170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.00710568099998 meters 0.022773241338026398 Centerline is valid? [True, True] Translation: X:180.55, Y:69.61, Z:7.36 [[ 6.22956718e-01 -7.81903986e-01 -2.34751937e-02 1.80553540e+02] [ 7.81296605e-01 6.23398279e-01 -3.08253158e-02 6.96073406e+01] [ 3.87368326e-02 8.61748404e-04 9.99249076e-01 7.35783103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.03710568099999 meters 0.020490980175728955 Centerline is valid? [True, True] Translation: X:180.57, Y:69.63, Z:7.36 [[ 6.17950281e-01 -7.85849759e-01 -2.40334597e-02 1.80573163e+02] [ 7.85215263e-01 6.18417127e-01 -3.15792285e-02 6.96277290e+01] [ 3.96792322e-02 6.42953724e-04 9.99212262e-01 7.35643273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.06710568099996 meters 0.019013061922007607 Centerline is valid? [True, True] Translation: X:180.59, Y:69.65, Z:7.36 [[ 6.14428787e-01 -7.88619701e-01 -2.35845905e-02 1.80592919e+02] [ 7.88010411e-01 6.14881090e-01 -3.09973734e-02 6.96484505e+01] [ 3.89468581e-02 4.60775665e-04 9.99241177e-01 7.35811134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.09710568099996 meters 0.017464526476139136 Centerline is valid? [True, True] Translation: X:180.61, Y:69.67, Z:7.36 [[ 6.07051558e-01 -7.94357794e-01 -2.20023117e-02 1.80614712e+02] [ 7.93830579e-01 6.07450151e-01 -2.89365759e-02 6.96666639e+01] [ 3.63513022e-02 9.98856839e-05 9.99339068e-01 7.36147770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.12710568099996 meters 0.018282969623020475 Centerline is valid? [True, True] Translation: X:180.64, Y:69.68, Z:7.36 [[ 5.97086761e-01 -8.01842240e-01 -2.31607853e-02 1.80639505e+02] [ 8.01263110e-01 5.97535681e-01 -3.04719390e-02 6.96838748e+01] [ 3.82730835e-02 -3.63491472e-04 9.99267251e-01 7.36008350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.15710568099996 meters 0.020277856006346844 Centerline is valid? [True, True] Translation: X:180.66, Y:69.70, Z:7.36 [[ 5.91081311e-01 -8.06264876e-01 -2.36608225e-02 1.80660966e+02] [ 8.05663109e-01 5.91554333e-01 -3.11516557e-02 6.97037934e+01] [ 3.91131479e-02 -6.49490373e-04 9.99234577e-01 7.35911815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.18710568099996 meters 0.02465154945915289 Centerline is valid? [True, True] Translation: X:180.68, Y:69.72, Z:7.36 [[ 5.82363697e-01 -8.12537208e-01 -2.52152613e-02 1.80681206e+02] [ 8.11858518e-01 5.82908246e-01 -3.32223536e-02 6.97237060e+01] [ 4.16925822e-02 -1.12373192e-03 9.99129854e-01 7.35636293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.21710568099996 meters 0.025552741151012203 Centerline is valid? [True, True] Translation: X:180.70, Y:69.75, Z:7.36 [[ 5.80468761e-01 -8.13912050e-01 -2.45599779e-02 1.80697140e+02] [ 8.13268485e-01 5.80986910e-01 -3.23818281e-02 6.97482456e+01] [ 4.06249858e-02 -1.17721640e-03 9.99173771e-01 7.35774832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.24710568099997 meters 0.025381299124119527 Centerline is valid? [True, True] Translation: X:180.71, Y:69.77, Z:7.36 [[ 5.80913201e-01 -8.13613797e-01 -2.39257598e-02 1.80713577e+02] [ 8.13001990e-01 5.81404633e-01 -3.15660833e-02 6.97723693e+01] [ 3.95931485e-02 -1.11453587e-03 9.99215262e-01 7.36077304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.27710568099997 meters 0.024254642749562533 Centerline is valid? [True, True] Translation: X:180.72, Y:69.80, Z:7.36 [[ 5.83241566e-01 -8.11953466e-01 -2.36821698e-02 1.80724321e+02] [ 8.11351918e-01 5.83721345e-01 -3.12642847e-02 6.97986236e+01] [ 3.92089323e-02 -9.79943513e-04 9.99230554e-01 7.36329454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.30710568099997 meters 0.023217744742533172 Centerline is valid? [True, True] Translation: X:180.74, Y:69.82, Z:7.36 [[ 5.85312370e-01 -8.10468806e-01 -2.34466111e-02 1.80736158e+02] [ 8.09877701e-01 5.85781155e-01 -3.09604269e-02 6.98243575e+01] [ 3.88270431e-02 -8.67366659e-04 9.99245570e-01 7.36477772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.33710568099997 meters 0.01961358051751312 Centerline is valid? [True, True] Translation: X:180.74, Y:69.86, Z:7.37 [[ 5.92409601e-01 -8.05315489e-01 -2.27558459e-02 1.80740827e+02] [ 8.04754606e-01 5.92846275e-01 -3.00552586e-02 6.98556534e+01] [ 3.76946837e-02 -5.07848036e-04 9.99289174e-01 7.36800346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.36710568099997 meters 0.017977736332913993 Centerline is valid? [True, True] Translation: X:180.75, Y:69.88, Z:7.37 [[ 5.96378973e-01 -8.02360973e-01 -2.34305140e-02 1.80752871e+02] [ 8.01763176e-01 5.96838980e-01 -3.09683954e-02 6.98829382e+01] [ 3.88320759e-02 -3.16823480e-04 9.99245700e-01 7.36716705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.39710568099997 meters 0.016911638829845515 Centerline is valid? [True, True] Translation: X:180.76, Y:69.91, Z:7.36 [[ 6.03910538e-01 -7.96625076e-01 -2.60873457e-02 1.80760562e+02] [ 7.95877543e-01 6.04473724e-01 -3.45029637e-02 6.99117641e+01] [ 4.32550411e-02 7.43708042e-05 9.99064060e-01 7.36146810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.42710568099997 meters 0.018662605571314397 Centerline is valid? [True, True] Translation: X:180.77, Y:69.94, Z:7.36 [[ 6.10807981e-01 -7.91318835e-01 -2.69835477e-02 1.80767536e+02] [ 7.90513158e-01 6.11403529e-01 -3.57025496e-02 6.99421990e+01] [ 4.47499362e-02 4.76552750e-04 9.98998106e-01 7.36013736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.45710568099997 meters 0.01987595147711767 Centerline is valid? [True, True] Translation: X:180.78, Y:69.97, Z:7.36 [[ 6.13180497e-01 -7.89494752e-01 -2.66029191e-02 1.80780451e+02] [ 7.88709185e-01 6.13757006e-01 -3.52158857e-02 6.99688963e+01] [ 4.41304849e-02 6.11727635e-04 9.99025588e-01 7.36216590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.48710568099997 meters 0.0229757882637511 Centerline is valid? [True, True] Translation: X:180.79, Y:70.00, Z:7.37 [[ 6.17889888e-01 -7.85861321e-01 -2.51807562e-02 1.80790046e+02] [ 7.85153717e-01 6.18402202e-01 -3.33520261e-02 6.99966005e+01] [ 4.17819024e-02 8.37115387e-04 9.99126404e-01 7.36571692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.51710568099998 meters 0.023131468566249338 Centerline is valid? [True, True] Translation: X:180.81, Y:70.02, Z:7.37 [[ 6.21620888e-01 -7.82920841e-01 -2.49484992e-02 1.80806514e+02] [ 7.82223319e-01 6.22120476e-01 -3.30574062e-02 7.00204201e+01] [ 4.14023045e-02 1.03387640e-03 9.99142022e-01 7.36726613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.54710568099998 meters 0.024533209845365916 Centerline is valid? [True, True] Translation: X:180.82, Y:70.04, Z:7.37 [[ 6.22840814e-01 -7.81915837e-01 -2.60181390e-02 1.80820730e+02] [ 7.81155324e-01 6.23382926e-01 -3.44976523e-02 7.00446587e+01] [ 4.31935243e-02 1.16233802e-03 9.99066048e-01 7.36582293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.57710568099998 meters 0.024533209845365916 Centerline is valid? [True, True] Translation: X:180.84, Y:70.07, Z:7.37 [[ 6.22549303e-01 -7.82148133e-01 -2.60127482e-02 1.80837057e+02] [ 7.81387652e-01 6.23091461e-01 -3.45017166e-02 7.00667249e+01] [ 4.31937745e-02 1.15297940e-03 9.99066048e-01 7.36683984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.60710568099998 meters 0.02438677522776456 Centerline is valid? [True, True] Translation: X:180.85, Y:70.09, Z:7.37 [[ 6.22107614e-01 -7.82471140e-01 -2.68520222e-02 1.80851281e+02] [ 7.81659801e-01 6.22685724e-01 -3.56432911e-02 7.00908753e+01] [ 4.46102175e-02 1.18481641e-03 9.99003766e-01 7.36506097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.63710568099998 meters 0.023066145663799414 Centerline is valid? [True, True] Translation: X:180.87, Y:70.11, Z:7.36 [[ 6.20646283e-01 -7.83622729e-01 -2.70852446e-02 1.80870076e+02] [ 7.82797072e-01 6.21235981e-01 -3.59805475e-02 7.01126207e+01] [ 4.50215034e-02 1.12894292e-03 9.98985380e-01 7.36464795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.66710568099998 meters 0.022074336488253073 Centerline is valid? [True, True] Translation: X:180.89, Y:70.13, Z:7.36 [[ 6.18058187e-01 -7.85627941e-01 -2.81569629e-02 1.80892172e+02] [ 7.84736417e-01 6.18698358e-01 -3.74312416e-02 7.01321033e+01] [ 4.68276960e-02 1.03889119e-03 9.98902441e-01 7.36381734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.69710568099998 meters 0.02230274425770967 Centerline is valid? [True, True] Translation: X:180.91, Y:70.15, Z:7.36 [[ 6.16720639e-01 -7.86671515e-01 -2.83475073e-02 1.80909456e+02] [ 7.85767731e-01 6.17371008e-01 -3.77108949e-02 7.01545150e+01] [ 4.71670159e-02 9.82530719e-04 9.98886534e-01 7.36369222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.72710568099998 meters 0.020720064628260114 Centerline is valid? [True, True] Translation: X:180.93, Y:70.18, Z:7.37 [[ 6.14612067e-01 -7.88347020e-01 -2.75859375e-02 1.80929297e+02] [ 7.87491714e-01 6.15230250e-01 -3.67224825e-02 7.01754851e+01] [ 4.59217628e-02 8.46383669e-04 9.98944681e-01 7.36783295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.75710568099998 meters 0.020312762775317288 Centerline is valid? [True, True] Translation: X:180.95, Y:70.20, Z:7.37 [[ 6.13537563e-01 -7.89185188e-01 -2.75390349e-02 1.80948915e+02] [ 7.88332479e-01 6.14154787e-01 -3.66851507e-02 7.01967665e+01] [ 4.58646076e-02 7.97802275e-04 9.98947347e-01 7.36945477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.78710568099999 meters 0.01926975231753594 Centerline is valid? [True, True] Translation: X:180.97, Y:70.22, Z:7.37 [[ 6.11487563e-01 -7.90798076e-01 -2.68582099e-02 1.80971738e+02] [ 7.89987497e-01 6.12076749e-01 -3.58023396e-02 7.02152894e+01] [ 4.47517071e-02 6.75035380e-04 9.98997912e-01 7.37035768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.81710568099996 meters 0.018952431988212847 Centerline is valid? [True, True] Translation: X:180.99, Y:70.24, Z:7.37 [[ 6.10077573e-01 -7.91887190e-01 -2.68334448e-02 1.80991394e+02] [ 7.91078130e-01 6.10667101e-01 -3.57922437e-02 7.02355326e+01] [ 4.47297213e-02 6.08693797e-04 9.98998940e-01 7.37052428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.84710568099996 meters 0.017779311034370564 Centerline is valid? [True, True] Translation: X:181.02, Y:70.25, Z:7.37 [[ 6.06255627e-01 -7.94764349e-01 -2.83503942e-02 1.81016207e+02] [ 7.93863604e-01 6.06917990e-01 -3.78303040e-02 7.02522004e+01] [ 4.72725412e-02 4.28488545e-04 9.98881937e-01 7.36894267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.87710568099996 meters 0.01720885304440892 Centerline is valid? [True, True] Translation: X:181.04, Y:70.27, Z:7.37 [[ 6.03740691e-01 -7.96660152e-01 -2.88058985e-02 1.81038757e+02] [ 7.95731698e-01 6.04427428e-01 -3.84519071e-02 7.02703478e+01] [ 4.80441773e-02 2.93214497e-04 9.98845169e-01 7.37031796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.90710568099996 meters 0.017141034641978744 Centerline is valid? [True, True] Translation: X:181.06, Y:70.29, Z:7.37 [[ 6.03623320e-01 -7.96759397e-01 -2.85193062e-02 1.81056820e+02] [ 7.95848087e-01 6.04296594e-01 -3.80978789e-02 7.02913669e+01] [ 4.75889626e-02 2.99732884e-04 9.98866959e-01 7.37227076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.93710568099996 meters 0.017664615741258532 Centerline is valid? [True, True] Translation: X:181.08, Y:70.31, Z:7.37 [[ 6.05011086e-01 -7.95713830e-01 -2.83034759e-02 1.81077273e+02] [ 7.94813811e-01 6.05672637e-01 -3.78373032e-02 7.03118247e+01] [ 4.72503064e-02 3.95994378e-04 9.98883002e-01 7.37459495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.96710568099996 meters 0.017972940867912506 Centerline is valid? [True, True] Translation: X:181.09, Y:70.33, Z:7.38 [[ 6.05784719e-01 -7.95162892e-01 -2.72185304e-02 1.81094791e+02] [ 7.94328939e-01 6.06395732e-01 -3.64108810e-02 7.03338138e+01] [ 4.54577821e-02 4.36688955e-04 9.98966165e-01 7.37831635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.99710568099997 meters 0.019802926985063717 Centerline is valid? [True, True] Translation: X:181.11, Y:70.36, Z:7.39 [[ 6.09766809e-01 -7.92210283e-01 -2.42343975e-02 1.81109777e+02] [ 7.91546048e-01 6.10247908e-01 -3.24398565e-02 7.03571908e+01] [ 4.04881783e-02 5.98106171e-04 9.99179839e-01 7.38680572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.02710568099997 meters 0.023940432140990852 Centerline is valid? [True, True] Translation: X:181.12, Y:70.38, Z:7.39 [[ 6.16298116e-01 -7.87155094e-01 -2.37379460e-02 1.81119641e+02] [ 7.86513542e-01 6.16754417e-01 -3.17873759e-02 7.03839964e+01] [ 3.96620779e-02 9.20283878e-04 9.99212726e-01 7.38938765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.05710568099997 meters 0.026672983592665234 Centerline is valid? [True, True] Translation: X:181.13, Y:70.41, Z:7.39 [[ 6.19842104e-01 -7.84365385e-01 -2.38056465e-02 1.81132511e+02] [ 7.83717514e-01 6.20298080e-01 -3.18928061e-02 7.04099698e+01] [ 3.97822099e-02 1.11160191e-03 9.99207756e-01 7.38916014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.08710568099997 meters 0.026835084818543856 Centerline is valid? [True, True] Translation: X:181.15, Y:70.43, Z:7.39 [[ 6.24625136e-01 -7.80588983e-01 -2.28971391e-02 1.81149317e+02] [ 7.79986355e-01 6.25043290e-01 -3.06948102e-02 7.04333845e+01] [ 3.82717339e-02 1.31329394e-03 9.99266506e-01 7.39042023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.11710568099997 meters 0.029072924886208783 Centerline is valid? [True, True] Translation: X:181.17, Y:70.46, Z:7.39 [[ 6.26719597e-01 -7.78892618e-01 -2.34272540e-02 1.81165133e+02] [ 7.78259743e-01 6.27155602e-01 -3.14264701e-02 7.04564299e+01] [ 3.91703792e-02 1.46309598e-03 9.99231475e-01 7.39104857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.14710568099997 meters 0.028704034401951135 Centerline is valid? [True, True] Translation: X:181.19, Y:70.48, Z:7.39 [[ 6.25614249e-01 -7.79749270e-01 -2.44517292e-02 1.81185275e+02] [ 7.79060020e-01 6.26090162e-01 -3.28114992e-02 7.04774658e+01] [ 4.08937296e-02 1.47797675e-03 9.99162408e-01 7.38927976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.17710568099997 meters 0.0267737004251169 Centerline is valid? [True, True] Translation: X:181.21, Y:70.50, Z:7.39 [[ 6.22421456e-01 -7.82231978e-01 -2.65454991e-02 1.81210549e+02] [ 7.81420669e-01 6.22985591e-01 -3.56467520e-02 7.04953080e+01] [ 4.44214928e-02 1.44410163e-03 9.99011835e-01 7.38610196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.20710568099997 meters 0.02857128688485008 Centerline is valid? [True, True] Translation: X:181.23, Y:70.52, Z:7.38 [[ 6.20222489e-01 -7.83972059e-01 -2.66809659e-02 1.81226500e+02] [ 7.83153101e-01 6.20794665e-01 -3.58497507e-02 7.05182956e+01] [ 4.46686041e-02 1.33954043e-03 9.99000962e-01 7.38482427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.23710568099997 meters 0.023963604714248646 Centerline is valid? [True, True] Translation: X:181.26, Y:70.53, Z:7.39 [[ 6.17334655e-01 -7.86262654e-01 -2.62481078e-02 1.81255425e+02] [ 7.85471511e-01 6.17891321e-01 -3.52820038e-02 7.05332332e+01] [ 4.39593999e-02 1.16366274e-03 9.99032641e-01 7.38790755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.26710568099998 meters 0.023970583616055544 Centerline is valid? [True, True] Translation: X:181.28, Y:70.55, Z:7.39 [[ 6.16561245e-01 -7.86891955e-01 -2.55593696e-02 1.81275017e+02] [ 7.86141484e-01 6.17089813e-01 -3.43763119e-02 7.05530452e+01] [ 4.28228699e-02 1.10182095e-03 9.99082073e-01 7.38964095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.29710568099998 meters 0.024635355596890573 Centerline is valid? [True, True] Translation: X:181.30, Y:70.57, Z:7.39 [[ 6.18012063e-01 -7.85758453e-01 -2.53917779e-02 1.81296049e+02] [ 7.85016210e-01 6.18532341e-01 -3.41656709e-02 7.05731056e+01] [ 4.25516005e-02 1.18183953e-03 9.99093571e-01 7.39143252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.32710568099998 meters 0.025945045313346363 Centerline is valid? [True, True] Translation: X:181.31, Y:70.60, Z:7.39 [[ 6.20155918e-01 -7.84039738e-01 -2.62359956e-02 1.81313465e+02] [ 7.83244779e-01 6.20709150e-01 -3.53237484e-02 7.05955525e+01] [ 4.39801449e-02 1.35702504e-03 9.99031484e-01 7.38970489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.35710568099998 meters 0.02995415058979336 Centerline is valid? [True, True] Translation: X:181.33, Y:70.62, Z:7.38 [[ 6.25475503e-01 -7.79711360e-01 -2.88199439e-02 1.81330596e+02] [ 7.78746846e-01 6.26136432e-01 -3.88138922e-02 7.06190207e+01] [ 4.83088496e-02 1.83369834e-03 9.98830763e-01 7.38486556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.38710568099998 meters 0.03080667888899284 Centerline is valid? [True, True] Translation: X:181.35, Y:70.64, Z:7.38 [[ 6.28991895e-01 -7.76794703e-01 -3.09707205e-02 1.81351908e+02] [ 7.75676199e-01 6.29749983e-01 -4.17300106e-02 7.06396042e+01] [ 5.19194619e-02 2.22458770e-03 9.98648797e-01 7.38404729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.41710568099998 meters 0.03265141100285954 Centerline is valid? [True, True] Translation: X:181.37, Y:70.66, Z:7.38 [[ 6.30228387e-01 -7.75755815e-01 -3.18605706e-02 1.81368232e+02] [ 7.74569444e-01 6.31028679e-01 -4.29532614e-02 7.06618059e+01] [ 5.34261761e-02 2.39214019e-03 9.98568937e-01 7.38349460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.44710568099998 meters 0.03496397959059689 Centerline is valid? [True, True] Translation: X:181.39, Y:70.68, Z:7.38 [[ 6.32714005e-01 -7.73691346e-01 -3.27824512e-02 1.81386947e+02] [ 7.72431838e-01 6.33557167e-01 -4.42082704e-02 7.06821444e+01] [ 5.49731131e-02 2.64898272e-03 9.98484321e-01 7.38295231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.47710568099998 meters 0.035754577644974056 Centerline is valid? [True, True] Translation: X:181.41, Y:70.70, Z:7.39 [[ 6.35158004e-01 -7.71738990e-01 -3.15157309e-02 1.81407591e+02] [ 7.70571956e-01 6.35933604e-01 -4.25124868e-02 7.07019376e+01] [ 5.28504560e-02 2.71700782e-03 9.98598742e-01 7.38806339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.50710568099998 meters 0.03708006003263407 Centerline is valid? [True, True] Translation: X:181.43, Y:70.72, Z:7.39 [[ 6.36428859e-01 -7.70730246e-01 -3.05482250e-02 1.81425502e+02] [ 7.69631703e-01 6.37155753e-01 -4.12260634e-02 7.07244849e+01] [ 5.12381513e-02 2.72657410e-03 9.98682741e-01 7.39188549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.53710568099999 meters 0.04133802225225763 Centerline is valid? [True, True] Translation: X:181.44, Y:70.75, Z:7.40 [[ 6.41585417e-01 -7.66533900e-01 -2.81768197e-02 1.81442116e+02] [ 7.65594366e-01 6.42197575e-01 -3.80465811e-02 7.07463391e+01] [ 4.72590794e-02 2.83811717e-03 9.98878634e-01 7.39874760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.56710568099996 meters 0.04392764734719608 Centerline is valid? [True, True] Translation: X:181.46, Y:70.77, Z:7.40 [[ 6.44647976e-01 -7.63996982e-01 -2.71587645e-02 1.81458089e+02] [ 7.63121360e-01 6.45213196e-01 -3.66840823e-02 7.07696896e+01] [ 4.55497215e-02 2.92288610e-03 9.98957797e-01 7.40194498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.59710568099996 meters 0.049538135195997694 Centerline is valid? [True, True] Translation: X:181.47, Y:70.79, Z:7.40 [[ 6.51150214e-01 -7.58426499e-01 -2.81539234e-02 1.81473622e+02] [ 7.57479138e-01 6.51749436e-01 -3.80529619e-02 7.07924646e+01] [ 4.72096784e-02 3.45218464e-03 9.98879036e-01 7.40065249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.62710568099996 meters 0.053172291610649104 Centerline is valid? [True, True] Translation: X:181.49, Y:70.81, Z:7.40 [[ 6.54007593e-01 -7.55891475e-01 -3.00357454e-02 1.81493925e+02] [ 7.54809715e-01 6.54685383e-01 -4.06121011e-02 7.08117928e+01] [ 5.03623045e-02 3.88935007e-03 9.98723441e-01 7.39669769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.65710568099996 meters 0.0526651158827421 Centerline is valid? [True, True] Translation: X:181.52, Y:70.83, Z:7.40 [[ 6.52829242e-01 -7.56899664e-01 -3.02800041e-02 1.81516421e+02] [ 7.55800552e-01 6.53519746e-01 -4.09568816e-02 7.08312565e+01] [ 5.07888305e-02 3.85220619e-03 9.98701985e-01 7.39716712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.68710568099996 meters 0.05047935039189846 Centerline is valid? [True, True] Translation: X:181.55, Y:70.84, Z:7.40 [[ 6.48906000e-01 -7.60278927e-01 -2.99492140e-02 1.81545223e+02] [ 7.59206148e-01 6.49586989e-01 -4.05310800e-02 7.08442126e+01] [ 5.02695458e-02 3.56323361e-03 9.98729331e-01 7.40032069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.71710568099996 meters 0.045045145724989584 Centerline is valid? [True, True] Translation: X:181.58, Y:70.86, Z:7.40 [[ 6.46943660e-01 -7.61969507e-01 -2.94341860e-02 1.81577296e+02] [ 7.60934365e-01 6.47604071e-01 -3.98479623e-02 7.08560217e+01] [ 4.94246308e-02 3.38190291e-03 9.98772130e-01 7.40284356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.74710568099997 meters 0.04579004590000677 Centerline is valid? [True, True] Translation: X:181.60, Y:70.88, Z:7.40 [[ 6.47031226e-01 -7.61896672e-01 -2.93948038e-02 1.81597528e+02] [ 7.60862954e-01 6.47689667e-01 -3.98203617e-02 7.08763995e+01] [ 4.93777117e-02 3.39960017e-03 9.98774391e-01 7.40338312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.77710568099997 meters 0.048136840824309704 Centerline is valid? [True, True] Translation: X:181.62, Y:70.89, Z:7.40 [[ 6.49172610e-01 -7.60027535e-01 -3.05461919e-02 1.81622364e+02] [ 7.58907676e-01 6.49880342e-01 -4.14086949e-02 7.08941189e+01] [ 5.13231180e-02 3.69965101e-03 9.98675248e-01 7.40202628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.80710568099997 meters 0.047560640230298525 Centerline is valid? [True, True] Translation: X:181.65, Y:70.91, Z:7.40 [[ 6.49875042e-01 -7.59358713e-01 -3.21989766e-02 1.81651810e+02] [ 7.58111822e-01 6.50660077e-01 -4.36798525e-02 7.09088160e+01] [ 5.41192652e-02 3.97602118e-03 9.98526563e-01 7.40162107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.83710568099997 meters 0.04842135701803995 Centerline is valid? [True, True] Translation: X:181.67, Y:70.93, Z:7.40 [[ 6.49417410e-01 -7.59742006e-01 -3.23900073e-02 1.81672317e+02] [ 7.58479472e-01 6.50212445e-01 -4.39621079e-02 7.09280727e+01] [ 5.44602459e-02 3.98260256e-03 9.98507997e-01 7.40269850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.86710568099997 meters 0.047653597108464577 Centerline is valid? [True, True] Translation: X:181.70, Y:70.95, Z:7.40 [[ 6.48043827e-01 -7.60926324e-01 -3.20987355e-02 1.81697692e+02] [ 7.59686968e-01 6.48826819e-01 -4.35829103e-02 7.09453911e+01] [ 5.39899042e-02 3.85864488e-03 9.98534026e-01 7.40377125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.89710568099997 meters 0.04829568956618324 Centerline is valid? [True, True] Translation: X:181.72, Y:70.97, Z:7.40 [[ 6.47549487e-01 -7.61333977e-01 -3.24073757e-02 1.81716132e+02] [ 7.60069490e-01 6.48348295e-01 -4.40324827e-02 7.09661026e+01] [ 5.45346920e-02 3.88135404e-03 9.98504333e-01 7.40334020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.92710568099997 meters 0.04832043984166579 Centerline is valid? [True, True] Translation: X:181.74, Y:70.98, Z:7.40 [[ 6.49451528e-01 -7.59657035e-01 -3.36734599e-02 1.81739886e+02] [ 7.58287565e-01 6.50310334e-01 -4.57868775e-02 7.09841930e+01] [ 5.66805225e-02 4.20219159e-03 9.98383523e-01 7.40277367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.95710568099997 meters 0.0510405204029564 Centerline is valid? [True, True] Translation: X:181.76, Y:71.00, Z:7.40 [[ 6.54171706e-01 -7.55600259e-01 -3.35801831e-02 1.81761437e+02] [ 7.54231320e-01 6.55017123e-01 -4.56911823e-02 7.10040145e+01] [ 5.65198641e-02 4.56265287e-03 9.98391049e-01 7.40433617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.98710568099997 meters 0.05342828068427201 Centerline is valid? [True, True] Translation: X:181.78, Y:71.03, Z:7.41 [[ 6.56171809e-01 -7.53874554e-01 -3.33423790e-02 1.81779470e+02] [ 7.52521053e-01 6.57001587e-01 -4.53980206e-02 7.10265651e+01] [ 5.61304085e-02 4.69805916e-03 9.98412392e-01 7.40670067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.01710568099998 meters 0.05464185147700304 Centerline is valid? [True, True] Translation: X:181.80, Y:71.05, Z:7.41 [[ 6.58385555e-01 -7.51956739e-01 -3.30079341e-02 1.81798691e+02] [ 7.50626242e-01 6.59194741e-01 -4.49726357e-02 7.10483507e+01] [ 5.55761331e-02 4.83271212e-03 9.98442757e-01 7.40917245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.04710568099998 meters 0.059729444007129574 Centerline is valid? [True, True] Translation: X:181.81, Y:71.07, Z:7.41 [[ 6.60608330e-01 -7.50086747e-01 -3.10886842e-02 1.81814721e+02] [ 7.48903445e-01 6.61322656e-01 -4.23789433e-02 7.10705130e+01] [ 5.23475349e-02 4.71346030e-03 9.98617804e-01 7.41186955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.07710568099998 meters 0.05991428834344598 Centerline is valid? [True, True] Translation: X:181.83, Y:71.09, Z:7.41 [[ 6.60184408e-01 -7.50506187e-01 -2.99501459e-02 1.81834192e+02] [ 7.49407729e-01 6.60847980e-01 -4.08411859e-02 7.10914137e+01] [ 5.04440561e-02 4.51784325e-03 9.98716670e-01 7.41388433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.10710568099998 meters 0.057700427906576306 Centerline is valid? [True, True] Translation: X:181.86, Y:71.11, Z:7.41 [[ 6.57270469e-01 -7.53064676e-01 -2.98181653e-02 1.81861199e+02] [ 7.51977140e-01 6.57932315e-01 -4.06872224e-02 7.11073391e+01] [ 5.02584445e-02 4.31993106e-03 9.98726903e-01 7.41431768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.13710568099998 meters 0.05601293441854723 Centerline is valid? [True, True] Translation: X:181.89, Y:71.12, Z:7.41 [[ 6.53303393e-01 -7.56417040e-01 -3.20614808e-02 1.81888069e+02] [ 7.55162097e-01 6.54074936e-01 -4.37742464e-02 7.11221423e+01] [ 5.40821969e-02 4.38624857e-03 9.98526853e-01 7.41074920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.16710568099998 meters 0.04891795010894035 Centerline is valid? [True, True] Translation: X:181.92, Y:71.14, Z:7.41 [[ 6.51867778e-01 -7.57617409e-01 -3.29281165e-02 1.81916042e+02] [ 7.56294007e-01 6.52683964e-01 -4.49779772e-02 7.11373407e+01] [ 5.55677522e-02 4.41635696e-03 9.98445152e-01 7.41152296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.19710568099998 meters 0.0526334059619084 Centerline is valid? [True, True] Translation: X:181.93, Y:71.16, Z:7.41 [[ 6.51534644e-01 -7.57880816e-01 -3.34555840e-02 1.81933626e+02] [ 7.56513436e-01 6.52377634e-01 -4.57257516e-02 7.11578923e+01] [ 5.64803447e-02 4.48231248e-03 9.98393650e-01 7.41143084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.22710568099998 meters 0.04789040499069418 Centerline is valid? [True, True] Translation: X:181.96, Y:71.17, Z:7.41 [[ 6.52262970e-01 -7.57251921e-01 -3.35044191e-02 1.81960758e+02] [ 7.55878358e-01 6.53106991e-01 -4.58166508e-02 7.11736155e+01] [ 5.65767171e-02 4.55923945e-03 9.98387845e-01 7.41459927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.25710568099998 meters 0.05069153237179389 Centerline is valid? [True, True] Translation: X:181.98, Y:71.20, Z:7.41 [[ 6.52360763e-01 -7.57140330e-01 -3.41168110e-02 1.81975806e+02] [ 7.55714339e-01 6.53235569e-01 -4.66811470e-02 7.11969218e+01] [ 5.76304935e-02 4.67038535e-03 9.98327057e-01 7.41327618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.28710568099999 meters 0.049939315934980924 Centerline is valid? [True, True] Translation: X:182.00, Y:71.22, Z:7.41 [[ 6.51855444e-01 -7.57562693e-01 -3.43983358e-02 1.81996439e+02] [ 7.56112225e-01 6.52745583e-01 -4.70904092e-02 7.12165134e+01] [ 5.81272990e-02 4.68713736e-03 9.98298176e-01 7.41315876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.31710568099996 meters 0.0479294630695356 Centerline is valid? [True, True] Translation: X:182.02, Y:71.23, Z:7.42 [[ 6.50950409e-01 -7.58333944e-01 -3.45426347e-02 1.82020805e+02] [ 7.56870351e-01 6.51849611e-01 -4.73218468e-02 7.12349102e+01] [ 5.84023657e-02 4.65987948e-03 9.98282249e-01 7.41573747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.34710568099996 meters 0.04808075822118923 Centerline is valid? [True, True] Translation: X:182.04, Y:71.26, Z:7.42 [[ 6.50156420e-01 -7.59006568e-01 -3.47225958e-02 1.82040126e+02] [ 7.57526803e-01 6.51066407e-01 -4.75991286e-02 7.12567769e+01] [ 5.87347670e-02 4.64358206e-03 9.98262823e-01 7.41717441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.37710568099996 meters 0.047341552886576724 Centerline is valid? [True, True] Translation: X:182.06, Y:71.28, Z:7.42 [[ 6.48422508e-01 -7.60458924e-01 -3.53620591e-02 1.82061688e+02] [ 7.58924293e-01 6.49369627e-01 -4.85077835e-02 7.12772792e+01] [ 5.98512240e-02 4.61641298e-03 9.98196634e-01 7.41706655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.40710568099996 meters 0.04730110043938211 Centerline is valid? [True, True] Translation: X:182.08, Y:71.30, Z:7.42 [[ 6.46914701e-01 -7.61726059e-01 -3.57040767e-02 1.82080191e+02] [ 7.60161496e-01 6.47883154e-01 -4.90093675e-02 7.12990949e+01] [ 6.04637821e-02 4.56401595e-03 9.98159958e-01 7.41789007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.43710568099996 meters 0.04820737234457329 Centerline is valid? [True, True] Translation: X:182.10, Y:71.32, Z:7.42 [[ 6.44458478e-01 -7.63790819e-01 -3.60118608e-02 1.82099568e+02] [ 7.62200591e-01 6.45448674e-01 -4.94597678e-02 7.13180992e+01] [ 6.10207244e-02 4.42650507e-03 9.98126684e-01 7.41901540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.46710568099996 meters 0.04419777319259134 Centerline is valid? [True, True] Translation: X:182.13, Y:71.33, Z:7.42 [[ 6.42160480e-01 -7.65762324e-01 -3.51849537e-02 1.82125645e+02] [ 7.64245897e-01 6.43110244e-01 -4.83469055e-02 7.13339270e+01] [ 5.96500429e-02 4.15651554e-03 9.98210697e-01 7.42427754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.49710568099997 meters 0.04419777319259134 Centerline is valid? [True, True] Translation: X:182.14, Y:71.36, Z:7.43 [[ 6.41883775e-01 -7.65995054e-01 -3.51681255e-02 1.82141732e+02] [ 7.64478309e-01 6.42833033e-01 -4.83591451e-02 7.13563779e+01] [ 5.96500987e-02 4.15568149e-03 9.98210697e-01 7.42529766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.52710568099997 meters 0.0442923721943592 Centerline is valid? [True, True] Translation: X:182.16, Y:71.38, Z:7.43 [[ 6.40748317e-01 -7.67014706e-01 -3.36160020e-02 1.82161358e+02] [ 7.65628469e-01 6.41617652e-01 -4.62583591e-02 7.13767708e+01] [ 5.70494619e-02 3.90259758e-03 9.98363726e-01 7.42970173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.55710568099997 meters 0.04400150624812142 Centerline is valid? [True, True] Translation: X:182.18, Y:71.40, Z:7.43 [[ 6.41420633e-01 -7.66496698e-01 -3.25942210e-02 1.82179743e+02] [ 7.65191154e-01 6.42236719e-01 -4.48831163e-02 7.13985072e+01] [ 5.53359660e-02 3.84814729e-03 9.98460376e-01 7.43304287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.58710568099997 meters 0.04746047953694497 Centerline is valid? [True, True] Translation: X:182.20, Y:71.42, Z:7.44 [[ 6.44364397e-01 -7.64059842e-01 -3.17345332e-02 1.82195877e+02] [ 7.62817816e-01 6.45133165e-01 -4.37284652e-02 7.14216734e+01] [ 5.38841641e-02 3.96939882e-03 9.98539304e-01 7.43554719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.61710568099997 meters 0.04754577903083982 Centerline is valid? [True, True] Translation: X:182.21, Y:71.44, Z:7.44 [[ 6.45920936e-01 -7.62754968e-01 -3.14801952e-02 1.82214691e+02] [ 7.61529648e-01 6.46674828e-01 -4.34080842e-02 7.14435367e+01] [ 5.34671817e-02 4.06508846e-03 9.98561333e-01 7.43817136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.64710568099997 meters 0.05416292082462648 Centerline is valid? [True, True] Translation: X:182.23, Y:71.47, Z:7.44 [[ 6.49140369e-01 -7.59966261e-01 -3.26812458e-02 1.82227070e+02] [ 7.58640576e-01 6.49947102e-01 -4.50914786e-02 7.14683885e+01] [ 5.55090834e-02 4.47737994e-03 9.98448143e-01 7.43639151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.67710568099997 meters 0.050249831351683864 Centerline is valid? [True, True] Translation: X:182.25, Y:71.49, Z:7.44 [[ 6.49809170e-01 -7.59351588e-01 -3.36631622e-02 1.82249177e+02] [ 7.57942736e-01 6.50663691e-01 -4.64711708e-02 7.14873737e+01] [ 5.71913547e-02 4.68264368e-03 9.98352253e-01 7.43633128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.70710568099997 meters 0.05168821500641707 Centerline is valid? [True, True] Translation: X:182.27, Y:71.51, Z:7.44 [[ 6.50025862e-01 -7.59164075e-01 -3.37088432e-02 1.82267383e+02] [ 7.57749571e-01 6.50882168e-01 -4.65617030e-02 7.15090352e+01] [ 5.72884571e-02 4.72344964e-03 9.98346494e-01 7.43599522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.73710568099997 meters 0.05022282640338745 Centerline is valid? [True, True] Translation: X:182.29, Y:71.53, Z:7.44 [[ 6.49404631e-01 -7.59760316e-01 -3.22162454e-02 1.82289049e+02] [ 7.58467989e-01 6.50187833e-01 -4.45206857e-02 7.15284181e+01] [ 5.47716611e-02 4.47694863e-03 9.98488869e-01 7.44063713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.76710568099998 meters 0.04923674278737633 Centerline is valid? [True, True] Translation: X:182.31, Y:71.55, Z:7.44 [[ 6.48878980e-01 -7.60229970e-01 -3.17248065e-02 1.82309252e+02] [ 7.58975771e-01 6.49639234e-01 -4.38707716e-02 7.15490312e+01] [ 5.39615544e-02 4.38846204e-03 9.98533371e-01 7.44265495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.79710568099998 meters 0.04997619893506651 Centerline is valid? [True, True] Translation: X:182.33, Y:71.57, Z:7.44 [[ 6.47662411e-01 -7.61234735e-01 -3.24820055e-02 1.82329818e+02] [ 7.59919686e-01 6.48461332e-01 -4.49440956e-02 7.15684834e+01] [ 5.52763312e-02 4.42488585e-03 9.98461290e-01 7.44273980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.82710568099998 meters 0.04724392137267648 Centerline is valid? [True, True] Translation: X:182.35, Y:71.59, Z:7.44 [[ 6.46483399e-01 -7.62207421e-01 -3.31521073e-02 1.82351705e+02] [ 7.60837486e-01 6.47317602e-01 -4.58938159e-02 7.15883309e+01] [ 5.64405497e-02 4.44622407e-03 9.98396061e-01 7.44274040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.85710568099998 meters 0.04728602251614368 Centerline is valid? [True, True] Translation: X:182.37, Y:71.61, Z:7.44 [[ 6.44129533e-01 -7.64205219e-01 -3.29776976e-02 1.82369910e+02] [ 7.62850433e-01 6.44959033e-01 -4.56843801e-02 7.16093070e+01] [ 5.61815057e-02 4.26960752e-03 9.98411443e-01 7.44188860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.88710568099998 meters 0.047157860614019755 Centerline is valid? [True, True] Translation: X:182.39, Y:71.63, Z:7.44 [[ 6.43105789e-01 -7.65106820e-01 -3.20390244e-02 1.82387167e+02] [ 7.63827492e-01 6.43890373e-01 -4.44156492e-02 7.16315340e+01] [ 5.46123355e-02 4.09167344e-03 9.98499249e-01 7.44316634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.91710568099998 meters 0.044309138351363665 Centerline is valid? [True, True] Translation: X:182.41, Y:71.65, Z:7.44 [[ 6.39904378e-01 -7.67759964e-01 -3.26653605e-02 1.82409584e+02] [ 7.66431753e-01 6.40725329e-01 -4.53146863e-02 7.16510398e+01] [ 5.57203258e-02 3.96129662e-03 9.98438558e-01 7.44483991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.94710568099998 meters 0.04613248159447533 Centerline is valid? [True, True] Translation: X:182.43, Y:71.67, Z:7.44 [[ 6.35536798e-01 -7.71314682e-01 -3.41561014e-02 1.82426062e+02] [ 7.69865462e-01 6.36442397e-01 -4.74156644e-02 7.16731681e+01] [ 5.83107892e-02 3.83879674e-03 9.98291098e-01 7.44313652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.97710568099998 meters 0.04465949386667638 Centerline is valid? [True, True] Translation: X:182.44, Y:71.69, Z:7.44 [[ 6.33056745e-01 -7.73354835e-01 -3.40801655e-02 1.82444421e+02] [ 7.71913192e-01 6.33962843e-01 -4.73406516e-02 7.16947756e+01] [ 5.82166805e-02 3.66238947e-03 9.98297253e-01 7.44461932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.00710568099998 meters 0.04124577774166206 Centerline is valid? [True, True] Translation: X:182.46, Y:71.72, Z:7.45 [[ 6.32090131e-01 -7.74142018e-01 -3.41497069e-02 1.82461614e+02] [ 7.72693773e-01 6.33001621e-01 -4.74687450e-02 7.17175596e+01] [ 5.83643698e-02 3.61725938e-03 9.98288794e-01 7.44648352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.03710568099999 meters 0.04041841574522845 Centerline is valid? [True, True] Translation: X:182.48, Y:71.74, Z:7.45 [[ 6.33154237e-01 -7.73267065e-01 -3.42601430e-02 1.82477636e+02] [ 7.71806308e-01 6.34069501e-01 -4.76538632e-02 7.17416241e+01] [ 5.85724747e-02 3.73005098e-03 9.98276190e-01 7.44740656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.06710568099996 meters 0.04132133015923403 Centerline is valid? [True, True] Translation: X:182.49, Y:71.77, Z:7.45 [[ 6.34324521e-01 -7.72295795e-01 -3.45196602e-02 1.82491568e+02] [ 7.70809438e-01 6.35251312e-01 -4.80476899e-02 7.17667280e+01] [ 5.90356883e-02 3.86974799e-03 9.98248372e-01 7.44804422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.09710568099996 meters 0.043804481740289225 Centerline is valid? [True, True] Translation: X:182.50, Y:71.79, Z:7.45 [[ 6.37204406e-01 -7.69898531e-01 -3.50256709e-02 1.82503571e+02] [ 7.68362621e-01 6.38152669e-01 -4.87857938e-02 7.17937142e+01] [ 5.99118363e-02 4.17410646e-03 9.98194945e-01 7.44819207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.12710568099996 meters 0.04601432591648759 Centerline is valid? [True, True] Translation: X:182.52, Y:71.82, Z:7.45 [[ 6.38948235e-01 -7.68402130e-01 -3.61015170e-02 1.82516180e+02] [ 7.66765820e-01 6.39951707e-01 -5.03188807e-02 7.18204199e+01] [ 6.17683625e-02 4.46975071e-03 9.98080503e-01 7.44791416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.15710568099996 meters 0.04671574267290897 Centerline is valid? [True, True] Translation: X:182.53, Y:71.84, Z:7.45 [[ 6.39253004e-01 -7.68134448e-01 -3.64014600e-02 1.82531926e+02] [ 7.66468261e-01 6.40272382e-01 -5.07708780e-02 7.18448745e+01] [ 6.23057098e-02 4.55487259e-03 9.98046718e-01 7.44875309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.18710568099996 meters 0.045267886727586505 Centerline is valid? [True, True] Translation: X:182.55, Y:71.87, Z:7.45 [[ 6.39032823e-01 -7.68362012e-01 -3.54523439e-02 1.82549972e+02] [ 7.66780036e-01 6.40000117e-01 -4.94795592e-02 7.18673761e+01] [ 6.07077179e-02 4.43491286e-03 9.98145733e-01 7.45390262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.21710568099996 meters 0.04584905682319483 Centerline is valid? [True, True] Translation: X:182.56, Y:71.89, Z:7.46 [[ 6.37645332e-01 -7.69572193e-01 -3.41624072e-02 1.82563146e+02] [ 7.68103155e-01 6.38546117e-01 -4.77116306e-02 7.18919318e+01] [ 5.85318167e-02 4.18284574e-03 9.98276780e-01 7.45502475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.24710568099997 meters 0.04471763360594417 Centerline is valid? [True, True] Translation: X:182.58, Y:71.91, Z:7.46 [[ 6.36898694e-01 -7.70207465e-01 -3.37714988e-02 1.82580060e+02] [ 7.68770845e-01 6.37780263e-01 -4.71987595e-02 7.19149597e+01] [ 5.78916323e-02 4.09828456e-03 9.98314461e-01 7.45620318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.27710568099997 meters 0.04692072015365886 Centerline is valid? [True, True] Translation: X:182.59, Y:71.94, Z:7.46 [[ 6.36446932e-01 -7.70571260e-01 -3.39887731e-02 1.82593845e+02] [ 7.69114719e-01 6.37340588e-01 -4.75344428e-02 7.19384831e+01] [ 5.82911002e-02 4.11188457e-03 9.98291160e-01 7.45730942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.30710568099997 meters 0.04293731269344588 Centerline is valid? [True, True] Translation: X:182.62, Y:71.96, Z:7.46 [[ 6.36143172e-01 -7.70876640e-01 -3.27272093e-02 1.82616613e+02] [ 7.69525016e-01 6.36972209e-01 -4.58001509e-02 7.19574717e+01] [ 5.61525892e-02 3.95104702e-03 9.98414381e-01 7.46414167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.33710568099997 meters 0.04331816784962038 Centerline is valid? [True, True] Translation: X:182.63, Y:71.98, Z:7.47 [[ 6.35026415e-01 -7.71838576e-01 -3.17279880e-02 1.82633339e+02] [ 7.70567926e-01 6.35807385e-01 -4.44301779e-02 7.19810338e+01] [ 5.44658144e-02 3.76576671e-03 9.98508535e-01 7.46670275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.36710568099997 meters 0.0431123076310002 Centerline is valid? [True, True] Translation: X:182.65, Y:72.00, Z:7.47 [[ 6.33666632e-01 -7.72996602e-01 -3.07059015e-02 1.82649528e+02] [ 7.71806735e-01 6.34400163e-01 -4.30208961e-02 7.20028031e+01] [ 5.27348354e-02 3.56188480e-03 9.98602198e-01 7.46876602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.39710568099997 meters 0.04009844512091979 Centerline is valid? [True, True] Translation: X:182.67, Y:72.02, Z:7.47 [[ 6.33137368e-01 -7.73449248e-01 -3.02214137e-02 1.82669585e+02] [ 7.72296305e-01 6.33848686e-01 -4.23587172e-02 7.20239852e+01] [ 5.19181213e-02 3.47900063e-03 9.98645285e-01 7.47083340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.42710568099997 meters 0.0425224181554492 Centerline is valid? [True, True] Translation: X:182.68, Y:72.05, Z:7.47 [[ 6.32100315e-01 -7.74271167e-01 -3.08764031e-02 1.82682017e+02] [ 7.73067424e-01 6.32844301e-01 -4.32995198e-02 7.20497269e+01] [ 5.30655255e-02 3.50009869e-03 9.98584898e-01 7.46836573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.45710568099997 meters 0.040087757124953716 Centerline is valid? [True, True] Translation: X:182.70, Y:72.07, Z:7.47 [[ 6.30145851e-01 -7.75748778e-01 -3.36160620e-02 1.82702209e+02] [ 7.74322691e-01 6.31031083e-01 -4.71608152e-02 7.20697569e+01] [ 5.77977247e-02 3.68851245e-03 9.98321500e-01 7.46724812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.48710568099997 meters 0.03916714246016995 Centerline is valid? [True, True] Translation: X:182.72, Y:72.09, Z:7.47 [[ 6.28760221e-01 -7.76819886e-01 -3.48058904e-02 1.82720264e+02] [ 7.75290500e-01 6.29711745e-01 -4.88646967e-02 7.20920088e+01] [ 5.98767460e-02 3.73950128e-03 9.98198774e-01 7.46752596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.51710568099998 meters 0.03864946252573212 Centerline is valid? [True, True] Translation: X:182.74, Y:72.11, Z:7.47 [[ 6.26052336e-01 -7.78980118e-01 -3.53334014e-02 1.82735249e+02] [ 7.77405727e-01 6.27038267e-01 -4.96321168e-02 7.21146894e+01] [ 6.08178269e-02 3.60391401e-03 9.98142376e-01 7.46756336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.54710568099998 meters 0.038013025985857714 Centerline is valid? [True, True] Translation: X:182.75, Y:72.14, Z:7.47 [[ 6.25273404e-01 -7.79624458e-01 -3.49123787e-02 1.82750911e+02] [ 7.78087079e-01 6.26237467e-01 -4.90625413e-02 7.21390411e+01] [ 6.01137968e-02 3.51263142e-03 9.98185350e-01 7.46898654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.57710568099998 meters 0.03926691766373409 Centerline is valid? [True, True] Translation: X:182.76, Y:72.16, Z:7.47 [[ 6.25772120e-01 -7.79232522e-01 -3.47264999e-02 1.82764992e+02] [ 7.77709338e-01 6.26724893e-01 -4.88271905e-02 7.21625750e+01] [ 5.98116967e-02 3.54757126e-03 9.98203374e-01 7.46992546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.60710568099998 meters 0.04065392029118626 Centerline is valid? [True, True] Translation: X:182.78, Y:72.19, Z:7.47 [[ 6.25955579e-01 -7.79104873e-01 -3.42813378e-02 1.82779460e+02] [ 7.77619090e-01 6.26883686e-01 -4.82223446e-02 7.21861638e+01] [ 5.90606751e-02 3.52722294e-03 9.98248163e-01 7.47198643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.63710568099998 meters 0.04045827585953146 Centerline is valid? [True, True] Translation: X:182.80, Y:72.21, Z:7.47 [[ 6.25883558e-01 -7.79168791e-01 -3.41433489e-02 1.82796248e+02] [ 7.77693040e-01 6.26804233e-01 -4.80623548e-02 7.22085514e+01] [ 5.88498824e-02 3.52839282e-03 9.98260608e-01 7.47381998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.66710568099998 meters 0.03801413446556186 Centerline is valid? [True, True] Translation: X:182.82, Y:72.23, Z:7.48 [[ 6.25380747e-01 -7.79592537e-01 -3.36808184e-02 1.82816915e+02] [ 7.78155154e-01 6.26277484e-01 -4.74454330e-02 7.22294990e+01] [ 5.80816437e-02 3.46255790e-03 9.98305832e-01 7.47669067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.69710568099998 meters 0.038369763337271684 Centerline is valid? [True, True] Translation: X:182.83, Y:72.25, Z:7.48 [[ 6.24892265e-01 -7.80004975e-01 -3.31948225e-02 1.82834323e+02] [ 7.78607565e-01 6.25764106e-01 -4.67925548e-02 7.22526128e+01] [ 5.72705539e-02 3.39456555e-03 9.98352924e-01 7.47852441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.72710568099998 meters 0.04095134842089971 Centerline is valid? [True, True] Translation: X:182.85, Y:72.28, Z:7.48 [[ 6.22860584e-01 -7.81645310e-01 -3.27917905e-02 1.82849550e+02] [ 7.80282310e-01 6.23714861e-01 -4.62524408e-02 7.22751366e+01] [ 5.66057305e-02 3.22196826e-03 9.98391411e-01 7.48016615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.75710568099998 meters 0.03412675846132529 Centerline is valid? [True, True] Translation: X:182.88, Y:72.29, Z:7.49 [[ 6.17856505e-01 -7.85722337e-01 -2.98956056e-02 1.82875259e+02] [ 7.84593212e-01 6.18573837e-01 -4.21888565e-02 7.22918571e+01] [ 5.16413664e-02 2.61077024e-03 9.98662282e-01 7.48759189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.78710568099999 meters 0.03263675366951653 Centerline is valid? [True, True] Translation: X:182.89, Y:72.31, Z:7.49 [[ 6.13908130e-01 -7.88862737e-01 -2.85024614e-02 1.82893936e+02] [ 7.87838436e-01 6.14565292e-01 -4.02504718e-02 7.23122938e+01] [ 4.92687209e-02 2.25475723e-03 9.98783014e-01 7.49081657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.81710568099996 meters 0.02767372913399774 Centerline is valid? [True, True] Translation: X:182.92, Y:72.33, Z:7.49 [[ 6.04875307e-01 -7.95801826e-01 -2.87283321e-02 1.82918618e+02] [ 7.94767350e-01 6.05554684e-01 -4.06002957e-02 7.23297408e+01] [ 4.97063655e-02 1.72577598e-03 9.98762384e-01 7.49328889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.84710568099996 meters 0.02387535893085229 Centerline is valid? [True, True] Translation: X:182.94, Y:72.35, Z:7.49 [[ 5.95763253e-01 -8.02566484e-01 -3.08737088e-02 1.82938584e+02] [ 8.01378673e-01 5.96561327e-01 -4.36669790e-02 7.23492378e+01] [ 5.34637145e-02 1.27364964e-03 9.98568981e-01 7.48810329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.87710568099996 meters 0.0222217996586153 Centerline is valid? [True, True] Translation: X:182.96, Y:72.37, Z:7.49 [[ 5.91424901e-01 -8.05744037e-01 -3.15140094e-02 1.82956613e+02] [ 8.04509008e-01 5.92263023e-01 -4.46067967e-02 7.23711956e+01] [ 5.46062430e-02 1.02826586e-03 9.98507437e-01 7.48620931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.90710568099996 meters 0.02086294372922224 Centerline is valid? [True, True] Translation: X:182.97, Y:72.39, Z:7.48 [[ 5.85649391e-01 -8.09936423e-01 -3.19026930e-02 1.82972836e+02] [ 8.08675219e-01 5.86517305e-01 -4.51867345e-02 7.23928211e+01] [ 5.53098636e-02 6.64666282e-04 9.98469017e-01 7.48444647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.93710568099996 meters 0.020577737270455216 Centerline is valid? [True, True] Translation: X:182.99, Y:72.42, Z:7.49 [[ 5.83799871e-01 -8.11271133e-01 -3.18882298e-02 1.82988660e+02] [ 8.10011639e-01 5.84669857e-01 -4.51918405e-02 7.24156859e+01] [ 5.53069224e-02 5.53153334e-04 9.98469248e-01 7.48703789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.96710568099996 meters 0.020539055587448472 Centerline is valid? [True, True] Translation: X:183.00, Y:72.44, Z:7.49 [[ 5.81814048e-01 -8.12683518e-01 -3.22166610e-02 1.82999154e+02] [ 8.11398303e-01 5.82705161e-01 -4.56890489e-02 7.24415634e+01] [ 5.59035517e-02 4.41986388e-04 9.98436076e-01 7.48734872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.99710568099997 meters 0.020972421702421702 Centerline is valid? [True, True] Translation: X:183.01, Y:72.47, Z:7.49 [[ 5.81664086e-01 -8.12791589e-01 -3.21982038e-02 1.83009362e+02] [ 8.11506416e-01 5.82554403e-01 -4.56914082e-02 7.24673240e+01] [ 5.58947977e-02 4.48002171e-04 9.98436563e-01 7.48569613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.02710568099997 meters 0.021559003548269857 Centerline is valid? [True, True] Translation: X:183.01, Y:72.50, Z:7.48 [[ 5.83077547e-01 -8.11782456e-01 -3.20907896e-02 1.83014388e+02] [ 8.10502336e-01 5.83959696e-01 -4.55745243e-02 7.24983748e+01] [ 5.57363270e-02 5.63821863e-04 9.98445364e-01 7.48379678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.05710568099997 meters 0.022872074996148597 Centerline is valid? [True, True] Translation: X:183.02, Y:72.53, Z:7.49 [[ 5.86261472e-01 -8.09449777e-01 -3.29931116e-02 1.83022859e+02] [ 8.08090895e-01 5.87188532e-01 -4.68906491e-02 7.25275849e+01] [ 5.73288022e-02 8.28747905e-04 9.98355008e-01 7.48567280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.08710568099997 meters 0.023777016234896448 Centerline is valid? [True, True] Translation: X:183.03, Y:72.55, Z:7.49 [[ 5.87616399e-01 -8.08445714e-01 -3.35036573e-02 1.83034795e+02] [ 8.07040829e-01 5.88569965e-01 -4.76497191e-02 7.25533891e+01] [ 5.82414576e-02 9.60937025e-04 9.98302063e-01 7.48703802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.11710568099997 meters 0.02474581165059004 Centerline is valid? [True, True] Translation: X:183.05, Y:72.58, Z:7.49 [[ 5.89169888e-01 -8.07294400e-01 -3.39793270e-02 1.83046225e+02] [ 8.05845392e-01 5.90147879e-01 -4.83599471e-02 7.25801033e+01] [ 5.90935423e-02 1.11014049e-03 9.98251832e-01 7.48828907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.14710568099997 meters 0.026294574551194896 Centerline is valid? [True, True] Translation: X:183.05, Y:72.61, Z:7.49 [[ 5.92186948e-01 -8.05122160e-01 -3.30594468e-02 1.83051659e+02] [ 8.03745370e-01 5.93107571e-01 -4.70827912e-02 7.26105052e+01] [ 5.75152068e-02 1.31043708e-03 9.98343770e-01 7.49178925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.17710568099997 meters 0.027001299592188298 Centerline is valid? [True, True] Translation: X:183.06, Y:72.64, Z:7.50 [[ 5.95023310e-01 -8.03066547e-01 -3.21151329e-02 1.83059469e+02] [ 8.01762591e-01 5.95887503e-01 -4.57693322e-02 7.26393630e+01] [ 5.58928259e-02 1.48510737e-03 9.98435670e-01 7.49592335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.20710568099997 meters 0.028418785515481437 Centerline is valid? [True, True] Translation: X:183.07, Y:72.67, Z:7.50 [[ 5.96520192e-01 -8.01970726e-01 -3.17271991e-02 1.83070329e+02] [ 8.00694973e-01 5.97361231e-01 -4.52451096e-02 7.26657950e+01] [ 5.52378521e-02 1.58581267e-03 9.98471965e-01 7.49680634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.23710568099997 meters 0.03034824632892743 Centerline is valid? [True, True] Translation: X:183.08, Y:72.69, Z:7.50 [[ 5.99785958e-01 -7.99569047e-01 -3.07594528e-02 1.83078478e+02] [ 7.98365580e-01 6.00571578e-01 -4.38882787e-02 7.26946125e+01] [ 5.35649623e-02 1.76628492e-03 9.98562805e-01 7.50065796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.26710568099998 meters 0.031040349296496395 Centerline is valid? [True, True] Translation: X:183.09, Y:72.72, Z:7.51 [[ 6.01729837e-01 -7.98145255e-01 -2.97549131e-02 1.83090076e+02] [ 7.97015963e-01 6.02462228e-01 -4.24831592e-02 7.27212497e+01] [ 5.18339431e-02 1.84824376e-03 9.98654007e-01 7.50625332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.29710568099998 meters 0.03226242210157434 Centerline is valid? [True, True] Translation: X:183.10, Y:72.75, Z:7.51 [[ 6.03476778e-01 -7.96816113e-01 -2.99976632e-02 1.83103327e+02] [ 7.95665147e-01 6.04218584e-01 -4.28588002e-02 7.27469241e+01] [ 5.22757282e-02 1.99619554e-03 9.98630694e-01 7.50718435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.32710568099998 meters 0.0318523177174347 Centerline is valid? [True, True] Translation: X:183.12, Y:72.77, Z:7.51 [[ 6.05657878e-01 -7.95097184e-01 -3.16069940e-02 1.83115956e+02] [ 7.93815124e-01 6.06477755e-01 -4.51916086e-02 7.27725704e+01] [ 5.51006595e-02 2.28054390e-03 9.98478200e-01 7.50590242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.35710568099998 meters 0.033762867878916 Centerline is valid? [True, True] Translation: X:183.13, Y:72.80, Z:7.51 [[ 6.07724208e-01 -7.93511611e-01 -3.17900898e-02 1.83125334e+02] [ 7.92210820e-01 6.08550151e-01 -4.54833032e-02 7.27996642e+01] [ 5.54373932e-02 2.45685129e-03 9.98459143e-01 7.50523019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.38710568099998 meters 0.033762867878916 Centerline is valid? [True, True] Translation: X:183.14, Y:72.82, Z:7.51 [[ 6.07431525e-01 -7.93736178e-01 -3.17776934e-02 1.83140950e+02] [ 7.92435241e-01 6.08257240e-01 -4.54919632e-02 7.28223831e+01] [ 5.54376291e-02 2.45148844e-03 9.98459143e-01 7.50624957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.41710568099998 meters 0.033836530898163464 Centerline is valid? [True, True] Translation: X:183.16, Y:72.85, Z:7.51 [[ 6.07833715e-01 -7.93427997e-01 -3.17834666e-02 1.83156775e+02] [ 7.92124262e-01 6.08658984e-01 -4.55345445e-02 7.28462346e+01] [ 5.54736750e-02 2.50097630e-03 9.98457018e-01 7.50800751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.44710568099998 meters 0.03360714561938745 Centerline is valid? [True, True] Translation: X:183.18, Y:72.87, Z:7.51 [[ 6.07134771e-01 -7.93917062e-01 -3.29100127e-02 1.83175660e+02] [ 7.92517919e-01 6.08020659e-01 -4.71829018e-02 7.28673897e+01] [ 5.74692784e-02 2.56460549e-03 9.98343981e-01 7.50907602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.47710568099998 meters 0.032653821402123 Centerline is valid? [True, True] Translation: X:183.19, Y:72.89, Z:7.51 [[ 6.05407857e-01 -7.95228338e-01 -3.30638512e-02 1.83194970e+02] [ 7.93815978e-01 6.06305018e-01 -4.74385781e-02 7.28887295e+01] [ 5.77712805e-02 2.47307456e-03 9.98326782e-01 7.51080494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.50710568099998 meters 0.030667937361868906 Centerline is valid? [True, True] Translation: X:183.22, Y:72.91, Z:7.51 [[ 6.00650252e-01 -7.98785383e-01 -3.40761841e-02 1.83215572e+02] [ 7.97288645e-01 6.01611990e-01 -4.89267788e-02 7.29085271e+01] [ 5.95826366e-02 2.21932739e-03 9.98220909e-01 7.50845516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53710568099996 meters 0.02944801639035383 Centerline is valid? [True, True] Translation: X:183.23, Y:72.93, Z:7.51 [[ 5.98371185e-01 -8.00470321e-01 -3.46293268e-02 1.83234188e+02] [ 7.98925137e-01 5.99368689e-01 -4.97574162e-02 7.29304328e+01] [ 6.05850692e-02 2.10716446e-03 9.98160813e-01 7.50821562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.56710568099996 meters 0.02851148115203465 Centerline is valid? [True, True] Translation: X:183.25, Y:72.95, Z:7.51 [[ 5.95461884e-01 -8.02704339e-01 -3.30286094e-02 1.83252628e+02] [ 8.01300358e-01 5.96374429e-01 -4.74897567e-02 7.29511697e+01] [ 5.78176518e-02 1.81250348e-03 9.98325515e-01 7.51041749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.59710568099996 meters 0.02655399604576162 Centerline is valid? [True, True] Translation: X:183.27, Y:72.97, Z:7.51 [[ 5.91099333e-01 -8.05942728e-01 -3.25253399e-02 1.83274275e+02] [ 8.04584179e-01 5.91991628e-01 -4.67997052e-02 7.29710631e+01] [ 5.69726110e-02 1.49390058e-03 9.98374624e-01 7.51266619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.62710568099996 meters 0.025374842558719468 Centerline is valid? [True, True] Translation: X:183.29, Y:72.99, Z:7.51 [[ 5.88228639e-01 -8.08022676e-01 -3.29609509e-02 1.83293818e+02] [ 8.06628717e-01 5.89149883e-01 -4.74607949e-02 7.29924176e+01] [ 5.77683388e-02 1.33054926e-03 9.98329128e-01 7.51329223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.65710568099996 meters 0.02260880351747307 Centerline is valid? [True, True] Translation: X:183.32, Y:73.01, Z:7.52 [[ 5.81330163e-01 -8.12999624e-01 -3.29674438e-02 1.83318003e+02] [ 8.11610965e-01 5.82263576e-01 -4.75054778e-02 7.30094087e+01] [ 5.78176773e-02 8.59628274e-04 9.98326789e-01 7.51511037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.68710568099996 meters 0.021730403011026377 Centerline is valid? [True, True] Translation: X:183.34, Y:73.03, Z:7.52 [[ 5.77910824e-01 -8.15414620e-01 -3.34376487e-02 1.83336632e+02] [ 8.13987854e-01 5.78876995e-01 -4.82203105e-02 7.30307384e+01] [ 5.86758318e-02 6.49199489e-04 9.98276878e-01 7.51599382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.71710568099996 meters 0.020996145202158503 Centerline is valid? [True, True] Translation: X:183.35, Y:73.05, Z:7.52 [[ 5.73693644e-01 -8.18387021e-01 -3.34407864e-02 1.83353953e+02] [ 8.16962872e-01 5.74667338e-01 -4.82609171e-02 7.30528154e+01] [ 5.87134359e-02 3.67100478e-04 9.98274811e-01 7.51675690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.74710568099997 meters 0.02084421244519654 Centerline is valid? [True, True] Translation: X:183.37, Y:73.08, Z:7.52 [[ 5.72863018e-01 -8.19032850e-01 -3.18300575e-02 1.83369076e+02] [ 8.17742050e-01 5.73746545e-01 -4.59656552e-02 7.30756715e+01] [ 5.59097671e-02 3.03247517e-04 9.98435780e-01 7.52207850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.77710568099997 meters 0.02076452084244707 Centerline is valid? [True, True] Translation: X:183.38, Y:73.10, Z:7.53 [[ 5.72525456e-01 -8.19286832e-01 -3.13638208e-02 1.83384874e+02] [ 8.18032527e-01 5.73383819e-01 -4.53186596e-02 7.30990200e+01] [ 5.51124884e-02 2.89460682e-04 9.98480110e-01 7.52593807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.80710568099997 meters 0.020923596422215005 Centerline is valid? [True, True] Translation: X:183.40, Y:73.13, Z:7.53 [[ 5.73529216e-01 -8.18565377e-01 -3.18584537e-02 1.83397301e+02] [ 8.17268120e-01 5.74413245e-01 -4.60678182e-02 7.31254363e+01] [ 5.60094387e-02 3.84341083e-04 9.98430165e-01 7.52677360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.83710568099997 meters 0.021380964051459676 Centerline is valid? [True, True] Translation: X:183.41, Y:73.15, Z:7.53 [[ 5.74866580e-01 -8.17623068e-01 -3.19520454e-02 1.83409010e+02] [ 8.16314830e-01 5.75753655e-01 -4.62366432e-02 7.31510834e+01] [ 5.62006530e-02 4.96972462e-04 9.98419371e-01 7.52671048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.86710568099997 meters 0.022537217755863044 Centerline is valid? [True, True] Translation: X:183.42, Y:73.18, Z:7.53 [[ 5.78713849e-01 -8.14909752e-01 -3.18178766e-02 1.83416680e+02] [ 8.13606501e-01 5.79587346e-01 -4.60757046e-02 7.31793541e+01] [ 5.59887797e-02 7.77417106e-04 9.98431095e-01 7.52576439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.89710568099997 meters 0.025845082466886465 Centerline is valid? [True, True] Translation: X:183.42, Y:73.21, Z:7.53 [[ 5.85351466e-01 -8.10160611e-01 -3.16772151e-02 1.83424556e+02] [ 8.08860230e-01 5.86206647e-01 -4.59009358e-02 7.32062411e+01] [ 5.57565242e-02 1.24574061e-03 9.98443618e-01 7.52849378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.92710568099997 meters 0.0259134608957663 Centerline is valid? [True, True] Translation: X:183.44, Y:73.23, Z:7.54 [[ 5.88810836e-01 -8.07699027e-01 -3.03987067e-02 1.83440051e+02] [ 8.06496944e-01 5.89593270e-01 -4.40732995e-02 7.32304037e+01] [ 5.35208340e-02 1.43437229e-03 9.98565703e-01 7.53570707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.95710568099997 meters 0.028956079133883615 Centerline is valid? [True, True] Translation: X:183.45, Y:73.26, Z:7.54 [[ 5.94633721e-01 -8.03521409e-01 -2.76420500e-02 1.83448950e+02] [ 8.02521976e-01 5.95273540e-01 -4.00985087e-02 7.32573604e+01] [ 4.86745911e-02 1.66057287e-03 9.98813309e-01 7.54185361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.98710568099997 meters 0.02927343783301223 Centerline is valid? [True, True] Translation: X:183.46, Y:73.28, Z:7.54 [[ 5.96322049e-01 -8.02309988e-01 -2.64328667e-02 1.83463715e+02] [ 8.01394290e-01 5.96905205e-01 -3.83584269e-02 7.32821549e+01] [ 4.65532647e-02 1.69082723e-03 9.98914378e-01 7.54416268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.01710568099998 meters 0.032386067924661324 Centerline is valid? [True, True] Translation: X:183.47, Y:73.31, Z:7.54 [[ 5.98972385e-01 -8.00346058e-01 -2.60435847e-02 1.83473963e+02] [ 7.99454097e-01 5.99535512e-01 -3.78195346e-02 7.33092955e+01] [ 4.58827693e-02 1.83220637e-03 9.98945151e-01 7.54375392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.04710568099998 meters 0.032934742339557344 Centerline is valid? [True, True] Translation: X:183.49, Y:73.33, Z:7.54 [[ 6.00226067e-01 -7.99412891e-01 -2.58398617e-02 1.83489006e+02] [ 7.98532786e-01 6.00778997e-01 -3.75497868e-02 7.33338200e+01] [ 4.55418298e-02 1.90438409e-03 9.98960617e-01 7.54447086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.07710568099998 meters 0.0406202813667818 Centerline is valid? [True, True] Translation: X:183.50, Y:73.36, Z:7.54 [[ 6.02864821e-01 -7.97428467e-01 -2.57263882e-02 1.83495944e+02] [ 7.96553270e-01 6.03409977e-01 -3.74070558e-02 7.33623683e+01] [ 4.53530105e-02 2.05895938e-03 9.98968901e-01 7.54485642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.10710568099998 meters 0.03595749003753691 Centerline is valid? [True, True] Translation: X:183.52, Y:73.38, Z:7.55 [[ 6.04951341e-01 -7.95855231e-01 -2.54622369e-02 1.83518247e+02] [ 7.94995957e-01 6.05483092e-01 -3.70358354e-02 7.33816619e+01] [ 4.48921173e-02 2.16250295e-03 9.98989500e-01 7.54835264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.13710568099998 meters 0.03511529449802023 Centerline is valid? [True, True] Translation: X:183.53, Y:73.41, Z:7.55 [[ 6.05550224e-01 -7.95412120e-01 -2.50696353e-02 1.83533860e+02] [ 7.94577708e-01 6.06065033e-01 -3.64889208e-02 7.34055332e+01] [ 4.42175592e-02 2.17610078e-03 9.99019555e-01 7.54912854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.16710568099998 meters 0.0363065977193407 Centerline is valid? [True, True] Translation: X:183.55, Y:73.43, Z:7.55 [[ 6.07217536e-01 -7.94110148e-01 -2.59987876e-02 1.83546768e+02] [ 7.93210277e-01 6.07769239e-01 -3.78683037e-02 7.34313901e+01] [ 4.58728676e-02 2.37179250e-03 9.98944470e-01 7.54581193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.19710568099998 meters 0.037279493860424055 Centerline is valid? [True, True] Translation: X:183.56, Y:73.46, Z:7.55 [[ 6.08060452e-01 -7.93434920e-01 -2.68982196e-02 1.83563055e+02] [ 7.92469644e-01 6.08649863e-01 -3.92072462e-02 7.34553086e+01] [ 4.74799959e-02 2.52435334e-03 9.98868999e-01 7.54522621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.22710568099998 meters 0.0389682703626277 Centerline is valid? [True, True] Translation: X:183.58, Y:73.48, Z:7.54 [[ 6.09634992e-01 -7.92198981e-01 -2.76758123e-02 1.83579514e+02] [ 7.91174399e-01 6.10256838e-01 -4.03690634e-02 7.34785575e+01] [ 4.88696846e-02 2.71399949e-03 9.98801476e-01 7.54404783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.25710568099998 meters 0.03883106057012857 Centerline is valid? [True, True] Translation: X:183.60, Y:73.50, Z:7.54 [[ 6.09722356e-01 -7.92123084e-01 -2.79225314e-02 1.83596175e+02] [ 7.91078619e-01 6.10355134e-01 -4.07581895e-02 7.35026349e+01] [ 4.93281632e-02 2.76226170e-03 9.98778805e-01 7.54352796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.28710568099996 meters 0.039632478668404046 Centerline is valid? [True, True] Translation: X:183.61, Y:73.52, Z:7.54 [[ 6.08750211e-01 -7.92845828e-01 -2.86124856e-02 1.83611931e+02] [ 7.91748445e-01 6.09415886e-01 -4.17932653e-02 7.35244445e+01] [ 5.05725193e-02 2.78776809e-03 9.98716501e-01 7.54115768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.31710568099996 meters 0.037420347542208264 Centerline is valid? [True, True] Translation: X:183.63, Y:73.55, Z:7.54 [[ 6.06955685e-01 -7.94223425e-01 -2.85297553e-02 1.83632875e+02] [ 7.93132607e-01 6.07619917e-01 -4.16977690e-02 7.35452684e+01] [ 5.04525925e-02 2.68081876e-03 9.98722859e-01 7.54256956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.34710568099996 meters 0.03589380687725886 Centerline is valid? [True, True] Translation: X:183.65, Y:73.56, Z:7.54 [[ 6.00583790e-01 -7.99027820e-01 -2.92173571e-02 1.83654490e+02] [ 7.97887895e-01 6.01289461e-01 -4.27304581e-02 7.35640515e+01] [ 5.17109137e-02 2.35104495e-03 9.98659328e-01 7.54131433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.37710568099996 meters 0.028851402478784087 Centerline is valid? [True, True] Translation: X:183.68, Y:73.58, Z:7.54 [[ 5.93271296e-01 -8.04490546e-01 -2.87076736e-02 1.83684313e+02] [ 8.03395060e-01 5.93962543e-01 -4.20104205e-02 7.35779369e+01] [ 5.08482689e-02 1.85997347e-03 9.98704658e-01 7.54486043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.40710568099996 meters 0.02534580628405004 Centerline is valid? [True, True] Translation: X:183.71, Y:73.60, Z:7.55 [[ 5.86155345e-01 -8.09777148e-01 -2.61320240e-02 1.83708082e+02] [ 8.08873454e-01 5.86736140e-01 -3.82679726e-02 7.35958196e+01] [ 4.63211326e-02 1.29347619e-03 9.98925763e-01 7.55067193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.43710568099996 meters 0.02489798519456141 Centerline is valid? [True, True] Translation: X:183.72, Y:73.62, Z:7.55 [[ 5.83168767e-01 -8.11946805e-01 -2.56237226e-02 1.83724915e+02] [ 8.11078917e-01 5.83730370e-01 -3.75479174e-02 7.36174579e+01] [ 4.54442566e-02 1.11391149e-03 9.98966255e-01 7.55240915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.46710568099996 meters 0.022698745239868683 Centerline is valid? [True, True] Translation: X:183.75, Y:73.64, Z:7.55 [[ 5.79326938e-01 -8.14696443e-01 -2.54951914e-02 1.83745279e+02] [ 8.13839295e-01 5.79886965e-01 -3.73725786e-02 7.36383130e+01] [ 4.52316360e-02 9.01952960e-04 9.98976119e-01 7.55451193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.49710568099997 meters 0.021566481252179352 Centerline is valid? [True, True] Translation: X:183.76, Y:73.66, Z:7.56 [[ 5.76279246e-01 -8.16867931e-01 -2.50801414e-02 1.83761505e+02] [ 8.16039362e-01 5.76824274e-01 -3.67901753e-02 7.36618308e+01] [ 4.45195487e-02 7.35031865e-04 9.99008243e-01 7.55654467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.52710568099997 meters 0.022009122399956393 Centerline is valid? [True, True] Translation: X:183.78, Y:73.69, Z:7.56 [[ 5.76083183e-01 -8.17038808e-01 -2.39948386e-02 1.83775154e+02] [ 8.16279512e-01 5.76582248e-01 -3.52231417e-02 7.36856610e+01] [ 4.26136717e-02 7.04964437e-04 9.99091376e-01 7.56027240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.55710568099997 meters 0.02258239318084936 Centerline is valid? [True, True] Translation: X:183.79, Y:73.71, Z:7.57 [[ 5.79725102e-01 -8.14533252e-01 -2.13163735e-02 1.83786208e+02] [ 8.13931647e-01 5.80116316e-01 -3.13102867e-02 7.37128381e+01] [ 3.78692458e-02 8.01288182e-04 9.99282382e-01 7.56806243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.58710568099997 meters 0.02389688158415292 Centerline is valid? [True, True] Translation: X:183.80, Y:73.74, Z:7.57 [[ 5.82184190e-01 -8.12785251e-01 -2.10167861e-02 1.83797169e+02] [ 8.12198504e-01 5.82562700e-01 -3.08916128e-02 7.37397848e+01] [ 3.73518429e-02 9.14806369e-04 9.99301758e-01 7.56900654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.61710568099997 meters 0.02581548782616939 Centerline is valid? [True, True] Translation: X:183.81, Y:73.77, Z:7.57 [[ 5.86266914e-01 -8.09840814e-01 -2.11886956e-02 1.83806741e+02] [ 8.09242009e-01 5.86648619e-01 -3.11571797e-02 7.37686721e+01] [ 3.76626747e-02 1.11964099e-03 9.99289883e-01 7.56784547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.64710568099997 meters 0.0271970282673057 Centerline is valid? [True, True] Translation: X:183.82, Y:73.79, Z:7.57 [[ 5.87399494e-01 -8.09008447e-01 -2.16140393e-02 1.83818490e+02] [ 8.08383931e-01 5.87795772e-01 -3.18048890e-02 7.37944925e+01] [ 3.84350648e-02 1.20973370e-03 9.99260368e-01 7.56725101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.67710568099997 meters 0.028212554478109414 Centerline is valid? [True, True] Translation: X:183.83, Y:73.82, Z:7.56 [[ 5.88617622e-01 -8.08082250e-01 -2.30731994e-02 1.83828975e+02] [ 8.07369142e-01 5.89068088e-01 -3.39684725e-02 7.38208155e+01] [ 4.10410051e-02 1.36585230e-03 9.99156529e-01 7.56311726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.70710568099997 meters 0.028001646735980167 Centerline is valid? [True, True] Translation: X:183.84, Y:73.85, Z:7.56 [[ 5.88732852e-01 -8.07979521e-01 -2.37217607e-02 1.83844390e+02] [ 8.07224551e-01 5.89208840e-01 -3.49495018e-02 7.38451110e+01] [ 4.22155529e-02 1.42713225e-03 9.99107507e-01 7.56183716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.73710568099997 meters 0.02985625368960605 Centerline is valid? [True, True] Translation: X:183.85, Y:73.87, Z:7.56 [[ 5.90975754e-01 -8.06263916e-01 -2.61945864e-02 1.83854987e+02] [ 8.05340282e-01 5.91553474e-01 -3.86201744e-02 7.38709495e+01] [ 4.66335516e-02 1.72803109e-03 9.98910569e-01 7.55821545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.76710568099998 meters 0.030350672959785076 Centerline is valid? [True, True] Translation: X:183.87, Y:73.90, Z:7.56 [[ 5.92326319e-01 -8.05265864e-01 -2.63897878e-02 1.83869327e+02] [ 8.04326736e-01 5.92911076e-01 -3.89224618e-02 7.38960170e+01] [ 4.69897273e-02 1.82878665e-03 9.98893699e-01 7.55897488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.79710568099998 meters 0.03128100974369389 Centerline is valid? [True, True] Translation: X:183.88, Y:73.92, Z:7.56 [[ 5.94393096e-01 -8.03774437e-01 -2.53673380e-02 1.83881717e+02] [ 8.02904332e-01 5.94931174e-01 -3.74370415e-02 7.39217767e+01] [ 4.51827571e-02 1.88477346e-03 9.98976960e-01 7.55978539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.82710568099998 meters 0.03203301556516393 Centerline is valid? [True, True] Translation: X:183.90, Y:73.95, Z:7.56 [[ 5.95451841e-01 -8.03003859e-01 -2.49380759e-02 1.83895957e+02] [ 8.02161637e-01 5.95970737e-01 -3.68183224e-02 7.39463127e+01] [ 4.44276184e-02 1.91917009e-03 9.99010762e-01 7.56170067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.85710568099998 meters 0.0349206382743861 Centerline is valid? [True, True] Translation: X:183.91, Y:73.97, Z:7.56 [[ 5.97148539e-01 -8.01740828e-01 -2.50053428e-02 1.83906022e+02] [ 8.00892203e-01 5.97668410e-01 -3.69344064e-02 7.39724584e+01] [ 4.45567251e-02 2.02874273e-03 9.99004796e-01 7.56194509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.88710568099998 meters 0.03441950271196516 Centerline is valid? [True, True] Translation: X:183.92, Y:74.00, Z:7.56 [[ 5.97403661e-01 -8.01521890e-01 -2.59138323e-02 1.83922170e+02] [ 8.00609420e-01 5.97961640e-01 -3.82940499e-02 7.39959002e+01] [ 4.61889969e-02 2.13014737e-03 9.98930448e-01 7.56115140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.91710568099998 meters 0.0331186317386951 Centerline is valid? [True, True] Translation: X:183.94, Y:74.02, Z:7.56 [[ 5.95462611e-01 -8.02939228e-01 -2.66997161e-02 1.83939578e+02] [ 8.01971103e-01 5.96057227e-01 -3.94731844e-02 7.40191528e+01] [ 4.76091270e-02 2.09240469e-03 9.98863851e-01 7.55871474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.94710568099998 meters 0.028753555291524353 Centerline is valid? [True, True] Translation: X:183.96, Y:74.04, Z:7.56 [[ 5.90131286e-01 -8.06921482e-01 -2.49556948e-02 1.83961261e+02] [ 8.06078215e-01 5.90656356e-01 -3.69185593e-02 7.40390653e+01] [ 4.45306184e-02 1.67055495e-03 9.99006623e-01 7.56309102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.97710568099998 meters 0.02732348941479719 Centerline is valid? [True, True] Translation: X:183.98, Y:74.06, Z:7.57 [[ 5.86222074e-01 -8.09794575e-01 -2.40088766e-02 1.83978526e+02] [ 8.09015399e-01 5.86711812e-01 -3.55434233e-02 7.40610600e+01] [ 4.28691629e-02 1.41278840e-03 9.99079696e-01 7.56555147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.00710568099998 meters 0.023900678414901996 Centerline is valid? [True, True] Translation: X:184.00, Y:74.08, Z:7.57 [[ 5.78919499e-01 -8.15054089e-01 -2.32173623e-02 1.83998084e+02] [ 8.14328587e-01 5.79384000e-01 -3.43966864e-02 7.40804964e+01] [ 4.14869281e-02 1.00635063e-03 9.99138540e-01 7.56782387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03710568099996 meters 0.022523833232503322 Centerline is valid? [True, True] Translation: X:184.02, Y:74.10, Z:7.57 [[ 5.76628118e-01 -8.16670622e-01 -2.34330707e-02 1.84016634e+02] [ 8.15931799e-01 5.77103336e-01 -3.47424559e-02 7.41033297e+01] [ 4.18964463e-02 9.13689487e-04 9.99121541e-01 7.56889133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.06710568099996 meters 0.02144372738647032 Centerline is valid? [True, True] Translation: X:184.03, Y:74.13, Z:7.57 [[ 5.73729967e-01 -8.18685552e-01 -2.42464704e-02 1.84032790e+02] [ 8.17895256e-01 5.74241512e-01 -3.59727147e-02 7.41274284e+01] [ 4.33736716e-02 8.07551316e-04 9.99058593e-01 7.56859212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.09710568099996 meters 0.021847331497253444 Centerline is valid? [True, True] Translation: X:184.05, Y:74.15, Z:7.57 [[ 5.72825366e-01 -8.19312037e-01 -2.44721256e-02 1.84045899e+02] [ 8.18506398e-01 5.73347341e-01 -3.63332272e-02 7.41510926e+01] [ 4.37992785e-02 7.82002808e-04 9.99040045e-01 7.56875228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.12710568099996 meters 0.021861622923016397 Centerline is valid? [True, True] Translation: X:184.06, Y:74.18, Z:7.57 [[ 5.71873389e-01 -8.19937233e-01 -2.57635466e-02 1.84058335e+02] [ 8.19043597e-01 5.72452889e-01 -3.82789276e-02 7.41767788e+01] [ 4.61347347e-02 7.89232194e-04 9.98934914e-01 7.56644715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.15710568099996 meters 0.021109526710362272 Centerline is valid? [True, True] Translation: X:184.07, Y:74.20, Z:7.57 [[ 5.70854371e-01 -8.20619386e-01 -2.66291294e-02 1.84073083e+02] [ 8.19663930e-01 5.71474602e-01 -3.95957271e-02 7.42006973e+01] [ 4.77108924e-02 7.76457010e-04 9.98860885e-01 7.56660055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.18710568099996 meters 0.021100666706771725 Centerline is valid? [True, True] Translation: X:184.09, Y:74.22, Z:7.57 [[ 5.70562160e-01 -8.20829867e-01 -2.64036154e-02 1.84087637e+02] [ 8.19889274e-01 5.71172247e-01 -3.92917607e-02 7.42240474e+01] [ 4.73328631e-02 7.70350785e-04 9.98878875e-01 7.56916557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.21710568099996 meters 0.021656659230784844 Centerline is valid? [True, True] Translation: X:184.10, Y:74.25, Z:7.57 [[ 5.71539125e-01 -8.20193479e-01 -2.50137188e-02 1.84098762e+02] [ 8.19347455e-01 5.72085678e-01 -3.72521782e-02 7.42504572e+01] [ 4.48639840e-02 7.96150521e-04 9.98992787e-01 7.57423546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.24710568099997 meters 0.02364066945602929 Centerline is valid? [True, True] Translation: X:184.11, Y:74.28, Z:7.58 [[ 5.75026699e-01 -8.17803866e-01 -2.32622745e-02 1.84106574e+02] [ 8.17069208e-01 5.75496286e-01 -3.46689141e-02 7.42783726e+01] [ 4.17397246e-02 9.28663013e-04 9.99128086e-01 7.57722641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.27710568099997 meters 0.024790504101722392 Centerline is valid? [True, True] Translation: X:184.12, Y:74.30, Z:7.58 [[ 5.77047710e-01 -8.16378002e-01 -2.33001853e-02 1.84120152e+02] [ 8.15639013e-01 5.77516985e-01 -3.47438272e-02 7.43039528e+01] [ 4.18203490e-02 1.04430576e-03 9.99124601e-01 7.57826912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.30710568099997 meters 0.024790504101722392 Centerline is valid? [True, True] Translation: X:184.14, Y:74.33, Z:7.58 [[ 5.76758016e-01 -8.16583026e-01 -2.32884806e-02 1.84135293e+02] [ 8.15843887e-01 5.77227055e-01 -3.47516714e-02 7.43269538e+01] [ 4.18203660e-02 1.04354050e-03 9.99124601e-01 7.57928677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.33710568099997 meters 0.02822394313079709 Centerline is valid? [True, True] Translation: X:184.15, Y:74.35, Z:7.58 [[ 5.82234178e-01 -8.12656792e-01 -2.43372329e-02 1.84145216e+02] [ 8.11844827e-01 5.82740910e-01 -3.63456817e-02 7.43534321e+01] [ 4.37188664e-02 1.40364151e-03 9.99042887e-01 7.57863803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.36710568099997 meters 0.028868113342755616 Centerline is valid? [True, True] Translation: X:184.16, Y:74.38, Z:7.58 [[ 5.83830965e-01 -8.11529213e-01 -2.37010565e-02 1.84158779e+02] [ 8.10757108e-01 5.84310013e-01 -3.54220376e-02 7.43786702e+01] [ 4.25947829e-02 1.46468232e-03 9.99091357e-01 7.57984976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.39710568099997 meters 0.03089823067382523 Centerline is valid? [True, True] Translation: X:184.17, Y:74.41, Z:7.58 [[ 5.85892521e-01 -8.10089806e-01 -2.20104550e-02 1.84168228e+02] [ 8.09422142e-01 5.86303972e-01 -3.29157830e-02 7.44057294e+01] [ 3.95695575e-02 1.46936150e-03 9.99215738e-01 7.58189832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.42710568099997 meters 0.031588010593692074 Centerline is valid? [True, True] Translation: X:184.18, Y:74.43, Z:7.59 [[ 5.86769019e-01 -8.09477875e-01 -2.11586417e-02 1.84182543e+02] [ 8.08859833e-01 5.87148559e-01 -3.16597645e-02 7.44296763e+01] [ 3.80511449e-02 1.46259361e-03 9.99274723e-01 7.58591949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.45710568099997 meters 0.03230841258978714 Centerline is valid? [True, True] Translation: X:184.20, Y:74.45, Z:7.59 [[ 5.86737862e-01 -8.09511413e-01 -2.07353017e-02 1.84196747e+02] [ 8.08917095e-01 5.87102366e-01 -3.10474894e-02 7.44528852e+01] [ 3.73070417e-02 1.44359750e-03 9.99302807e-01 7.58853449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.48710568099997 meters 0.032459261655954634 Centerline is valid? [True, True] Translation: X:184.21, Y:74.48, Z:7.59 [[ 5.87041655e-01 -8.09288303e-01 -2.08455619e-02 1.84212054e+02] [ 8.08686698e-01 5.87409786e-01 -3.12340701e-02 7.44765886e+01] [ 3.75222547e-02 1.47817152e-03 9.99294699e-01 7.58834139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.51710568099998 meters 0.03346453007181377 Centerline is valid? [True, True] Translation: X:184.23, Y:74.50, Z:7.59 [[ 5.88249560e-01 -8.08371743e-01 -2.23064979e-02 1.84226018e+02] [ 8.07681150e-01 5.88670002e-01 -3.34483037e-02 7.45014772e+01] [ 4.01698297e-02 1.65941208e-03 9.99191489e-01 7.58513361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.54710568099998 meters 0.035463318684203035 Centerline is valid? [True, True] Translation: X:184.24, Y:74.53, Z:7.58 [[ 5.90327385e-01 -8.06834410e-01 -2.30610549e-02 1.84239163e+02] [ 8.06094087e-01 5.90774791e-01 -3.46044652e-02 7.45273001e+01] [ 4.15439632e-02 1.83858344e-03 9.99134985e-01 7.58386210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.57710568099998 meters 0.0402559170387577 Centerline is valid? [True, True] Translation: X:184.25, Y:74.55, Z:7.58 [[ 5.95486835e-01 -8.02994265e-01 -2.44057280e-02 1.84249369e+02] [ 8.02160688e-01 5.95982521e-01 -3.66478538e-02 7.45531647e+01] [ 4.39734037e-02 2.24599883e-03 9.99030177e-01 7.58074379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.60710568099998 meters 0.041795120085510916 Centerline is valid? [True, True] Translation: X:184.26, Y:74.58, Z:7.58 [[ 5.97619206e-01 -8.01389179e-01 -2.50333616e-02 1.84264566e+02] [ 8.00509833e-01 5.98138314e-01 -3.76106960e-02 7.45774492e+01] [ 4.51142174e-02 2.43742219e-03 9.98978862e-01 7.57955518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.63710568099998 meters 0.044924703844502756 Centerline is valid? [True, True] Translation: X:184.28, Y:74.60, Z:7.58 [[ 6.01002174e-01 -7.98821541e-01 -2.60870067e-02 1.84279299e+02] [ 7.97862831e-01 6.01561747e-01 -3.92220339e-02 7.46019156e+01] [ 4.70243509e-02 2.75867467e-03 9.98889934e-01 7.57723389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.66710568099998 meters 0.04744942290164832 Centerline is valid? [True, True] Translation: X:184.29, Y:74.63, Z:7.57 [[ 6.01621878e-01 -7.98303139e-01 -2.76263161e-02 1.84292733e+02] [ 7.97225798e-01 6.02248452e-01 -4.15671613e-02 7.46262097e+01] [ 4.98211015e-02 2.98330173e-03 9.98753702e-01 7.57378442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.69710568099998 meters 0.04735404764167606 Centerline is valid? [True, True] Translation: X:184.31, Y:74.65, Z:7.57 [[ 6.00998016e-01 -7.98771579e-01 -2.76649535e-02 1.84309495e+02] [ 7.97690225e-01 6.01627098e-01 -4.16550048e-02 7.46488125e+01] [ 4.99168196e-02 2.96651230e-03 9.98748973e-01 7.57426269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.72710568099998 meters 0.04481167354978731 Centerline is valid? [True, True] Translation: X:184.33, Y:74.67, Z:7.58 [[ 5.97046913e-01 -8.01752639e-01 -2.69757242e-02 1.84332541e+02] [ 8.00726143e-01 5.97650059e-01 -4.06454319e-02 7.46661961e+01] [ 4.87096255e-02 2.66706206e-03 9.98809421e-01 7.57838978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.75710568099998 meters 0.036405190227498226 Centerline is valid? [True, True] Translation: X:184.36, Y:74.68, Z:7.58 [[ 5.87801785e-01 -8.08580096e-01 -2.62162216e-02 1.84362379e+02] [ 8.07615945e-01 5.88382508e-01 -3.95285889e-02 7.46796277e+01] [ 4.73871964e-02 2.06233649e-03 9.98874467e-01 7.58371697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.78710568099996 meters 0.03203171725736682 Centerline is valid? [True, True] Translation: X:184.38, Y:74.70, Z:7.59 [[ 5.81732522e-01 -8.12979663e-01 -2.55213799e-02 1.84384024e+02] [ 8.12069003e-01 5.82289673e-01 -3.85054635e-02 7.46983705e+01] [ 4.61649946e-02 1.67475886e-03 9.98932424e-01 7.58553282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.81710568099996 meters 0.025142358957249665 Centerline is valid? [True, True] Translation: X:184.41, Y:74.71, Z:7.59 [[ 5.70202976e-01 -8.21143102e-01 -2.43428081e-02 1.84411005e+02] [ 8.20321171e-01 5.70721508e-01 -3.67442124e-02 7.47126084e+01] [ 4.40652207e-02 9.82738433e-04 9.99028173e-01 7.59044637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.84710568099996 meters 0.022853122417685817 Centerline is valid? [True, True] Translation: X:184.43, Y:74.73, Z:7.59 [[ 5.65802031e-01 -8.24188499e-01 -2.41118309e-02 1.84431509e+02] [ 8.23383853e-01 5.66315065e-01 -3.64180899e-02 7.47330652e+01] [ 4.36702639e-02 7.52136984e-04 9.99045716e-01 7.59359382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.87710568099996 meters 0.019832049457181998 Centerline is valid? [True, True] Translation: X:184.45, Y:74.75, Z:7.59 [[ 5.58086826e-01 -8.29420478e-01 -2.45104968e-02 1.84451752e+02] [ 8.28592843e-01 5.58624683e-01 -3.70454239e-02 7.47522950e+01] [ 4.44184017e-02 3.65340795e-04 9.99012949e-01 7.59409062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.90710568099996 meters 0.019234831049033483 Centerline is valid? [True, True] Translation: X:184.47, Y:74.78, Z:7.60 [[ 5.55027327e-01 -8.31472178e-01 -2.44680009e-02 1.84467650e+02] [ 8.30648241e-01 5.55566351e-01 -3.70071510e-02 7.47752037e+01] [ 4.43640144e-02 2.15678134e-04 9.99015409e-01 7.59543426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.93710568099996 meters 0.01875816940340186 Centerline is valid? [True, True] Translation: X:184.48, Y:74.80, Z:7.60 [[ 5.51574619e-01 -8.33792067e-01 -2.35844956e-02 1.84481495e+02] [ 8.33027696e-01 5.52078605e-01 -3.56941338e-02 7.47968875e+01] [ 4.27819810e-02 4.14402025e-05 9.99084431e-01 7.59865549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.96710568099996 meters 0.0188944168819946 Centerline is valid? [True, True] Translation: X:184.49, Y:74.82, Z:7.60 [[ 5.49815833e-01 -8.34921033e-01 -2.46864175e-02 1.84493803e+02] [ 8.34083624e-01 5.50369756e-01 -3.73850299e-02 7.48200073e+01] [ 4.48002054e-02 -3.56552147e-05 9.98995966e-01 7.59768189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.99710568099997 meters 0.01894009571223473 Centerline is valid? [True, True] Translation: X:184.51, Y:74.85, Z:7.60 [[ 5.48701975e-01 -8.35634868e-01 -2.53083085e-02 1.84506229e+02] [ 8.34754323e-01 5.49285318e-01 -3.83517969e-02 7.48455312e+01] [ 4.59495810e-02 -8.25132010e-05 9.98943757e-01 7.59974479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.02710568099997 meters 0.019087829317232234 Centerline is valid? [True, True] Translation: X:184.52, Y:74.87, Z:7.60 [[ 5.45887552e-01 -8.37484130e-01 -2.50422108e-02 1.84516863e+02] [ 8.36622539e-01 5.46461603e-01 -3.79795239e-02 7.48721955e+01] [ 4.54918551e-02 -2.18328636e-04 9.98964686e-01 7.59984265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.05710568099997 meters 0.019381463561768984 Centerline is valid? [True, True] Translation: X:184.53, Y:74.89, Z:7.60 [[ 5.43962717e-01 -8.38755800e-01 -2.43571230e-02 1.84531138e+02] [ 8.37940702e-01 5.44507684e-01 -3.69697536e-02 7.48946692e+01] [ 4.42712359e-02 -2.99657081e-04 9.99019503e-01 7.60216046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.08710568099997 meters 0.020015112772555972 Centerline is valid? [True, True] Translation: X:184.55, Y:74.92, Z:7.61 [[ 5.40496305e-01 -8.41028659e-01 -2.31201109e-02 1.84547204e+02] [ 8.40295286e-01 5.40990384e-01 -3.51174708e-02 7.49178689e+01] [ 4.20425570e-02 -4.46856978e-04 9.99115721e-01 7.60834833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.11710568099997 meters 0.02038014424103811 Centerline is valid? [True, True] Translation: X:184.56, Y:74.94, Z:7.61 [[ 5.38294225e-01 -8.42449433e-01 -2.27657559e-02 1.84561693e+02] [ 8.41738503e-01 5.38775155e-01 -3.46067212e-02 7.49419555e+01] [ 4.14200363e-02 -5.34215136e-04 9.99141679e-01 7.61141462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.14710568099997 meters 0.02074979318874542 Centerline is valid? [True, True] Translation: X:184.57, Y:74.97, Z:7.61 [[ 5.36346845e-01 -8.43693757e-01 -2.26474322e-02 1.84571044e+02] [ 8.42990203e-01 5.36824430e-01 -3.44535819e-02 7.49695388e+01] [ 4.12259669e-02 -6.12493568e-04 9.99149661e-01 7.61174318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.17710568099997 meters 0.020828047287069693 Centerline is valid? [True, True] Translation: X:184.58, Y:74.99, Z:7.61 [[ 5.36897971e-01 -8.43346235e-01 -2.25321433e-02 1.84581793e+02] [ 8.42648426e-01 5.37370269e-01 -3.43048865e-02 7.49949123e+01] [ 4.10390008e-02 -5.68451089e-04 9.99157384e-01 7.61221250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.20710568099997 meters 0.01895701621552497 Centerline is valid? [True, True] Translation: X:184.58, Y:75.03, Z:7.61 [[ 5.42725084e-01 -8.39623262e-01 -2.19604545e-02 1.84584157e+02] [ 8.38956410e-01 5.43169134e-01 -3.34579541e-02 7.50278282e+01] [ 4.00203176e-02 -2.65393121e-04 9.99198831e-01 7.61493766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.23710568099997 meters 0.018559461223464593 Centerline is valid? [True, True] Translation: X:184.58, Y:75.06, Z:7.61 [[ 5.51608399e-01 -8.33778660e-01 -2.32662990e-02 1.84582622e+02] [ 8.33023634e-01 5.52098824e-01 -3.54755363e-02 7.50609022e+01] [ 4.24240414e-02 1.87226861e-04 9.99099678e-01 7.61496665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.26710568099998 meters 0.021243825513876286 Centerline is valid? [True, True] Translation: X:184.58, Y:75.10, Z:7.62 [[ 5.62288400e-01 -8.26589813e-01 -2.41046914e-02 1.84578948e+02] [ 8.25771383e-01 5.62804296e-01 -3.67824340e-02 7.50975157e+01] [ 4.39702092e-02 7.77371609e-04 9.99032540e-01 7.61540684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.29710568099998 meters 0.023901777160057983 Centerline is valid? [True, True] Translation: X:184.58, Y:75.13, Z:7.62 [[ 5.67589269e-01 -8.22960993e-01 -2.40338455e-02 1.84584672e+02] [ 8.22142902e-01 5.68096871e-01 -3.67014064e-02 7.51283068e+01] [ 4.38573783e-02 1.07206897e-03 9.99037227e-01 7.61717048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.32710568099998 meters 0.027911383283740827 Centerline is valid? [True, True] Translation: X:184.58, Y:75.16, Z:7.62 [[ 5.75762335e-01 -8.17239342e-01 -2.48513936e-02 1.84584432e+02] [ 8.16357978e-01 5.76296249e-01 -3.79774305e-02 7.51620551e+01] [ 4.53584152e-02 1.57834060e-03 9.98969531e-01 7.61649028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.35710568099998 meters 0.028511706802017728 Centerline is valid? [True, True] Translation: X:184.60, Y:75.19, Z:7.62 [[ 5.78445939e-01 -8.15335912e-01 -2.50528569e-02 1.84595356e+02] [ 8.14437057e-01 5.78985540e-01 -3.83148057e-02 7.51895963e+01] [ 4.57446789e-02 1.75906875e-03 9.98951615e-01 7.61757520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.38710568099998 meters 0.031394409577317574 Centerline is valid? [True, True] Translation: X:184.60, Y:75.22, Z:7.62 [[ 5.82804462e-01 -8.12251609e-01 -2.42132733e-02 1.84599518e+02] [ 8.11408193e-01 5.83303969e-01 -3.70570288e-02 7.52211736e+01] [ 4.42233297e-02 1.95015334e-03 9.99019767e-01 7.61954121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.41710568099998 meters 0.03373040311716688 Centerline is valid? [True, True] Translation: X:184.61, Y:75.25, Z:7.62 [[ 5.84915915e-01 -8.10723096e-01 -2.45241453e-02 1.84609119e+02] [ 8.09855291e-01 5.85426012e-01 -3.75605296e-02 7.52480446e+01] [ 4.48082614e-02 2.10874268e-03 9.98993380e-01 7.61958051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.44710568099998 meters 0.03841213503127913 Centerline is valid? [True, True] Translation: X:184.62, Y:75.28, Z:7.62 [[ 5.88529424e-01 -8.08028797e-01 -2.68808646e-02 1.84618034e+02] [ 8.06981815e-01 5.89137451e-01 -4.11996766e-02 7.52750418e+01] [ 4.91270492e-02 2.55485299e-03 9.98789270e-01 7.61660498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.47710568099998 meters 0.036557582860123776 Centerline is valid? [True, True] Translation: X:184.64, Y:75.30, Z:7.62 [[ 5.88138342e-01 -8.08255174e-01 -2.85808538e-02 1.84638329e+02] [ 8.07070577e-01 5.88826147e-01 -4.38275270e-02 7.52966781e+01] [ 5.22529795e-02 2.70988293e-03 9.98630203e-01 7.61592365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.50710568099998 meters 0.03632577163109667 Centerline is valid? [True, True] Translation: X:184.65, Y:75.32, Z:7.62 [[ 5.85660235e-01 -8.10068454e-01 -2.81280688e-02 1.84654646e+02] [ 8.08921594e-01 5.86329872e-01 -4.31640701e-02 7.53189797e+01] [ 5.14581785e-02 2.52607722e-03 9.98671956e-01 7.61712502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53710568099996 meters 0.03169812146403612 Centerline is valid? [True, True] Translation: X:184.68, Y:75.34, Z:7.62 [[ 5.80919250e-01 -8.13514300e-01 -2.69686648e-02 1.84679363e+02] [ 8.12462233e-01 5.81540944e-01 -4.14155770e-02 7.53368894e+01] [ 4.93755469e-02 2.14808425e-03 9.98777974e-01 7.62068765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.56710568099996 meters 0.030138108587045798 Centerline is valid? [True, True] Translation: X:184.70, Y:75.36, Z:7.62 [[ 5.77890083e-01 -8.15677846e-01 -2.66965285e-02 1.84699081e+02] [ 8.14647667e-01 5.78503071e-01 -4.10289617e-02 7.53579554e+01] [ 4.89104388e-02 1.96196538e-03 9.98801241e-01 7.62143473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.59710568099996 meters 0.027846325355086413 Centerline is valid? [True, True] Translation: X:184.72, Y:75.38, Z:7.62 [[ 5.72566878e-01 -8.19439433e-01 -2.61951517e-02 1.84720784e+02] [ 8.18450197e-01 5.73163476e-01 -4.02852812e-02 7.53757925e+01] [ 4.80254522e-02 1.62659061e-03 9.98844788e-01 7.62400452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.62710568099996 meters 0.027115210071500927 Centerline is valid? [True, True] Translation: X:184.74, Y:75.40, Z:7.63 [[ 5.69116146e-01 -8.21859729e-01 -2.55616529e-02 1.84738921e+02] [ 8.20919413e-01 5.69688188e-01 -3.93279311e-02 7.53971725e+01] [ 4.68842145e-02 1.39810349e-03 9.98899352e-01 7.62676292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.65710568099996 meters 0.025414533938992574 Centerline is valid? [True, True] Translation: X:184.76, Y:75.42, Z:7.63 [[ 5.67591306e-01 -8.22898445e-01 -2.60433930e-02 1.84757078e+02] [ 8.21921966e-01 5.68186865e-01 -4.00994764e-02 7.54196668e+01] [ 4.77953106e-02 1.35447739e-03 9.98856233e-01 7.62760188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.68710568099996 meters 0.02514304813974658 Centerline is valid? [True, True] Translation: X:184.77, Y:75.44, Z:7.63 [[ 5.65991842e-01 -8.23971236e-01 -2.69190888e-02 1.84771754e+02] [ 8.22927681e-01 5.66630083e-01 -4.14774763e-02 7.54422934e+01] [ 4.94294129e-02 1.32344980e-03 9.98776743e-01 7.62654133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.71710568099996 meters 0.023210831144861856 Centerline is valid? [True, True] Translation: X:184.79, Y:75.46, Z:7.63 [[ 5.62088290e-01 -8.26675944e-01 -2.57611662e-02 1.84788364e+02] [ 8.25721886e-01 5.62677325e-01 -3.97189426e-02 7.54649096e+01] [ 4.73299185e-02 1.05399376e-03 9.98878755e-01 7.63163122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.74710568099997 meters 0.020822923250976077 Centerline is valid? [True, True] Translation: X:184.81, Y:75.49, Z:7.64 [[ 5.56113470e-01 -8.30736495e-01 -2.47928439e-02 1.84807487e+02] [ 8.29855507e-01 5.56665417e-01 -3.82550745e-02 7.54851868e+01] [ 4.55812053e-02 6.99684204e-04 9.98960392e-01 7.63617767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.77710568099997 meters 0.018600156540037455 Centerline is valid? [True, True] Translation: X:184.83, Y:75.50, Z:7.64 [[ 5.48774846e-01 -8.35583109e-01 -2.54369021e-02 1.84827947e+02] [ 8.34659521e-01 5.49363962e-01 -3.92774894e-02 7.55042723e+01] [ 4.67937240e-02 3.23345660e-04 9.98904521e-01 7.63588645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.80710568099997 meters 0.018304607789755668 Centerline is valid? [True, True] Translation: X:184.84, Y:75.53, Z:7.64 [[ 5.45621077e-01 -8.37643539e-01 -2.55135806e-02 1.84844208e+02] [ 8.36715642e-01 5.46217243e-01 -3.94164582e-02 7.55273784e+01] [ 4.69528991e-02 1.58838401e-04 9.98897092e-01 7.63653631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.83710568099997 meters 0.0180188285262505 Centerline is valid? [True, True] Translation: X:184.86, Y:75.55, Z:7.64 [[ 5.43366114e-01 -8.39126318e-01 -2.49056074e-02 1.84858055e+02] [ 8.38242370e-01 5.43936596e-01 -3.85059594e-02 7.55517639e+01] [ 4.58584352e-02 4.58981365e-05 9.98947948e-01 7.63890617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.86710568099997 meters 0.01818070887186443 Centerline is valid? [True, True] Translation: X:184.87, Y:75.58, Z:7.64 [[ 5.42429629e-01 -8.39731808e-01 -2.49116002e-02 1.84873453e+02] [ 8.38846676e-01 5.43001372e-01 -3.85456205e-02 7.55754300e+01] [ 4.58950167e-02 1.12736259e-05 9.98946268e-01 7.64178417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.89710568099997 meters 0.018061217156283282 Centerline is valid? [True, True] Translation: X:184.89, Y:75.60, Z:7.64 [[ 5.41371730e-01 -8.40359050e-01 -2.67080019e-02 1.84887782e+02] [ 8.39340743e-01 5.42030135e-01 -4.13575970e-02 7.55992780e+01] [ 4.92317728e-02 -2.72802777e-05 9.98787381e-01 7.63907066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.92710568099997 meters 0.018325662593138704 Centerline is valid? [True, True] Translation: X:184.90, Y:75.62, Z:7.64 [[ 5.40997957e-01 -8.40562681e-01 -2.78494100e-02 1.84901509e+02] [ 8.39454776e-01 5.41714295e-01 -4.31428054e-02 7.56241351e+01] [ 5.13506557e-02 -3.81506912e-05 9.98680684e-01 7.63646629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.95710568099997 meters 0.018443526063685208 Centerline is valid? [True, True] Translation: X:184.91, Y:75.65, Z:7.64 [[ 5.40310429e-01 -8.40989774e-01 -2.82991155e-02 1.84913473e+02] [ 8.39845186e-01 5.41051010e-01 -4.38619259e-02 7.56503859e+01] [ 5.21986961e-02 -6.78199134e-05 9.98636716e-01 7.63662388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.98710568099997 meters 0.01853955120779634 Centerline is valid? [True, True] Translation: X:184.93, Y:75.67, Z:7.64 [[ 5.40498986e-01 -8.40879459e-01 -2.79746763e-02 1.84927465e+02] [ 8.39759030e-01 5.41222445e-01 -4.33939674e-02 7.56742965e+01] [ 5.16296185e-02 -3.75916408e-05 9.98666301e-01 7.63874752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.01710568099998 meters 0.018513803238089693 Centerline is valid? [True, True] Translation: X:184.94, Y:75.70, Z:7.64 [[ 5.42807869e-01 -8.39411706e-01 -2.73423766e-02 1.84938678e+02] [ 8.38337763e-01 5.43496067e-01 -4.24478503e-02 7.56999494e+01] [ 5.04916965e-02 1.18880387e-04 9.98724474e-01 7.64339147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.04710568099998 meters 0.01936640120445277 Centerline is valid? [True, True] Translation: X:184.94, Y:75.73, Z:7.65 [[ 5.47697707e-01 -8.36291453e-01 -2.53737669e-02 1.84943073e+02] [ 8.35361872e-01 5.48285008e-01 -3.94219832e-02 7.57289746e+01] [ 4.68803236e-02 3.95052322e-04 9.98900435e-01 7.64904345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.07710568099998 meters 0.01994394965153081 Centerline is valid? [True, True] Translation: X:184.95, Y:75.76, Z:7.65 [[ 5.49830245e-01 -8.34937910e-01 -2.37779022e-02 1.84953569e+02] [ 8.34119207e-01 5.50343932e-01 -3.69689597e-02 7.57554131e+01] [ 4.39528101e-02 4.93047219e-04 9.99033487e-01 7.65367540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.10710568099998 meters 0.021151265991766113 Centerline is valid? [True, True] Translation: X:184.96, Y:75.78, Z:7.66 [[ 5.52066257e-01 -8.33525051e-01 -2.14204821e-02 1.84963031e+02] [ 8.32858668e-01 5.52481381e-01 -3.33281039e-02 7.57812181e+01] [ 3.96142270e-02 5.59087362e-04 9.99214892e-01 7.65883294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.13710568099998 meters 0.02078290670082229 Centerline is valid? [True, True] Translation: X:184.98, Y:75.81, Z:7.66 [[ 5.52382478e-01 -8.33303244e-01 -2.18929400e-02 1.84975904e+02] [ 8.32605929e-01 5.52815829e-01 -3.40885082e-02 7.58068114e+01] [ 4.05088282e-02 6.01702986e-04 9.99178999e-01 7.65804005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.16710568099998 meters 0.02137943958472056 Centerline is valid? [True, True] Translation: X:184.99, Y:75.83, Z:7.66 [[ 5.53150993e-01 -8.32781940e-01 -2.23208327e-02 1.84987711e+02] [ 8.32055573e-01 5.53600755e-01 -3.47811463e-02 7.58328473e+01] [ 4.13219403e-02 6.67052447e-04 9.99145661e-01 7.65719302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.19710568099998 meters 0.02137943958472056 Centerline is valid? [True, True] Translation: X:185.00, Y:75.86, Z:7.66 [[ 5.52849927e-01 -8.32982008e-01 -2.23144228e-02 1.85002357e+02] [ 8.32255637e-01 5.53299683e-01 -3.47852583e-02 7.58561193e+01] [ 4.13220573e-02 6.59723348e-04 9.99145661e-01 7.65821088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.22710568099998 meters 0.02301620738178542 Centerline is valid? [True, True] Translation: X:185.01, Y:75.89, Z:7.66 [[ 5.56686302e-01 -8.30402220e-01 -2.30762604e-02 1.85010921e+02] [ 8.29621911e-01 5.57163663e-01 -3.60018930e-02 7.58854103e+01] [ 4.27533057e-02 8.97189405e-04 9.99085257e-01 7.65573837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.25710568099998 meters 0.024127211592097117 Centerline is valid? [True, True] Translation: X:185.02, Y:75.91, Z:7.65 [[ 5.59280325e-01 -8.28626693e-01 -2.41520691e-02 1.85023475e+02] [ 8.27769006e-01 5.59800501e-01 -3.77077052e-02 7.59113250e+01] [ 4.47659514e-02 1.09684333e-03 9.98996900e-01 7.65435150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.28710568099996 meters 0.027174313925105453 Centerline is valid? [True, True] Translation: X:185.03, Y:75.94, Z:7.65 [[ 5.64772429e-01 -8.24802818e-01 -2.70631746e-02 1.85031875e+02] [ 8.23719658e-01 5.65418239e-01 -4.22864006e-02 7.59397461e+01] [ 5.01799549e-02 1.58972427e-03 9.98738927e-01 7.64884889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.31710568099996 meters 0.027153972973166813 Centerline is valid? [True, True] Translation: X:185.05, Y:75.96, Z:7.65 [[ 5.66985672e-01 -8.23260129e-01 -2.77490319e-02 1.85047143e+02] [ 8.22117726e-01 5.67661481e-01 -4.33922622e-02 7.59643686e+01] [ 5.14751759e-02 1.78981993e-03 9.98672671e-01 7.64933288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.34710568099996 meters 0.03273324376187915 Centerline is valid? [True, True] Translation: X:185.05, Y:75.99, Z:7.65 [[ 5.71068832e-01 -8.20497126e-01 -2.57847719e-02 1.85054753e+02] [ 8.19506820e-01 5.71647462e-01 -4.03454124e-02 7.59919015e+01] [ 4.78430943e-02 1.90921119e-03 9.98853039e-01 7.65205619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.37710568099996 meters 0.03180412626781861 Centerline is valid? [True, True] Translation: X:185.07, Y:76.01, Z:7.66 [[ 5.73362172e-01 -8.18932349e-01 -2.46095054e-02 1.85071779e+02] [ 8.18028227e-01 5.73886736e-01 -3.85205779e-02 7.60143838e+01] [ 4.56688161e-02 1.95497214e-03 9.98954722e-01 7.65739469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.40710568099996 meters 0.03306460091507162 Centerline is valid? [True, True] Translation: X:185.09, Y:76.04, Z:7.66 [[ 5.73553493e-01 -8.18777755e-01 -2.52859461e-02 1.85085923e+02] [ 8.17821884e-01 5.74106996e-01 -3.96045803e-02 7.60379769e+01] [ 4.69441880e-02 2.03594526e-03 9.98895439e-01 7.65652262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.43710568099996 meters 0.031258268803379494 Centerline is valid? [True, True] Translation: X:185.11, Y:76.06, Z:7.66 [[ 5.71944542e-01 -8.19920114e-01 -2.47072460e-02 1.85109331e+02] [ 8.19007783e-01 5.72474775e-01 -3.87154037e-02 7.60571763e+01] [ 4.58878133e-02 1.90763706e-03 9.98944778e-01 7.65902176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.46710568099996 meters 0.029188383245404265 Centerline is valid? [True, True] Translation: X:185.13, Y:76.07, Z:7.66 [[ 5.67923914e-01 -8.22740153e-01 -2.36868903e-02 1.85134438e+02] [ 8.21902918e-01 5.68415339e-01 -3.71429105e-02 7.60742054e+01] [ 4.40229556e-02 1.62602284e-03 9.99029196e-01 7.66376831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.49710568099997 meters 0.0281446791404222 Centerline is valid? [True, True] Translation: X:185.15, Y:76.09, Z:7.66 [[ 5.64674114e-01 -8.24984630e-01 -2.33131914e-02 1.85153057e+02] [ 8.24174372e-01 5.65153322e-01 -3.65831513e-02 7.60945326e+01] [ 4.33560651e-02 1.44342362e-03 9.99058641e-01 7.66497706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.52710568099997 meters 0.024918279521448438 Centerline is valid? [True, True] Translation: X:185.18, Y:76.11, Z:7.67 [[ 5.56940515e-01 -8.30232951e-01 -2.30327785e-02 1.85176365e+02] [ 8.29445902e-01 5.57415626e-01 -3.61568132e-02 7.61120650e+01] [ 4.28574083e-02 1.03275044e-03 9.99080665e-01 7.66646300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.55710568099997 meters 0.022702546610870573 Centerline is valid? [True, True] Translation: X:185.20, Y:76.13, Z:7.67 [[ 5.53782154e-01 -8.32343546e-01 -2.30118815e-02 1.85198567e+02] [ 8.31558540e-01 5.54259360e-01 -3.61518572e-02 7.61326893e+01] [ 4.28453158e-02 8.84526735e-04 9.99081326e-01 7.66808563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.58710568099997 meters 0.021607408064141846 Centerline is valid? [True, True] Translation: X:185.22, Y:76.15, Z:7.67 [[ 5.49702251e-01 -8.35039893e-01 -2.31476111e-02 1.85222642e+02] [ 8.34246895e-01 5.50188965e-01 -3.63898509e-02 7.61507827e+01] [ 4.31225374e-02 6.92760311e-04 9.99069551e-01 7.67071842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.61710568099997 meters 0.021334489637850503 Centerline is valid? [True, True] Translation: X:185.24, Y:76.17, Z:7.67 [[ 5.50079285e-01 -8.34780061e-01 -2.35590542e-02 1.85241121e+02] [ 8.33957163e-01 5.50583055e-01 -3.70641438e-02 7.61721666e+01] [ 4.39116243e-02 7.40975785e-04 9.99035145e-01 7.67436344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.64710568099997 meters 0.02241750866330387 Centerline is valid? [True, True] Translation: X:185.25, Y:76.20, Z:7.68 [[ 5.52536464e-01 -8.33153625e-01 -2.36324575e-02 1.85253406e+02] [ 8.32322797e-01 5.53040908e-01 -3.72090715e-02 7.61987969e+01] [ 4.40705886e-02 8.89535618e-04 9.99028024e-01 7.67551684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.67710568099997 meters 0.025486562382281596 Centerline is valid? [True, True] Translation: X:185.26, Y:76.23, Z:7.67 [[ 5.60050297e-01 -8.28123331e-01 -2.35672007e-02 1.85258298e+02] [ 8.27291376e-01 5.60544430e-01 -3.71338143e-02 7.62297017e+01] [ 4.39618411e-02 1.29986178e-03 9.99032365e-01 7.67361785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.70710568099997 meters 0.028662898906463022 Centerline is valid? [True, True] Translation: X:185.27, Y:76.26, Z:7.67 [[ 5.63524264e-01 -8.25750266e-01 -2.40188102e-02 1.85267942e+02] [ 8.24882558e-01 5.64033823e-01 -3.78762657e-02 7.62569378e+01] [ 4.48237578e-02 1.53149716e-03 9.98993736e-01 7.67286280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.73710568099997 meters 0.031063945728290375 Centerline is valid? [True, True] Translation: X:185.28, Y:76.28, Z:7.68 [[ 5.67684632e-01 -8.22885251e-01 -2.43725708e-02 1.85282685e+02] [ 8.21987760e-01 5.68204732e-01 -3.84643186e-02 7.62816732e+01] [ 4.55003305e-02 1.80164763e-03 9.98962699e-01 7.67545239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.76710568099998 meters 0.030706776994233662 Centerline is valid? [True, True] Translation: X:185.30, Y:76.30, Z:7.68 [[ 5.67693566e-01 -8.22883450e-01 -2.42248344e-02 1.85299216e+02] [ 8.21995556e-01 5.68207325e-01 -3.82588840e-02 7.63042963e+01] [ 4.52473308e-02 1.80661602e-03 9.98974181e-01 7.67709132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.79710568099998 meters 0.031137573179026944 Centerline is valid? [True, True] Translation: X:185.31, Y:76.33, Z:7.68 [[ 5.67425242e-01 -8.23075070e-01 -2.40004846e-02 1.85313002e+02] [ 8.22202383e-01 5.67929766e-01 -3.79344615e-02 7.63270514e+01] [ 4.48534992e-02 1.79171540e-03 9.98991969e-01 7.67768993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.82710568099998 meters 0.03146976903550849 Centerline is valid? [True, True] Translation: X:185.33, Y:76.35, Z:7.68 [[ 5.67482294e-01 -8.23055305e-01 -2.33197480e-02 1.85329317e+02] [ 8.22230261e-01 5.67958516e-01 -3.68852650e-02 7.63494213e+01] [ 4.36032625e-02 1.75753229e-03 9.99047380e-01 7.67930567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.85710568099998 meters 0.03161822751182846 Centerline is valid? [True, True] Translation: X:185.34, Y:76.37, Z:7.68 [[ 5.67146381e-01 -8.23309114e-01 -2.25185625e-02 1.85344031e+02] [ 8.22538853e-01 5.67590727e-01 -3.56455020e-02 7.63715603e+01] [ 4.21285939e-02 1.69382491e-03 9.99110761e-01 7.68140290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.88710568099998 meters 0.03120049986693002 Centerline is valid? [True, True] Translation: X:185.36, Y:76.39, Z:7.68 [[ 5.67697293e-01 -8.22926443e-01 -2.26241598e-02 1.85364555e+02] [ 8.22147566e-01 5.68145250e-01 -3.58379036e-02 7.63932403e+01] [ 4.23457675e-02 1.74468295e-03 9.99101492e-01 7.68196042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.91710568099998 meters 0.03343949027939356 Centerline is valid? [True, True] Translation: X:185.38, Y:76.42, Z:7.68 [[ 5.68212778e-01 -8.22570158e-01 -2.26400889e-02 1.85377918e+02] [ 8.21788877e-01 5.68660834e-01 -3.58872962e-02 7.64174629e+01] [ 4.23943508e-02 1.78624701e-03 9.99099359e-01 7.68286876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.94710568099998 meters 0.03292297970413246 Centerline is valid? [True, True] Translation: X:185.40, Y:76.44, Z:7.68 [[ 5.70197432e-01 -8.21197662e-01 -2.25674389e-02 1.85395373e+02] [ 8.20419675e-01 5.70640714e-01 -3.57873303e-02 7.64398320e+01] [ 4.22663714e-02 1.89107301e-03 9.99104588e-01 7.68478790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.97710568099998 meters 0.03565136485251847 Centerline is valid? [True, True] Translation: X:185.41, Y:76.46, Z:7.69 [[ 5.72404069e-01 -8.19682127e-01 -2.17897277e-02 1.85408817e+02] [ 8.18954808e-01 5.72815344e-01 -3.45775043e-02 7.64644263e+01] [ 4.08240526e-02 1.94750192e-03 9.99164453e-01 7.68575107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.00710568099998 meters 0.036124346624300974 Centerline is valid? [True, True] Translation: X:185.42, Y:76.49, Z:7.69 [[ 5.72202136e-01 -8.19818476e-01 -2.19631838e-02 1.85424889e+02] [ 8.19078567e-01 5.72620112e-01 -3.48784710e-02 7.64871444e+01] [ 4.11705758e-02 1.96796248e-03 9.99150194e-01 7.68743770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03710568099996 meters 0.036219365439207105 Centerline is valid? [True, True] Translation: X:185.44, Y:76.51, Z:7.69 [[ 5.71704687e-01 -8.20139622e-01 -2.29074608e-02 1.85442839e+02] [ 8.19333683e-01 5.72159783e-01 -3.64074048e-02 7.65095898e+01] [ 4.29658830e-02 2.04542972e-03 9.99074446e-01 7.68525938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.06710568099996 meters 0.03675577629514582 Centerline is valid? [True, True] Translation: X:185.46, Y:76.53, Z:7.68 [[ 5.71378701e-01 -8.20344333e-01 -2.36971696e-02 1.85456237e+02] [ 8.19480682e-01 5.71865974e-01 -3.76924413e-02 7.65333335e+01] [ 4.44723856e-02 2.11728542e-03 9.99008370e-01 7.68266681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.09710568099996 meters 0.03552718914553727 Centerline is valid? [True, True] Translation: X:185.47, Y:76.56, Z:7.68 [[ 5.71942574e-01 -8.19934290e-01 -2.42786362e-02 1.85472172e+02] [ 8.19026061e-01 5.72453352e-01 -3.86454514e-02 7.65570772e+01] [ 4.55851174e-02 2.21814316e-03 9.98957996e-01 7.68005718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.12710568099996 meters 0.03771586878926803 Centerline is valid? [True, True] Translation: X:185.49, Y:76.58, Z:7.68 [[ 5.71368914e-01 -8.20329219e-01 -2.44445531e-02 1.85485637e+02] [ 8.19407615e-01 5.71887275e-01 -3.89371959e-02 7.65802293e+01] [ 4.59208484e-02 2.21745042e-03 9.98942620e-01 7.68103765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.15710568099996 meters 0.035022589819132935 Centerline is valid? [True, True] Translation: X:185.51, Y:76.60, Z:7.68 [[ 5.70017972e-01 -8.21255834e-01 -2.48669857e-02 1.85505626e+02] [ 8.20301649e-01 5.70555898e-01 -3.96380040e-02 7.66019855e+01] [ 4.67409474e-02 2.19594531e-03 9.98904631e-01 7.68224520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.18710568099996 meters 0.03296824704784342 Centerline is valid? [True, True] Translation: X:185.52, Y:76.62, Z:7.68 [[ 5.64886323e-01 -8.24740702e-01 -2.65747317e-02 1.85524946e+02] [ 8.23653047e-01 5.65507327e-01 -4.23924714e-02 7.66226992e+01] [ 4.99910022e-02 2.05856855e-03 9.98747547e-01 7.67690632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.21710568099996 meters 0.02680704019074156 Centerline is valid? [True, True] Translation: X:185.55, Y:76.64, Z:7.68 [[ 5.54886628e-01 -8.31475301e-01 -2.73798023e-02 1.85553362e+02] [ 8.30327077e-01 5.55559643e-01 -4.37084483e-02 7.66388031e+01] [ 5.15536084e-02 1.51904225e-03 9.98669073e-01 7.67640241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.24710568099997 meters 0.023994744453715692 Centerline is valid? [True, True] Translation: X:185.57, Y:76.66, Z:7.68 [[ 5.48944835e-01 -8.35452352e-01 -2.60563857e-02 1.85574945e+02] [ 8.34415818e-01 5.49561778e-01 -4.16184481e-02 7.66581179e+01] [ 4.90898240e-02 1.10437177e-03 9.98793757e-01 7.68098397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.27710568099997 meters 0.020173543692523808 Centerline is valid? [True, True] Translation: X:185.60, Y:76.67, Z:7.69 [[ 5.37463054e-01 -8.42960838e-01 -2.34625561e-02 1.85601949e+02] [ 8.42126259e-01 5.37974783e-01 -3.75032968e-02 7.66732057e+01] [ 4.42360740e-02 3.98201879e-04 9.99021026e-01 7.68914586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.30710568099997 meters 0.019738385193293753 Centerline is valid? [True, True] Translation: X:185.62, Y:76.69, Z:7.69 [[ 5.33278395e-01 -8.45619650e-01 -2.32714691e-02 1.85621466e+02] [ 8.44799850e-01 5.33785885e-01 -3.72268927e-02 7.66930378e+01] [ 4.39017736e-02 1.92564013e-04 9.99035834e-01 7.69052736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.33710568099997 meters 0.019614910483282868 Centerline is valid? [True, True] Translation: X:185.64, Y:76.71, Z:7.69 [[ 5.30246390e-01 -8.47515597e-01 -2.35813151e-02 1.85640693e+02] [ 8.46674625e-01 5.30770487e-01 -3.77461244e-02 7.67136564e+01] [ 4.45066953e-02 4.90450565e-05 9.99009085e-01 7.69197784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.36710568099997 meters 0.01958548905035285 Centerline is valid? [True, True] Translation: X:185.66, Y:76.74, Z:7.69 [[ 5.29286422e-01 -8.48136052e-01 -2.28281000e-02 1.85655614e+02] [ 8.47347333e-01 5.29778480e-01 -3.65685614e-02 7.67375671e+01] [ 4.31089514e-02 1.19133363e-05 9.99070377e-01 7.69483338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.39710568099997 meters 0.019584195719714502 Centerline is valid? [True, True] Translation: X:185.67, Y:76.76, Z:7.70 [[ 5.27174240e-01 -8.49505956e-01 -2.06627981e-02 1.85667391e+02] [ 8.48859958e-01 5.27579022e-01 -3.31232256e-02 7.67615655e+01] [ 3.90396363e-02 -7.81106456e-05 9.99237660e-01 7.69957510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.42710568099997 meters 0.019638770330694798 Centerline is valid? [True, True] Translation: X:185.68, Y:76.79, Z:7.70 [[ 5.25291571e-01 -8.50686864e-01 -2.00156022e-02 1.85681521e+02] [ 8.50080886e-01 5.25672746e-01 -3.21037581e-02 7.67854774e+01] [ 3.78319019e-02 -1.51047341e-04 9.99284106e-01 7.70172930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.45710568099997 meters 0.020563663456077342 Centerline is valid? [True, True] Translation: X:185.70, Y:76.81, Z:7.70 [[ 5.19021363e-01 -8.54513481e-01 -2.05799898e-02 1.85699870e+02] [ 8.53874784e-01 5.19429041e-01 -3.30351976e-02 7.68076236e+01] [ 3.89188661e-02 -4.26761066e-04 9.99242283e-01 7.70197445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.48710568099997 meters 0.023924825122637605 Centerline is valid? [True, True] Translation: X:185.72, Y:76.83, Z:7.70 [[ 5.09073739e-01 -8.60424401e-01 -2.26666739e-02 1.85720274e+02] [ 8.59653933e-01 5.09577230e-01 -3.64164937e-02 7.68287170e+01] [ 4.28840606e-02 -9.46814761e-04 9.99079607e-01 7.70004188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.51710568099998 meters 0.02577261739452077 Centerline is valid? [True, True] Translation: X:185.73, Y:76.85, Z:7.70 [[ 5.05730001e-01 -8.62372633e-01 -2.34650548e-02 1.85734548e+02] [ 8.61547663e-01 5.06272805e-01 -3.77289321e-02 7.68523074e+01] [ 4.44161176e-02 -1.13561027e-03 9.99012472e-01 7.69856192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.54710568099998 meters 0.027064786995383616 Centerline is valid? [True, True] Translation: X:185.74, Y:76.88, Z:7.70 [[ 5.02483941e-01 -8.64292419e-01 -2.25500288e-02 1.85742811e+02] [ 8.63531642e-01 5.02988138e-01 -3.62772114e-02 7.68806730e+01] [ 4.26965158e-02 -1.24394721e-03 9.99087314e-01 7.69957067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.57710568099998 meters 0.02731187766528326 Centerline is valid? [True, True] Translation: X:185.75, Y:76.91, Z:7.70 [[ 5.01805399e-01 -8.64712380e-01 -2.15369832e-02 1.85750367e+02] [ 8.64017760e-01 5.02265904e-01 -3.46737922e-02 7.69078790e+01] [ 4.08001498e-02 -1.20883986e-03 9.99166596e-01 7.70403788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.60710568099998 meters 0.027657399660132673 Centerline is valid? [True, True] Translation: X:185.76, Y:76.93, Z:7.71 [[ 5.00958142e-01 -8.65202794e-01 -2.15653915e-02 1.85761780e+02] [ 8.64505544e-01 5.01420582e-01 -3.47500214e-02 7.69338620e+01] [ 4.08791467e-02 -1.23509440e-03 9.99163335e-01 7.70566926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.63710568099998 meters 0.028917828613644857 Centerline is valid? [True, True] Translation: X:185.77, Y:76.96, Z:7.70 [[ 4.98662176e-01 -8.66502599e-01 -2.25672302e-02 1.85768081e+02] [ 8.65739020e-01 4.99170630e-01 -3.63954883e-02 7.69627986e+01] [ 4.28016838e-02 -1.38827838e-03 9.99082623e-01 7.70344764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.66710568099998 meters 0.029409667284262933 Centerline is valid? [True, True] Translation: X:185.78, Y:76.99, Z:7.70 [[ 4.97940320e-01 -8.66894776e-01 -2.34282863e-02 1.85778332e+02] [ 8.66070856e-01 4.98489030e-01 -3.78148191e-02 7.69898811e+01] [ 4.44602128e-02 -1.46103283e-03 9.99010087e-01 7.70110335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.69710568099998 meters 0.029451664949745614 Centerline is valid? [True, True] Translation: X:185.78, Y:77.02, Z:7.70 [[ 4.98294961e-01 -8.66639492e-01 -2.52610749e-02 1.85780479e+02] [ 8.65679589e-01 4.98932497e-01 -4.08070208e-02 7.70203038e+01] [ 4.79685469e-02 -1.53406405e-03 9.98847669e-01 7.69605627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.72710568099998 meters 0.027153592515300112 Centerline is valid? [True, True] Translation: X:185.78, Y:77.05, Z:7.70 [[ 5.01721167e-01 -8.64678468e-01 -2.46377290e-02 1.85780752e+02] [ 8.63761497e-01 5.02324065e-01 -3.98322692e-02 7.70535788e+01] [ 4.68182297e-02 -1.29642906e-03 9.98902584e-01 7.69620747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.75710568099998 meters 0.02618070541002967 Centerline is valid? [True, True] Translation: X:185.79, Y:77.08, Z:7.70 [[ 5.03173847e-01 -8.63843836e-01 -2.42879746e-02 1.85788991e+02] [ 8.62950421e-01 5.03758293e-01 -3.92957159e-02 7.70818102e+01] [ 4.61806306e-02 -1.18674134e-03 9.98932401e-01 7.69833370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.78710568099996 meters 0.022528861021287726 Centerline is valid? [True, True] Translation: X:185.78, Y:77.12, Z:7.70 [[ 5.07514807e-01 -8.61299386e-01 -2.43328616e-02 1.85784639e+02] [ 8.60398345e-01 5.08096922e-01 -3.93980394e-02 7.71183897e+01] [ 4.62969592e-02 -9.40865503e-04 9.98927278e-01 7.69997470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.81710568099996 meters 0.021594794636740546 Centerline is valid? [True, True] Translation: X:185.79, Y:77.15, Z:7.70 [[ 5.10400312e-01 -8.59598993e-01 -2.41058636e-02 1.85788806e+02] [ 8.58711565e-01 5.10968673e-01 -3.90571652e-02 7.71482493e+01] [ 4.58908410e-02 -7.65194608e-04 9.98946167e-01 7.70075737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.84710568099996 meters 0.018954425313182772 Centerline is valid? [True, True] Translation: X:185.78, Y:77.19, Z:7.70 [[ 5.17827942e-01 -8.55131051e-01 -2.45989639e-02 1.85782876e+02] [ 8.54200885e-01 5.18411761e-01 -3.98759740e-02 7.71864362e+01] [ 4.68515757e-02 -3.63563207e-04 9.98901796e-01 7.69931356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.87710568099996 meters 0.01854024636121093 Centerline is valid? [True, True] Translation: X:185.79, Y:77.22, Z:7.70 [[ 5.21660411e-01 -8.52769048e-01 -2.56001155e-02 1.85788144e+02] [ 8.51757302e-01 5.22288168e-01 -4.15279127e-02 7.72155148e+01] [ 4.87843560e-02 -1.41617242e-04 9.98809324e-01 7.69634710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.90710568099996 meters 0.01886206237031534 Centerline is valid? [True, True] Translation: X:185.78, Y:77.25, Z:7.70 [[ 5.29909294e-01 -8.47647638e-01 -2.62606397e-02 1.85784151e+02] [ 8.46575211e-01 5.30559472e-01 -4.26269681e-02 7.72523869e+01] [ 5.00654800e-02 3.56819951e-04 9.98745874e-01 7.69588550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.93710568099996 meters 0.01980278133125009 Centerline is valid? [True, True] Translation: X:185.79, Y:77.28, Z:7.70 [[ 5.33871967e-01 -8.45175728e-01 -2.56653721e-02 1.85789502e+02] [ 8.44146994e-01 5.34488201e-01 -4.16919246e-02 7.72825174e+01] [ 4.89548414e-02 5.92803068e-04 9.98800817e-01 7.69811123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.96710568099996 meters 0.022781550617190716 Centerline is valid? [True, True] Translation: X:185.79, Y:77.32, Z:7.70 [[ 5.40851562e-01 -8.40794599e-01 -2.33244688e-02 1.85786618e+02] [ 8.39939776e-01 5.41353494e-01 -3.79152746e-02 7.73167915e+01] [ 4.45057407e-02 9.15386367e-04 9.99008709e-01 7.70459714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.99710568099997 meters 0.02419122251049621 Centerline is valid? [True, True] Translation: X:185.79, Y:77.35, Z:7.71 [[ 5.44061737e-01 -8.38799397e-01 -2.03076118e-02 1.85791103e+02] [ 8.38149317e-01 5.44439776e-01 -3.30310866e-02 7.73478811e+01] [ 3.87627271e-02 9.50139349e-04 9.99247991e-01 7.71222549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.02710568099997 meters 0.024238879462697784 Centerline is valid? [True, True] Translation: X:185.80, Y:77.37, Z:7.71 [[ 5.43626235e-01 -8.39092931e-01 -1.98385817e-02 1.85804094e+02] [ 8.38471857e-01 5.43987322e-01 -3.22914678e-02 7.73729100e+01] [ 3.78874793e-02 9.20396616e-04 9.99281588e-01 7.71361086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.05710568099997 meters 0.02385762836052909 Centerline is valid? [True, True] Translation: X:185.82, Y:77.40, Z:7.71 [[ 5.42506696e-01 -8.39801092e-01 -2.05087789e-02 1.85818457e+02] [ 8.39136708e-01 5.42893439e-01 -3.34110563e-02 7.73975110e+01] [ 3.91927231e-02 9.16052503e-04 9.99231250e-01 7.71023087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.08710568099997 meters 0.024135164697671827 Centerline is valid? [True, True] Translation: X:185.83, Y:77.42, Z:7.71 [[ 5.42506414e-01 -8.39779398e-01 -2.13858304e-02 1.85831153e+02] [ 8.39055844e-01 5.42926901e-01 -3.48664745e-02 7.74218570e+01] [ 4.08910896e-02 9.71380045e-04 9.99163137e-01 7.70952847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.11710568099997 meters 0.024135164697671827 Centerline is valid? [True, True] Translation: X:185.85, Y:77.45, Z:7.71 [[ 5.42196418e-01 -8.39979878e-01 -2.13740284e-02 1.85845289e+02] [ 8.39256195e-01 5.42616682e-01 -3.48737082e-02 7.74453972e+01] [ 4.08911175e-02 9.70113974e-04 9.99163138e-01 7.71054588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.14710568099997 meters 0.02582811466290096 Centerline is valid? [True, True] Translation: X:185.85, Y:77.47, Z:7.71 [[ 5.44191610e-01 -8.38643584e-01 -2.30744761e-02 1.85852352e+02] [ 8.37797493e-01 5.44679320e-01 -3.76802245e-02 7.74741221e+01] [ 4.41684684e-02 1.17352382e-03 9.99023408e-01 7.70651328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.17710568099997 meters 0.028967334008429622 Centerline is valid? [True, True] Translation: X:185.86, Y:77.50, Z:7.70 [[ 5.48470209e-01 -8.35816224e-01 -2.43242506e-02 1.85859530e+02] [ 8.34871893e-01 5.49007295e-01 -3.97481119e-02 7.75029371e+01] [ 4.65763079e-02 1.49302213e-03 9.98913619e-01 7.70274905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.20710568099997 meters 0.02774033598887263 Centerline is valid? [True, True] Translation: X:185.88, Y:77.53, Z:7.70 [[ 5.50434620e-01 -8.34498410e-01 -2.51819812e-02 1.85876302e+02] [ 8.33483547e-01 5.51007796e-01 -4.11774837e-02 7.75259499e+01] [ 4.82380127e-02 1.67674560e-03 9.98834462e-01 7.70294955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.23710568099997 meters 0.030085654902171247 Centerline is valid? [True, True] Translation: X:185.89, Y:77.55, Z:7.70 [[ 5.51449062e-01 -8.33810236e-01 -2.57763735e-02 1.85888227e+02] [ 8.32745444e-01 5.52048278e-01 -4.21630596e-02 7.75511391e+01] [ 4.93857933e-02 1.78562207e-03 9.98778181e-01 7.70300820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.26710568099998 meters 0.028724293379163414 Centerline is valid? [True, True] Translation: X:185.91, Y:77.57, Z:7.71 [[ 5.50589287e-01 -8.34408484e-01 -2.47773739e-02 1.85905594e+02] [ 8.33424387e-01 5.51143970e-01 -4.05476885e-02 7.75747885e+01] [ 4.74892355e-02 1.67505521e-03 9.98870345e-01 7.70634653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.29710568099998 meters 0.02867978194090421 Centerline is valid? [True, True] Translation: X:185.92, Y:77.60, Z:7.71 [[ 5.49769483e-01 -8.35008107e-01 -2.26931163e-02 1.85922532e+02] [ 8.34182132e-01 5.50235597e-01 -3.71612534e-02 7.75981506e+01] [ 4.35165082e-02 1.49993089e-03 9.99051582e-01 7.71168312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.32710568099998 meters 0.030300726710931054 Centerline is valid? [True, True] Translation: X:185.94, Y:77.62, Z:7.71 [[ 5.52647474e-01 -8.33101707e-01 -2.28542329e-02 1.85936649e+02] [ 8.32261093e-01 5.53117285e-01 -3.74531923e-02 7.76235032e+01] [ 4.38433897e-02 1.67772321e-03 9.99037008e-01 7.71040413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.35710568099998 meters 0.03128897443405792 Centerline is valid? [True, True] Translation: X:185.95, Y:77.65, Z:7.71 [[ 5.54655354e-01 -8.31741607e-01 -2.37347494e-02 1.85951058e+02] [ 8.30832331e-01 5.55159796e-01 -3.89260667e-02 7.76488473e+01] [ 4.55530079e-02 1.87095409e-03 9.98960171e-01 7.70994873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.38710568099998 meters 0.03556255751983676 Centerline is valid? [True, True] Translation: X:185.96, Y:77.67, Z:7.71 [[ 5.60316379e-01 -8.27889228e-01 -2.53964761e-02 1.85962429e+02] [ 8.26842734e-01 5.60886691e-01 -4.16798998e-02 7.76742864e+01] [ 4.87508855e-02 2.35503883e-03 9.98808192e-01 7.70621702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.41710568099998 meters 0.03969489111026285 Centerline is valid? [True, True] Translation: X:185.97, Y:77.70, Z:7.70 [[ 5.62873541e-01 -8.26117616e-01 -2.65153110e-02 1.85972353e+02] [ 8.24974100e-01 5.63491595e-01 -4.35311027e-02 7.77004101e+01] [ 5.09029657e-02 2.62806105e-03 9.98700146e-01 7.70393582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.44710568099998 meters 0.0397726686399566 Centerline is valid? [True, True] Translation: X:185.99, Y:77.73, Z:7.70 [[ 5.66241253e-01 -8.23793686e-01 -2.71073222e-02 1.85987147e+02] [ 8.22594843e-01 5.66882248e-01 -4.45223640e-02 7.77251757e+01] [ 5.20439021e-02 2.91205566e-03 9.98640552e-01 7.70319357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.47710568099998 meters 0.04109832371493402 Centerline is valid? [True, True] Translation: X:186.00, Y:77.75, Z:7.71 [[ 5.67047177e-01 -8.23260551e-01 -2.64492682e-02 1.86000901e+02] [ 8.22117834e-01 5.67656291e-01 -4.34580491e-02 7.77490960e+01] [ 5.07913909e-02 2.89834902e-03 9.98705079e-01 7.70508116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.50710568099998 meters 0.04049610785351797 Centerline is valid? [True, True] Translation: X:186.02, Y:77.77, Z:7.71 [[ 5.66106963e-01 -8.23918110e-01 -2.61123380e-02 1.86023730e+02] [ 8.22804000e-01 5.66701883e-01 -4.29249734e-02 7.77687147e+01] [ 5.01645741e-02 2.81479013e-03 9.98736999e-01 7.70814416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53710568099996 meters 0.03881044654458506 Centerline is valid? [True, True] Translation: X:186.05, Y:77.79, Z:7.71 [[ 5.61831218e-01 -8.26831076e-01 -2.63828491e-02 1.86045368e+02] [ 8.25695300e-01 5.62444319e-01 -4.34011378e-02 7.77878107e+01] [ 5.07242930e-02 2.59991956e-03 9.98709310e-01 7.70869082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.56710568099996 meters 0.03808807179458979 Centerline is valid? [True, True] Translation: X:186.06, Y:77.81, Z:7.71 [[ 5.59238158e-01 -8.28606991e-01 -2.57514508e-02 1.86061808e+02] [ 8.27525357e-01 5.59825605e-01 -4.23919310e-02 7.78103544e+01] [ 4.95425719e-02 2.39720692e-03 9.98769136e-01 7.71052429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.59710568099996 meters 0.03331870193081319 Centerline is valid? [True, True] Translation: X:186.09, Y:77.83, Z:7.71 [[ 5.55497899e-01 -8.31142263e-01 -2.49924716e-02 1.86087007e+02] [ 8.30124526e-01 5.56055774e-01 -4.11733920e-02 7.78285477e+01] [ 4.81181543e-02 2.12486915e-03 9.98839391e-01 7.71433611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.62710568099996 meters 0.031691101686822966 Centerline is valid? [True, True] Translation: X:186.11, Y:77.85, Z:7.72 [[ 5.52582855e-01 -8.33079043e-01 -2.51295817e-02 1.86109550e+02] [ 8.32050697e-01 5.53150408e-01 -4.14278183e-02 7.78485417e+01] [ 4.84130856e-02 1.98321614e-03 9.98825430e-01 7.71641345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.65710568099996 meters 0.030855129013008374 Centerline is valid? [True, True] Translation: X:186.13, Y:77.87, Z:7.72 [[ 5.50610779e-01 -8.34383642e-01 -2.51338026e-02 1.86127333e+02] [ 8.33355238e-01 5.51180914e-01 -4.14565837e-02 7.78710006e+01] [ 4.84439675e-02 1.88105582e-03 9.98824130e-01 7.71837953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.68710568099996 meters 0.031359099705763706 Centerline is valid? [True, True] Translation: X:186.15, Y:77.89, Z:7.72 [[ 5.48432447e-01 -8.35834099e-01 -2.45603269e-02 1.86145130e+02] [ 8.34852350e-01 5.48979394e-01 -4.05361436e-02 7.78927108e+01] [ 4.73646045e-02 1.72708974e-03 9.98876174e-01 7.72080700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.71710568099996 meters 0.029052740041865185 Centerline is valid? [True, True] Translation: X:186.17, Y:77.91, Z:7.72 [[ 5.47526918e-01 -8.36418528e-01 -2.48660642e-02 1.86165109e+02] [ 8.35411977e-01 5.48088619e-01 -4.10572063e-02 7.79140136e+01] [ 4.79698149e-02 1.70651776e-03 9.98847328e-01 7.72085777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.74710568099997 meters 0.027244260927779436 Centerline is valid? [True, True] Translation: X:186.19, Y:77.94, Z:7.72 [[ 5.43781341e-01 -8.38804954e-01 -2.66101801e-02 1.86185716e+02] [ 8.37653207e-01 5.44429630e-01 -4.39713915e-02 7.79353273e+01] [ 5.13707916e-02 1.62071952e-03 9.98678334e-01 7.71554743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.77710568099997 meters 0.025466006633358525 Centerline is valid? [True, True] Translation: X:186.20, Y:77.96, Z:7.72 [[ 5.39966251e-01 -8.41269915e-01 -2.64835400e-02 1.86204736e+02] [ 8.40130351e-01 5.40613517e-01 -4.37951937e-02 7.79569201e+01] [ 5.11609385e-02 1.39830079e-03 9.98689443e-01 7.71561813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.80710568099997 meters 0.020861166226041956 Centerline is valid? [True, True] Translation: X:186.23, Y:77.97, Z:7.72 [[ 5.30441857e-01 -8.47356071e-01 -2.48822464e-02 1.86231272e+02] [ 8.46355267e-01 5.31024553e-01 -4.11787038e-02 7.79733880e+01] [ 4.81061084e-02 7.83687807e-04 9.98841924e-01 7.72134608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.83710568099997 meters 0.019104520140391136 Centerline is valid? [True, True] Translation: X:186.25, Y:77.99, Z:7.72 [[ 5.25120827e-01 -8.50675783e-01 -2.44709941e-02 1.86252467e+02] [ 8.49709869e-01 5.25690472e-01 -4.05298151e-02 7.79940092e+01] [ 4.73419006e-02 4.89804824e-04 9.98878624e-01 7.72452405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.86710568099997 meters 0.017764831196464534 Centerline is valid? [True, True] Translation: X:186.28, Y:78.01, Z:7.73 [[ 5.14494273e-01 -8.57148782e-01 -2.43230124e-02 1.86279503e+02] [ 8.56200200e-01 5.15068888e-01 -4.03144905e-02 7.80116066e+01] [ 4.70835434e-02 -8.37936063e-05 9.98890951e-01 7.72571508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.89710568099997 meters 0.01958296865039959 Centerline is valid? [True, True] Translation: X:186.30, Y:78.03, Z:7.73 [[ 5.04688767e-01 -8.62952096e-01 -2.45546207e-02 1.86303122e+02] [ 8.61990662e-01 5.05285372e-01 -4.07282539e-02 7.80296875e+01] [ 4.75536227e-02 -6.10761499e-04 9.98868500e-01 7.72565297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.92710568099997 meters 0.021445089798681233 Centerline is valid? [True, True] Translation: X:186.32, Y:78.05, Z:7.72 [[ 5.01065631e-01 -8.65041487e-01 -2.52281422e-02 1.86321315e+02] [ 8.64027945e-01 5.01699668e-01 -4.18706782e-02 7.80509842e+01] [ 4.88768243e-02 -8.17862003e-04 9.98804479e-01 7.72440816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.95710568099997 meters 0.023912639068413063 Centerline is valid? [True, True] Translation: X:186.34, Y:78.07, Z:7.73 [[ 4.94727563e-01 -8.68662563e-01 -2.58841611e-02 1.86338653e+02] [ 8.67599156e-01 4.95402799e-01 -4.29857018e-02 7.80734443e+01] [ 5.01631557e-02 -1.19086482e-03 9.98740326e-01 7.72633280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.98710568099997 meters 0.025062384555038397 Centerline is valid? [True, True] Translation: X:186.35, Y:78.10, Z:7.73 [[ 4.91688463e-01 -8.70391145e-01 -2.57237253e-02 1.86354494e+02] [ 8.69341532e-01 4.92359072e-01 -4.27533097e-02 7.80973613e+01] [ 4.98774117e-02 -1.34139361e-03 9.98754447e-01 7.72862054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.01710568099998 meters 0.02725954958846489 Centerline is valid? [True, True] Translation: X:186.37, Y:78.12, Z:7.73 [[ 4.88080605e-01 -8.72427895e-01 -2.54340724e-02 1.86367248e+02] [ 8.71402871e-01 4.88740498e-01 -4.23055736e-02 7.81213934e+01] [ 4.93392237e-02 -1.51479376e-03 9.98780930e-01 7.72917037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.04710568099998 meters 0.02861298929953245 Centerline is valid? [True, True] Translation: X:186.38, Y:78.15, Z:7.73 [[ 4.86069963e-01 -8.73547856e-01 -2.54977504e-02 1.86380633e+02] [ 8.72517501e-01 4.86735590e-01 -4.24461578e-02 7.81463929e+01] [ 4.94894127e-02 -1.61543116e-03 9.98773342e-01 7.72982756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.07710568099998 meters 0.030875356772322927 Centerline is valid? [True, True] Translation: X:186.39, Y:78.17, Z:7.73 [[ 4.82492522e-01 -8.75517432e-01 -2.58880772e-02 1.86393827e+02] [ 8.74456377e-01 4.83183074e-01 -4.31295983e-02 7.81714289e+01] [ 5.02693959e-02 -1.82828553e-03 9.98734021e-01 7.72995921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.10710568099998 meters 0.03001484502378822 Centerline is valid? [True, True] Translation: X:186.40, Y:78.20, Z:7.73 [[ 4.79318426e-01 -8.77273770e-01 -2.53885508e-02 1.86402096e+02] [ 8.76254138e-01 4.79986354e-01 -4.23294874e-02 7.82000829e+01] [ 4.93207070e-02 -1.95751941e-03 9.98781075e-01 7.73424193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.13710568099998 meters 0.036328981003448876 Centerline is valid? [True, True] Translation: X:186.42, Y:78.22, Z:7.73 [[ 4.77347388e-01 -8.78354489e-01 -2.51567542e-02 1.86420411e+02] [ 8.77353548e-01 4.78005483e-01 -4.19703514e-02 7.82211350e+01] [ 4.88899130e-02 -2.03692995e-03 9.98802096e-01 7.73372883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.16710568099998 meters 0.03453809011606694 Centerline is valid? [True, True] Translation: X:186.42, Y:78.25, Z:7.74 [[ 4.73435491e-01 -8.80479403e-01 -2.47962963e-02 1.86424047e+02] [ 8.79509089e-01 4.74079224e-01 -4.13841904e-02 7.82511777e+01] [ 4.81933362e-02 -2.21582344e-03 9.98835568e-01 7.73710666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.19710568099998 meters 0.03616330906358908 Centerline is valid? [True, True] Translation: X:186.44, Y:78.28, Z:7.74 [[ 4.71359841e-01 -8.81589227e-01 -2.49065061e-02 1.86435896e+02] [ 8.80610573e-01 4.72011670e-01 -4.15933008e-02 7.82756713e+01] [ 4.84243675e-02 -2.32752094e-03 9.98824140e-01 7.73751703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.22710568099998 meters 0.037392999269673606 Centerline is valid? [True, True] Translation: X:186.44, Y:78.30, Z:7.74 [[ 4.65740354e-01 -8.84556631e-01 -2.54064809e-02 1.86443427e+02] [ 8.83540833e-01 4.66425165e-01 -4.24636502e-02 7.83042803e+01] [ 4.94117254e-02 -2.67062781e-03 9.98774924e-01 7.73821641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.25710568099998 meters 0.039218549438684865 Centerline is valid? [True, True] Translation: X:186.45, Y:78.33, Z:7.74 [[ 4.60466985e-01 -8.87355295e-01 -2.38900937e-02 1.86449950e+02] [ 8.86459549e-01 4.61077934e-01 -3.99575647e-02 7.83327099e+01] [ 4.64717516e-02 -2.77846237e-03 9.98915740e-01 7.74416935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.28710568099996 meters 0.03871003856632144 Centerline is valid? [True, True] Translation: X:186.46, Y:78.36, Z:7.75 [[ 4.58873538e-01 -8.88187507e-01 -2.36226220e-02 1.86457488e+02] [ 8.87311837e-01 4.59472518e-01 -3.95311224e-02 7.83620244e+01] [ 4.59649947e-02 -2.82084618e-03 9.98939068e-01 7.74687067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.31710568099996 meters 0.03963991320278769 Centerline is valid? [True, True] Translation: X:186.46, Y:78.39, Z:7.75 [[ 4.59177962e-01 -8.88017192e-01 -2.41053048e-02 1.86459568e+02] [ 8.87103667e-01 4.59801437e-01 -4.03698277e-02 7.83919199e+01] [ 4.69327548e-02 -2.84696903e-03 9.98893994e-01 7.74791207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.34710568099996 meters 0.038594926285429834 Centerline is valid? [True, True] Translation: X:186.47, Y:78.42, Z:7.75 [[ 4.59147131e-01 -8.88048830e-01 -2.35199429e-02 1.86467174e+02] [ 8.87177926e-01 4.59740811e-01 -3.94171794e-02 7.84203157e+01] [ 4.58174577e-02 -2.76808932e-03 9.98945994e-01 7.74986150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.37710568099996 meters 0.038804148633749064 Centerline is valid? [True, True] Translation: X:186.47, Y:78.45, Z:7.75 [[ 4.61427427e-01 -8.86850047e-01 -2.41189558e-02 1.86469803e+02] [ 8.85931058e-01 4.62049452e-01 -4.04532424e-02 7.84502245e+01] [ 4.70201102e-02 -2.70149641e-03 9.98890290e-01 7.75033230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.40710568099996 meters 0.03529660826807474 Centerline is valid? [True, True] Translation: X:186.46, Y:78.49, Z:7.75 [[ 4.64848759e-01 -8.85018304e-01 -2.56560649e-02 1.86464749e+02] [ 8.83974267e-01 4.65548607e-01 -4.30579754e-02 7.84867889e+01] [ 5.00512417e-02 -2.66385475e-03 9.98743099e-01 7.74847630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.43710568099996 meters 0.03370663208409685 Centerline is valid? [True, True] Translation: X:186.47, Y:78.52, Z:7.75 [[ 4.67917228e-01 -8.83400528e-01 -2.56315417e-02 1.86469190e+02] [ 8.82354383e-01 4.68612203e-01 -4.30505119e-02 7.85171975e+01] [ 5.00420981e-02 -2.47202701e-03 9.98744050e-01 7.74966346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.46710568099996 meters 0.030165983738372038 Centerline is valid? [True, True] Translation: X:186.46, Y:78.55, Z:7.75 [[ 4.77313613e-01 -8.78370563e-01 -2.52362719e-02 1.86464444e+02] [ 8.77347973e-01 4.77976526e-01 -4.24143214e-02 7.85518019e+01] [ 4.93178370e-02 -1.89605898e-03 9.98781335e-01 7.75164031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.49710568099997 meters 0.027481245047500897 Centerline is valid? [True, True] Translation: X:186.47, Y:78.58, Z:7.75 [[ 4.81345914e-01 -8.76169568e-01 -2.51594567e-02 1.86469049e+02] [ 8.75149272e-01 4.82000152e-01 -4.23037246e-02 7.85816791e+01] [ 4.91920981e-02 -1.65555520e-03 9.98787964e-01 7.75289447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.52710568099997 meters 0.02345715532284579 Centerline is valid? [True, True] Translation: X:186.47, Y:78.62, Z:7.75 [[ 4.86932962e-01 -8.73076612e-01 -2.51698414e-02 1.86465840e+02] [ 8.72049682e-01 4.87581248e-01 -4.23542103e-02 7.86167633e+01] [ 4.92508131e-02 -1.32569114e-03 9.98785563e-01 7.75473458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.55710568099997 meters 0.022410586744109964 Centerline is valid? [True, True] Translation: X:186.47, Y:78.64, Z:7.76 [[ 4.89356987e-01 -8.71722587e-01 -2.50892442e-02 1.86472943e+02] [ 8.70699047e-01 4.89998325e-01 -4.22470338e-02 7.86449377e+01] [ 4.91213813e-02 -1.17129981e-03 9.98792130e-01 7.75568707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.58710568099997 meters 0.019883256672777027 Centerline is valid? [True, True] Translation: X:186.47, Y:78.68, Z:7.76 [[ 4.95700051e-01 -8.68124210e-01 -2.53340775e-02 1.86471462e+02] [ 8.67074804e-01 4.96346351e-01 -4.26800111e-02 7.86790584e+01] [ 4.96260278e-02 -8.10056615e-04 9.98767541e-01 7.75650022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.61710568099997 meters 0.01869846239147356 Centerline is valid? [True, True] Translation: X:186.48, Y:78.71, Z:7.76 [[ 4.99116615e-01 -8.66164959e-01 -2.53153805e-02 1.86477422e+02] [ 8.65112977e-01 4.99757847e-01 -4.26805631e-02 7.87091094e+01] [ 4.96199682e-02 -5.98086017e-04 9.98767992e-01 7.75717996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.64710568099997 meters 0.017808651191427882 Centerline is valid? [True, True] Translation: X:186.48, Y:78.74, Z:7.75 [[ 5.06561264e-01 -8.61816620e-01 -2.58417987e-02 1.86477564e+02] [ 8.60713242e-01 5.07219960e-01 -4.35961754e-02 7.87413887e+01] [ 5.06793847e-02 -1.58244644e-04 9.98714962e-01 7.75416174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.67710568099997 meters 0.01864763693416717 Centerline is valid? [True, True] Translation: X:186.48, Y:78.77, Z:7.75 [[ 5.13784389e-01 -8.57539787e-01 -2.55169459e-02 1.86478428e+02] [ 8.56457946e-01 5.14417574e-01 -4.30621341e-02 7.87725127e+01] [ 5.00538587e-02 2.70461222e-04 9.98746483e-01 7.75413031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.70710568099997 meters 0.019064702143541456 Centerline is valid? [True, True] Translation: X:186.49, Y:78.80, Z:7.76 [[ 5.16740693e-01 -8.55777161e-01 -2.49901256e-02 1.86487851e+02] [ 8.54736334e-01 5.17344423e-01 -4.21965375e-02 7.88004892e+01] [ 4.90393352e-02 4.44699734e-04 9.98796749e-01 7.75651979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.73710568099997 meters 0.020638046477259676 Centerline is valid? [True, True] Translation: X:186.49, Y:78.83, Z:7.76 [[ 5.21476791e-01 -8.52908048e-01 -2.46944831e-02 1.86493040e+02] [ 8.51887143e-01 5.22060667e-01 -4.17247528e-02 7.88299100e+01] [ 4.84793958e-02 7.21577589e-04 9.98823922e-01 7.75800690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.76710568099998 meters 0.020857098832069567 Centerline is valid? [True, True] Translation: X:186.51, Y:78.86, Z:7.76 [[ 5.21792759e-01 -8.52716550e-01 -2.46333558e-02 1.86505149e+02] [ 8.51699644e-01 5.22373361e-01 -4.16387939e-02 7.88554214e+01] [ 4.83738975e-02 7.46600814e-04 9.98829019e-01 7.75961902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.79710568099998 meters 0.020483051077299672 Centerline is valid? [True, True] Translation: X:186.52, Y:78.88, Z:7.76 [[ 5.19879934e-01 -8.53899849e-01 -2.40811566e-02 1.86519652e+02] [ 8.52927723e-01 5.20436968e-01 -4.07389405e-02 7.88806975e+01] [ 4.73196993e-02 6.39871622e-04 9.98879591e-01 7.76319412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.82710568099998 meters 0.020061033362233655 Centerline is valid? [True, True] Translation: X:186.53, Y:78.91, Z:7.77 [[ 5.18567720e-01 -8.54701696e-01 -2.39276007e-02 1.86534694e+02] [ 8.53741396e-01 5.19119135e-01 -4.05086707e-02 7.89053009e+01] [ 4.70441049e-02 5.78505769e-04 9.98892646e-01 7.76558545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.85710568099998 meters 0.018941519104598986 Centerline is valid? [True, True] Translation: X:186.55, Y:78.93, Z:7.77 [[ 5.14744217e-01 -8.57026070e-01 -2.33389456e-02 1.86551541e+02] [ 8.56113626e-01 5.15272915e-01 -3.95383573e-02 7.89274632e+01] [ 4.59113295e-02 3.71351363e-04 9.98945450e-01 7.76789270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.88710568099998 meters 0.018554060400818754 Centerline is valid? [True, True] Translation: X:186.57, Y:78.95, Z:7.77 [[ 5.10126216e-01 -8.59753509e-01 -2.43956706e-02 1.86568246e+02] [ 8.58759001e-01 5.10709198e-01 -4.13411830e-02 7.89494022e+01] [ 4.80023205e-02 1.39219538e-04 9.98847214e-01 7.76736953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.91710568099998 meters 0.01843329754857174 Centerline is valid? [True, True] Translation: X:186.58, Y:78.97, Z:7.77 [[ 5.07514710e-01 -8.61285307e-01 -2.48281961e-02 1.86584044e+02] [ 8.60255997e-01 5.08121659e-01 -4.20951156e-02 7.89719557e+01] [ 4.88716487e-02 5.28576899e-06 9.98805067e-01 7.76837455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.94710568099998 meters 0.018322928953251605 Centerline is valid? [True, True] Translation: X:186.60, Y:78.99, Z:7.77 [[ 5.03110886e-01 -8.63854904e-01 -2.51821609e-02 1.86604713e+02] [ 8.62797379e-01 5.03740660e-01 -4.27320747e-02 7.89937188e+01] [ 4.95995906e-02 -2.28130465e-04 9.98769157e-01 7.76825273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.97710568099998 meters 0.01838492195612538 Centerline is valid? [True, True] Translation: X:186.62, Y:79.02, Z:7.77 [[ 5.01056289e-01 -8.65021590e-01 -2.60814831e-02 1.86622453e+02] [ 8.63887233e-01 5.01734523e-01 -4.42867679e-02 7.90161375e+01] [ 5.13949909e-02 -3.41296652e-04 9.98678346e-01 7.76788788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.00710568099996 meters 0.01838492195612538 Centerline is valid? [True, True] Translation: X:186.64, Y:79.04, Z:7.77 [[ 5.00725837e-01 -8.65213175e-01 -2.60729353e-02 1.86636167e+02] [ 8.64078815e-01 5.01404067e-01 -4.42917997e-02 7.90398615e+01] [ 5.13949244e-02 -3.51022564e-04 9.98678346e-01 7.76890349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03710568099996 meters 0.018886180707407146 Centerline is valid? [True, True] Translation: X:186.65, Y:79.06, Z:7.77 [[ 4.98290877e-01 -8.66599527e-01 -2.66732405e-02 1.86653876e+02] [ 8.65412574e-01 4.99004029e-01 -4.53437518e-02 7.90619130e+01] [ 5.26049284e-02 -4.88979845e-04 9.98615282e-01 7.76681716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.06710568099996 meters 0.02053994058161316 Centerline is valid? [True, True] Translation: X:186.68, Y:79.08, Z:7.77 [[ 4.91252039e-01 -8.70598591e-01 -2.70097796e-02 1.86677083e+02] [ 8.69386401e-01 4.91993145e-01 -4.59350822e-02 7.90813841e+01] [ 5.32796442e-02 -9.16232319e-04 9.98579211e-01 7.76847646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.09710568099996 meters 0.023572903423038142 Centerline is valid? [True, True] Translation: X:186.70, Y:79.10, Z:7.77 [[ 4.82067672e-01 -8.75703091e-01 -2.74746341e-02 1.86700629e+02] [ 8.74454987e-01 4.82847694e-01 -4.67608898e-02 7.91012867e+01] [ 5.42147194e-02 -1.48341758e-03 9.98528199e-01 7.77215992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.12710568099996 meters 0.02598904876676399 Centerline is valid? [True, True] Translation: X:186.72, Y:79.12, Z:7.77 [[ 4.77791706e-01 -8.78040747e-01 -2.75596008e-02 1.86719545e+02] [ 8.76786992e-01 4.78582728e-01 -4.69376462e-02 7.91222677e+01] [ 5.44027148e-02 -1.73748140e-03 9.98517564e-01 7.77451917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.15710568099996 meters 0.029708095698378602 Centerline is valid? [True, True] Translation: X:186.74, Y:79.14, Z:7.78 [[ 4.70074789e-01 -8.82266735e-01 -2.52012105e-02 1.86741967e+02] [ 8.81223213e-01 4.70745501e-01 -4.29455762e-02 7.91423631e+01] [ 4.97528098e-02 -2.02025900e-03 9.98759519e-01 7.78246027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.18710568099996 meters 0.031066954364566936 Centerline is valid? [True, True] Translation: X:186.76, Y:79.16, Z:7.79 [[ 4.67192858e-01 -8.83872851e-01 -2.23521227e-02 1.86758748e+02] [ 8.83052884e-01 4.67723263e-01 -3.81123896e-02 7.91649773e+01] [ 4.41411141e-02 -1.93227015e-03 9.99023437e-01 7.79106492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.21710568099996 meters 0.031000084890129412 Centerline is valid? [True, True] Translation: X:186.77, Y:79.19, Z:7.79 [[ 4.66515181e-01 -8.84240422e-01 -2.19650078e-02 1.86772399e+02] [ 8.83448486e-01 4.67028010e-01 -3.74647905e-02 7.91903599e+01] [ 4.33861560e-02 -1.92705941e-03 9.99056519e-01 7.79392394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.24710568099997 meters 0.03172472272965833 Centerline is valid? [True, True] Translation: X:186.79, Y:79.21, Z:7.79 [[ 4.66115089e-01 -8.84451657e-01 -2.19542628e-02 1.86785696e+02] [ 8.83659600e-01 4.66627825e-01 -3.74724579e-02 7.92149540e+01] [ 4.33870474e-02 -1.93361704e-03 9.99056467e-01 7.79498003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.27710568099997 meters 0.03181727003942976 Centerline is valid? [True, True] Translation: X:186.80, Y:79.24, Z:7.79 [[ 4.65821928e-01 -8.84606029e-01 -2.19569005e-02 1.86798621e+02] [ 8.83813205e-01 4.66335083e-01 -3.74941168e-02 7.92396942e+01] [ 4.34067948e-02 -1.94021681e-03 9.99055597e-01 7.79437520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.30710568099997 meters 0.03313879185334212 Centerline is valid? [True, True] Translation: X:186.81, Y:79.26, Z:7.80 [[ 4.65250077e-01 -8.84897270e-01 -2.23425107e-02 1.86811316e+02] [ 8.84075391e-01 4.65781996e-01 -3.81816002e-02 7.92640293e+01] [ 4.41935330e-02 -1.98847145e-03 9.99021010e-01 7.79565330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.33710568099997 meters 0.029866879261226116 Centerline is valid? [True, True] Translation: X:186.82, Y:79.29, Z:7.80 [[ 4.65584203e-01 -8.84728665e-01 -2.20576351e-02 1.86819049e+02] [ 8.83926882e-01 4.66102371e-01 -3.77073762e-02 7.92926797e+01] [ 4.36419126e-02 -1.94137794e-03 9.99045352e-01 7.79803229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.36710568099997 meters 0.0285088134177119 Centerline is valid? [True, True] Translation: X:186.83, Y:79.32, Z:7.80 [[ 4.69863631e-01 -8.82479340e-01 -2.14098838e-02 1.86826623e+02] [ 8.81720475e-01 4.70348205e-01 -3.66274501e-02 7.93207619e+01] [ 4.23930684e-02 -1.66762623e-03 9.99099618e-01 7.79988981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.39710568099997 meters 0.025107178705964163 Centerline is valid? [True, True] Translation: X:186.83, Y:79.35, Z:7.80 [[ 4.78486491e-01 -8.77844271e-01 -2.09788675e-02 1.86828504e+02] [ 8.77110129e-01 4.78944628e-01 -3.59146815e-02 7.93516266e+01] [ 4.15752133e-02 -1.21608724e-03 9.99134637e-01 7.80265166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.42710568099997 meters 0.023543442856790203 Centerline is valid? [True, True] Translation: X:186.84, Y:79.38, Z:7.81 [[ 4.82835611e-01 -8.75477191e-01 -2.02351442e-02 1.86835706e+02] [ 8.74791692e-01 4.83258468e-01 -3.46518213e-02 7.93802195e+01] [ 4.01156839e-02 -9.70402695e-04 9.99194571e-01 7.80532670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.45710568099997 meters 0.01996316684297894 Centerline is valid? [True, True] Translation: X:186.84, Y:79.41, Z:7.81 [[ 4.91257749e-01 -8.70788729e-01 -1.98195094e-02 1.86835627e+02] [ 8.70126290e-01 4.91657070e-01 -3.39641550e-02 7.94139112e+01] [ 3.93200053e-02 -5.60321835e-04 9.99226512e-01 7.80676472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.48710568099997 meters 0.01913922435565572 Centerline is valid? [True, True] Translation: X:186.84, Y:79.44, Z:7.81 [[ 4.95639045e-01 -8.68284133e-01 -2.06058626e-02 1.86842900e+02] [ 8.67564897e-01 4.96067065e-01 -3.53357688e-02 7.94414627e+01] [ 4.09033771e-02 -3.63136313e-04 9.99163041e-01 7.80518229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.51710568099998 meters 0.01889090378304827 Centerline is valid? [True, True] Translation: X:186.84, Y:79.47, Z:7.80 [[ 5.04895219e-01 -8.62877399e-01 -2.28782182e-02 1.86844156e+02] [ 8.61984342e-01 5.05413282e-01 -3.92480501e-02 7.94733482e+01] [ 4.54292108e-02 9.54869568e-05 9.98967556e-01 7.79740648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.54710568099998 meters 0.01970624964545231 Centerline is valid? [True, True] Translation: X:186.85, Y:79.50, Z:7.80 [[ 5.10487667e-01 -8.59563891e-01 -2.35002111e-02 1.86851836e+02] [ 8.58616563e-01 5.11028123e-01 -4.03466872e-02 7.95005055e+01] [ 4.66898242e-02 4.18815742e-04 9.98909348e-01 7.79532319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.57710568099998 meters 0.02355406740558664 Centerline is valid? [True, True] Translation: X:186.86, Y:79.53, Z:7.79 [[ 5.20496866e-01 -8.53494732e-01 -2.50949110e-02 1.86857034e+02] [ 8.52406049e-01 5.21100419e-01 -4.31077857e-02 7.95315739e+01] [ 4.98692366e-02 1.04641337e-03 9.98755207e-01 7.79175848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.60710568099998 meters 0.02525761373436618 Centerline is valid? [True, True] Translation: X:186.87, Y:79.56, Z:7.79 [[ 5.23649049e-01 -8.51556947e-01 -2.53463758e-02 1.86868619e+02] [ 8.50442510e-01 5.24260602e-01 -4.35701598e-02 7.95584964e+01] [ 5.03905784e-02 1.25983732e-03 9.98728793e-01 7.79126911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.63710568099998 meters 0.026528233235515637 Centerline is valid? [True, True] Translation: X:186.88, Y:79.58, Z:7.79 [[ 5.25296270e-01 -8.50526911e-01 -2.58418886e-02 1.86882746e+02] [ 8.49365463e-01 5.25929658e-01 -4.44556570e-02 7.95836504e+01] [ 5.14017483e-02 1.40318312e-03 9.98677071e-01 7.79155824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.66710568099998 meters 0.02672098777605433 Centerline is valid? [True, True] Translation: X:186.90, Y:79.61, Z:7.79 [[ 5.25254129e-01 -8.50543479e-01 -2.61512781e-02 1.86898100e+02] [ 8.49352286e-01 5.25902773e-01 -4.50218443e-02 7.96085043e+01] [ 5.20460657e-02 1.43626181e-03 9.98643652e-01 7.79215848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.69710568099998 meters 0.02692232458810619 Centerline is valid? [True, True] Translation: X:186.92, Y:79.63, Z:7.79 [[ 5.24963020e-01 -8.50701864e-01 -2.68359126e-02 1.86918231e+02] [ 8.49445767e-01 5.25646421e-01 -4.62355882e-02 7.96306794e+01] [ 5.34389025e-02 1.47632173e-03 9.98570030e-01 7.78998861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.72710568099998 meters 0.025589985008174002 Centerline is valid? [True, True] Translation: X:186.94, Y:79.65, Z:7.79 [[ 5.23126168e-01 -8.51866355e-01 -2.57434521e-02 1.86943098e+02] [ 8.50710260e-01 5.23757552e-01 -4.43855843e-02 7.96497109e+01] [ 5.12939134e-02 1.31904178e-03 9.98682730e-01 7.79400610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75710568099996 meters 0.025213708948658764 Centerline is valid? [True, True] Translation: X:186.96, Y:79.67, Z:7.80 [[ 5.21973819e-01 -8.52592394e-01 -2.50906609e-02 1.86960121e+02] [ 8.51493733e-01 5.22575063e-01 -4.32865570e-02 7.96722277e+01] [ 5.00175430e-02 1.22990896e-03 9.98747582e-01 7.79906476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.78710568099996 meters 0.02435213929412693 Centerline is valid? [True, True] Translation: X:186.98, Y:79.69, Z:7.81 [[ 5.21367570e-01 -8.52970226e-01 -2.48525675e-02 1.86978989e+02] [ 8.51891933e-01 5.21958211e-01 -4.28924209e-02 7.96943461e+01] [ 4.95579596e-02 1.19101549e-03 9.98770539e-01 7.80522719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.81710568099996 meters 0.02477321192555483 Centerline is valid? [True, True] Translation: X:187.00, Y:79.71, Z:7.81 [[ 5.21084447e-01 -8.53174973e-01 -2.37374091e-02 1.86998810e+02] [ 8.52190260e-01 5.21623602e-01 -4.09948736e-02 7.97147094e+01] [ 4.73577930e-02 1.13300221e-03 9.98877348e-01 7.80817951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.84710568099996 meters 0.02406667881887319 Centerline is valid? [True, True] Translation: X:187.02, Y:79.74, Z:7.81 [[ 5.20247978e-01 -8.53690916e-01 -2.35342825e-02 1.87018302e+02] [ 8.52722556e-01 5.20778876e-01 -4.06645263e-02 7.97367866e+01] [ 4.69710938e-02 1.08742406e-03 9.98895657e-01 7.81153142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.87710568099996 meters 0.02314779439985099 Centerline is valid? [True, True] Translation: X:187.04, Y:79.76, Z:7.81 [[ 5.18220945e-01 -8.54940200e-01 -2.28977246e-02 1.87037292e+02] [ 8.54023452e-01 5.18725676e-01 -3.95931367e-02 7.97586099e+01] [ 4.57274019e-02 9.62798909e-04 9.98953491e-01 7.81355022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.90710568099996 meters 0.019607187575334837 Centerline is valid? [True, True] Translation: X:187.06, Y:79.78, Z:7.82 [[ 5.11291446e-01 -8.59108726e-01 -2.26551324e-02 1.87062916e+02] [ 8.58214052e-01 5.11792767e-01 -3.92020914e-02 7.97776449e+01] [ 4.52735917e-02 6.00741000e-04 9.98974445e-01 7.81747139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.93710568099996 meters 0.01822071192916561 Centerline is valid? [True, True] Translation: X:187.09, Y:79.80, Z:7.82 [[ 5.04939912e-01 -8.62830246e-01 -2.36569788e-02 1.87086674e+02] [ 8.61857441e-01 5.05493700e-01 -4.09618295e-02 7.97961013e+01] [ 4.73015591e-02 2.94319384e-04 9.98880611e-01 7.81524057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.96710568099996 meters 0.017727365912849073 Centerline is valid? [True, True] Translation: X:187.11, Y:79.82, Z:7.82 [[ 5.02544017e-01 -8.64215140e-01 -2.41185125e-02 1.87105312e+02] [ 8.63204765e-01 5.03122411e-01 -4.17776673e-02 7.98171430e+01] [ 4.82394567e-02 1.75901857e-04 9.98835784e-01 7.81570333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.99710568099997 meters 0.017560259819521376 Centerline is valid? [True, True] Translation: X:187.12, Y:79.84, Z:7.82 [[ 5.01920107e-01 -8.64568179e-01 -2.44554792e-02 1.87123322e+02] [ 8.63528049e-01 5.02515510e-01 -4.23965897e-02 7.98393007e+01] [ 4.89439999e-02 1.61708619e-04 9.98801511e-01 7.81885543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.02710568099997 meters 0.018124616383774928 Centerline is valid? [True, True] Translation: X:187.14, Y:79.86, Z:7.82 [[ 5.03842393e-01 -8.63423199e-01 -2.53618151e-02 1.87136463e+02] [ 8.62301135e-01 5.04480215e-01 -4.40052911e-02 7.98647064e+01] [ 5.07897231e-02 3.02209210e-04 9.98709323e-01 7.81818269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.05710568099997 meters 0.021952084925637112 Centerline is valid? [True, True] Translation: X:187.14, Y:79.89, Z:7.81 [[ 5.13371797e-01 -8.57713025e-01 -2.78884442e-02 1.87144802e+02] [ 8.56345745e-01 5.14127820e-01 -4.84205471e-02 7.98922491e+01] [ 5.58691589e-02 9.75592733e-04 9.98437622e-01 7.81149007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.08710568099997 meters 0.025809485204728175 Centerline is valid? [True, True] Translation: X:187.16, Y:79.92, Z:7.81 [[ 5.21841753e-01 -8.52582196e-01 -2.80140039e-02 1.87155697e+02] [ 8.51193831e-01 5.22590857e-01 -4.86606495e-02 7.99189436e+01] [ 5.61270657e-02 1.54781132e-03 9.98422434e-01 7.81449956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.11710568099997 meters 0.027409684629302846 Centerline is valid? [True, True] Translation: X:187.17, Y:79.94, Z:7.82 [[ 5.24696259e-01 -8.50868609e-01 -2.67665012e-02 1.87168199e+02] [ 8.49597148e-01 5.25375878e-01 -4.65282026e-02 7.99445899e+01] [ 5.36518611e-02 1.67243078e-03 9.98558301e-01 7.81904831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.14710568099997 meters 0.029873241383538144 Centerline is valid? [True, True] Translation: X:187.18, Y:79.97, Z:7.83 [[ 5.28865910e-01 -8.48350294e-01 -2.45484855e-02 1.87180061e+02] [ 8.47276753e-01 5.29432332e-01 -4.27025659e-02 7.99710103e+01] [ 4.92234963e-02 1.78457030e-03 9.98786195e-01 7.82562182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.17710568099997 meters 0.03110202795922679 Centerline is valid? [True, True] Translation: X:187.19, Y:80.00, Z:7.83 [[ 5.30083182e-01 -8.47598083e-01 -2.42757205e-02 1.87194390e+02] [ 8.46546210e-01 5.30635540e-01 -4.22544452e-02 7.99954008e+01] [ 4.86963467e-02 1.84785157e-03 9.98811920e-01 7.82694437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.20710568099997 meters 0.03101328780824802 Centerline is valid? [True, True] Translation: X:187.21, Y:80.02, Z:7.83 [[ 5.29428460e-01 -8.48001776e-01 -2.44641260e-02 1.87211078e+02] [ 8.46933377e-01 5.29990222e-01 -4.25936606e-02 8.00184556e+01] [ 4.90852475e-02 1.83081131e-03 9.98792915e-01 7.82627334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.23710568099997 meters 0.029217799094501843 Centerline is valid? [True, True] Translation: X:187.23, Y:80.04, Z:7.83 [[ 5.26204693e-01 -8.50008507e-01 -2.43753803e-02 1.87231962e+02] [ 8.48949193e-01 5.26766387e-01 -4.24551794e-02 8.00395989e+01] [ 4.89273947e-02 1.64665515e-03 9.98800980e-01 7.82699743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.26710568099998 meters 0.028336844123743373 Centerline is valid? [True, True] Translation: X:187.25, Y:80.06, Z:7.83 [[ 5.23887678e-01 -8.51437234e-01 -2.44200206e-02 1.87248544e+02] [ 8.50374032e-01 5.24454275e-01 -4.25642821e-02 8.00627387e+01] [ 4.90479988e-02 1.53275152e-03 9.98795247e-01 7.82768036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.29710568099998 meters 0.02506771223936198 Centerline is valid? [True, True] Translation: X:187.27, Y:80.08, Z:7.83 [[ 5.18201744e-01 -8.54918208e-01 -2.41207451e-02 1.87269679e+02] [ 8.53883139e-01 5.18761413e-01 -4.20735372e-02 8.00824076e+01] [ 4.84823448e-02 1.20628286e-03 9.98823311e-01 7.82989201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.32710568099998 meters 0.022547546632712488 Centerline is valid? [True, True] Translation: X:187.29, Y:80.10, Z:7.83 [[ 5.14904460e-01 -8.56919198e-01 -2.37251783e-02 1.87289321e+02] [ 8.55918392e-01 5.15449756e-01 -4.14156430e-02 8.01041324e+01] [ 4.77189970e-02 1.01828283e-03 9.98860281e-01 7.83321168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.35710568099998 meters 0.0196949397617134 Centerline is valid? [True, True] Translation: X:187.31, Y:80.12, Z:7.84 [[ 5.08771311e-01 -8.60581468e-01 -2.34795511e-02 1.87312395e+02] [ 8.59603715e-01 5.09312347e-01 -4.10169055e-02 8.01239128e+01] [ 4.72568140e-02 6.85115471e-04 9.98882538e-01 7.83543434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.38710568099998 meters 0.019053418212907545 Centerline is valid? [True, True] Translation: X:187.33, Y:80.14, Z:7.83 [[ 5.06322135e-01 -8.62001890e-01 -2.43030104e-02 1.87329348e+02] [ 8.60954366e-01 5.06904719e-01 -4.24874706e-02 8.01448291e+01] [ 4.89435907e-02 5.88563875e-04 9.98801371e-01 7.83439975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.41710568099998 meters 0.0184273376115304 Centerline is valid? [True, True] Translation: X:187.35, Y:80.17, Z:7.83 [[ 5.03313397e-01 -8.63718549e-01 -2.58048873e-02 1.87349719e+02] [ 8.62537892e-01 5.03974256e-01 -4.51479055e-02 8.01658770e+01] [ 5.20000823e-02 4.65852586e-04 9.98646972e-01 7.83014346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.44710568099998 meters 0.018681285102138862 Centerline is valid? [True, True] Translation: X:187.36, Y:80.19, Z:7.83 [[ 5.03743055e-01 -8.63492596e-01 -2.49694193e-02 1.87364067e+02] [ 8.62385334e-01 5.04361277e-01 -4.37177080e-02 8.01887229e+01] [ 5.03435254e-02 4.89230808e-04 9.98731841e-01 7.83248205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.47710568099998 meters 0.01857612118244415 Centerline is valid? [True, True] Translation: X:187.38, Y:80.21, Z:7.84 [[ 5.04677210e-01 -8.62940726e-01 -2.51836677e-02 1.87379085e+02] [ 8.61812327e-01 5.05304846e-01 -4.41194540e-02 8.02129379e+01] [ 5.07979030e-02 5.62487621e-04 9.98708795e-01 7.83546638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.50710568099996 meters 0.019076419701496546 Centerline is valid? [True, True] Translation: X:187.39, Y:80.24, Z:7.84 [[ 5.06239667e-01 -8.62015302e-01 -2.55150646e-02 1.87393215e+02] [ 8.60854003e-01 5.06881795e-01 -4.47351206e-02 8.02384683e+01] [ 5.14954802e-02 6.81947012e-04 9.98672995e-01 7.83558823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53710568099996 meters 0.02166803883093211 Centerline is valid? [True, True] Translation: X:187.41, Y:80.26, Z:7.83 [[ 5.10473844e-01 -8.59487936e-01 -2.63996788e-02 1.87405932e+02] [ 8.58239620e-01 5.11155080e-01 -4.63167202e-02 8.02637952e+01] [ 5.33029922e-02 9.86223854e-04 9.98577898e-01 7.83276394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.56710568099996 meters 0.023442909355047625 Centerline is valid? [True, True] Translation: X:187.42, Y:80.29, Z:7.83 [[ 5.14114003e-01 -8.57266043e-01 -2.79593060e-02 1.87418917e+02] [ 8.55861092e-01 5.14872058e-01 -4.90770242e-02 8.02900344e+01] [ 5.64675318e-02 1.30190323e-03 9.98403587e-01 7.83165450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.59710568099996 meters 0.02344858861153476 Centerline is valid? [True, True] Translation: X:187.43, Y:80.31, Z:7.83 [[ 5.14720368e-01 -8.56900482e-01 -2.80090350e-02 1.87433850e+02] [ 8.55487859e-01 5.15480071e-01 -4.92018159e-02 8.03146665e+01] [ 5.65991592e-02 1.36378737e-03 9.98396051e-01 7.83331138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.62710568099996 meters 0.023896616758462632 Centerline is valid? [True, True] Translation: X:187.45, Y:80.34, Z:7.84 [[ 5.14556839e-01 -8.57060525e-01 -2.60483479e-02 1.87450260e+02] [ 8.55837654e-01 5.15214183e-01 -4.57848822e-02 8.03373470e+01] [ 5.26608935e-02 1.26576732e-03 9.98611650e-01 7.83795908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.65710568099996 meters 0.02279046515701835 Centerline is valid? [True, True] Translation: X:187.47, Y:80.36, Z:7.84 [[ 5.12776326e-01 -8.58162290e-01 -2.48580727e-02 1.87467667e+02] [ 8.57049140e-01 5.13377303e-01 -4.37094632e-02 8.03608902e+01] [ 5.02713833e-02 1.10858808e-03 9.98734979e-01 7.84288008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.68710568099996 meters 0.020161657967206707 Centerline is valid? [True, True] Translation: X:187.49, Y:80.38, Z:7.85 [[ 5.07141026e-01 -8.61546217e-01 -2.33686890e-02 1.87487868e+02] [ 8.60564706e-01 5.07678603e-01 -4.11196122e-02 8.03816452e+01] [ 4.72902297e-02 7.43173364e-04 9.98880915e-01 7.84905417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.71710568099996 meters 0.01922733039040376 Centerline is valid? [True, True] Translation: X:187.50, Y:80.40, Z:7.85 [[ 5.04250209e-01 -8.63261100e-01 -2.26274085e-02 1.87504878e+02] [ 8.62341320e-01 5.04757306e-01 -3.98435675e-02 8.04037786e+01] [ 4.58167517e-02 5.78577907e-04 9.98949694e-01 7.85161120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.74710568099997 meters 0.017610067405119053 Centerline is valid? [True, True] Translation: X:187.53, Y:80.42, Z:7.86 [[ 4.98831994e-01 -8.66445808e-01 -2.09357160e-02 1.87529034e+02] [ 8.65660756e-01 4.99271057e-01 -3.68763707e-02 8.04237184e+01] [ 4.24039739e-02 2.71885744e-04 9.99100510e-01 7.85523665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.77710568099997 meters 0.01776849005710731 Centerline is valid? [True, True] Translation: X:187.54, Y:80.45, Z:7.85 [[ 4.99092006e-01 -8.66269335e-01 -2.20138519e-02 1.87543515e+02] [ 8.65399871e-01 4.99577161e-01 -3.88036555e-02 8.04475538e+01] [ 4.46120345e-02 3.15809627e-04 9.99004338e-01 7.85371097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.80710568099997 meters 0.018346366488541432 Centerline is valid? [True, True] Translation: X:187.56, Y:80.47, Z:7.85 [[ 5.01172225e-01 -8.65048835e-01 -2.27357432e-02 1.87555275e+02] [ 8.64119201e-01 5.01687464e-01 -4.00960605e-02 8.04736180e+01] [ 4.60912878e-02 4.48639591e-04 9.98937131e-01 7.85256833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.83710568099997 meters 0.020443762454251738 Centerline is valid? [True, True] Translation: X:187.57, Y:80.50, Z:7.85 [[ 5.06790244e-01 -8.61746034e-01 -2.36097830e-02 1.87566116e+02] [ 8.60738325e-01 5.07339274e-01 -4.16700998e-02 8.05002005e+01] [ 4.78872134e-02 7.96155002e-04 9.98852432e-01 7.85091655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.86710568099997 meters 0.021771993913530355 Centerline is valid? [True, True] Translation: X:187.58, Y:80.52, Z:7.85 [[ 5.09180987e-01 -8.60328275e-01 -2.38742969e-02 1.87578415e+02] [ 8.59294888e-01 5.09739490e-01 -4.21657202e-02 8.05248519e+01] [ 4.84460333e-02 9.54921750e-04 9.98825345e-01 7.85083398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.89710568099997 meters 0.02309259629228841 Centerline is valid? [True, True] Translation: X:187.59, Y:80.55, Z:7.85 [[ 5.12321013e-01 -8.58466193e-01 -2.37270977e-02 1.87592376e+02] [ 8.57442366e-01 5.12868894e-01 -4.19295283e-02 8.05498503e+01] [ 4.81639729e-02 1.13675965e-03 9.98838796e-01 7.85388227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.92710568099997 meters 0.02309259629228841 Centerline is valid? [True, True] Translation: X:187.61, Y:80.57, Z:7.85 [[ 5.11994318e-01 -8.58661475e-01 -2.37126640e-02 1.87605667e+02] [ 8.57637480e-01 5.12541885e-01 -4.19376902e-02 8.05738585e+01] [ 4.81640125e-02 1.13498967e-03 9.98838796e-01 7.85489964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.95710568099997 meters 0.025114507942373535 Centerline is valid? [True, True] Translation: X:187.62, Y:80.60, Z:7.86 [[ 5.15193095e-01 -8.56740920e-01 -2.38971038e-02 1.87623445e+02] [ 8.55697068e-01 5.15745276e-01 -4.23005792e-02 8.05966630e+01] [ 4.85654555e-02 1.34428461e-03 9.98819097e-01 7.85529574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.98710568099997 meters 0.026428399046416 Centerline is valid? [True, True] Translation: X:187.64, Y:80.62, Z:7.85 [[ 5.16768826e-01 -8.55766028e-01 -2.47888090e-02 1.87640056e+02] [ 8.54639963e-01 5.17360835e-01 -4.39124211e-02 8.06197107e+01] [ 5.04035171e-02 1.50706347e-03 9.98727798e-01 7.85340510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.01710568099998 meters 0.02657205995640923 Centerline is valid? [True, True] Translation: X:187.66, Y:80.64, Z:7.85 [[ 5.18413748e-01 -8.54723296e-01 -2.63680288e-02 1.87661875e+02] [ 8.53445925e-01 5.19081014e-01 -4.67434902e-02 8.06410196e+01] [ 5.36398931e-02 1.72878126e-03 9.98558848e-01 7.85014614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.04710568099998 meters 0.028835166080529787 Centerline is valid? [True, True] Translation: X:187.68, Y:80.67, Z:7.85 [[ 5.19595358e-01 -8.53997432e-01 -2.66279886e-02 1.87675792e+02] [ 8.52691948e-01 5.20273969e-01 -4.72381027e-02 8.06654263e+01] [ 5.41950677e-02 1.83922743e-03 9.98528674e-01 7.84955277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.07710568099998 meters 0.030153347161836395 Centerline is valid? [True, True] Translation: X:187.69, Y:80.69, Z:7.85 [[ 5.23611376e-01 -8.51557149e-01 -2.61064979e-02 1.87693914e+02] [ 8.50297826e-01 5.24257716e-01 -4.63406283e-02 8.06878939e+01] [ 5.31482263e-02 2.06618176e-03 9.98584497e-01 7.85285664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.10710568099998 meters 0.035202100346734974 Centerline is valid? [True, True] Translation: X:187.71, Y:80.71, Z:7.85 [[ 5.30108241e-01 -8.47536154e-01 -2.58402970e-02 1.87708460e+02] [ 8.46295948e-01 5.30731948e-01 -4.58995351e-02 8.07112476e+01] [ 5.26157866e-02 2.46318314e-03 9.98611792e-01 7.85321794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.13710568099998 meters 0.03483096823499346 Centerline is valid? [True, True] Translation: X:187.73, Y:80.73, Z:7.85 [[ 5.31929633e-01 -8.46387566e-01 -2.60567461e-02 1.87726381e+02] [ 8.45123700e-01 5.32561040e-01 -4.63105908e-02 8.07343923e+01] [ 5.30735160e-02 2.61280190e-03 9.98587190e-01 7.85368085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.16710568099998 meters 0.037803457337876135 Centerline is valid? [True, True] Translation: X:187.74, Y:80.76, Z:7.85 [[ 5.33089812e-01 -8.45643451e-01 -2.65029416e-02 1.87739678e+02] [ 8.44333174e-01 5.33741122e-01 -4.71370957e-02 8.07582937e+01] [ 5.40068861e-02 2.75099265e-03 9.98536774e-01 7.85153731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.19710568099998 meters 0.03247311787802498 Centerline is valid? [True, True] Translation: X:187.77, Y:80.77, Z:7.85 [[ 5.30408748e-01 -8.47304780e-01 -2.72244226e-02 1.87768910e+02] [ 8.45922566e-01 5.31100258e-01 -4.84512919e-02 8.07745564e+01] [ 5.55119091e-02 2.66923564e-03 9.98454457e-01 7.85222412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.22710568099998 meters 0.031921550014673845 Centerline is valid? [True, True] Translation: X:187.79, Y:80.79, Z:7.85 [[ 5.25833866e-01 -8.50161933e-01 -2.68967127e-02 1.87791869e+02] [ 8.48814358e-01 5.26516016e-01 -4.79068935e-02 8.07933790e+01] [ 5.48901672e-02 2.36075104e-03 9.98489608e-01 7.85414211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25710568099996 meters 0.03003788435672138 Centerline is valid? [True, True] Translation: X:187.81, Y:80.81, Z:7.86 [[ 5.23104764e-01 -8.51853593e-01 -2.65868540e-02 1.87811894e+02] [ 8.50536949e-01 5.23775436e-01 -4.73939944e-02 8.08141123e+01] [ 5.42982855e-02 2.17892259e-03 9.98522383e-01 7.85742094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.28710568099996 meters 0.028611783518438003 Centerline is valid? [True, True] Translation: X:187.83, Y:80.83, Z:7.86 [[ 5.18063676e-01 -8.54951131e-01 -2.58571502e-02 1.87834324e+02] [ 8.53707543e-01 5.18705343e-01 -4.61323945e-02 8.08326127e+01] [ 5.28531849e-02 1.82507368e-03 9.98600626e-01 7.86019602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.31710568099996 meters 0.02386773287979891 Centerline is valid? [True, True] Translation: X:187.86, Y:80.85, Z:7.86 [[ 5.11942455e-01 -8.58663512e-01 -2.47365257e-02 1.87862061e+02] [ 8.57527784e-01 5.12537814e-01 -4.41711220e-02 8.08490438e+01] [ 5.06065356e-02 1.40081458e-03 9.98717686e-01 7.86379474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.34710568099996 meters 0.02225374047625773 Centerline is valid? [True, True] Translation: X:187.88, Y:80.87, Z:7.86 [[ 5.08535484e-01 -8.60696593e-01 -2.43523332e-02 1.87882649e+02] [ 8.59596533e-01 5.09116824e-01 -4.35184961e-02 8.08709871e+01] [ 4.98544039e-02 1.19751827e-03 9.98755778e-01 7.86476992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.37710568099996 meters 0.019549450923618567 Centerline is valid? [True, True] Translation: X:187.91, Y:80.89, Z:7.87 [[ 5.02754996e-01 -8.64094219e-01 -2.40540134e-02 1.87907222e+02] [ 8.63023864e-01 5.03329355e-01 -4.30043034e-02 8.08900314e+01] [ 4.92668610e-02 8.61440775e-04 9.98785279e-01 7.86654521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.40710568099996 meters 0.018820349617170908 Centerline is valid? [True, True] Translation: X:187.93, Y:80.91, Z:7.87 [[ 5.00512855e-01 -8.65395032e-01 -2.40482759e-02 1.87925649e+02] [ 8.64325769e-01 5.01089699e-01 -4.30125354e-02 8.09116510e+01] [ 4.92731778e-02 7.42782359e-04 9.98785063e-01 7.86766051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.43710568099996 meters 0.017392041102277444 Centerline is valid? [True, True] Translation: X:187.95, Y:80.93, Z:7.87 [[ 4.95219979e-01 -8.68420630e-01 -2.45516180e-02 1.87950340e+02] [ 8.67308839e-01 4.95827990e-01 -4.39315583e-02 8.09301012e+01] [ 5.03244509e-02 4.61950103e-04 9.98732815e-01 7.86747439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.46710568099996 meters 0.016110590374950065 Centerline is valid? [True, True] Translation: X:187.97, Y:80.95, Z:7.87 [[ 4.88191520e-01 -8.72381345e-01 -2.48963793e-02 1.87972744e+02] [ 8.71241193e-01 4.88825924e-01 -4.45869904e-02 8.09500426e+01] [ 5.10668542e-02 7.62393572e-05 9.98695234e-01 7.86786728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.49710568099997 meters 0.016179203588781447 Centerline is valid? [True, True] Translation: X:187.99, Y:80.97, Z:7.87 [[ 4.84282976e-01 -8.74553229e-01 -2.50329590e-02 1.87988731e+02] [ 8.73401349e-01 4.84929513e-01 -4.48714911e-02 8.09719750e+01] [ 5.13817280e-02 -1.33320926e-04 9.98679078e-01 7.86790721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.52710568099997 meters 0.017603452496278035 Centerline is valid? [True, True] Translation: X:188.01, Y:80.99, Z:7.87 [[ 4.76365731e-01 -8.78885962e-01 -2.52023234e-02 1.88009011e+02] [ 8.77722424e-01 4.77031578e-01 -4.52130402e-02 8.09931932e+01] [ 5.17594104e-02 -5.82701452e-04 9.98659413e-01 7.87009309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.55710568099997 meters 0.020908582449176493 Centerline is valid? [True, True] Translation: X:188.03, Y:81.01, Z:7.87 [[ 4.67305449e-01 -8.83729021e-01 -2.54683272e-02 1.88030583e+02] [ 8.82546181e-01 4.67997632e-01 -4.57214964e-02 8.10127480e+01] [ 5.23245300e-02 -1.11107048e-03 9.98629515e-01 7.87118267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.58710568099997 meters 0.022635708307432507 Centerline is valid? [True, True] Translation: X:188.05, Y:81.04, Z:7.87 [[ 4.62881845e-01 -8.86053511e-01 -2.54867442e-02 1.88046632e+02] [ 8.84871242e-01 4.63580973e-01 -4.57773545e-02 8.10362916e+01] [ 5.23763554e-02 -1.36298069e-03 9.98626487e-01 7.87289540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.61710568099997 meters 0.025504998826923447 Centerline is valid? [True, True] Translation: X:188.06, Y:81.06, Z:7.87 [[ 4.57756392e-01 -8.88714785e-01 -2.53991476e-02 1.88058671e+02] [ 8.87542812e-01 4.58457555e-01 -4.56555277e-02 8.10611569e+01] [ 5.22191736e-02 -1.64372120e-03 9.98634295e-01 7.87401506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.64710568099997 meters 0.02635474225117987 Centerline is valid? [True, True] Translation: X:188.07, Y:81.09, Z:7.88 [[ 4.56744291e-01 -8.89239661e-01 -2.52483435e-02 1.88069357e+02] [ 8.88080858e-01 4.57438524e-01 -4.54135005e-02 8.10862334e+01] [ 5.19330507e-02 -1.68021348e-03 9.98649155e-01 7.87541805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.67710568099997 meters 0.025355606161402845 Centerline is valid? [True, True] Translation: X:188.08, Y:81.11, Z:7.88 [[ 4.57129115e-01 -8.89077872e-01 -2.39480553e-02 1.88076103e+02] [ 8.88033514e-01 4.57753320e-01 -4.31088796e-02 8.11147237e+01] [ 4.92894527e-02 -1.56035174e-03 9.98783317e-01 7.87816691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.70710568099997 meters 0.02486305126517754 Centerline is valid? [True, True] Translation: X:188.09, Y:81.14, Z:7.88 [[ 4.57141694e-01 -8.89084402e-01 -2.34605739e-02 1.88086877e+02] [ 8.88080399e-01 4.57740799e-01 -4.22677957e-02 8.11410546e+01] [ 4.83184997e-02 -1.51250407e-03 9.98830834e-01 7.87960682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.73710568099997 meters 0.024495807246263098 Centerline is valid? [True, True] Translation: X:188.09, Y:81.17, Z:7.88 [[ 4.56965967e-01 -8.89157260e-01 -2.41137215e-02 1.88093857e+02] [ 8.88094656e-01 4.57599149e-01 -4.34844848e-02 8.11695513e+01] [ 4.96989638e-02 -1.54433758e-03 9.98763049e-01 7.87979491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.76710568099998 meters 0.02423061176047196 Centerline is valid? [True, True] Translation: X:188.10, Y:81.20, Z:7.88 [[ 4.58821094e-01 -8.88193179e-01 -2.44147606e-02 1.88097518e+02] [ 8.87100801e-01 4.59467950e-01 -4.40610086e-02 8.11997742e+01] [ 5.03524872e-02 -1.44223348e-03 9.98730468e-01 7.88043637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.79710568099998 meters 0.02386465802026239 Centerline is valid? [True, True] Translation: X:188.11, Y:81.23, Z:7.88 [[ 4.60227988e-01 -8.87479143e-01 -2.38949920e-02 1.88105510e+02] [ 8.86431086e-01 4.60845970e-01 -4.31383953e-02 8.12263586e+01] [ 4.92963368e-02 -1.32776684e-03 9.98783314e-01 7.88280839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.82710568099998 meters 0.022049714373565024 Centerline is valid? [True, True] Translation: X:188.11, Y:81.26, Z:7.89 [[ 4.61291330e-01 -8.86956107e-01 -2.27853933e-02 1.88112464e+02] [ 8.86001492e-01 4.61852162e-01 -4.11574554e-02 8.12558575e+01] [ 4.70283395e-02 -1.20231516e-03 9.98892832e-01 7.88693682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.85710568099998 meters 0.023356307110281197 Centerline is valid? [True, True] Translation: X:188.13, Y:81.28, Z:7.89 [[ 4.60209272e-01 -8.87527246e-01 -2.24235170e-02 1.88125678e+02] [ 8.86602572e-01 4.60753588e-01 -4.05217343e-02 8.12805954e+01] [ 4.62958592e-02 -1.23226997e-03 9.98927012e-01 7.88783987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.88710568099998 meters 0.024492368078072587 Centerline is valid? [True, True] Translation: X:188.13, Y:81.31, Z:7.89 [[ 4.57556317e-01 -8.88898805e-01 -2.23859556e-02 1.88134771e+02] [ 8.87977919e-01 4.58101590e-01 -4.04740523e-02 8.13078973e+01] [ 4.62323786e-02 -1.35907596e-03 9.98929787e-01 7.88823080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.91710568099998 meters 0.024958100059159924 Centerline is valid? [True, True] Translation: X:188.15, Y:81.33, Z:7.89 [[ 4.56833998e-01 -8.89253761e-01 -2.30314080e-02 1.88146221e+02] [ 8.88277748e-01 4.57411996e-01 -4.16762387e-02 8.13331352e+01] [ 4.75955943e-02 -1.41916446e-03 9.98865679e-01 7.88700090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.94710568099998 meters 0.025139969710917153 Centerline is valid? [True, True] Translation: X:188.15, Y:81.36, Z:7.88 [[ 4.57127979e-01 -8.89059429e-01 -2.46443235e-02 1.88154477e+02] [ 8.87939807e-01 4.57789402e-01 -4.46291676e-02 8.13600188e+01] [ 5.09598924e-02 -1.48143469e-03 9.98699602e-01 7.88398464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.97710568099998 meters 0.022846112469461822 Centerline is valid? [True, True] Translation: X:188.16, Y:81.39, Z:7.89 [[ 4.60315106e-01 -8.87433555e-01 -2.39100307e-02 1.88157061e+02] [ 8.86376160e-01 4.60933970e-01 -4.33264153e-02 8.13904677e+01] [ 4.94702601e-02 -1.24947778e-03 9.98774816e-01 7.88766752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.00710568099996 meters 0.02145379933883629 Centerline is valid? [True, True] Translation: X:188.16, Y:81.42, Z:7.89 [[ 4.63673006e-01 -8.85703597e-01 -2.31620845e-02 1.88162675e+02] [ 8.84707624e-01 4.64250048e-01 -4.20037200e-02 8.14182078e+01] [ 4.79558447e-02 -1.01568165e-03 9.98848940e-01 7.89084299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03710568099996 meters 0.016887094228321218 Centerline is valid? [True, True] Translation: X:188.16, Y:81.45, Z:7.89 [[ 4.75557320e-01 -8.79379602e-01 -2.31678941e-02 1.88156503e+02] [ 8.78374251e-01 4.76121190e-01 -4.20391216e-02 8.14540110e+01] [ 4.79990714e-02 -3.58069662e-04 9.98847316e-01 7.89205451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.06710568099996 meters 0.016242023838833382 Centerline is valid? [True, True] Translation: X:188.16, Y:81.48, Z:7.89 [[ 4.82271828e-01 -8.75700693e-01 -2.37103455e-02 1.88159936e+02] [ 8.74641424e-01 4.82854321e-01 -4.30590726e-02 8.14846520e+01] [ 4.91555025e-02 2.81272856e-05 9.98791137e-01 7.89151753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.09710568099996 meters 0.01911185873084329 Centerline is valid? [True, True] Translation: X:188.16, Y:81.52, Z:7.90 [[ 4.95028986e-01 -8.68591209e-01 -2.22623914e-02 1.88155777e+02] [ 8.67648626e-01 4.95528811e-01 -4.04605902e-02 8.15192784e+01] [ 4.61753693e-02 7.13231640e-04 9.98933094e-01 7.89622811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.12710568099996 meters 0.023676330729176718 Centerline is valid? [True, True] Translation: X:188.15, Y:81.55, Z:7.90 [[ 5.03168236e-01 -8.63926711e-01 -2.12688492e-02 1.88154509e+02] [ 8.63060899e-01 5.03616332e-01 -3.86842946e-02 8.15514339e+01] [ 4.41317353e-02 1.10839617e-03 9.99025105e-01 7.90041622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.15710568099996 meters 0.025063076662036384 Centerline is valid? [True, True] Translation: X:188.16, Y:81.58, Z:7.90 [[ 5.05587719e-01 -8.62510866e-01 -2.13556722e-02 1.88164160e+02] [ 8.61635280e-01 5.06036990e-01 -3.88742843e-02 8.15788442e+01] [ 4.43362527e-02 1.25356013e-03 9.99015878e-01 7.90172041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.18710568099996 meters 0.026934797927863036 Centerline is valid? [True, True] Translation: X:188.17, Y:81.60, Z:7.90 [[ 5.07643093e-01 -8.61298590e-01 -2.15227625e-02 1.88174754e+02] [ 8.60406825e-01 5.08097254e-01 -3.92081114e-02 8.16048742e+01] [ 4.47055476e-02 1.38539518e-03 9.98999247e-01 7.90098728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.21710568099996 meters 0.026614261670509634 Centerline is valid? [True, True] Translation: X:188.19, Y:81.63, Z:7.90 [[ 5.07890847e-01 -8.61145234e-01 -2.18122460e-02 1.88189527e+02] [ 8.60227950e-01 5.08356998e-01 -3.97622576e-02 8.16290684e+01] [ 4.53294866e-02 1.43138301e-03 9.98971065e-01 7.90085703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.24710568099997 meters 0.026572783847382903 Centerline is valid? [True, True] Translation: X:188.20, Y:81.65, Z:7.90 [[ 5.07082452e-01 -8.61612975e-01 -2.21465344e-02 1.88204776e+02] [ 8.60666177e-01 5.07563829e-01 -4.04065634e-02 8.16530774e+01] [ 4.60555991e-02 1.42868616e-03 9.98937856e-01 7.89937615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.27710568099997 meters 0.026426076197975632 Centerline is valid? [True, True] Translation: X:188.22, Y:81.68, Z:7.90 [[ 5.06612282e-01 -8.61891612e-01 -2.20645839e-02 1.88219295e+02] [ 8.60950442e-01 5.07090568e-01 -4.02925944e-02 8.16774515e+01] [ 4.59165915e-02 1.41620994e-03 9.98944273e-01 7.89966452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.30710568099997 meters 0.02678498796598005 Centerline is valid? [True, True] Translation: X:188.23, Y:81.70, Z:7.90 [[ 5.05752933e-01 -8.62395854e-01 -2.20762545e-02 1.88233430e+02] [ 8.61452582e-01 5.06232617e-01 -4.03483208e-02 8.17009552e+01] [ 4.59719447e-02 1.38863521e-03 9.98941766e-01 7.89964931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.33710568099997 meters 0.024324750090421832 Centerline is valid? [True, True] Translation: X:188.26, Y:81.72, Z:7.90 [[ 5.02697212e-01 -8.64165580e-01 -2.26575193e-02 1.88255008e+02] [ 8.63172284e-01 5.03205946e-01 -4.14413305e-02 8.17225181e+01] [ 4.72135698e-02 1.27509867e-03 9.98884004e-01 7.89920646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.36710568099997 meters 0.023715671222792972 Centerline is valid? [True, True] Translation: X:188.27, Y:81.74, Z:7.90 [[ 5.00539020e-01 -8.65413810e-01 -2.27953384e-02 1.88271818e+02] [ 8.64408431e-01 5.01056434e-01 -4.17194617e-02 8.17446027e+01] [ 4.75263492e-02 1.17773576e-03 9.98869290e-01 7.89985023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.39710568099997 meters 0.020958108836355235 Centerline is valid? [True, True] Translation: X:188.29, Y:81.77, Z:7.90 [[ 4.96521577e-01 -8.67724737e-01 -2.28057888e-02 1.88292703e+02] [ 8.66720073e-01 4.97044110e-01 -4.17548569e-02 8.17658894e+01] [ 4.75672052e-02 9.65952448e-04 9.98867573e-01 7.90108659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.42710568099997 meters 0.019948291169556903 Centerline is valid? [True, True] Translation: X:188.31, Y:81.79, Z:7.90 [[ 4.94633736e-01 -8.68813035e-01 -2.23914565e-02 1.88307596e+02] [ 8.67844164e-01 4.95139543e-01 -4.10285195e-02 8.17900208e+01] [ 4.67330081e-02 8.61794994e-04 9.98907044e-01 7.90290636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.45710568099997 meters 0.019042515103280137 Centerline is valid? [True, True] Translation: X:188.32, Y:81.81, Z:7.90 [[ 4.92513177e-01 -8.70031973e-01 -2.17976360e-02 1.88324244e+02] [ 8.69113585e-01 4.92994742e-01 -3.99719970e-02 8.18136011e+01] [ 4.55230353e-02 7.42113671e-04 9.98963014e-01 7.90398387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.48710568099997 meters 0.01852292124921921 Centerline is valid? [True, True] Translation: X:188.34, Y:81.84, Z:7.90 [[ 4.89927031e-01 -8.71458199e-01 -2.30675508e-02 1.88340963e+02] [ 8.70429538e-01 4.90469336e-01 -4.23349652e-02 8.18353026e+01] [ 4.82070788e-02 6.62366204e-04 9.98837143e-01 7.90121378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.51710568099998 meters 0.017558826549593003 Centerline is valid? [True, True] Translation: X:188.36, Y:81.86, Z:7.90 [[ 4.86789547e-01 -8.73207913e-01 -2.33211938e-02 1.88358095e+02] [ 8.72157044e-01 4.87347598e-01 -4.28300073e-02 8.18579205e+01] [ 4.87650290e-02 5.09456332e-04 9.98810148e-01 7.90142724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.54710568099998 meters 0.016116375799512448 Centerline is valid? [True, True] Translation: X:188.38, Y:81.88, Z:7.90 [[ 4.79910779e-01 -8.77022597e-01 -2.27378257e-02 1.88380732e+02] [ 8.76026191e-01 4.80449108e-01 -4.17943495e-02 8.18783547e+01] [ 4.75789570e-02 1.38628007e-04 9.98867471e-01 7.90418361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.57710568099998 meters 0.01637435407436403 Centerline is valid? [True, True] Translation: X:188.40, Y:81.90, Z:7.91 [[ 4.72989559e-01 -8.80785982e-01 -2.22919656e-02 1.88403198e+02] [ 8.79830925e-01 4.73514527e-01 -4.10065426e-02 8.18965534e+01] [ 4.66735575e-02 -2.17494241e-04 9.98910172e-01 7.90633307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.60710568099998 meters 0.016825537289444824 Centerline is valid? [True, True] Translation: X:188.42, Y:81.92, Z:7.91 [[ 4.69196890e-01 -8.82824555e-01 -2.17964195e-02 1.88420013e+02] [ 8.81912452e-01 4.69702723e-01 -4.01220544e-02 8.19190757e+01] [ 4.56585724e-02 -3.97390598e-04 9.98957025e-01 7.90868978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.63710568099998 meters 0.01871758831308354 Centerline is valid? [True, True] Translation: X:188.44, Y:81.94, Z:7.91 [[ 4.63254029e-01 -8.85943754e-01 -2.23465713e-02 1.88437788e+02] [ 8.84987044e-01 4.63792160e-01 -4.11675088e-02 8.19404101e+01] [ 4.68362619e-02 -7.05411795e-04 9.98902331e-01 7.90943174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.66710568099998 meters 0.019517814975031744 Centerline is valid? [True, True] Translation: X:188.45, Y:81.96, Z:7.91 [[ 4.61064840e-01 -8.87079172e-01 -2.25777798e-02 1.88452702e+02] [ 8.86103178e-01 4.61616580e-01 -4.16087777e-02 8.19635538e+01] [ 4.73325575e-02 -8.21898043e-04 9.98878848e-01 7.91009085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.69710568099998 meters 0.020284687546572356 Centerline is valid? [True, True] Translation: X:188.47, Y:81.99, Z:7.91 [[ 4.57546620e-01 -8.88914135e-01 -2.19715964e-02 1.88467793e+02] [ 8.87991000e-01 4.58072823e-01 -4.05126244e-02 8.19881745e+01] [ 4.60768357e-02 -9.74165455e-04 9.98937424e-01 7.91377207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.72710568099998 meters 0.02218052230560849 Centerline is valid? [True, True] Translation: X:188.48, Y:82.01, Z:7.91 [[ 4.54570374e-01 -8.90441287e-01 -2.19109515e-02 1.88483678e+02] [ 8.89523656e-01 4.55096779e-01 -4.04300341e-02 8.20105909e+01] [ 4.59721750e-02 -1.11201400e-03 9.98942102e-01 7.91391789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75710568099996 meters 0.026562683281885918 Centerline is valid? [True, True] Translation: X:188.50, Y:82.03, Z:7.91 [[ 4.46953854e-01 -8.94281631e-01 -2.21949646e-02 1.88499995e+02] [ 8.93343992e-01 4.47502027e-01 -4.09688690e-02 8.20328668e+01] [ 4.65699986e-02 -1.51654439e-03 9.98913878e-01 7.91465391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.78710568099996 meters 0.029106047466803547 Centerline is valid? [True, True] Translation: X:188.51, Y:82.06, Z:7.92 [[ 4.42661161e-01 -8.96419923e-01 -2.19640284e-02 1.88513816e+02] [ 8.95503367e-01 4.43202421e-01 -4.05627199e-02 8.20572242e+01] [ 4.60957408e-02 -1.71332072e-03 9.98935557e-01 7.91563908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.81710568099996 meters 0.029106047466803547 Centerline is valid? [True, True] Translation: X:188.53, Y:82.08, Z:7.92 [[ 4.42335492e-01 -8.96581033e-01 -2.19491126e-02 1.88526685e+02] [ 8.95664276e-01 4.42876412e-01 -4.05707901e-02 8.20815109e+01] [ 4.60957452e-02 -1.71313561e-03 9.98935557e-01 7.91665698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.84710568099996 meters 0.030756223420549022 Centerline is valid? [True, True] Translation: X:188.54, Y:82.11, Z:7.92 [[ 4.35224837e-01 -9.00059353e-01 -2.17371001e-02 1.88536422e+02] [ 8.99162876e-01 4.35762534e-01 -4.02136373e-02 8.21083357e+01] [ 4.56668742e-02 -2.04321969e-03 9.98954635e-01 7.91842401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.87710568099996 meters 0.03551862444516115 Centerline is valid? [True, True] Translation: X:188.55, Y:82.13, Z:7.92 [[ 4.30384519e-01 -9.02370630e-01 -2.22802957e-02 1.88551373e+02] [ 9.01430074e-01 4.30954550e-01 -4.12552634e-02 8.21320509e+01] [ 4.68293328e-02 -2.32850189e-03 9.98900191e-01 7.91689398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.90710568099996 meters 0.03516625799651742 Centerline is valid? [True, True] Translation: X:188.56, Y:82.16, Z:7.92 [[ 4.26977441e-01 -9.03984000e-01 -2.24319324e-02 1.88558065e+02] [ 9.03031105e-01 4.27558936e-01 -4.15713810e-02 8.21612054e+01] [ 4.71708364e-02 -2.50669076e-03 9.98883691e-01 7.91778183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.93710568099996 meters 0.03663401190947373 Centerline is valid? [True, True] Translation: X:188.57, Y:82.19, Z:7.92 [[ 4.26102797e-01 -9.04405387e-01 -2.20749224e-02 1.88569166e+02] [ 9.03481797e-01 4.26666902e-01 -4.09389304e-02 8.21868361e+01] [ 4.64440279e-02 -2.50009783e-03 9.98917765e-01 7.91915172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.96710568099996 meters 0.037094721411931694 Centerline is valid? [True, True] Translation: X:188.57, Y:82.22, Z:7.92 [[ 4.25792329e-01 -9.04563257e-01 -2.15918338e-02 1.88574158e+02] [ 9.03678941e-01 4.26332377e-01 -4.00633950e-02 8.22156700e+01] [ 4.54451729e-02 -2.45339928e-03 9.98963822e-01 7.92039395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.99710568099997 meters 0.03684457467014753 Centerline is valid? [True, True] Translation: X:188.58, Y:82.24, Z:7.92 [[ 4.25753786e-01 -9.04566344e-01 -2.22135859e-02 1.88582472e+02] [ 9.03628599e-01 4.26325505e-01 -4.12543129e-02 8.22435299e+01] [ 4.67874812e-02 -2.50865160e-03 9.98901716e-01 7.92012759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.02710568099997 meters 0.03719113676864644 Centerline is valid? [True, True] Translation: X:188.59, Y:82.27, Z:7.92 [[ 4.26121025e-01 -9.04378615e-01 -2.28077480e-02 1.88588565e+02] [ 9.03387989e-01 4.26723416e-01 -4.23941898e-02 8.22710741e+01] [ 4.80729988e-02 -2.53918999e-03 9.98840598e-01 7.91759343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.05710568099997 meters 0.037855903310440205 Centerline is valid? [True, True] Translation: X:188.60, Y:82.30, Z:7.92 [[ 4.25468135e-01 -9.04684121e-01 -2.28802667e-02 1.88598998e+02] [ 9.03686106e-01 4.26075162e-01 -4.25602883e-02 8.22976555e+01] [ 4.82523303e-02 -2.56853262e-03 9.98831875e-01 7.91810581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.08710568099997 meters 0.03717144064597569 Centerline is valid? [True, True] Translation: X:188.60, Y:82.33, Z:7.92 [[ 4.24556752e-01 -9.05141271e-01 -2.16989193e-02 1.88601665e+02] [ 9.04242804e-01 4.25103720e-01 -4.03952754e-02 8.23283751e+01] [ 4.57877223e-02 -2.47100465e-03 9.98948136e-01 7.92343541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.11710568099997 meters 0.03524475147457657 Centerline is valid? [True, True] Translation: X:188.60, Y:82.36, Z:7.93 [[ 4.25680375e-01 -9.04621473e-01 -2.13590424e-02 1.88601777e+02] [ 9.03748789e-01 4.26209346e-01 -3.97959654e-02 8.23611278e+01] [ 4.51037084e-02 -2.36284724e-03 9.98979516e-01 7.92648807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.14710568099997 meters 0.035026871630412786 Centerline is valid? [True, True] Translation: X:188.61, Y:82.39, Z:7.93 [[ 4.28043901e-01 -9.03494688e-01 -2.18120772e-02 1.88608934e+02] [ 9.02581790e-01 4.28593226e-01 -4.06688910e-02 8.23883211e+01] [ 4.60926356e-02 -2.27911294e-03 9.98934570e-01 7.92564861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.17710568099997 meters 0.031665812516588586 Centerline is valid? [True, True] Translation: X:188.61, Y:82.42, Z:7.93 [[ 4.34399699e-01 -9.00460046e-01 -2.16473407e-02 1.88606494e+02] [ 8.99556429e-01 4.34934440e-01 -4.03765277e-02 8.24221050e+01] [ 4.57726240e-02 -1.93345303e-03 9.98950013e-01 7.92604326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.20710568099997 meters 0.02764366337650755 Centerline is valid? [True, True] Translation: X:188.60, Y:82.46, Z:7.93 [[ 4.41475316e-01 -8.97040372e-01 -2.04479118e-02 1.88602682e+02] [ 8.96229718e-01 4.41946126e-01 -3.81564368e-02 8.24561014e+01] [ 4.32647397e-02 -1.48090120e-03 9.99062545e-01 7.92934818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.23710568099997 meters 0.0257561015201653 Centerline is valid? [True, True] Translation: X:188.61, Y:82.48, Z:7.93 [[ 4.45990868e-01 -8.94802911e-01 -2.04913547e-02 1.88606902e+02] [ 8.93985692e-01 4.46459593e-01 -3.82546076e-02 8.24846846e+01] [ 4.33788961e-02 -1.25777222e-03 9.99057901e-01 7.92941070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.26710568099998 meters 0.021018231874791186 Centerline is valid? [True, True] Translation: X:188.60, Y:82.52, Z:7.93 [[ 4.55416520e-01 -8.90025268e-01 -2.12324030e-02 1.88601300e+02] [ 8.89141805e-01 4.55910463e-01 -3.96547684e-02 8.25203259e+01] [ 4.49738206e-02 -8.19180534e-04 9.98987830e-01 7.92826627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.29710568099998 meters 0.019210577211276614 Centerline is valid? [True, True] Translation: X:188.61, Y:82.55, Z:7.93 [[ 4.59612251e-01 -8.87868698e-01 -2.11128950e-02 1.88606515e+02] [ 8.86991501e-01 4.60096542e-01 -3.94619919e-02 8.25507700e+01] [ 4.47510374e-02 -5.89743533e-04 9.98997996e-01 7.92900200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.32710568099998 meters 0.01771028565535057 Centerline is valid? [True, True] Translation: X:188.61, Y:82.58, Z:7.93 [[ 4.67176694e-01 -8.83909013e-01 -2.12319126e-02 1.88605216e+02] [ 8.83016476e-01 4.67658871e-01 -3.97125172e-02 8.25843034e+01] [ 4.50315441e-02 -1.95366130e-04 9.98985546e-01 7.92813742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.35710568099998 meters 0.01770141389845095 Centerline is valid? [True, True] Translation: X:188.61, Y:82.61, Z:7.93 [[ 4.70059101e-01 -8.82373706e-01 -2.14728732e-02 1.88612324e+02] [ 8.81457713e-01 4.70549298e-01 -4.01952619e-02 8.26116633e+01] [ 4.55712876e-02 -3.32810163e-05 9.98961089e-01 7.92825661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.38710568099998 meters 0.01834773272664566 Centerline is valid? [True, True] Translation: X:188.62, Y:82.64, Z:7.93 [[ 4.74610117e-01 -8.79924012e-01 -2.18853959e-02 1.88618196e+02] [ 8.78968116e-01 4.75114390e-01 -4.10044762e-02 8.26411601e+01] [ 4.64788897e-02 2.24574063e-04 9.98919247e-01 7.92588869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.41710568099998 meters 0.018708910761271392 Centerline is valid? [True, True] Translation: X:188.63, Y:82.67, Z:7.92 [[ 4.77467140e-01 -8.78370796e-01 -2.21331329e-02 1.88626321e+02] [ 8.77389863e-01 4.77979694e-01 -4.15022923e-02 8.26697817e+01] [ 4.70335896e-02 3.96594353e-04 9.98893230e-01 7.92473343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.44710568099998 meters 0.01911532672423696 Centerline is valid? [True, True] Translation: X:188.64, Y:82.70, Z:7.93 [[ 4.77957545e-01 -8.78102493e-01 -2.21945402e-02 1.88637448e+02] [ 8.77114181e-01 4.78472380e-01 -4.16520813e-02 8.26958286e+01] [ 4.71942709e-02 4.40780579e-04 9.98885632e-01 7.92547616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.47710568099998 meters 0.019512169782650808 Centerline is valid? [True, True] Translation: X:188.65, Y:82.72, Z:7.93 [[ 4.78796343e-01 -8.77643708e-01 -2.22616905e-02 1.88648387e+02] [ 8.76647307e-01 4.79313329e-01 -4.18118562e-02 8.27213255e+01] [ 4.73662375e-02 5.03712795e-04 9.98877463e-01 7.92604404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.50710568099996 meters 0.01938603707676614 Centerline is valid? [True, True] Translation: X:188.66, Y:82.75, Z:7.93 [[ 4.77881659e-01 -8.78133673e-01 -2.25914385e-02 1.88662466e+02] [ 8.77106962e-01 4.78415122e-01 -4.24540614e-02 8.27459999e+01] [ 4.80884267e-02 4.72909273e-04 9.98842970e-01 7.92531616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53710568099996 meters 0.01890512246347018 Centerline is valid? [True, True] Translation: X:188.68, Y:82.77, Z:7.92 [[ 4.75079877e-01 -8.79641018e-01 -2.30388745e-02 1.88678902e+02] [ 8.78573207e-01 4.75638057e-01 -4.33308051e-02 8.27683314e+01] [ 4.90737190e-02 3.44255675e-04 9.98795100e-01 7.92312575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.56710568099996 meters 0.01821084313364145 Centerline is valid? [True, True] Translation: X:188.70, Y:82.79, Z:7.92 [[ 4.72017240e-01 -8.81290827e-01 -2.29391379e-02 1.88698215e+02] [ 8.80233048e-01 4.72574275e-01 -4.31663836e-02 8.27908986e+01] [ 4.88825843e-02 1.83489974e-04 9.98804515e-01 7.92444057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.59710568099996 meters 0.018061524752751235 Centerline is valid? [True, True] Translation: X:188.71, Y:82.81, Z:7.93 [[ 4.70321000e-01 -8.82199870e-01 -2.28373706e-02 1.88713325e+02] [ 8.81150948e-01 4.70875119e-01 -4.30073160e-02 8.28137926e+01] [ 4.86945982e-02 1.04073154e-04 9.98813709e-01 7.92533053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.62710568099996 meters 0.01791393071559076 Centerline is valid? [True, True] Translation: X:188.73, Y:82.84, Z:7.93 [[ 4.65761326e-01 -8.84607558e-01 -2.31485609e-02 1.88731604e+02] [ 8.83531275e-01 4.66336199e-01 -4.36237893e-02 8.28356033e+01] [ 4.93849456e-02 -1.34203548e-04 9.98779810e-01 7.92722208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.65710568099996 meters 0.017979944543456344 Centerline is valid? [True, True] Translation: X:188.75, Y:82.86, Z:7.93 [[ 4.62762228e-01 -8.86187558e-01 -2.28633660e-02 1.88748660e+02] [ 8.85137653e-01 4.63326596e-01 -4.31254018e-02 8.28583940e+01] [ 4.88104000e-02 -2.80419106e-04 9.98808023e-01 7.92918001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.68710568099996 meters 0.01925335680349512 Centerline is valid? [True, True] Translation: X:188.77, Y:82.88, Z:7.93 [[ 4.56529527e-01 -8.89431070e-01 -2.22072739e-02 1.88773773e+02] [ 8.88442870e-01 4.57068946e-01 -4.19195248e-02 8.28768568e+01] [ 4.74347831e-02 -5.92393353e-04 9.98874161e-01 7.93052448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.71710568099996 meters 0.021044006677812078 Centerline is valid? [True, True] Translation: X:188.80, Y:82.90, Z:7.94 [[ 4.49034351e-01 -8.93264028e-01 -2.11548538e-02 1.88795537e+02] [ 8.92370973e-01 4.49531411e-01 -3.99444338e-02 8.28972971e+01] [ 4.51906971e-02 -9.41554546e-04 9.98977935e-01 7.93653025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.74710568099997 meters 0.022428915470012484 Centerline is valid? [True, True] Translation: X:188.81, Y:82.92, Z:7.94 [[ 4.44919711e-01 -8.95335695e-01 -2.05047189e-02 1.88812719e+02] [ 8.94498145e-01 4.45390576e-01 -3.87337659e-02 8.29206967e+01] [ 4.38123318e-02 -1.10801710e-03 9.99039164e-01 7.93946088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.77710568099997 meters 0.027686322921113914 Centerline is valid? [True, True] Translation: X:188.84, Y:82.94, Z:7.94 [[ 4.38296617e-01 -8.98608418e-01 -1.99746637e-02 1.88836530e+02] [ 8.97815691e-01 4.38749359e-01 -3.77622224e-02 8.29396228e+01] [ 4.26973219e-02 -1.38251219e-03 9.99087097e-01 7.94166568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.80710568099997 meters 0.026656334062259375 Centerline is valid? [True, True] Translation: X:188.85, Y:82.96, Z:7.94 [[ 4.34928723e-01 -9.00240969e-01 -2.00799058e-02 1.88849815e+02] [ 8.99440291e-01 4.35389290e-01 -3.79911748e-02 8.29648304e+01] [ 4.29437879e-02 -1.53722318e-03 9.99076307e-01 7.94319754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.83710568099997 meters 0.031396299830814614 Centerline is valid? [True, True] Translation: X:188.87, Y:82.98, Z:7.94 [[ 4.27463059e-01 -9.03798283e-01 -2.05911889e-02 1.88871321e+02] [ 9.02959619e-01 4.27954352e-01 -3.89743477e-02 8.29848618e+01] [ 4.40370374e-02 -1.93291819e-03 9.99028029e-01 7.94297186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.86710568099997 meters 0.0334618072989271 Centerline is valid? [True, True] Translation: X:188.89, Y:83.01, Z:7.94 [[ 4.23531410e-01 -9.05629058e-01 -2.13811627e-02 1.88887197e+02] [ 9.04726390e-01 4.24065065e-01 -4.04843119e-02 8.30085824e+01] [ 4.57307734e-02 -2.19772448e-03 9.98951383e-01 7.94386252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.89710568099997 meters 0.03557453694017089 Centerline is valid? [True, True] Translation: X:188.90, Y:83.03, Z:7.94 [[ 4.19836321e-01 -9.07336732e-01 -2.18521856e-02 1.88902459e+02] [ 9.06395049e-01 4.20397631e-01 -4.13986276e-02 8.30332347e+01] [ 4.67491026e-02 -2.42606532e-03 9.98903717e-01 7.94434471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.92710568099997 meters 0.03363540686627137 Centerline is valid? [True, True] Translation: X:188.91, Y:83.06, Z:7.95 [[ 4.21037760e-01 -9.06791336e-01 -2.13700176e-02 1.88911893e+02] [ 9.05888648e-01 4.21573462e-01 -4.05163430e-02 8.30608402e+01] [ 4.57489011e-02 -2.29994609e-03 9.98950323e-01 7.94762479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.95710568099997 meters 0.029575603692940714 Centerline is valid? [True, True] Translation: X:188.91, Y:83.09, Z:7.95 [[ 4.28384481e-01 -9.03355761e-01 -2.08591723e-02 1.88913613e+02] [ 9.02490372e-01 4.28887942e-01 -3.95760318e-02 8.30918127e+01] [ 4.46974838e-02 -1.87144435e-03 9.98998815e-01 7.95124121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.98710568099997 meters 0.024492818326658665 Centerline is valid? [True, True] Translation: X:188.91, Y:83.13, Z:7.95 [[ 4.39205837e-01 -8.98142780e-01 -2.09232053e-02 1.88911679e+02] [ 8.97265159e-01 4.39701921e-01 -3.97171861e-02 8.31254122e+01] [ 4.48716775e-02 -1.32964317e-03 9.98991874e-01 7.95064992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.01710568099998 meters 0.022106494098753367 Centerline is valid? [True, True] Translation: X:188.92, Y:83.15, Z:7.95 [[ 4.46049355e-01 -8.94767783e-01 -2.07505991e-02 1.88916970e+02] [ 8.93899518e-01 4.46530718e-01 -3.94204081e-02 8.31532312e+01] [ 4.45378910e-02 -9.65502924e-04 9.99007229e-01 7.94992080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.04710568099998 meters 0.01864592018993731 Centerline is valid? [True, True] Translation: X:188.91, Y:83.19, Z:7.95 [[ 4.58955423e-01 -8.88216376e-01 -2.07747102e-02 1.88914469e+02] [ 8.87338144e-01 4.59425263e-01 -3.94898167e-02 8.31858849e+01] [ 4.46199286e-02 -3.10127317e-04 9.99003987e-01 7.94782556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.07710568099998 meters 0.018475467898916506 Centerline is valid? [True, True] Translation: X:188.92, Y:83.22, Z:7.95 [[ 4.64128913e-01 -8.85521450e-01 -2.08833317e-02 1.88920375e+02] [ 8.84629820e-01 4.64598494e-01 -3.97280949e-02 8.32151486e+01] [ 4.48824447e-02 -3.50604670e-05 9.98992275e-01 7.94766344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.10710568099998 meters 0.019464033655835048 Centerline is valid? [True, True] Translation: X:188.92, Y:83.25, Z:7.95 [[ 4.71099189e-01 -8.81807386e-01 -2.19382888e-02 1.88923107e+02] [ 8.80817583e-01 4.71609593e-01 -4.17705337e-02 8.32458054e+01] [ 4.71798726e-02 3.54434071e-04 9.98886347e-01 7.94634943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.13710568099998 meters 0.020667302145887606 Centerline is valid? [True, True] Translation: X:188.93, Y:83.27, Z:7.94 [[ 4.75533781e-01 -8.79401965e-01 -2.27992799e-02 1.88931052e+02] [ 8.78328601e-01 4.76079599e-01 -4.34405928e-02 8.32735390e+01] [ 4.90560147e-02 6.32209716e-04 9.98795829e-01 7.94483865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.16710568099998 meters 0.0209400775670401 Centerline is valid? [True, True] Translation: X:188.94, Y:83.30, Z:7.95 [[ 4.76584908e-01 -8.78830447e-01 -2.28882431e-02 1.88944551e+02] [ 8.77747116e-01 4.77133684e-01 -4.36285275e-02 8.32989534e+01] [ 4.92628301e-02 7.02608429e-04 9.98785603e-01 7.94563500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.19710568099998 meters 0.02161133355447162 Centerline is valid? [True, True] Translation: X:188.96, Y:83.32, Z:7.95 [[ 4.78724024e-01 -8.77709828e-01 -2.11840948e-02 1.88957669e+02] [ 8.76779464e-01 4.79191885e-01 -4.04092620e-02 8.33218099e+01] [ 4.56188527e-02 7.71105210e-04 9.98958621e-01 7.95104879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.22710568099998 meters 0.021614021029116783 Centerline is valid? [True, True] Translation: X:188.97, Y:83.35, Z:7.95 [[ 4.79096411e-01 -8.77528505e-01 -2.02571379e-02 1.88971470e+02] [ 8.76676681e-01 4.79523866e-01 -3.86634056e-02 8.33454560e+01] [ 4.36420216e-02 7.64538461e-04 9.99046941e-01 7.95472842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25710568099996 meters 0.021983458319513854 Centerline is valid? [True, True] Translation: X:188.99, Y:83.37, Z:7.96 [[ 4.80175321e-01 -8.76929460e-01 -2.06490404e-02 1.88985825e+02] [ 8.76042297e-01 4.80618349e-01 -3.94448435e-02 8.33689758e+01] [ 4.45146530e-02 8.51007573e-04 9.99008369e-01 7.95564663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.28710568099996 meters 0.021681744452888858 Centerline is valid? [True, True] Translation: X:189.01, Y:83.39, Z:7.96 [[ 4.79551704e-01 -8.77268078e-01 -2.07577002e-02 1.89005817e+02] [ 8.76371148e-01 4.80000028e-01 -3.96684285e-02 8.33901934e+01] [ 4.47635427e-02 8.31612883e-04 9.98997264e-01 7.95585436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.31710568099996 meters 0.021363284082207046 Centerline is valid? [True, True] Translation: X:189.02, Y:83.41, Z:7.96 [[ 4.78696788e-01 -8.77745842e-01 -2.02884838e-02 1.89023556e+02] [ 8.76888001e-01 4.79125893e-01 -3.88048014e-02 8.34123513e+01] [ 4.37814909e-02 7.85005773e-04 9.99040822e-01 7.95827233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.34710568099996 meters 0.02045409207287773 Centerline is valid? [True, True] Translation: X:189.05, Y:83.43, Z:7.96 [[ 4.76358841e-01 -8.79017759e-01 -2.02492876e-02 1.89046685e+02] [ 8.78163467e-01 4.76788549e-01 -3.87505426e-02 8.34331202e+01] [ 4.37170436e-02 6.76979016e-04 9.99043724e-01 7.96061447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.37710568099996 meters 0.019666697944879706 Centerline is valid? [True, True] Translation: X:189.06, Y:83.46, Z:7.96 [[ 4.74702328e-01 -8.79906428e-01 -2.05518212e-02 1.89064061e+02] [ 8.79025791e-01 4.75146602e-01 -3.93619861e-02 8.34562671e+01] [ 4.43999926e-02 6.19645548e-04 9.99013642e-01 7.96154315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.40710568099996 meters 0.01851805343737371 Centerline is valid? [True, True] Translation: X:189.08, Y:83.48, Z:7.96 [[ 4.70630377e-01 -8.82067272e-01 -2.15493536e-02 1.89084465e+02] [ 8.81099816e-01 4.71123257e-01 -4.13036551e-02 8.34774158e+01] [ 4.65850041e-02 4.51623341e-04 9.98914227e-01 7.96010701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.43710568099996 meters 0.017446568712728542 Centerline is valid? [True, True] Translation: X:189.11, Y:83.50, Z:7.96 [[ 4.64676997e-01 -8.85191125e-01 -2.26265336e-02 1.89108324e+02] [ 8.84127209e-01 4.65227522e-01 -4.33869981e-02 8.34972323e+01] [ 4.89322718e-02 1.56205949e-04 9.98802087e-01 7.95812021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.46710568099996 meters 0.01706509081423378 Centerline is valid? [True, True] Translation: X:189.13, Y:83.52, Z:7.96 [[ 4.60247380e-01 -8.87497490e-01 -2.28156570e-02 1.89129240e+02] [ 8.86416675e-01 4.60812543e-01 -4.37867316e-02 8.35183088e+01] [ 4.93743553e-02 -7.14503508e-05 9.98780340e-01 7.95885722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.49710568099997 meters 0.018557456293634887 Centerline is valid? [True, True] Translation: X:189.16, Y:83.54, Z:7.96 [[ 4.50694682e-01 -8.92390330e-01 -2.26672031e-02 1.89159009e+02] [ 8.91327683e-01 4.51263960e-01 -4.35407747e-02 8.35350420e+01] [ 4.90842581e-02 -5.80310001e-04 9.98794473e-01 7.96172766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.52710568099997 meters 0.01998651010569949 Centerline is valid? [True, True] Translation: X:189.18, Y:83.56, Z:7.96 [[ 4.45976010e-01 -8.94750129e-01 -2.29696434e-02 1.89179566e+02] [ 8.93660308e-01 4.46566355e-01 -4.41559073e-02 8.35557861e+01] [ 4.97659737e-02 -8.34583222e-04 9.98760558e-01 7.96403119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.55710568099997 meters 0.022761265014856064 Centerline is valid? [True, True] Translation: X:189.20, Y:83.58, Z:7.97 [[ 4.38821438e-01 -8.98268776e-01 -2.34297100e-02 1.89203350e+02] [ 8.97138194e-01 4.39444723e-01 -4.50710210e-02 8.35757913e+01] [ 5.07819532e-02 -1.24155743e-03 9.98708993e-01 7.96723097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.58710568099997 meters 0.023337746144425835 Centerline is valid? [True, True] Translation: X:189.22, Y:83.60, Z:7.97 [[ 4.37501067e-01 -8.98902274e-01 -2.38226444e-02 1.89219719e+02] [ 8.97732473e-01 4.38147186e-01 -4.58633866e-02 8.35994987e+01] [ 5.16645271e-02 -1.32108093e-03 9.98663623e-01 7.96739233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.61710568099997 meters 0.021974705400409092 Centerline is valid? [True, True] Translation: X:189.24, Y:83.62, Z:7.97 [[ 4.38379978e-01 -8.98472811e-01 -2.38663325e-02 1.89236328e+02] [ 8.97296181e-01 4.39027366e-01 -4.59840832e-02 8.36231570e+01] [ 5.17934216e-02 -1.25666759e-03 9.98657029e-01 7.96904134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.64710568099997 meters 0.02207191761248312 Centerline is valid? [True, True] Translation: X:189.25, Y:83.65, Z:7.97 [[ 4.39977570e-01 -8.97696475e-01 -2.36807287e-02 1.89251991e+02] [ 8.96535036e-01 4.40612915e-01 -4.56638551e-02 8.36468700e+01] [ 5.14263166e-02 -1.13953099e-03 9.98676141e-01 7.96983719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.67710568099997 meters 0.018429499641704997 Centerline is valid? [True, True] Translation: X:189.26, Y:83.68, Z:7.98 [[ 4.46658817e-01 -8.94419469e-01 -2.25768487e-02 1.89259593e+02] [ 8.93357906e-01 4.47228477e-01 -4.35699534e-02 8.36751157e+01] [ 4.90668243e-02 -7.08302395e-04 9.98795247e-01 7.97805295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.70710568099997 meters 0.016513831102642346 Centerline is valid? [True, True] Translation: X:189.26, Y:83.71, Z:7.98 [[ 4.57362252e-01 -8.89030563e-01 -2.10814816e-02 1.89263006e+02] [ 8.88097663e-01 4.57847844e-01 -4.07172294e-02 8.37052392e+01] [ 4.58509722e-02 -9.98908303e-05 9.98948286e-01 7.98392192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.73710568099997 meters 0.016513831102642346 Centerline is valid? [True, True] Translation: X:189.28, Y:83.73, Z:7.98 [[ 4.57015060e-01 -8.89209453e-01 -2.10661724e-02 1.89275404e+02] [ 8.88276378e-01 4.57500315e-01 -4.07251492e-02 8.37297057e+01] [ 4.58509681e-02 -1.00576808e-04 9.98948286e-01 7.98493906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.76710568099998 meters 0.016554520624065937 Centerline is valid? [True, True] Translation: X:189.28, Y:83.76, Z:7.99 [[ 4.62470099e-01 -8.86400273e-01 -2.03952085e-02 1.89281922e+02] [ 8.85521444e-01 4.62919562e-01 -3.94620245e-02 8.37567371e+01] [ 4.44204902e-02 1.89611905e-04 9.99012905e-01 7.98762688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.79710568099998 meters 0.01835497165845418 Centerline is valid? [True, True] Translation: X:189.29, Y:83.79, Z:7.99 [[ 4.70238232e-01 -8.82314829e-01 -1.99135005e-02 1.89285724e+02] [ 8.81472381e-01 4.70659337e-01 -3.85516468e-02 8.37875243e+01] [ 4.33871646e-02 5.75257571e-04 9.99058168e-01 7.99075111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.82710568099998 meters 0.02026849572964368 Centerline is valid? [True, True] Translation: X:189.29, Y:83.81, Z:7.99 [[ 4.74346341e-01 -8.80105601e-01 -2.02405491e-02 1.89294342e+02] [ 8.79231811e-01 4.74777296e-01 -3.92166071e-02 8.38142916e+01] [ 4.41245087e-02 8.06119463e-04 9.99025714e-01 7.99002153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.85710568099998 meters 0.02099291071394639 Centerline is valid? [True, True] Translation: X:189.31, Y:83.84, Z:7.99 [[ 4.75235016e-01 -8.79621824e-01 -2.04236665e-02 1.89307009e+02] [ 8.78730481e-01 4.75672878e-01 -3.95986747e-02 8.38403355e+01] [ 4.45468427e-02 8.71778525e-04 9.99006916e-01 7.98974830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.88710568099998 meters 0.02100218039952359 Centerline is valid? [True, True] Translation: X:189.32, Y:83.87, Z:7.99 [[ 4.75813996e-01 -8.79298082e-01 -2.08788030e-02 1.89321001e+02] [ 8.78364733e-01 4.76270934e-01 -4.05141008e-02 8.38659383e+01] [ 4.55679382e-02 9.37971976e-04 9.98960802e-01 7.98900587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.91710568099998 meters 0.021191910813432722 Centerline is valid? [True, True] Translation: X:189.33, Y:83.89, Z:7.99 [[ 4.75643918e-01 -8.79381371e-01 -2.12430367e-02 1.89334508e+02] [ 8.78413648e-01 4.76117083e-01 -4.12551323e-02 8.38915006e+01] [ 4.63931675e-02 9.62579420e-04 9.98922794e-01 7.98932393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.94710568099998 meters 0.02202109665319309 Centerline is valid? [True, True] Translation: X:189.35, Y:83.92, Z:7.99 [[ 4.76605846e-01 -8.78841078e-01 -2.20278936e-02 1.89348136e+02] [ 8.77798178e-01 4.77113420e-01 -4.28152209e-02 8.39164823e+01] [ 4.81375785e-02 1.06993970e-03 9.98840142e-01 7.98828998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.97710568099998 meters 0.02183492793048245 Centerline is valid? [True, True] Translation: X:189.36, Y:83.94, Z:7.99 [[ 4.76032673e-01 -8.79138823e-01 -2.25349528e-02 1.89362802e+02] [ 8.78045809e-01 4.76564539e-01 -4.38383075e-02 8.39406190e+01] [ 4.92793175e-02 1.08174585e-03 9.98784451e-01 7.98891516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.00710568099996 meters 0.020789547681013546 Centerline is valid? [True, True] Translation: X:189.38, Y:83.96, Z:7.99 [[ 4.73079654e-01 -8.80725841e-01 -2.27515921e-02 1.89380939e+02] [ 8.79611508e-01 4.73625486e-01 -4.43000577e-02 8.39632706e+01] [ 4.97919394e-02 9.44893743e-04 9.98759165e-01 7.98940258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03710568099996 meters 0.018311524947409473 Centerline is valid? [True, True] Translation: X:189.40, Y:83.98, Z:7.99 [[ 4.66618156e-01 -8.84167767e-01 -2.26904409e-02 1.89403965e+02] [ 8.83061618e-01 4.67169139e-01 -4.42173541e-02 8.39832579e+01] [ 4.96958330e-02 5.95562813e-04 9.98764221e-01 7.99104351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.06710568099996 meters 0.017088198356861917 Centerline is valid? [True, True] Translation: X:189.42, Y:84.01, Z:7.99 [[ 4.62284002e-01 -8.86440159e-01 -2.27452484e-02 1.89424098e+02] [ 8.85329481e-01 4.62843069e-01 -4.43621854e-02 8.40055703e+01] [ 4.98519033e-02 3.70889667e-04 9.98756552e-01 7.99241291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.09710568099996 meters 0.016395909273021078 Centerline is valid? [True, True] Translation: X:189.45, Y:84.02, Z:7.99 [[ 4.53643294e-01 -8.90883311e-01 -2.31233186e-02 1.89447985e+02] [ 8.89739026e-01 4.54232228e-01 -4.51392176e-02 8.40247171e+01] [ 5.07171321e-02 -9.66156260e-05 9.98713053e-01 7.99399649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.12710568099996 meters 0.016687071455315183 Centerline is valid? [True, True] Translation: X:189.46, Y:84.05, Z:8.00 [[ 4.50067407e-01 -8.92689472e-01 -2.33417223e-02 1.89464446e+02] [ 8.91523649e-01 4.50672195e-01 -4.56087224e-02 8.40484297e+01] [ 5.12338916e-02 -2.82698037e-04 9.98686642e-01 7.99547380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.15710568099996 meters 0.017263921761614988 Centerline is valid? [True, True] Translation: X:189.48, Y:84.07, Z:8.00 [[ 4.45815722e-01 -8.94822450e-01 -2.32620964e-02 1.89482639e+02] [ 8.93665369e-01 4.46421915e-01 -4.54937537e-02 8.40715613e+01] [ 5.10935417e-02 -5.06699279e-04 9.98693743e-01 7.99797683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.18710568099996 meters 0.01779759730947892 Centerline is valid? [True, True] Translation: X:189.50, Y:84.10, Z:8.00 [[ 4.44324309e-01 -8.95547672e-01 -2.38804657e-02 1.89498058e+02] [ 8.94327436e-01 4.44965189e-01 -4.67377570e-02 8.40953237e+01] [ 5.24818654e-02 -5.90234096e-04 9.98621703e-01 7.99834878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.21710568099996 meters 0.018735326494198165 Centerline is valid? [True, True] Translation: X:189.51, Y:84.12, Z:8.00 [[ 4.41335062e-01 -8.96997662e-01 -2.48708172e-02 1.89514767e+02] [ 8.95674763e-01 4.42034596e-01 -4.87045720e-02 8.41193656e+01] [ 5.46816489e-02 -7.81127977e-04 9.98503534e-01 7.99588097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.24710568099997 meters 0.020280202269152024 Centerline is valid? [True, True] Translation: X:189.53, Y:84.14, Z:8.00 [[ 4.38047852e-01 -8.98607258e-01 -2.48812156e-02 1.89529827e+02] [ 8.97284043e-01 4.38752845e-01 -4.87574281e-02 8.41423644e+01] [ 5.47304829e-02 -9.67431111e-04 9.98500695e-01 7.99688217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.27710568099997 meters 0.020463972935642488 Centerline is valid? [True, True] Translation: X:189.54, Y:84.17, Z:8.00 [[ 4.36752458e-01 -8.99257695e-01 -2.41430874e-02 1.89542513e+02] [ 8.98011582e-01 4.37418088e-01 -4.73351255e-02 8.41667239e+01] [ 5.31270990e-02 -1.00703971e-03 9.98587251e-01 8.00053346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.30710568099997 meters 0.02206433002275906 Centerline is valid? [True, True] Translation: X:189.56, Y:84.19, Z:8.00 [[ 4.33399382e-01 -9.00884137e-01 -2.39321283e-02 1.89555541e+02] [ 8.99659983e-01 4.34058044e-01 -4.69630628e-02 8.41916765e+01] [ 5.26962111e-02 -1.17701572e-03 9.98609896e-01 8.00493950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.33710568099997 meters 0.024560777670863745 Centerline is valid? [True, True] Translation: X:189.57, Y:84.22, Z:8.01 [[ 4.28830281e-01 -9.03077133e-01 -2.35856454e-02 1.89568653e+02] [ 9.01889410e-01 4.29476090e-01 -4.63225561e-02 8.42156507e+01] [ 5.19623119e-02 -1.40712913e-03 9.98648055e-01 8.00867452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.36710568099997 meters 0.025144619378267605 Centerline is valid? [True, True] Translation: X:189.58, Y:84.24, Z:8.01 [[ 4.26612350e-01 -9.04132545e-01 -2.33718503e-02 1.89579833e+02] [ 9.02965996e-01 4.27249426e-01 -4.59384222e-02 8.42417115e+01] [ 5.15200323e-02 -1.50608786e-03 9.98670826e-01 8.01183497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.39710568099997 meters 0.0261561395248445 Centerline is valid? [True, True] Translation: X:189.59, Y:84.27, Z:8.02 [[ 4.23899688e-01 -9.05423423e-01 -2.27481804e-02 1.89589051e+02] [ 9.04319074e-01 4.24506581e-01 -4.47345023e-02 8.42687055e+01] [ 5.01604185e-02 -1.60867187e-03 9.98739878e-01 8.01503380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.42710568099997 meters 0.02574532101819516 Centerline is valid? [True, True] Translation: X:189.60, Y:84.30, Z:8.02 [[ 4.22398609e-01 -9.06128849e-01 -2.25815030e-02 1.89599193e+02] [ 9.05040400e-01 4.22998490e-01 -4.44314374e-02 8.42958629e+01] [ 4.98125489e-02 -1.66939513e-03 9.98757189e-01 8.01721967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.45710568099997 meters 0.025943754069263927 Centerline is valid? [True, True] Translation: X:189.61, Y:84.32, Z:8.02 [[ 4.21900715e-01 -9.06372534e-01 -2.21046508e-02 1.89606438e+02] [ 9.05328143e-01 4.22476174e-01 -4.35297237e-02 8.43231744e+01] [ 4.87928342e-02 -1.64674090e-03 9.98807563e-01 8.02000229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.48710568099997 meters 0.0255095057525231 Centerline is valid? [True, True] Translation: X:189.62, Y:84.35, Z:8.02 [[ 4.22917278e-01 -9.05906438e-01 -2.17830856e-02 1.89615696e+02] [ 9.04889920e-01 4.23475040e-01 -4.29316058e-02 8.43512932e+01] [ 4.81166111e-02 -1.55477672e-03 9.98840515e-01 8.02279918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.51710568099998 meters 0.022903994281298648 Centerline is valid? [True, True] Translation: X:189.62, Y:84.38, Z:8.03 [[ 4.27182354e-01 -9.03909527e-01 -2.15128714e-02 1.89617536e+02] [ 9.02914446e-01 4.27721722e-01 -4.24220684e-02 8.43826781e+01] [ 4.75472342e-02 -1.30232326e-03 9.98868142e-01 8.02663491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.54710568099998 meters 0.022763455604060567 Centerline is valid? [True, True] Translation: X:189.63, Y:84.41, Z:8.03 [[ 4.29709101e-01 -9.02716357e-01 -2.12900576e-02 1.89626288e+02] [ 9.01738664e-01 4.30234672e-01 -4.20179588e-02 8.44098205e+01] [ 4.70900197e-02 -1.14256880e-03 9.98889996e-01 8.02674859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.57710568099998 meters 0.01848168209066375 Centerline is valid? [True, True] Translation: X:189.62, Y:84.45, Z:8.02 [[ 4.40166721e-01 -8.97600992e-01 -2.37848098e-02 1.89620555e+02] [ 8.96370711e-01 4.40808406e-01 -4.69840124e-02 8.44450353e+01] [ 5.26574402e-02 -6.39208173e-04 9.98612430e-01 8.02164261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.60710568099998 meters 0.017971305789215346 Centerline is valid? [True, True] Translation: X:189.63, Y:84.47, Z:8.02 [[ 4.43353423e-01 -8.96004714e-01 -2.47648062e-02 1.89626546e+02] [ 8.94666317e-01 4.44044311e-01 -4.89574365e-02 8.44728460e+01] [ 5.48627651e-02 -4.50790926e-04 9.98493803e-01 8.01999253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.63710568099998 meters 0.01750881681749658 Centerline is valid? [True, True] Translation: X:189.63, Y:84.50, Z:8.02 [[ 4.47385010e-01 -8.94001014e-01 -2.46746950e-02 1.89631536e+02] [ 8.92667606e-01 4.48064897e-01 -4.88097644e-02 8.45026355e+01] [ 5.46918435e-02 -1.89544033e-04 9.98503263e-01 8.02101956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.66710568099998 meters 0.018354714399134407 Centerline is valid? [True, True] Translation: X:189.63, Y:84.54, Z:8.02 [[ 4.57321389e-01 -8.88952356e-01 -2.49169620e-02 1.89630164e+02] [ 8.87582709e-01 4.57999467e-01 -4.93297334e-02 8.45352484e+01] [ 5.52637381e-02 4.43677552e-04 9.98471693e-01 8.02149657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.69710568099998 meters 0.02134090874476643 Centerline is valid? [True, True] Translation: X:189.63, Y:84.56, Z:8.02 [[ 4.65065113e-01 -8.84921770e-01 -2.50579657e-02 1.89633322e+02] [ 8.83528655e-01 4.65738726e-01 -4.96442734e-02 8.45649780e+01] [ 5.56017634e-02 9.48388886e-04 9.98452575e-01 8.01907125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.72710568099998 meters 0.022441282703777488 Centerline is valid? [True, True] Translation: X:189.64, Y:84.59, Z:8.02 [[ 4.67619854e-01 -8.83600256e-01 -2.41300735e-02 1.89641764e+02] [ 8.82305561e-01 4.68240785e-01 -4.78274487e-02 8.45918452e+01] [ 5.35590305e-02 1.07496662e-03 9.98564106e-01 8.02230984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75710568099996 meters 0.02311631958986682 Centerline is valid? [True, True] Translation: X:189.65, Y:84.62, Z:8.03 [[ 4.69607403e-01 -8.82583950e-01 -2.26816897e-02 1.89650714e+02] [ 8.81437709e-01 4.70153478e-01 -4.49807928e-02 8.46184617e+01] [ 5.03632011e-02 1.13081666e-03 9.98730329e-01 8.02678859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.78710568099996 meters 0.022701204282284816 Centerline is valid? [True, True] Translation: X:189.67, Y:84.64, Z:8.03 [[ 4.69074780e-01 -8.82861093e-01 -2.29159877e-02 1.89665036e+02] [ 8.81689173e-01 4.69632844e-01 -4.54884024e-02 8.46426587e+01] [ 5.09220412e-02 1.13268406e-03 9.98701989e-01 8.02654072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.81710568099996 meters 0.021846221548994627 Centerline is valid? [True, True] Translation: X:189.68, Y:84.66, Z:8.02 [[ 4.65908728e-01 -8.84509316e-01 -2.39233654e-02 1.89682700e+02] [ 8.83232042e-01 4.66521428e-01 -4.75280642e-02 8.46646721e+01] [ 5.31997781e-02 1.01385712e-03 9.98583374e-01 8.02491212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.84710568099996 meters 0.020833567546860724 Centerline is valid? [True, True] Translation: X:189.70, Y:84.69, Z:8.03 [[ 4.62425085e-01 -8.86366356e-01 -2.27535430e-02 1.89698950e+02] [ 8.85212273e-01 4.62983897e-01 -4.52232505e-02 8.46872825e+01] [ 5.06188918e-02 7.70649870e-04 9.98717745e-01 8.02979178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.87710568099996 meters 0.019905313246777884 Centerline is valid? [True, True] Translation: X:189.71, Y:84.71, Z:8.03 [[ 4.61027819e-01 -8.87102948e-01 -2.23988942e-02 1.89713700e+02] [ 8.85984423e-01 4.61571106e-01 -4.45389329e-02 8.47113627e+01] [ 4.98493010e-02 6.88615731e-04 9.98756513e-01 8.03385582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.90710568099996 meters 0.019128449670098864 Centerline is valid? [True, True] Translation: X:189.73, Y:84.73, Z:8.04 [[ 4.59862588e-01 -8.87714188e-01 -2.21341584e-02 1.89731539e+02] [ 8.86620794e-01 4.60394527e-01 -4.40505049e-02 8.47342858e+01] [ 4.92947035e-02 6.32574057e-04 9.98784077e-01 8.03637454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.93710568099996 meters 0.019011171523469022 Centerline is valid? [True, True] Translation: X:189.75, Y:84.76, Z:8.04 [[ 4.59269222e-01 -8.88017117e-01 -2.23020425e-02 1.89746975e+02] [ 8.86905494e-01 4.59809974e-01 -4.44233372e-02 8.47581030e+01] [ 4.97033854e-02 6.22467481e-04 9.98763829e-01 8.03661631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.96710568099996 meters 0.018607806460499456 Centerline is valid? [True, True] Translation: X:189.77, Y:84.78, Z:8.03 [[ 4.56648806e-01 -8.89351192e-01 -2.29417998e-02 1.89765758e+02] [ 8.88174511e-01 4.57224451e-01 -4.57366291e-02 8.47793151e+01] [ 5.11654774e-02 5.09255220e-04 9.98690059e-01 8.03335724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.99710568099997 meters 0.01833722127366883 Centerline is valid? [True, True] Translation: X:189.78, Y:84.80, Z:8.03 [[ 4.55050458e-01 -8.90164785e-01 -2.31459846e-02 1.89780855e+02] [ 8.88966816e-01 4.55638529e-01 -4.61685087e-02 8.48021533e+01] [ 5.16437830e-02 4.32988782e-04 9.98665476e-01 8.03348171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.02710568099997 meters 0.017566783006923013 Centerline is valid? [True, True] Translation: X:189.80, Y:84.82, Z:8.04 [[ 4.51735174e-01 -8.91840628e-01 -2.35717516e-02 1.89800172e+02] [ 8.90598606e-01 4.52349672e-01 -4.70520641e-02 8.48235637e+01] [ 5.26256165e-02 2.62103208e-04 9.98614278e-01 8.03523773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.05710568099997 meters 0.017385058407597215 Centerline is valid? [True, True] Translation: X:189.82, Y:84.84, Z:8.03 [[ 4.49705854e-01 -8.92868172e-01 -2.34749357e-02 1.89818984e+02] [ 8.91635469e-01 4.50318111e-01 -4.69019014e-02 8.48439590e+01] [ 5.24484037e-02 1.60974267e-04 9.98623622e-01 8.03491429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.08710568099997 meters 0.017478853443224935 Centerline is valid? [True, True] Translation: X:189.84, Y:84.87, Z:8.03 [[ 4.47799122e-01 -8.93810473e-01 -2.40579436e-02 1.89836395e+02] [ 8.92514878e-01 4.48444906e-01 -4.81077875e-02 8.48652904e+01] [ 5.37879066e-02 7.05523851e-05 9.98552380e-01 8.03383196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.11710568099997 meters 0.01734645887826603 Centerline is valid? [True, True] Translation: X:189.85, Y:84.89, Z:8.04 [[ 4.46600157e-01 -8.94410300e-01 -2.40523338e-02 1.89850477e+02] [ 8.93113939e-01 4.47247376e-01 -4.81381063e-02 8.48894452e+01] [ 5.38125613e-02 1.70112885e-05 9.98551054e-01 8.03589703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.14710568099997 meters 0.017405157552421373 Centerline is valid? [True, True] Translation: X:189.86, Y:84.91, Z:8.04 [[ 4.46107640e-01 -8.94665955e-01 -2.36812904e-02 1.89864141e+02] [ 8.93407374e-01 4.46735749e-01 -4.74387449e-02 8.49140037e+01] [ 5.30211090e-02 5.74704652e-06 9.98593392e-01 8.03801124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.17710568099997 meters 0.01726373468558653 Centerline is valid? [True, True] Translation: X:189.88, Y:84.94, Z:8.05 [[ 4.48801546e-01 -8.93376582e-01 -2.13413945e-02 1.89876594e+02] [ 8.92351659e-01 4.49308645e-01 -4.27815073e-02 8.49384287e+01] [ 4.78088698e-02 1.56377847e-04 9.98856490e-01 8.04587415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.20710568099997 meters 0.017797900741029812 Centerline is valid? [True, True] Translation: X:189.89, Y:84.96, Z:8.05 [[ 4.52577836e-01 -8.91510377e-01 -1.95588927e-02 1.89886767e+02] [ 8.90647216e-01 4.53000153e-01 -3.92224058e-02 8.49647028e+01] [ 4.38273631e-02 3.31118214e-04 9.99039065e-01 8.05252388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.23710568099997 meters 0.018070935754850834 Centerline is valid? [True, True] Translation: X:189.90, Y:84.99, Z:8.06 [[ 4.53860297e-01 -8.90865354e-01 -1.92289661e-02 1.89898310e+02] [ 8.90029006e-01 4.54267278e-01 -3.85954527e-02 8.49904276e+01] [ 4.31184417e-02 4.02606074e-04 9.99069886e-01 8.05503953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.26710568099998 meters 0.01950518007133723 Centerline is valid? [True, True] Translation: X:189.91, Y:85.02, Z:8.06 [[ 4.57355032e-01 -8.89071762e-01 -1.94364665e-02 1.89908499e+02] [ 8.88214212e-01 4.57767462e-01 -3.90443946e-02 8.50159143e+01] [ 4.36106507e-02 5.93404586e-04 9.99048427e-01 8.05505098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.29710568099998 meters 0.019348808843295807 Centerline is valid? [True, True] Translation: X:189.92, Y:85.04, Z:8.05 [[ 4.58767355e-01 -8.88323417e-01 -2.03474803e-02 1.89923168e+02] [ 8.87381971e-01 4.59217824e-01 -4.08928869e-02 8.50412709e+01] [ 4.56700346e-02 7.04334363e-04 9.98956331e-01 8.05453026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.32710568099998 meters 0.021640740969498105 Centerline is valid? [True, True] Translation: X:189.93, Y:85.07, Z:8.05 [[ 4.62679848e-01 -8.86247092e-01 -2.22137483e-02 1.89934530e+02] [ 8.85120754e-01 4.63211693e-01 -4.46786109e-02 8.50664131e+01] [ 4.98859569e-02 1.01004324e-03 9.98754410e-01 8.04931403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.35710568099998 meters 0.022520514938918965 Centerline is valid? [True, True] Translation: X:189.95, Y:85.09, Z:8.05 [[ 4.64731331e-01 -8.85169073e-01 -2.23719019e-02 1.89949622e+02] [ 8.84024445e-01 4.65268102e-01 -4.50152670e-02 8.50905921e+01] [ 5.02550545e-02 1.14269680e-03 9.98735763e-01 8.04967809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.38710568099998 meters 0.02270277521456493 Centerline is valid? [True, True] Translation: X:189.96, Y:85.12, Z:8.05 [[ 4.65758124e-01 -8.84635089e-01 -2.21388426e-02 1.89964590e+02] [ 8.83512213e-01 4.66282443e-01 -4.45741365e-02 8.51151899e+01] [ 4.97547988e-02 1.20082843e-03 9.98760741e-01 8.05222295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.41710568099998 meters 0.02407774424636106 Centerline is valid? [True, True] Translation: X:189.98, Y:85.14, Z:8.05 [[ 4.68352476e-01 -8.83276694e-01 -2.16388430e-02 1.89981954e+02] [ 8.82200748e-01 4.68850196e-01 -4.36042896e-02 8.51389562e+01] [ 4.86600285e-02 1.33237350e-03 9.98814511e-01 8.05394293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.44710568099998 meters 0.025612161252368468 Centerline is valid? [True, True] Translation: X:190.00, Y:85.16, Z:8.05 [[ 4.70096987e-01 -8.82353118e-01 -2.14894645e-02 1.89995726e+02] [ 8.81289399e-01 4.70585718e-01 -4.33367906e-02 8.51628919e+01] [ 4.83509874e-02 1.43405748e-03 9.98829378e-01 8.05401709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47710568099995 meters 0.027087195847145595 Centerline is valid? [True, True] Translation: X:190.01, Y:85.19, Z:8.05 [[ 4.71993886e-01 -8.81333409e-01 -2.17530389e-02 1.90012992e+02] [ 8.80241161e-01 4.72492287e-01 -4.38923275e-02 8.51855317e+01] [ 4.89619177e-02 1.56898998e-03 9.98799414e-01 8.05439942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.50710568099996 meters 0.025799110950841524 Centerline is valid? [True, True] Translation: X:190.03, Y:85.21, Z:8.06 [[ 4.71299643e-01 -8.81724513e-01 -2.09410906e-02 1.90034383e+02] [ 8.80711493e-01 4.71762315e-01 -4.22798390e-02 8.52074696e+01] [ 4.71583879e-02 1.48341382e-03 9.98886323e-01 8.05779491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53710568099996 meters 0.02496902670843866 Centerline is valid? [True, True] Translation: X:190.05, Y:85.23, Z:8.06 [[ 4.69445539e-01 -8.82725676e-01 -2.04026161e-02 1.90051405e+02] [ 8.81764001e-01 4.69886727e-01 -4.12154155e-02 8.52309037e+01] [ 4.59688240e-02 1.35810050e-03 9.98941952e-01 8.05934451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.56710568099996 meters 0.022538223221581388 Centerline is valid? [True, True] Translation: X:190.08, Y:85.25, Z:8.06 [[ 4.62951758e-01 -8.86141632e-01 -2.07045341e-02 1.90075467e+02] [ 8.85153119e-01 4.63413317e-01 -4.18575461e-02 8.52497558e+01] [ 4.66864710e-02 1.05134154e-03 9.98909039e-01 8.05880935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.59710568099996 meters 0.020568080213728718 Centerline is valid? [True, True] Translation: X:190.10, Y:85.27, Z:8.06 [[ 4.58776671e-01 -8.88313174e-01 -2.05832687e-02 1.90095361e+02] [ 8.87337462e-01 4.59237419e-01 -4.16319759e-02 8.52717707e+01] [ 4.64348398e-02 8.35473908e-04 9.98920972e-01 8.06017329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.62710568099996 meters 0.020568080213728718 Centerline is valid? [True, True] Translation: X:190.11, Y:85.30, Z:8.06 [[ 4.58434352e-01 -8.88490219e-01 -2.05688190e-02 1.90107297e+02] [ 8.87514365e-01 4.58894798e-01 -4.16391143e-02 8.52964925e+01] [ 4.64348699e-02 8.33678027e-04 9.98920972e-01 8.06119057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.65710568099996 meters 0.017866702906003975 Centerline is valid? [True, True] Translation: X:190.13, Y:85.32, Z:8.06 [[ 4.49054104e-01 -8.93279388e-01 -2.00585920e-02 1.90131654e+02] [ 8.92354309e-01 4.49501736e-01 -4.06444989e-02 8.53154034e+01] [ 4.53232650e-02 3.52208034e-04 9.98972311e-01 8.06235275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.68710568099996 meters 0.017311982261469273 Centerline is valid? [True, True] Translation: X:190.15, Y:85.34, Z:8.06 [[ 4.44142373e-01 -8.95730075e-01 -2.01292356e-02 1.90150107e+02] [ 8.94799242e-01 4.44598267e-01 -4.08251989e-02 8.53380290e+01] [ 4.55177817e-02 1.20575941e-04 9.98963521e-01 8.06259898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.71710568099996 meters 0.017649291651171288 Centerline is valid? [True, True] Translation: X:190.17, Y:85.36, Z:8.06 [[ 4.35915214e-01 -8.99754269e-01 -2.04983211e-02 1.90174457e+02] [ 8.98791653e-01 4.36396807e-01 -4.16099955e-02 8.53567674e+01] [ 4.63841730e-02 -2.85289794e-04 9.98923634e-01 8.06217645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.74710568099997 meters 0.018353263611558267 Centerline is valid? [True, True] Translation: X:190.19, Y:85.38, Z:8.07 [[ 4.32388025e-01 -9.01470977e-01 -1.97654614e-02 1.90194342e+02] [ 9.00576635e-01 4.32839327e-01 -4.01477520e-02 8.53777933e+01] [ 4.47473023e-02 -4.40905513e-04 9.98998241e-01 8.06665329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.77710568099997 meters 0.018243881950896542 Centerline is valid? [True, True] Translation: X:190.21, Y:85.40, Z:8.07 [[ 4.32783829e-01 -9.01293470e-01 -1.91895430e-02 1.90208113e+02] [ 9.00448819e-01 4.33208870e-01 -3.90128096e-02 8.54025801e+01] [ 4.34750707e-02 -3.95088199e-04 9.99054434e-01 8.07027007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.80710568099997 meters 0.01746107984659717 Centerline is valid? [True, True] Translation: X:190.22, Y:85.43, Z:8.07 [[ 4.38319378e-01 -8.98626123e-01 -1.86336718e-02 1.90216723e+02] [ 8.97825885e-01 4.38715259e-01 -3.79157237e-02 8.54281008e+01] [ 4.22469360e-02 -1.10596445e-04 9.99107194e-01 8.07396106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.83710568099997 meters 0.018044583751378084 Centerline is valid? [True, True] Translation: X:190.22, Y:85.46, Z:8.08 [[ 4.46967019e-01 -8.94363795e-01 -1.82725414e-02 1.90222961e+02] [ 8.93589598e-01 4.47340263e-01 -3.72064518e-02 8.54564543e+01] [ 4.14501469e-02 3.01904008e-04 9.99140528e-01 8.07667065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.86710568099997 meters 0.01960831877277869 Centerline is valid? [True, True] Translation: X:190.23, Y:85.48, Z:8.08 [[ 4.51713513e-01 -8.91980948e-01 -1.80247043e-02 1.90231916e+02] [ 8.91224358e-01 4.52072680e-01 -3.67346799e-02 8.54827689e+01] [ 4.09151110e-02 5.29495780e-04 9.99162486e-01 8.07799219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.89710568099997 meters 0.02331801696952141 Centerline is valid? [True, True] Translation: X:190.24, Y:85.51, Z:8.08 [[ 4.59332530e-01 -8.88098554e-01 -1.71634901e-02 1.90240686e+02] [ 8.87408671e-01 4.59652300e-01 -3.50087601e-02 8.55085139e+01] [ 3.89804669e-02 8.49632434e-04 9.99239612e-01 8.08099746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.92710568099997 meters 0.02519165439761463 Centerline is valid? [True, True] Translation: X:190.25, Y:85.53, Z:8.08 [[ 4.62289038e-01 -8.86559779e-01 -1.73379144e-02 1.90251607e+02] [ 8.85853415e-01 4.62612956e-01 -3.53974563e-02 8.55337115e+01] [ 3.94027049e-02 1.00500530e-03 9.99222906e-01 8.08154005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.95710568099997 meters 0.02490893156223324 Centerline is valid? [True, True] Translation: X:190.27, Y:85.56, Z:8.08 [[ 4.64457698e-01 -8.85421239e-01 -1.75577826e-02 1.90267811e+02] [ 8.84694742e-01 4.64788071e-01 -3.58784428e-02 8.55580720e+01] [ 3.99281832e-02 1.13074100e-03 9.99201912e-01 8.07991959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.98710568099997 meters 0.0253816738665445 Centerline is valid? [True, True] Translation: X:190.29, Y:85.58, Z:8.08 [[ 4.64758006e-01 -8.85247081e-01 -1.83739099e-02 1.90285994e+02] [ 8.84449942e-01 4.65119480e-01 -3.75788432e-02 8.55815141e+01] [ 4.18126247e-02 1.21426474e-03 9.99124732e-01 8.07566567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.01710568099998 meters 0.02603790894798469 Centerline is valid? [True, True] Translation: X:190.30, Y:85.61, Z:8.07 [[ 4.65100591e-01 -8.85052076e-01 -1.90856845e-02 1.90302040e+02] [ 8.84190335e-01 4.65490221e-01 -3.90679574e-02 8.56054127e+01] [ 4.34613763e-02 1.29515234e-03 9.99054268e-01 8.07440884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.04710568099998 meters 0.026911817592785242 Centerline is valid? [True, True] Translation: X:190.32, Y:85.63, Z:8.07 [[ 4.66391455e-01 -8.84358204e-01 -1.97377477e-02 1.90321554e+02] [ 8.83434385e-01 4.66806753e-01 -4.04369041e-02 8.56279490e+01] [ 4.49744218e-02 1.42242153e-03 9.98987126e-01 8.07253474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.07710568099998 meters 0.027909749871906895 Centerline is valid? [True, True] Translation: X:190.34, Y:85.65, Z:8.07 [[ 4.66926343e-01 -8.84075041e-01 -1.97765415e-02 1.90335271e+02] [ 8.83145814e-01 4.67342664e-01 -4.05500269e-02 8.56520804e+01] [ 4.50916883e-02 1.46830591e-03 9.98981773e-01 8.07391975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.10710568099998 meters 0.02991855125767563 Centerline is valid? [True, True] Translation: X:190.35, Y:85.68, Z:8.07 [[ 4.71515964e-01 -8.81623785e-01 -2.03026194e-02 1.90351215e+02] [ 8.80640504e-01 4.71949554e-01 -4.16643855e-02 8.56764011e+01] [ 4.63141254e-02 1.76611395e-03 9.98925364e-01 8.07364276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.13710568099998 meters 0.03192294253414722 Centerline is valid? [True, True] Translation: X:190.36, Y:85.70, Z:8.07 [[ 4.73840939e-01 -8.80368337e-01 -2.06483537e-02 1.90363568e+02] [ 8.79348398e-01 4.74286658e-01 -4.24094513e-02 8.57011237e+01] [ 4.71291768e-02 1.93823754e-03 9.98886922e-01 8.07366152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.16710568099998 meters 0.03254101806087382 Centerline is valid? [True, True] Translation: X:190.38, Y:85.72, Z:8.08 [[ 4.75325178e-01 -8.79577285e-01 -2.02428946e-02 1.90382757e+02] [ 8.78594850e-01 4.75751859e-01 -4.16083930e-02 8.57233287e+01] [ 4.62283921e-02 1.99221387e-03 9.98928910e-01 8.07579821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.19710568099998 meters 0.03168450768648902 Centerline is valid? [True, True] Translation: X:190.40, Y:85.75, Z:8.08 [[ 4.73987046e-01 -8.80307770e-01 -1.98622761e-02 1.90400073e+02] [ 8.79361402e-01 4.74399230e-01 -4.08521144e-02 8.57467790e+01] [ 4.53850823e-02 1.89725402e-03 9.98967765e-01 8.07796947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.22710568099995 meters 0.02840076481073979 Centerline is valid? [True, True] Translation: X:190.42, Y:85.77, Z:8.08 [[ 4.66589614e-01 -8.84268068e-01 -1.90818176e-02 1.90423599e+02] [ 8.83396502e-01 4.66977326e-01 -3.92784682e-02 8.57655765e+01] [ 4.36434713e-02 1.47011438e-03 9.99046088e-01 8.08117668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25710568099996 meters 0.021143309240956015 Centerline is valid? [True, True] Translation: X:190.46, Y:85.78, Z:8.09 [[ 4.52329392e-01 -8.91663184e-01 -1.82999354e-02 1.90456206e+02] [ 8.90866115e-01 4.52698799e-01 -3.77009512e-02 8.57812807e+01] [ 4.19009090e-02 7.50455927e-04 9.99121489e-01 8.08582426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.28710568099996 meters 0.018554928334211056 Centerline is valid? [True, True] Translation: X:190.48, Y:85.80, Z:8.09 [[ 4.43942406e-01 -8.95861484e-01 -1.86371217e-02 1.90479663e+02] [ 8.95036912e-01 4.44333273e-01 -3.84300487e-02 8.58010155e+01] [ 4.27090938e-02 3.79816391e-04 9.99087478e-01 8.08584212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.31710568099996 meters 0.018740691478000508 Centerline is valid? [True, True] Translation: X:190.51, Y:85.82, Z:8.08 [[ 4.27738276e-01 -9.03683827e-01 -1.98873710e-02 1.90511367e+02] [ 9.02751096e-01 4.28200169e-01 -4.10496492e-02 8.58173265e+01] [ 4.56116797e-02 -3.94839841e-04 9.98959168e-01 8.08252077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.34710568099996 meters 0.02165414751686575 Centerline is valid? [True, True] Translation: X:190.54, Y:85.84, Z:8.08 [[ 4.18411806e-01 -9.08035464e-01 -2.00787725e-02 1.90535574e+02] [ 9.07087692e-01 4.18892427e-01 -4.14855902e-02 8.58357537e+01] [ 4.60812329e-02 -8.55146654e-04 9.98937330e-01 8.08406062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.37710568099996 meters 0.02426999348713879 Centerline is valid? [True, True] Translation: X:190.55, Y:85.86, Z:8.09 [[ 4.16111667e-01 -9.09102007e-01 -1.96117729e-02 1.90553524e+02] [ 9.08197377e-01 4.16572522e-01 -4.05568410e-02 8.58572260e+01] [ 4.50400313e-02 -9.35186006e-04 9.98984745e-01 8.08546453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.40710568099996 meters 0.02333904222878201 Centerline is valid? [True, True] Translation: X:190.56, Y:85.88, Z:8.09 [[ 4.13936950e-01 -9.10123362e-01 -1.82117466e-02 1.90563330e+02] [ 9.09343352e-01 4.14336266e-01 -3.76845826e-02 8.58837143e+01] [ 4.18434061e-02 -9.61689479e-04 9.99123718e-01 8.09342411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.43710568099996 meters 0.02299801165945945 Centerline is valid? [True, True] Translation: X:190.57, Y:85.91, Z:8.10 [[ 4.13692619e-01 -9.10246287e-01 -1.76100581e-02 1.90572325e+02] [ 9.09515702e-01 4.14066222e-01 -3.64739934e-02 8.59100498e+01] [ 4.04920473e-02 -9.27602522e-04 9.99179430e-01 8.09582084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.46710568099996 meters 0.022678187279424823 Centerline is valid? [True, True] Translation: X:190.58, Y:85.94, Z:8.09 [[ 4.15153618e-01 -9.09565815e-01 -1.83712258e-02 1.90579517e+02] [ 9.08768419e-01 4.15558960e-01 -3.80882093e-02 8.59364574e+01] [ 4.22780606e-02 -8.82731995e-04 9.99105493e-01 8.09416254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.49710568099997 meters 0.022992900632623294 Centerline is valid? [True, True] Translation: X:190.59, Y:85.96, Z:8.09 [[ 4.13101998e-01 -9.10487591e-01 -1.89495682e-02 1.90589958e+02] [ 9.09638827e-01 4.13535194e-01 -3.93172708e-02 8.59624365e+01] [ 4.36342005e-02 -9.95219872e-04 9.99047079e-01 8.09394967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.52710568099997 meters 0.024279989651098743 Centerline is valid? [True, True] Translation: X:190.60, Y:85.99, Z:8.09 [[ 4.10489300e-01 -9.11671735e-01 -1.87931441e-02 1.90601933e+02] [ 9.10836652e-01 4.10917807e-01 -3.90275390e-02 8.59869472e+01] [ 4.33027418e-02 -1.09709730e-03 9.99061394e-01 8.09459663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.55710568099997 meters 0.025868155708862882 Centerline is valid? [True, True] Translation: X:190.61, Y:86.01, Z:8.10 [[ 4.07322115e-01 -9.13093201e-01 -1.86949261e-02 1.90613954e+02] [ 9.12266805e-01 4.07749066e-01 -3.88584088e-02 8.60129718e+01] [ 4.31041875e-02 -1.22687119e-03 9.99069829e-01 8.09589877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.58710568099997 meters 0.029937309339740953 Centerline is valid? [True, True] Translation: X:190.63, Y:86.04, Z:8.10 [[ 4.00135589e-01 -9.16271215e-01 -1.84003168e-02 1.90625723e+02] [ 9.15472510e-01 4.00555523e-01 -3.82799734e-02 8.60384755e+01] [ 4.24451862e-02 -1.52780454e-03 9.99097629e-01 8.09713696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.61710568099997 meters 0.03277285659210692 Centerline is valid? [True, True] Translation: X:190.64, Y:86.06, Z:8.10 [[ 3.95542365e-01 -9.18286829e-01 -1.71912219e-02 1.90635225e+02] [ 9.17590259e-01 3.95912479e-01 -3.57970104e-02 8.60639612e+01] [ 3.96781424e-02 -1.61526367e-03 9.99211207e-01 8.10072638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.64710568099997 meters 0.033505870958285645 Centerline is valid? [True, True] Translation: X:190.64, Y:86.09, Z:8.10 [[ 3.93732882e-01 -9.19072451e-01 -1.67405664e-02 1.90640548e+02] [ 9.18411393e-01 3.94085206e-01 -3.48907319e-02 8.60925793e+01] [ 3.86643200e-02 -1.63709842e-03 9.99250915e-01 8.10224718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.67710568099997 meters 0.03367226302878492 Centerline is valid? [True, True] Translation: X:190.65, Y:86.12, Z:8.10 [[ 3.93483549e-01 -9.19166694e-01 -1.74151125e-02 1.90647839e+02] [ 9.18450033e-01 3.93865079e-01 -3.63295493e-02 8.61198569e+01] [ 4.02521163e-02 -1.69983063e-03 9.99188109e-01 8.10013117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.70710568099997 meters 0.03145906253078741 Centerline is valid? [True, True] Translation: X:190.65, Y:86.15, Z:8.10 [[ 3.94078568e-01 -9.18884411e-01 -1.88021750e-02 1.90646956e+02] [ 9.18046980e-01 3.94522799e-01 -3.92619839e-02 8.61513984e+01] [ 4.34951117e-02 -1.78897355e-03 9.99052038e-01 8.09642557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.73710568099997 meters 0.03156661233698139 Centerline is valid? [True, True] Translation: X:190.65, Y:86.18, Z:8.10 [[ 3.94185206e-01 -9.18835068e-01 -1.89773660e-02 1.90652902e+02] [ 9.17980183e-01 3.94637722e-01 -3.96667640e-02 8.61782232e+01] [ 4.39363982e-02 -1.78479437e-03 9.99032736e-01 8.09581242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.76710568099998 meters 0.03337694605138343 Centerline is valid? [True, True] Translation: X:190.66, Y:86.21, Z:8.10 [[ 3.92439592e-01 -9.19576893e-01 -1.92225013e-02 1.90655529e+02] [ 9.18698851e-01 3.92905610e-01 -4.02194382e-02 8.62072764e+01] [ 4.45374946e-02 -1.87598995e-03 9.99005952e-01 8.09533567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.79710568099998 meters 0.03312751811829763 Centerline is valid? [True, True] Translation: X:190.66, Y:86.24, Z:8.10 [[ 3.89407602e-01 -9.20862762e-01 -1.93259541e-02 1.90662229e+02] [ 9.19975155e-01 3.89881644e-01 -4.04724370e-02 8.62353635e+01] [ 4.48043949e-02 -2.01912299e-03 9.98993738e-01 8.09708037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.82710568099998 meters 0.038625777160686436 Centerline is valid? [True, True] Translation: X:190.67, Y:86.26, Z:8.10 [[ 3.80139779e-01 -9.24741500e-01 -1.86254448e-02 1.90672584e+02] [ 9.23920094e-01 3.80588429e-01 -3.90398198e-02 8.62615393e+01] [ 4.31903703e-02 -2.36783421e-03 9.99064055e-01 8.10074136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.85710568099998 meters 0.04205098620714279 Centerline is valid? [True, True] Translation: X:190.68, Y:86.29, Z:8.10 [[ 3.71144859e-01 -9.28403150e-01 -1.78629456e-02 1.90676648e+02] [ 9.27650304e-01 3.71564942e-01 -3.74754332e-02 8.62910536e+01] [ 4.14295546e-02 -2.66175254e-03 9.99137882e-01 8.10350896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.88710568099998 meters 0.046373692899333886 Centerline is valid? [True, True] Translation: X:190.69, Y:86.32, Z:8.10 [[ 3.67939430e-01 -9.29678477e-01 -1.78466941e-02 1.90687505e+02] [ 9.28927021e-01 3.68361436e-01 -3.74758766e-02 8.63157226e+01] [ 4.14145498e-02 -2.78942375e-03 9.99138156e-01 8.10370893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.91710568099998 meters 0.04727455917056899 Centerline is valid? [True, True] Translation: X:190.69, Y:86.35, Z:8.10 [[ 3.65726167e-01 -9.30557803e-01 -1.75084736e-02 1.90690178e+02] [ 9.29834467e-01 3.66134129e-01 -3.67921778e-02 8.63457355e+01] [ 4.06476978e-02 -2.82412002e-03 9.99169550e-01 8.10462309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.94710568099998 meters 0.048073935589015675 Centerline is valid? [True, True] Translation: X:190.70, Y:86.37, Z:8.11 [[ 3.66204805e-01 -9.30374408e-01 -1.72482291e-02 1.90696114e+02] [ 9.29670992e-01 3.66600456e-01 -3.62760528e-02 8.63733663e+01] [ 4.00735198e-02 -2.75071341e-03 9.99192948e-01 8.10640118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97710568099995 meters 0.04501584137860085 Centerline is valid? [True, True] Translation: X:190.69, Y:86.41, Z:8.11 [[ 3.68629719e-01 -9.29415442e-01 -1.72935497e-02 1.90689305e+02] [ 9.28706329e-01 3.69025669e-01 -3.63951887e-02 8.64081586e+01] [ 4.02080141e-02 -2.64428090e-03 9.99187832e-01 8.10716552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.00710568099996 meters 0.04262759337429622 Centerline is valid? [True, True] Translation: X:190.69, Y:86.44, Z:8.11 [[ 3.69173128e-01 -9.29192841e-01 -1.76597218e-02 1.90691618e+02] [ 9.28451718e-01 3.69585677e-01 -3.71999259e-02 8.64382533e+01] [ 4.10926851e-02 -2.66298609e-03 9.99151790e-01 8.10680054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03710568099996 meters 0.04375427076508888 Centerline is valid? [True, True] Translation: X:190.69, Y:86.47, Z:8.11 [[ 3.69270513e-01 -9.29143778e-01 -1.81969232e-02 1.90692213e+02] [ 9.28355295e-01 3.69708550e-01 -3.83670974e-02 8.64683846e+01] [ 4.23761080e-02 -2.72537225e-03 9.99098012e-01 8.10524249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.06710568099996 meters 0.04409377724776031 Centerline is valid? [True, True] Translation: X:190.70, Y:86.50, Z:8.11 [[ 3.68223253e-01 -9.29558463e-01 -1.82400442e-02 1.90698419e+02] [ 9.28765427e-01 3.68664346e-01 -3.84887214e-02 8.64969726e+01] [ 4.25019707e-02 -2.76828028e-03 9.99092548e-01 8.10663036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.09710568099996 meters 0.04524831570927311 Centerline is valid? [True, True] Translation: X:190.70, Y:86.53, Z:8.11 [[ 3.64734135e-01 -9.30934133e-01 -1.81837788e-02 1.90699324e+02] [ 9.30146205e-01 3.65175563e-01 -3.84037262e-02 8.65279482e+01] [ 4.23916113e-02 -2.90642291e-03 9.99096844e-01 8.10870987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.12710568099996 meters 0.05021700227563254 Centerline is valid? [True, True] Translation: X:190.70, Y:86.56, Z:8.11 [[ 3.59845270e-01 -9.32856538e-01 -1.70311861e-02 1.90703776e+02] [ 9.32166249e-01 3.60236232e-01 -3.59991782e-02 8.65553177e+01] [ 3.97173191e-02 -2.92176288e-03 9.99206684e-01 8.11244363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.15710568099996 meters 0.04424368767768428 Centerline is valid? [True, True] Translation: X:190.70, Y:86.59, Z:8.11 [[ 3.57286140e-01 -9.33847978e-01 -1.65700856e-02 1.90702113e+02] [ 9.33194755e-01 3.57658079e-01 -3.50463808e-02 8.65876984e+01] [ 3.86544169e-02 -2.94153087e-03 9.99248309e-01 8.11416011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.18710568099996 meters 0.050668003493745124 Centerline is valid? [True, True] Translation: X:190.71, Y:86.61, Z:8.12 [[ 3.55029808e-01 -9.34715699e-01 -1.61368315e-02 1.90710871e+02] [ 9.34095966e-01 3.55384135e-01 -3.41590736e-02 8.66144015e+01] [ 3.76637963e-02 -2.94585987e-03 9.99286125e-01 8.11592336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.21710568099996 meters 0.04623431556336543 Centerline is valid? [True, True] Translation: X:190.70, Y:86.65, Z:8.12 [[ 3.58470509e-01 -9.33413000e-01 -1.54617795e-02 1.90704147e+02] [ 9.32841825e-01 3.58793796e-01 -3.27588415e-02 8.66485111e+01] [ 3.61251191e-02 -2.68031597e-03 9.99343680e-01 8.11813512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.24710568099997 meters 0.044375702703540285 Centerline is valid? [True, True] Translation: X:190.71, Y:86.68, Z:8.12 [[ 3.62342520e-01 -9.31918022e-01 -1.53849985e-02 1.90706734e+02] [ 9.31350131e-01 3.62660329e-01 -3.26254494e-02 8.66789371e+01] [ 3.59837729e-02 -2.50723278e-03 9.99349229e-01 8.11880058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.27710568099997 meters 0.03746426591287991 Centerline is valid? [True, True] Translation: X:190.70, Y:86.72, Z:8.12 [[ 3.72883688e-01 -9.27743655e-01 -1.57944947e-02 1.90697074e+02] [ 9.27140692e-01 3.73211867e-01 -3.35117912e-02 8.67151336e+01] [ 3.69850445e-02 -2.14771849e-03 9.99313511e-01 8.11701774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.30710568099997 meters 0.034953563991366544 Centerline is valid? [True, True] Translation: X:190.70, Y:86.75, Z:8.12 [[ 3.78018461e-01 -9.25664670e-01 -1.57150245e-02 1.90700250e+02] [ 9.25064876e-01 3.78340092e-01 -3.33728916e-02 8.67452799e+01] [ 3.68377306e-02 -1.92184809e-03 9.99319412e-01 8.11583092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.33710568099997 meters 0.03032371655909708 Centerline is valid? [True, True] Translation: X:190.69, Y:86.78, Z:8.12 [[ 3.86318358e-01 -9.22228739e-01 -1.58833252e-02 1.90694838e+02] [ 9.21611967e-01 3.86641445e-01 -3.37605527e-02 8.67794990e+01] [ 3.72761037e-02 -1.59594124e-03 9.99303730e-01 8.11546828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.36710568099997 meters 0.027964842607076143 Centerline is valid? [True, True] Translation: X:190.69, Y:86.81, Z:8.12 [[ 3.92552551e-01 -9.19588934e-01 -1.60837830e-02 1.90693670e+02] [ 9.18953089e-01 3.92879595e-01 -3.42176111e-02 8.68105419e+01] [ 3.77851266e-02 -1.34803153e-03 9.99284978e-01 8.11512037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.39710568099997 meters 0.025728143948499215 Centerline is valid? [True, True] Translation: X:190.70, Y:86.84, Z:8.12 [[ 3.95785074e-01 -9.18198083e-01 -1.63234933e-02 1.90698436e+02] [ 9.17540998e-01 3.96119661e-01 -3.47524194e-02 8.68401691e+01] [ 3.83756615e-02 -1.22298543e-03 9.99262635e-01 8.11570744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.42710568099997 meters 0.022589636578876044 Centerline is valid? [True, True] Translation: X:190.70, Y:86.87, Z:8.11 [[ 4.03940556e-01 -9.14620426e-01 -1.73638331e-02 1.90695609e+02] [ 9.13872173e-01 4.04312534e-01 -3.70003562e-02 8.68724737e+01] [ 4.08616969e-02 -9.22379449e-04 9.99164386e-01 8.10999856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.45710568099997 meters 0.020095179867061913 Centerline is valid? [True, True] Translation: X:190.69, Y:86.90, Z:8.11 [[ 4.11789527e-01 -9.11120114e-01 -1.70153630e-02 1.90694900e+02] [ 9.10397389e-01 4.12140555e-01 -3.62871593e-02 8.69046269e+01] [ 4.00746818e-02 -5.48069862e-04 9.99196537e-01 8.10983782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.48710568099997 meters 0.019543817542295977 Centerline is valid? [True, True] Translation: X:190.70, Y:86.93, Z:8.11 [[ 4.14641129e-01 -9.09843823e-01 -1.60297413e-02 1.90701575e+02] [ 9.09200454e-01 4.14950681e-01 -3.42120806e-02 8.69318981e+01] [ 3.77792023e-02 -3.88512365e-04 9.99286036e-01 8.11234408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.51710568099998 meters 0.01895599133486026 Centerline is valid? [True, True] Translation: X:190.71, Y:86.96, Z:8.11 [[ 4.17156834e-01 -9.08708787e-01 -1.51167307e-02 1.90706970e+02] [ 9.08135376e-01 4.17430558e-01 -3.22779855e-02 8.69611209e+01] [ 3.56414744e-02 -2.63055717e-04 9.99364606e-01 8.11465862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.54710568099998 meters 0.01895599133486026 Centerline is valid? [True, True] Translation: X:190.72, Y:86.99, Z:8.12 [[ 4.16822779e-01 -9.08862238e-01 -1.51063935e-02 1.90718381e+02] [ 9.08288752e-01 4.17096346e-01 -3.22828226e-02 8.69860170e+01] [ 3.56414599e-02 -2.64751508e-04 9.99364606e-01 8.11567544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.57710568099998 meters 0.018881993110117665 Centerline is valid? [True, True] Translation: X:190.73, Y:87.01, Z:8.12 [[ 4.16893024e-01 -9.08832152e-01 -1.49775140e-02 1.90727857e+02] [ 9.08267300e-01 4.17161909e-01 -3.20383070e-02 8.70108971e+01] [ 3.53654918e-02 -2.47039568e-04 9.99374415e-01 8.11587365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.60710568099998 meters 0.018807471823604784 Centerline is valid? [True, True] Translation: X:190.74, Y:87.04, Z:8.11 [[ 4.15761580e-01 -9.09344710e-01 -1.53136216e-02 1.90739444e+02] [ 9.08753780e-01 4.16043406e-01 -3.27788246e-02 8.70361199e+01] [ 3.61783821e-02 -2.88135614e-04 9.99345307e-01 8.11383228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.63710568099998 meters 0.018976364330128115 Centerline is valid? [True, True] Translation: X:190.75, Y:87.06, Z:8.11 [[ 4.14458469e-01 -9.09933601e-01 -1.56530790e-02 1.90752644e+02] [ 9.09315375e-01 4.14753819e-01 -3.35383040e-02 8.70610571e+01] [ 3.70098041e-02 -3.33351263e-04 9.99314847e-01 8.11275355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.66710568099998 meters 0.01937815583459724 Centerline is valid? [True, True] Translation: X:190.77, Y:87.09, Z:8.11 [[ 4.11131312e-01 -9.11431234e-01 -1.62527124e-02 1.90768306e+02] [ 9.10764541e-01 4.11452165e-01 -3.48578167e-02 8.70854168e+01] [ 3.84577166e-02 -4.71254245e-04 9.99260117e-01 8.11158189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.69710568099998 meters 0.01970221655050062 Centerline is valid? [True, True] Translation: X:190.78, Y:87.11, Z:8.11 [[ 4.09495680e-01 -9.12166100e-01 -1.63184889e-02 1.90781682e+02] [ 9.11493415e-01 4.09820356e-01 -3.50289766e-02 8.71111861e+01] [ 3.86398939e-02 -5.29980620e-04 9.99253060e-01 8.11341039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.72710568099995 meters 0.020599940202296826 Centerline is valid? [True, True] Translation: X:190.80, Y:87.14, Z:8.11 [[ 4.06183510e-01 -9.13637185e-01 -1.67943345e-02 1.90797104e+02] [ 9.12924665e-01 4.06529994e-01 -3.60821263e-02 8.71353563e+01] [ 3.97933730e-02 -6.75997484e-04 9.99207701e-01 8.11403165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75710568099996 meters 0.02231974049188125 Centerline is valid? [True, True] Translation: X:190.82, Y:87.16, Z:8.12 [[ 4.01994850e-01 -9.15496666e-01 -1.63093837e-02 1.90815982e+02] [ 9.14825124e-01 4.02324718e-01 -3.50686943e-02 8.71573276e+01] [ 3.86669409e-02 -8.22799431e-04 9.99251815e-01 8.11616644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.78710568099996 meters 0.022896167699503377 Centerline is valid? [True, True] Translation: X:190.83, Y:87.18, Z:8.12 [[ 3.99421929e-01 -9.16635912e-01 -1.55153694e-02 1.90830079e+02] [ 9.16028690e-01 3.99722183e-01 -3.33708711e-02 8.71825172e+01] [ 3.67907762e-02 -8.83465808e-04 9.99322600e-01 8.11904416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.81710568099996 meters 0.02409442984647383 Centerline is valid? [True, True] Translation: X:190.85, Y:87.21, Z:8.12 [[ 3.95114255e-01 -9.18496187e-01 -1.57949264e-02 1.90845814e+02] [ 9.17867245e-01 3.95428405e-01 -3.40014241e-02 8.72065518e+01] [ 3.74759410e-02 -1.06319819e-03 9.99296965e-01 8.11951358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.84710568099996 meters 0.024412957355490136 Centerline is valid? [True, True] Translation: X:190.86, Y:87.23, Z:8.12 [[ 3.93649388e-01 -9.19115549e-01 -1.63329950e-02 1.90859267e+02] [ 9.18442918e-01 3.93986390e-01 -3.51757079e-02 8.72323490e+01] [ 3.87655179e-02 -1.15402776e-03 9.99247668e-01 8.11835957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.87710568099996 meters 0.025304588205617613 Centerline is valid? [True, True] Translation: X:190.87, Y:87.26, Z:8.12 [[ 3.94429239e-01 -9.18774721e-01 -1.66909487e-02 1.90871785e+02] [ 9.18070758e-01 3.94780608e-01 -3.59771350e-02 8.72568117e+01] [ 3.96441451e-02 -1.13303795e-03 9.99213219e-01 8.11800818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.90710568099996 meters 0.023227041666906232 Centerline is valid? [True, True] Translation: X:190.88, Y:87.29, Z:8.12 [[ 3.98595416e-01 -9.16973075e-01 -1.67950799e-02 1.90879248e+02] [ 9.16258185e-01 3.98947955e-01 -3.62141912e-02 8.72853428e+01] [ 3.99078010e-02 -9.53818757e-04 9.99202911e-01 8.11827015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.93710568099996 meters 0.021937765860718588 Centerline is valid? [True, True] Translation: X:190.89, Y:87.31, Z:8.12 [[ 4.01310122e-01 -9.15788075e-01 -1.68044075e-02 1.90888873e+02] [ 9.15070120e-01 4.01660956e-01 -3.62650243e-02 8.73122975e+01] [ 3.99607512e-02 -8.23689869e-04 9.99200911e-01 8.12010388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.96710568099996 meters 0.021314057448188286 Centerline is valid? [True, True] Translation: X:190.90, Y:87.34, Z:8.12 [[ 4.03409459e-01 -9.14870327e-01 -1.65255470e-02 1.90898517e+02] [ 9.14174064e-01 4.03747178e-01 -3.56930992e-02 8.73391197e+01] [ 3.93267003e-02 -7.08292562e-04 9.99226155e-01 8.12151528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.99710568099997 meters 0.019680032700481066 Centerline is valid? [True, True] Translation: X:190.91, Y:87.37, Z:8.13 [[ 4.09041368e-01 -9.12382466e-01 -1.56011415e-02 1.90906214e+02] [ 9.11759100e-01 4.09338554e-01 -3.37237646e-02 8.73668461e+01] [ 3.71551202e-02 -4.30067918e-04 9.99309418e-01 8.12653097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.02710568099997 meters 0.0187769003740161 Centerline is valid? [True, True] Translation: X:190.91, Y:87.39, Z:8.13 [[ 4.14363222e-01 -9.09991531e-01 -1.47828971e-02 1.90914984e+02] [ 9.09429379e-01 4.14626793e-01 -3.19816847e-02 8.73930016e+01] [ 3.52324475e-02 -1.91967010e-04 9.99379126e-01 8.13053798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.05710568099997 meters 0.01893439734711506 Centerline is valid? [True, True] Translation: X:190.92, Y:87.42, Z:8.13 [[ 4.20966393e-01 -9.06966658e-01 -1.40988409e-02 1.90920364e+02] [ 9.06453392e-01 4.21202419e-01 -3.05085236e-02 8.74215568e+01] [ 3.36086796e-02 6.31210006e-05 9.99435067e-01 8.13367770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.08710568099997 meters 0.019087749191296622 Centerline is valid? [True, True] Translation: X:190.93, Y:87.45, Z:8.14 [[ 4.24665639e-01 -9.05244254e-01 -1.38540776e-02 1.90929336e+02] [ 9.04746803e-01 4.24891511e-01 -3.00071036e-02 8.74487222e+01] [ 3.30502380e-02 2.08553425e-04 9.99453670e-01 8.13578629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.11710568099997 meters 0.020962200685412446 Centerline is valid? [True, True] Translation: X:190.94, Y:87.48, Z:8.13 [[ 4.32171396e-01 -9.01686944e-01 -1.37309573e-02 1.90939521e+02] [ 9.01195677e-01 4.32389195e-01 -2.97646661e-02 8.74756058e+01] [ 3.27755284e-02 4.89157941e-04 9.99462618e-01 8.13478512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.14710568099997 meters 0.021775074761910797 Centerline is valid? [True, True] Translation: X:190.95, Y:87.50, Z:8.14 [[ 4.34674509e-01 -9.00477368e-01 -1.40918339e-02 1.90952070e+02] [ 8.99958412e-01 4.34902449e-01 -3.05731427e-02 8.75015094e+01] [ 3.36589961e-02 6.07301374e-04 9.99433191e-01 8.13560595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.17710568099997 meters 0.021774371658588764 Centerline is valid? [True, True] Translation: X:190.97, Y:87.53, Z:8.13 [[ 4.36424754e-01 -8.99609377e-01 -1.53754213e-02 1.90970211e+02] [ 8.98989878e-01 4.36694869e-01 -3.33884780e-02 8.75252708e+01] [ 3.67509554e-02 7.49210138e-04 9.99324175e-01 8.13319597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.20710568099997 meters 0.0223546591719238 Centerline is valid? [True, True] Translation: X:190.98, Y:87.55, Z:8.13 [[ 4.36589889e-01 -8.99515110e-01 -1.61813457e-02 1.90983806e+02] [ 8.98827611e-01 4.36888898e-01 -3.51712456e-02 8.75487687e+01] [ 3.87065171e-02 8.11169886e-04 9.99250293e-01 8.13164450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.23710568099997 meters 0.023003360483880735 Centerline is valid? [True, True] Translation: X:191.00, Y:87.57, Z:8.13 [[ 4.37386683e-01 -8.99109420e-01 -1.71796622e-02 1.91002114e+02] [ 8.98333114e-01 4.37722997e-01 -3.73656711e-02 8.75725841e+01] [ 4.11157601e-02 9.10187463e-04 9.99153975e-01 8.12850573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.26710568099998 meters 0.02196774523570313 Centerline is valid? [True, True] Translation: X:191.02, Y:87.59, Z:8.13 [[ 4.36014574e-01 -8.99769308e-01 -1.75066638e-02 1.91022485e+02] [ 8.98962277e-01 4.36365007e-01 -3.81104240e-02 8.75944793e+01] [ 4.19298853e-02 8.78869961e-04 9.99120169e-01 8.12950001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.29710568099998 meters 0.023590602330307305 Centerline is valid? [True, True] Translation: X:191.04, Y:87.62, Z:8.13 [[ 4.35088484e-01 -9.00217028e-01 -1.75303601e-02 1.91036007e+02] [ 8.99406862e-01 4.35440673e-01 -3.81931508e-02 8.76188876e+01] [ 4.20155565e-02 8.50473986e-04 9.99116595e-01 8.12841787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.32710568099998 meters 0.020393692009409114 Centerline is valid? [True, True] Translation: X:191.06, Y:87.64, Z:8.13 [[ 4.31692506e-01 -9.01853346e-01 -1.73816843e-02 1.91063430e+02] [ 9.01057582e-01 4.32041738e-01 -3.78836522e-02 8.76377484e+01] [ 4.16751116e-02 6.92190349e-04 9.99130975e-01 8.12972766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.35710568099998 meters 0.01917407572124863 Centerline is valid? [True, True] Translation: X:191.09, Y:87.66, Z:8.13 [[ 4.26531634e-01 -9.04303151e-01 -1.75093065e-02 1.91085876e+02] [ 9.03496322e-01 4.26890605e-01 -3.81943330e-02 8.76582625e+01] [ 4.20138141e-02 4.71497286e-04 9.99116919e-01 8.13170209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.38710568099998 meters 0.017963888385505247 Centerline is valid? [True, True] Translation: X:191.11, Y:87.68, Z:8.13 [[ 4.22272315e-01 -9.06303527e-01 -1.73207597e-02 1.91105447e+02] [ 9.05514782e-01 4.22627305e-01 -3.78039894e-02 8.76808805e+01] [ 4.15821149e-02 2.79374135e-04 9.99135051e-01 8.13362647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41710568099998 meters 0.01764868903655068 Centerline is valid? [True, True] Translation: X:191.13, Y:87.70, Z:8.14 [[ 4.13775711e-01 -9.10223626e-01 -1.68110307e-02 1.91134383e+02] [ 9.09482530e-01 4.14117062e-01 -3.67230955e-02 8.76979388e+01] [ 4.03879638e-02 -9.42138086e-05 9.99184069e-01 8.13530126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.44710568099998 meters 0.01805631939387007 Centerline is valid? [True, True] Translation: X:191.15, Y:87.72, Z:8.14 [[ 4.08710544e-01 -9.12508839e-01 -1.68318365e-02 1.91154296e+02] [ 9.11766384e-01 4.09056874e-01 -3.68040130e-02 8.77198606e+01] [ 4.04691656e-02 -3.04514489e-04 9.99180741e-01 8.13727149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47710568099995 meters 0.020310349737616973 Centerline is valid? [True, True] Translation: X:191.18, Y:87.74, Z:8.13 [[ 3.99520572e-01 -9.16536229e-01 -1.85648386e-02 1.91180487e+02] [ 9.15635449e-01 3.99950941e-01 -4.06321143e-02 8.77383605e+01] [ 4.46658295e-02 -7.65258786e-04 9.99001691e-01 8.13415655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.50710568099996 meters 0.0220560332417096 Centerline is valid? [True, True] Translation: X:191.20, Y:87.76, Z:8.13 [[ 3.92872040e-01 -9.19370977e-01 -2.02130126e-02 1.91202972e+02] [ 9.18305368e-01 3.93389929e-01 -4.42675417e-02 8.77600333e+01] [ 4.86498887e-02 -1.17023854e-03 9.98815208e-01 8.13124741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53710568099996 meters 0.023241489879610895 Centerline is valid? [True, True] Translation: X:191.22, Y:87.78, Z:8.13 [[ 3.91239615e-01 -9.20067995e-01 -2.01605767e-02 1.91219859e+02] [ 9.19007104e-01 3.91756747e-01 -4.41881750e-02 8.77832594e+01] [ 4.85541676e-02 -1.23954867e-03 9.98819782e-01 8.13205972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.56710568099996 meters 0.023134978581917952 Centerline is valid? [True, True] Translation: X:191.24, Y:87.81, Z:8.14 [[ 3.92169221e-01 -9.19685066e-01 -1.95622253e-02 1.91235909e+02] [ 9.18684871e-01 3.92655139e-01 -4.28957987e-02 8.78064556e+01] [ 4.71318337e-02 -1.14910851e-03 9.98888017e-01 8.13575508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.59710568099996 meters 0.022191036751219025 Centerline is valid? [True, True] Translation: X:191.25, Y:87.83, Z:8.14 [[ 3.94309892e-01 -9.18756707e-01 -2.01450231e-02 1.91249520e+02] [ 9.17693911e-01 3.94822727e-01 -4.41916341e-02 8.78303514e+01] [ 4.85550732e-02 -1.06176658e-03 9.98819942e-01 8.13685479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.62710568099996 meters 0.021787688174125814 Centerline is valid? [True, True] Translation: X:191.26, Y:87.86, Z:8.14 [[ 3.95244667e-01 -9.18356739e-01 -2.00637119e-02 1.91261481e+02] [ 9.17300396e-01 3.95752333e-01 -4.40462773e-02 8.78561189e+01] [ 4.83904564e-02 -9.95394698e-04 9.98828000e-01 8.13850168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.65710568099996 meters 0.020806561174556898 Centerline is valid? [True, True] Translation: X:191.27, Y:87.88, Z:8.14 [[ 3.96449952e-01 -9.17860013e-01 -1.89850736e-02 1.91271791e+02] [ 9.16911999e-01 3.96903314e-01 -4.17150443e-02 8.78829306e+01] [ 4.58238097e-02 -8.69714488e-04 9.98949159e-01 8.14337128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.68710568099996 meters 0.020867189109004536 Centerline is valid? [True, True] Translation: X:191.28, Y:87.91, Z:8.15 [[ 3.95913952e-01 -9.18091722e-01 -1.89665993e-02 1.91282852e+02] [ 9.17144122e-01 3.96367019e-01 -4.17114508e-02 8.79080976e+01] [ 4.58126722e-02 -8.80959753e-04 9.98949660e-01 8.14504988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.71710568099996 meters 0.021347346600446453 Centerline is valid? [True, True] Translation: X:191.30, Y:87.93, Z:8.15 [[ 3.94492850e-01 -9.18703437e-01 -1.89574624e-02 1.91296827e+02] [ 9.17755574e-01 3.94946983e-01 -4.17323229e-02 8.79330746e+01] [ 4.58268211e-02 -9.35213762e-04 9.98948962e-01 8.14671688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.74710568099997 meters 0.02202208482321705 Centerline is valid? [True, True] Translation: X:191.31, Y:87.96, Z:8.15 [[ 3.92858367e-01 -9.19415091e-01 -1.83900732e-02 1.91309981e+02] [ 9.18522260e-01 3.93287356e-01 -4.05205341e-02 8.79576166e+01] [ 4.44877738e-02 -9.72860759e-04 9.99009455e-01 8.14871031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.77710568099997 meters 0.023644916343267687 Centerline is valid? [True, True] Translation: X:191.32, Y:87.98, Z:8.15 [[ 3.88585517e-01 -9.21248171e-01 -1.74098917e-02 1.91324519e+02] [ 9.20448398e-01 3.88973761e-01 -3.83947869e-02 8.79828056e+01] [ 4.21431182e-02 -1.10524886e-03 9.99110973e-01 8.15215518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.80710568099997 meters 0.024892245421722504 Centerline is valid? [True, True] Translation: X:191.34, Y:88.01, Z:8.15 [[ 3.85415114e-01 -9.22589875e-01 -1.68259588e-02 1.91338097e+02] [ 9.21842896e-01 3.85780363e-01 -3.71374050e-02 8.80076918e+01] [ 4.07537183e-02 -1.19757338e-03 9.99168504e-01 8.15417496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.83710568099997 meters 0.028020560737514008 Centerline is valid? [True, True] Translation: X:191.36, Y:88.03, Z:8.15 [[ 3.77569542e-01 -9.25821750e-01 -1.71851131e-02 1.91357411e+02] [ 9.25044687e-01 3.77957187e-01 -3.79564549e-02 8.80303742e+01] [ 4.16361485e-02 -1.56579629e-03 9.99131613e-01 8.15357603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.86710568099997 meters 0.029248820212768208 Centerline is valid? [True, True] Translation: X:191.37, Y:88.06, Z:8.15 [[ 3.74422979e-01 -9.27094968e-01 -1.73883073e-02 1.91370474e+02] [ 9.26299802e-01 3.74822581e-01 -3.84279749e-02 8.80554520e+01] [ 4.21439124e-02 -1.71846879e-03 9.99110073e-01 8.15379382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.89710568099997 meters 0.03108661919290999 Centerline is valid? [True, True] Translation: X:191.39, Y:88.08, Z:8.15 [[ 3.68723136e-01 -9.29368309e-01 -1.78268314e-02 1.91385894e+02] [ 9.28533585e-01 3.69148336e-01 -3.94320586e-02 8.80800401e+01] [ 4.32276508e-02 -2.01329932e-03 9.99063220e-01 8.15411561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.92710568099997 meters 0.03487938386391501 Centerline is valid? [True, True] Translation: X:191.40, Y:88.10, Z:8.15 [[ 3.66278589e-01 -9.30324605e-01 -1.83336802e-02 1.91403315e+02] [ 9.29441221e-01 3.66730703e-01 -4.05907334e-02 8.81025132e+01] [ 4.44860814e-02 -2.17256156e-03 9.99007642e-01 8.15287688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.95710568099997 meters 0.03595670950805282 Centerline is valid? [True, True] Translation: X:191.42, Y:88.13, Z:8.15 [[ 3.63811724e-01 -9.31274870e-01 -1.91871164e-02 1.91416379e+02] [ 9.30306783e-01 3.64309547e-01 -4.25187353e-02 8.81280938e+01] [ 4.65866793e-02 -2.38109016e-03 9.98911413e-01 8.15155910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.98710568099997 meters 0.0359685837625153 Centerline is valid? [True, True] Translation: X:191.43, Y:88.15, Z:8.15 [[ 3.63706384e-01 -9.31316517e-01 -1.91627401e-02 1.91427170e+02] [ 9.30349109e-01 3.64203147e-01 -4.25041545e-02 8.81541493e+01] [ 4.65639514e-02 -2.36900584e-03 9.98912502e-01 8.15348926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.01710568099998 meters 0.03334554541491904 Centerline is valid? [True, True] Translation: X:191.43, Y:88.18, Z:8.16 [[ 3.65062129e-01 -9.30791107e-01 -1.89091776e-02 1.91432279e+02] [ 9.29846613e-01 3.65544556e-01 -4.19815842e-02 8.81835863e+01] [ 4.59882321e-02 -2.25674820e-03 9.98939432e-01 8.15722687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.04710568099998 meters 0.03418420444172442 Centerline is valid? [True, True] Translation: X:191.44, Y:88.21, Z:8.16 [[ 3.66442079e-01 -9.30233550e-01 -1.96404164e-02 1.91440078e+02] [ 9.29212134e-01 3.66961089e-01 -4.36390904e-02 8.82104375e+01] [ 4.78018145e-02 -2.25891420e-03 9.98854286e-01 8.15639685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.07710568099998 meters 0.03129205672787352 Centerline is valid? [True, True] Translation: X:191.44, Y:88.24, Z:8.16 [[ 3.67125244e-01 -9.29954727e-01 -2.00813644e-02 1.91444966e+02] [ 9.28885489e-01 3.67667072e-01 -4.46393589e-02 8.82400036e+01] [ 4.88958392e-02 -2.26505246e-03 9.98801315e-01 8.15686532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.10710568099998 meters 0.030340323807630343 Centerline is valid? [True, True] Translation: X:191.45, Y:88.27, Z:8.15 [[ 3.70667949e-01 -9.28539413e-01 -2.04897397e-02 1.91449325e+02] [ 9.27421948e-01 3.71227869e-01 -4.55894745e-02 8.82685420e+01] [ 4.99379864e-02 -2.10407727e-03 9.98750104e-01 8.15419565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.13710568099998 meters 0.02764094960666145 Centerline is valid? [True, True] Translation: X:191.45, Y:88.30, Z:8.16 [[ 3.77426129e-01 -9.25814176e-01 -2.04359679e-02 1.91450578e+02] [ 9.24696369e-01 3.77975074e-01 -4.55133878e-02 8.82982520e+01] [ 4.98612261e-02 -1.71912356e-03 9.98754676e-01 8.15502057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.16710568099998 meters 0.025566118493846945 Centerline is valid? [True, True] Translation: X:191.46, Y:88.33, Z:8.16 [[ 3.80500373e-01 -9.24559388e-01 -2.02337496e-02 1.91455369e+02] [ 9.23459777e-01 3.81034932e-01 -4.51045515e-02 8.83276140e+01] [ 4.94116020e-02 -1.52275517e-03 9.98777340e-01 8.15692692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.19710568099998 meters 0.02411204958927208 Centerline is valid? [True, True] Translation: X:191.46, Y:88.36, Z:8.16 [[ 3.83374903e-01 -9.23368847e-01 -2.03385280e-02 1.91460530e+02] [ 9.22254188e-01 3.83911605e-01 -4.53772204e-02 8.83572021e+01] [ 4.97081086e-02 -1.36080514e-03 9.98762861e-01 8.15811602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.22710568099995 meters 0.022249179776171732 Centerline is valid? [True, True] Translation: X:191.46, Y:88.39, Z:8.16 [[ 3.87381956e-01 -9.21689136e-01 -2.05999187e-02 1.91460433e+02] [ 9.20541287e-01 3.87927607e-01 -4.59990317e-02 8.83886654e+01] [ 5.03880850e-02 -1.14388078e-03 9.98729059e-01 8.15882327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25710568099996 meters 0.02215454988106685 Centerline is valid? [True, True] Translation: X:191.47, Y:88.42, Z:8.16 [[ 3.87458633e-01 -9.21664613e-01 -2.02521589e-02 1.91469190e+02] [ 9.20553121e-01 3.87985980e-01 -4.52640225e-02 8.84155745e+01] [ 4.95758014e-02 -1.10525180e-03 9.98769752e-01 8.15970915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.28710568099996 meters 0.023623560805424392 Centerline is valid? [True, True] Translation: X:191.48, Y:88.44, Z:8.16 [[ 3.84478640e-01 -9.22933191e-01 -1.92483970e-02 1.91481444e+02] [ 9.21929082e-01 3.84958317e-01 -4.30564897e-02 8.84409731e+01] [ 4.71480939e-02 -1.19135638e-03 9.98887200e-01 8.16252541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.31710568099996 meters 0.024135402777334083 Centerline is valid? [True, True] Translation: X:191.49, Y:88.47, Z:8.17 [[ 3.82693195e-01 -9.23684489e-01 -1.87851725e-02 1.91492353e+02] [ 9.22727943e-01 3.83151951e-01 -4.20443229e-02 8.84675238e+01] [ 4.60332644e-02 -1.24352735e-03 9.98939133e-01 8.16546887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.34710568099996 meters 0.025180805085202332 Centerline is valid? [True, True] Translation: X:191.50, Y:88.49, Z:8.17 [[ 3.81147376e-01 -9.24345488e-01 -1.76662340e-02 1.91500664e+02] [ 9.23498962e-01 3.81554581e-01 -3.95697963e-02 8.84937046e+01] [ 4.33167952e-02 -1.23282469e-03 9.99060626e-01 8.16947249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.37710568099996 meters 0.024617435883908162 Centerline is valid? [True, True] Translation: X:191.51, Y:88.52, Z:8.17 [[ 3.80664062e-01 -9.24557404e-01 -1.69846781e-02 1.91509522e+02] [ 9.23774402e-01 3.81040895e-01 -3.80616580e-02 8.85206292e+01] [ 4.16620447e-02 -1.20130551e-03 9.99131038e-01 8.17229416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.40710568099996 meters 0.027700679484872377 Centerline is valid? [True, True] Translation: X:191.53, Y:88.54, Z:8.17 [[ 3.77207333e-01 -9.25971677e-01 -1.70611049e-02 1.91525357e+02] [ 9.25181552e-01 3.77590562e-01 -3.82683089e-02 8.85435794e+01] [ 4.18774824e-02 -1.34953276e-03 9.99121842e-01 8.17135005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.43710568099996 meters 0.027700679484872377 Centerline is valid? [True, True] Translation: X:191.54, Y:88.57, Z:8.17 [[ 3.76883758e-01 -9.26103538e-01 -1.70549359e-02 1.91536317e+02] [ 9.25313423e-01 3.77267008e-01 -3.82710580e-02 8.85687336e+01] [ 4.18772269e-02 -1.35742099e-03 9.99121842e-01 8.17236678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.46710568099996 meters 0.02819562225014185 Centerline is valid? [True, True] Translation: X:191.55, Y:88.59, Z:8.17 [[ 3.74116558e-01 -9.27215091e-01 -1.75777026e-02 1.91549353e+02] [ 9.26375360e-01 3.74526215e-01 -3.94817204e-02 8.85946222e+01] [ 4.31913574e-02 -1.51278523e-03 9.99065673e-01 8.17156051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.49710568099997 meters 0.031243838259264498 Centerline is valid? [True, True] Translation: X:191.57, Y:88.62, Z:8.17 [[ 3.67461618e-01 -9.29848109e-01 -1.88269323e-02 1.91565457e+02] [ 9.28886293e-01 3.67938514e-01 -4.23261729e-02 8.86185259e+01] [ 4.62840654e-02 -1.93483541e-03 9.98926445e-01 8.16879060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.52710568099997 meters 0.03301242572083188 Centerline is valid? [True, True] Translation: X:191.58, Y:88.64, Z:8.17 [[ 3.63435271e-01 -9.31416877e-01 -1.94269253e-02 1.91578378e+02] [ 9.30392975e-01 3.63947551e-01 -4.37160413e-02 8.86443405e+01] [ 4.77882405e-02 -2.18672350e-03 9.98855096e-01 8.16832750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.55710568099997 meters 0.03398208836060502 Centerline is valid? [True, True] Translation: X:191.59, Y:88.67, Z:8.17 [[ 3.62744746e-01 -9.31693997e-01 -1.90406319e-02 1.91588659e+02] [ 9.30709062e-01 3.63237674e-01 -4.28839575e-02 8.86704746e+01] [ 4.68710006e-02 -2.16535837e-03 9.98898604e-01 8.16976712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.58710568099997 meters 0.032232087013630555 Centerline is valid? [True, True] Translation: X:191.59, Y:88.70, Z:8.17 [[ 3.63656851e-01 -9.31336659e-01 -1.91238798e-02 1.91593615e+02] [ 9.30340666e-01 3.64153211e-01 -4.31124492e-02 8.86995335e+01] [ 4.71162266e-02 -2.11358554e-03 9.98887178e-01 8.17276054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.61710568099997 meters 0.029586402250087514 Centerline is valid? [True, True] Translation: X:191.60, Y:88.73, Z:8.17 [[ 3.69453483e-01 -9.29032205e-01 -2.00819698e-02 1.91598923e+02] [ 9.27928605e-01 3.69994015e-01 -4.53093070e-02 8.87284699e+01] [ 4.95240140e-02 -1.89495295e-03 9.98771136e-01 8.16969642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.64710568099997 meters 0.025965399744252573 Centerline is valid? [True, True] Translation: X:191.60, Y:88.76, Z:8.17 [[ 3.73733808e-01 -9.27324252e-01 -1.98184939e-02 1.91602814e+02] [ 9.26245634e-01 3.74255340e-01 -4.47433315e-02 8.87581009e+01] [ 4.89087536e-02 -1.63469778e-03 9.98801913e-01 8.17138593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.67710568099997 meters 0.022489191874839387 Centerline is valid? [True, True] Translation: X:191.60, Y:88.79, Z:8.17 [[ 3.85640490e-01 -9.22435250e-01 -1.98650841e-02 1.91600287e+02] [ 9.21343031e-01 3.86150520e-01 -4.48864680e-02 8.87895137e+01] [ 4.90757729e-02 -9.92517238e-04 9.98794565e-01 8.17023432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.70710568099997 meters 0.019972467351657176 Centerline is valid? [True, True] Translation: X:191.60, Y:88.82, Z:8.17 [[ 3.91403257e-01 -9.20000646e-01 -2.00574738e-02 1.91602413e+02] [ 9.18882285e-01 3.91916256e-01 -4.53541108e-02 8.88193299e+01] [ 4.95866613e-02 -6.78710664e-04 9.98769594e-01 8.17159437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.73710568099997 meters 0.018967679419230284 Centerline is valid? [True, True] Translation: X:191.60, Y:88.85, Z:8.17 [[ 4.04028832e-01 -9.14526512e-01 -2.00490091e-02 1.91599003e+02] [ 9.13400126e-01 4.04525968e-01 -4.53756620e-02 8.88520526e+01] [ 4.96075907e-02 2.03082591e-05 9.98768785e-01 8.17053921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.76710568099998 meters 0.019853167418509142 Centerline is valid? [True, True] Translation: X:191.60, Y:88.88, Z:8.17 [[ 4.10618838e-01 -9.11587720e-01 -1.99999843e-02 1.91603473e+02] [ 9.10461329e-01 4.11105430e-01 -4.53044657e-02 8.88811615e+01] [ 4.95210967e-02 3.93654738e-04 9.98773000e-01 8.17166185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.79710568099998 meters 0.02332717333597447 Centerline is valid? [True, True] Translation: X:191.60, Y:88.91, Z:8.17 [[ 4.22227645e-01 -9.06300551e-01 -1.85236875e-02 1.91604566e+02] [ 9.05327561e-01 4.22632685e-01 -4.19954912e-02 8.89122267e+01] [ 4.58892526e-02 9.61652498e-04 9.98946070e-01 8.17495083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.82710568099998 meters 0.02553825983771081 Centerline is valid? [True, True] Translation: X:191.61, Y:88.94, Z:8.18 [[ 4.27694646e-01 -9.03762595e-01 -1.70429673e-02 1.91612571e+02] [ 9.02935737e-01 4.28032536e-01 -3.86678648e-02 8.89395440e+01] [ 4.22415143e-02 1.14933447e-03 9.99106768e-01 8.18011404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.85710568099998 meters 0.02680309584044021 Centerline is valid? [True, True] Translation: X:191.62, Y:88.96, Z:8.18 [[ 4.29036582e-01 -9.03104913e-01 -1.81418609e-02 1.91623208e+02] [ 9.02166452e-01 4.29418005e-01 -4.11809474e-02 8.89648374e+01] [ 4.49811576e-02 1.30115466e-03 9.98986988e-01 8.17857319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.88710568099998 meters 0.026413189668049765 Centerline is valid? [True, True] Translation: X:191.64, Y:88.99, Z:8.18 [[ 4.28323297e-01 -9.03431967e-01 -1.87038716e-02 1.91637877e+02] [ 9.02433713e-01 4.28729461e-01 -4.24787418e-02 8.89885732e+01] [ 4.63955540e-02 1.31563045e-03 9.98922280e-01 8.17736246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91710568099998 meters 0.026296893941246548 Centerline is valid? [True, True] Translation: X:191.66, Y:89.01, Z:8.18 [[ 4.26377605e-01 -9.04376066e-01 -1.74948103e-02 1.91656160e+02] [ 9.03502000e-01 4.26734823e-01 -3.97684091e-02 8.90104217e+01] [ 4.34312422e-02 1.14976298e-03 9.99055757e-01 8.17995288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.94710568099998 meters 0.025802455317070563 Centerline is valid? [True, True] Translation: X:191.67, Y:89.03, Z:8.18 [[ 4.25422156e-01 -9.04844741e-01 -1.64919484e-02 1.91672553e+02] [ 9.04067587e-01 4.25740413e-01 -3.75086555e-02 8.90344040e+01] [ 4.09607986e-02 1.04717707e-03 9.99160206e-01 8.18375902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97710568099995 meters 0.02583626772001393 Centerline is valid? [True, True] Translation: X:191.69, Y:89.06, Z:8.19 [[ 4.25588466e-01 -9.04770030e-01 -1.62988161e-02 1.91692931e+02] [ 9.04009601e-01 4.25899141e-01 -3.71020621e-02 8.90562702e+01] [ 4.05104856e-02 1.05592347e-03 9.99178555e-01 8.18638335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.00710568099996 meters 0.02741038206931024 Centerline is valid? [True, True] Translation: X:191.71, Y:89.08, Z:8.19 [[ 4.27015539e-01 -9.04084711e-01 -1.69872264e-02 1.91705378e+02] [ 9.03256544e-01 4.27351651e-01 -3.87063656e-02 8.90808883e+01] [ 4.22533526e-02 1.18439613e-03 9.99106226e-01 8.18603110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03710568099996 meters 0.027638077384966812 Centerline is valid? [True, True] Translation: X:191.72, Y:89.10, Z:8.19 [[ 4.30028228e-01 -9.02652364e-01 -1.71590599e-02 1.91724926e+02] [ 9.01805187e-01 4.30368318e-01 -3.91218084e-02 8.91037507e+01] [ 4.26981086e-02 1.34935276e-03 9.99087109e-01 8.18698024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.06710568099996 meters 0.02867727278885083 Centerline is valid? [True, True] Translation: X:191.75, Y:89.13, Z:8.19 [[ 4.31307946e-01 -9.02041013e-01 -1.71891414e-02 1.91745840e+02] [ 9.01188950e-01 4.31647976e-01 -3.92237247e-02 8.91252324e+01] [ 4.28010664e-02 1.42683982e-03 9.99082596e-01 8.18865596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.09710568099996 meters 0.029120182248595382 Centerline is valid? [True, True] Translation: X:191.76, Y:89.15, Z:8.19 [[ 4.30459308e-01 -9.02446259e-01 -1.71910815e-02 1.91762666e+02] [ 9.01593362e-01 4.30800185e-01 -3.92506047e-02 8.91477394e+01] [ 4.28274825e-02 1.39642320e-03 9.99081507e-01 8.18966339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.12710568099996 meters 0.027266865545345582 Centerline is valid? [True, True] Translation: X:191.79, Y:89.17, Z:8.19 [[ 4.28441088e-01 -9.03410709e-01 -1.69506684e-02 1.91789714e+02] [ 9.02581145e-01 4.28774321e-01 -3.87279886e-02 8.91674296e+01] [ 4.22552909e-02 1.29330788e-03 9.99106009e-01 8.19139950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.15710568099996 meters 0.029196432389422995 Centerline is valid? [True, True] Translation: X:191.80, Y:89.19, Z:8.19 [[ 4.28186523e-01 -9.03530728e-01 -1.69860414e-02 1.91803375e+02] [ 9.02696319e-01 4.28521337e-01 -3.88435316e-02 8.91913059e+01] [ 4.23752055e-02 1.29903966e-03 9.99100923e-01 8.19238130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.18710568099996 meters 0.027563115997668485 Centerline is valid? [True, True] Translation: X:191.83, Y:89.21, Z:8.19 [[ 4.29365123e-01 -9.02975799e-01 -1.67420912e-02 1.91827353e+02] [ 9.02163398e-01 4.29689292e-01 -3.83185944e-02 8.92117183e+01] [ 4.17946608e-02 1.34856609e-03 9.99125311e-01 8.19378924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.21710568099996 meters 0.030561992223871168 Centerline is valid? [True, True] Translation: X:191.84, Y:89.24, Z:8.19 [[ 4.30448666e-01 -9.02463131e-01 -1.65602706e-02 1.91839528e+02] [ 9.01667099e-01 4.30764855e-01 -3.79220570e-02 8.92367238e+01] [ 4.13568408e-02 1.39164768e-03 9.99143471e-01 8.19437585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.24710568099997 meters 0.03002968015522858 Centerline is valid? [True, True] Translation: X:191.86, Y:89.26, Z:8.20 [[ 4.33029946e-01 -9.01229769e-01 -1.64307181e-02 1.91863407e+02] [ 9.00444407e-01 4.33338934e-01 -3.76462334e-02 8.92578496e+01] [ 4.10479761e-02 1.50699823e-03 9.99156040e-01 8.19525761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.27710568099997 meters 0.030441488214560785 Centerline is valid? [True, True] Translation: X:191.88, Y:89.28, Z:8.20 [[ 4.34096179e-01 -9.00713319e-01 -1.66139716e-02 1.91879777e+02] [ 8.99908533e-01 4.34411089e-01 -3.81003602e-02 8.92823218e+01] [ 4.15347954e-02 1.58816597e-03 9.99135796e-01 8.19625124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.30710568099997 meters 0.03151831553275739 Centerline is valid? [True, True] Translation: X:191.90, Y:89.30, Z:8.20 [[ 4.36536566e-01 -8.99536228e-01 -1.64438443e-02 1.91898830e+02] [ 8.98745640e-01 4.36842868e-01 -3.77436457e-02 8.93047078e+01] [ 4.11351528e-02 1.69764811e-03 9.99152149e-01 8.19814998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.33710568099997 meters 0.0342162103114788 Centerline is valid? [True, True] Translation: X:191.92, Y:89.33, Z:8.20 [[ 4.38277304e-01 -8.98695661e-01 -1.60970324e-02 1.91915699e+02] [ 8.97936245e-01 4.38569306e-01 -3.69792339e-02 8.93274853e+01] [ 4.02927414e-02 1.75305005e-03 9.99186380e-01 8.20009688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.36710568099997 meters 0.033604987133170505 Centerline is valid? [True, True] Translation: X:191.93, Y:89.35, Z:8.20 [[ 4.39322322e-01 -8.98181775e-01 -1.62909738e-02 1.91932601e+02] [ 8.97402355e-01 4.39620439e-01 -3.74550827e-02 8.93515335e+01] [ 4.08033177e-02 1.83529568e-03 9.99165512e-01 8.20100847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.39710568099997 meters 0.0352632108542108 Centerline is valid? [True, True] Translation: X:191.95, Y:89.37, Z:8.20 [[ 4.41385739e-01 -8.97178992e-01 -1.57634080e-02 1.91952433e+02] [ 8.96447380e-01 4.41663133e-01 -3.62735765e-02 8.93738051e+01] [ 3.95060070e-02 1.87957358e-03 9.99217565e-01 8.20167674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.42710568099997 meters 0.03384794623759146 Centerline is valid? [True, True] Translation: X:191.97, Y:89.40, Z:8.20 [[ 4.42434585e-01 -8.96662878e-01 -1.57264374e-02 1.91971638e+02] [ 8.95933141e-01 4.42709768e-01 -3.62197079e-02 8.93966399e+01] [ 3.94391150e-02 1.93501502e-03 9.99220102e-01 8.20246046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.45710568099997 meters 0.036434449080766027 Centerline is valid? [True, True] Translation: X:191.99, Y:89.42, Z:8.20 [[ 4.44864155e-01 -8.95456696e-01 -1.59118984e-02 1.91989366e+02] [ 8.94707494e-01 4.45143765e-01 -3.66814503e-02 8.94191805e+01] [ 3.99297327e-02 2.08176763e-03 9.99200322e-01 8.20116256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.48710568099997 meters 0.036298738141580786 Centerline is valid? [True, True] Translation: X:192.00, Y:89.44, Z:8.20 [[ 4.45669958e-01 -8.95054908e-01 -1.59687326e-02 1.92004953e+02] [ 8.94298672e-01 4.45950813e-01 -3.68477705e-02 8.94432590e+01] [ 4.01020472e-02 2.14112798e-03 9.99193295e-01 8.20129083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.51710568099998 meters 0.035244322159281145 Centerline is valid? [True, True] Translation: X:192.03, Y:89.46, Z:8.20 [[ 4.44130843e-01 -8.95814834e-01 -1.62350898e-02 1.92028240e+02] [ 8.95032669e-01 4.44422433e-01 -3.74863048e-02 8.94645661e+01] [ 4.07960260e-02 2.11788836e-03 9.99165251e-01 8.20094703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.54710568099998 meters 0.03452745291582622 Centerline is valid? [True, True] Translation: X:192.05, Y:89.48, Z:8.20 [[ 4.38704074e-01 -8.98479166e-01 -1.65506346e-02 1.92050225e+02] [ 8.97666626e-01 4.39011944e-01 -3.82510441e-02 8.94849027e+01] [ 4.16336924e-02 1.92393661e-03 9.99131090e-01 8.20108986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.57710568099998 meters 0.03196193680427278 Centerline is valid? [True, True] Translation: X:192.07, Y:89.51, Z:8.20 [[ 4.34661824e-01 -9.00450084e-01 -1.60855719e-02 1.92068750e+02] [ 8.99682409e-01 4.34956027e-01 -3.72131298e-02 8.95075566e+01] [ 4.05050823e-02 1.70322082e-03 9.99177881e-01 8.20314828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.60710568099998 meters 0.025791097807355855 Centerline is valid? [True, True] Translation: X:192.10, Y:89.53, Z:8.20 [[ 4.25333191e-01 -9.04890822e-01 -1.62565813e-02 1.92096928e+02] [ 9.04108448e-01 4.25641721e-01 -3.76435845e-02 8.95265593e+01] [ 4.09828133e-02 1.31335338e-03 9.99158988e-01 8.20426057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.63710568099998 meters 0.024156774610515318 Centerline is valid? [True, True] Translation: X:192.12, Y:89.55, Z:8.20 [[ 4.20383894e-01 -9.07195349e-01 -1.65523885e-02 1.92115376e+02] [ 9.06384999e-01 4.20708148e-01 -3.83521509e-02 8.95477696e+01] [ 4.17566176e-02 1.11978984e-03 9.99127185e-01 8.20466226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.66710568099998 meters 0.01883273244531558 Centerline is valid? [True, True] Translation: X:192.15, Y:89.56, Z:8.21 [[ 4.09589762e-01 -9.12124268e-01 -1.62956012e-02 1.92146469e+02] [ 9.11341823e-01 4.09913323e-01 -3.77776393e-02 8.95647286e+01] [ 4.11376856e-02 6.22471350e-04 9.99153293e-01 8.20690395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.69710568099998 meters 0.017191104503411544 Centerline is valid? [True, True] Translation: X:192.17, Y:89.59, Z:8.21 [[ 4.03945071e-01 -9.14635571e-01 -1.64362809e-02 1.92165454e+02] [ 9.13839985e-01 4.04279138e-01 -3.81426429e-02 8.95872347e+01] [ 4.15314634e-02 3.87401899e-04 9.99137121e-01 8.20840900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.72710568099995 meters 0.016205025200158506 Centerline is valid? [True, True] Translation: X:192.19, Y:89.61, Z:8.21 [[ 3.96288053e-01 -9.17981777e-01 -1.62860905e-02 1.92185493e+02] [ 9.17201911e-01 3.96622560e-01 -3.78311975e-02 8.96078048e+01] [ 4.11877808e-02 5.44182549e-05 9.99151422e-01 8.20994514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.75710568099996 meters 0.0160575298179474 Centerline is valid? [True, True] Translation: X:192.20, Y:89.63, Z:8.21 [[ 3.93799773e-01 -9.19054144e-01 -1.61622866e-02 1.92199265e+02] [ 9.18285791e-01 3.94131296e-01 -3.75729779e-02 8.96321191e+01] [ 4.09016640e-02 -4.53679202e-05 9.99163176e-01 8.21170096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.78710568099996 meters 0.016104699336101598 Centerline is valid? [True, True] Translation: X:192.21, Y:89.66, Z:8.22 [[ 3.93672177e-01 -9.19119536e-01 -1.55401383e-02 1.92212994e+02] [ 9.18407836e-01 3.93978778e-01 -3.61630795e-02 8.96565499e+01] [ 3.93606775e-02 -3.57865584e-05 9.99225068e-01 8.21642427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.81710568099996 meters 0.01626014600223813 Centerline is valid? [True, True] Translation: X:192.22, Y:89.68, Z:8.22 [[ 3.96278269e-01 -9.17999586e-01 -1.55013956e-02 1.92222523e+02] [ 9.17289092e-01 3.96581330e-01 -3.61105354e-02 8.96832740e+01] [ 3.92970206e-02 9.05593905e-05 9.99227570e-01 8.22107666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.84710568099996 meters 0.01623927137557363 Centerline is valid? [True, True] Translation: X:192.23, Y:89.71, Z:8.22 [[ 3.97147905e-01 -9.17629869e-01 -1.51315657e-02 1.92231148e+02] [ 9.16951232e-01 3.97436037e-01 -3.52850341e-02 8.97094129e+01] [ 3.83924307e-02 1.38469569e-04 9.99262729e-01 8.22314237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.87710568099996 meters 0.016320277915239628 Centerline is valid? [True, True] Translation: X:192.24, Y:89.74, Z:8.23 [[ 3.97640380e-01 -9.17432254e-01 -1.41487766e-02 1.92240467e+02] [ 9.16837600e-01 3.97891988e-01 -3.30269920e-02 8.97355619e+01] [ 3.59297125e-02 1.60735314e-04 9.99354307e-01 8.22682931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.90710568099996 meters 0.01640809592030908 Centerline is valid? [True, True] Translation: X:192.25, Y:89.76, Z:8.23 [[ 3.97199220e-01 -9.17630861e-01 -1.36522226e-02 1.92250576e+02] [ 9.17076249e-01 3.97433744e-01 -3.18994059e-02 8.97606816e+01] [ 3.46977332e-02 1.50290000e-04 9.99397841e-01 8.22988718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.93710568099996 meters 0.01654422818306479 Centerline is valid? [True, True] Translation: X:192.26, Y:89.79, Z:8.23 [[ 3.97295657e-01 -9.17603289e-01 -1.26635476e-02 1.92260353e+02] [ 9.17125152e-01 3.97497398e-01 -2.96188278e-02 8.97869481e+01] [ 3.22120610e-02 1.53373666e-04 9.99481045e-01 8.23388317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.96710568099996 meters 0.01654488480714693 Centerline is valid? [True, True] Translation: X:192.27, Y:89.81, Z:8.24 [[ 3.97614636e-01 -9.17471359e-01 -1.22027164e-02 1.92269292e+02] [ 9.17026423e-01 3.97801805e-01 -2.85703072e-02 8.98136068e+01] [ 3.10667012e-02 1.69758911e-04 9.99517299e-01 8.23593528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.99710568099997 meters 0.017073113713770228 Centerline is valid? [True, True] Translation: X:192.27, Y:89.84, Z:8.24 [[ 3.98782592e-01 -9.16967282e-01 -1.19770036e-02 1.92273305e+02] [ 9.16537543e-01 3.98962351e-01 -2.80708787e-02 8.98415393e+01] [ 3.05184509e-02 2.16804358e-04 9.99534180e-01 8.23818635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.02710568099997 meters 0.01732701954651855 Centerline is valid? [True, True] Translation: X:192.28, Y:89.87, Z:8.24 [[ 4.00598242e-01 -9.16173741e-01 -1.21130414e-02 1.92280425e+02] [ 9.15732820e-01 4.00781226e-01 -2.84220281e-02 8.98684010e+01] [ 3.08941954e-02 2.93504866e-04 9.99522617e-01 8.23835198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.05710568099997 meters 0.018790046673095338 Centerline is valid? [True, True] Translation: X:192.28, Y:89.90, Z:8.24 [[ 4.05493883e-01 -9.14004451e-01 -1.30603867e-02 1.92282964e+02] [ 9.13489387e-01 4.05703834e-01 -3.06844936e-02 8.98967731e+01] [ 3.33444127e-02 5.11849826e-04 9.99443789e-01 8.23605933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.08710568099997 meters 0.021168259239854614 Centerline is valid? [True, True] Translation: X:192.29, Y:89.93, Z:8.23 [[ 4.10781043e-01 -9.11620667e-01 -1.43768478e-02 1.92285435e+02] [ 9.10994406e-01 4.11031803e-01 -3.37942115e-02 8.99251288e+01] [ 3.67168433e-02 7.84793492e-04 9.99325401e-01 8.23166473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.11710568099997 meters 0.022725327577954896 Centerline is valid? [True, True] Translation: X:192.29, Y:89.95, Z:8.23 [[ 4.13495449e-01 -9.10381485e-01 -1.50686927e-02 1.92292463e+02] [ 9.09691593e-01 4.13768836e-01 -3.54479285e-02 8.99534434e+01] [ 3.85060933e-02 9.49694090e-04 9.99257914e-01 8.22964070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.14710568099997 meters 0.027122470959541192 Centerline is valid? [True, True] Translation: X:192.29, Y:89.98, Z:8.23 [[ 4.20531652e-01 -9.07124337e-01 -1.66902997e-02 1.92294426e+02] [ 9.06273545e-01 4.20860392e-01 -3.93038577e-02 8.99830223e+01] [ 4.26777719e-02 1.40253915e-03 9.99087904e-01 8.22539741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.17710568099997 meters 0.02953553765848154 Centerline is valid? [True, True] Translation: X:192.30, Y:90.01, Z:8.23 [[ 4.23823403e-01 -9.05588678e-01 -1.68187210e-02 1.92300865e+02] [ 9.04721778e-01 4.24154014e-01 -3.96469037e-02 9.00108516e+01] [ 4.30375151e-02 1.58702246e-03 9.99072196e-01 8.22602982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.20710568099997 meters 0.03313865616817979 Centerline is valid? [True, True] Translation: X:192.31, Y:90.04, Z:8.23 [[ 4.28725639e-01 -9.03284172e-01 -1.64933837e-02 1.92306722e+02] [ 9.02447292e-01 4.29039004e-01 -3.89155369e-02 9.00372716e+01] [ 4.22280934e-02 1.79967902e-03 9.99106375e-01 8.22711010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.23710568099997 meters 0.03408302873265895 Centerline is valid? [True, True] Translation: X:192.32, Y:90.06, Z:8.23 [[ 4.29013015e-01 -9.03139869e-01 -1.69177085e-02 1.92320253e+02] [ 9.02257814e-01 4.29342359e-01 -3.99496636e-02 9.00614909e+01] [ 4.33436228e-02 1.87479091e-03 9.99058465e-01 8.22611887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.26710568099998 meters 0.033589674780850065 Centerline is valid? [True, True] Translation: X:192.33, Y:90.09, Z:8.23 [[ 4.27551684e-01 -9.03833137e-01 -1.68884023e-02 1.92334656e+02] [ 9.02953128e-01 4.27881246e-01 -3.99160177e-02 9.00861142e+01] [ 4.33036501e-02 1.81672488e-03 9.99060305e-01 8.22702071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.29710568099998 meters 0.030760836402452005 Centerline is valid? [True, True] Translation: X:192.36, Y:90.11, Z:8.23 [[ 4.22635353e-01 -9.06150044e-01 -1.64759112e-02 1.92355393e+02] [ 9.05312712e-01 4.22953510e-01 -3.89771900e-02 9.01068867e+01] [ 4.22877269e-02 1.55728661e-03 9.99104260e-01 8.22903296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.32710568099998 meters 0.029277698484288368 Centerline is valid? [True, True] Translation: X:192.37, Y:90.13, Z:8.23 [[ 4.19173082e-01 -9.07756260e-01 -1.65075974e-02 1.92371829e+02] [ 9.06915344e-01 4.19495617e-01 -3.90894598e-02 9.01289901e+01] [ 4.24085666e-02 1.41425590e-03 9.99099351e-01 8.23072133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.35710568099998 meters 0.029277698484288368 Centerline is valid? [True, True] Translation: X:192.38, Y:90.15, Z:8.23 [[ 4.18863216e-01 -9.07899420e-01 -1.64999827e-02 1.92382289e+02] [ 9.07058489e-01 4.19185711e-01 -3.90926738e-02 9.01544171e+01] [ 4.24087728e-02 1.40803364e-03 9.99099351e-01 8.23173928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.38710568099998 meters 0.022717484984341358 Centerline is valid? [True, True] Translation: X:192.41, Y:90.17, Z:8.24 [[ 4.11414748e-01 -9.11310227e-01 -1.58611387e-02 1.92411153e+02] [ 9.10534231e-01 4.11719084e-01 -3.76139629e-02 9.01728425e+01] [ 4.08083225e-02 1.03282938e-03 9.99166460e-01 8.23668198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41710568099998 meters 0.021249280264307967 Centerline is valid? [True, True] Translation: X:192.43, Y:90.20, Z:8.24 [[ 4.07781258e-01 -9.12944164e-01 -1.57289145e-02 1.92427920e+02] [ 9.12180723e-01 4.08083547e-01 -3.73382904e-02 9.01961613e+01] [ 4.05064856e-02 8.78242473e-04 9.99178890e-01 8.23826230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.44710568099998 meters 0.01908512861073488 Centerline is valid? [True, True] Translation: X:192.45, Y:90.22, Z:8.24 [[ 4.02283535e-01 -9.15373150e-01 -1.61231078e-02 1.92447882e+02] [ 9.14571237e-01 4.02605951e-01 -3.83131883e-02 9.02184778e+01] [ 4.15621230e-02 6.67034174e-04 9.99135699e-01 8.23874587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47710568099995 meters 0.018086028839990918 Centerline is valid? [True, True] Translation: X:192.46, Y:90.24, Z:8.24 [[ 3.99682118e-01 -9.16511298e-01 -1.61630912e-02 1.92463239e+02] [ 9.15704664e-01 4.00008401e-01 -3.84479786e-02 9.02430375e+01] [ 4.17033790e-02 5.66351538e-04 9.99129875e-01 8.23895095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.50710568099996 meters 0.01688496218189652 Centerline is valid? [True, True] Translation: X:192.48, Y:90.26, Z:8.24 [[ 3.94002038e-01 -9.18963110e-01 -1.64072351e-02 1.92483685e+02] [ 9.18132246e-01 3.94343371e-01 -3.90702515e-02 9.02646464e+01] [ 4.23742042e-02 3.29747114e-04 9.99101756e-01 8.23949403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53710568099996 meters 0.016300760004530315 Centerline is valid? [True, True] Translation: X:192.50, Y:90.29, Z:8.24 [[ 3.88643899e-01 -9.21245560e-01 -1.62030114e-02 1.92502480e+02] [ 9.20435553e-01 3.88981501e-01 -3.86236349e-02 9.02870526e+01] [ 4.18845239e-02 9.70122729e-05 9.99122454e-01 8.24247058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.56710568099996 meters 0.01620397654974606 Centerline is valid? [True, True] Translation: X:192.52, Y:90.31, Z:8.24 [[ 3.87027928e-01 -9.21932066e-01 -1.58318539e-02 1.92515274e+02] [ 9.21157708e-01 3.87351602e-01 -3.77784886e-02 9.03120412e+01] [ 4.09616941e-02 3.76959371e-05 9.99160717e-01 8.24483323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.59710568099996 meters 0.01648628997859366 Centerline is valid? [True, True] Translation: X:192.53, Y:90.34, Z:8.25 [[ 3.87258278e-01 -9.21846251e-01 -1.51827468e-02 1.92528113e+02] [ 9.21132601e-01 3.87555785e-01 -3.62663022e-02 9.03359775e+01] [ 3.93161160e-02 5.91026782e-05 9.99226821e-01 8.24926513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.62710568099996 meters 0.01652954373956477 Centerline is valid? [True, True] Translation: X:192.54, Y:90.36, Z:8.25 [[ 3.87690335e-01 -9.21666520e-01 -1.50675260e-02 1.92539593e+02] [ 9.20962419e-01 3.87983014e-01 -3.60194950e-02 9.03615353e+01] [ 3.90439067e-02 8.77848951e-05 9.99237492e-01 8.25109493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.65710568099996 meters 0.016953501750821495 Centerline is valid? [True, True] Translation: X:192.55, Y:90.39, Z:8.25 [[ 3.90431258e-01 -9.20504144e-01 -1.53477912e-02 1.92550485e+02] [ 9.19771124e-01 3.90732737e-01 -3.67288349e-02 9.03873941e+01] [ 3.98059291e-02 2.23629984e-04 9.99207405e-01 8.25239325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.68710568099996 meters 0.01731538146050029 Centerline is valid? [True, True] Translation: X:192.56, Y:90.41, Z:8.25 [[ 3.92568660e-01 -9.19593556e-01 -1.54123060e-02 1.92560537e+02] [ 9.18852051e-01 3.92870947e-01 -3.69232579e-02 9.04139842e+01] [ 4.00094373e-02 3.33284894e-04 9.99199246e-01 8.25297820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.71710568099996 meters 0.019773891812805425 Centerline is valid? [True, True] Translation: X:192.57, Y:90.44, Z:8.25 [[ 4.00324442e-01 -9.16234784e-01 -1.59424305e-02 1.92568303e+02] [ 9.15436978e-01 4.00641128e-01 -3.82338365e-02 9.04411422e+01] [ 4.14183643e-02 7.11648864e-04 9.99141638e-01 8.25196683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.74710568099997 meters 0.022358597986130047 Centerline is valid? [True, True] Translation: X:192.58, Y:90.47, Z:8.25 [[ 4.04388264e-01 -9.14442872e-01 -1.62593245e-02 1.92575133e+02] [ 9.13610381e-01 4.04713945e-01 -3.90217262e-02 9.04681010e+01] [ 4.22635147e-02 9.25240459e-04 9.99106070e-01 8.25114416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.77710568099997 meters 0.026264369318675634 Centerline is valid? [True, True] Translation: X:192.58, Y:90.50, Z:8.25 [[ 4.13095440e-01 -9.10531265e-01 -1.68811548e-02 1.92582292e+02] [ 9.09628601e-01 4.13437855e-01 -4.05579707e-02 9.04953775e+01] [ 4.39086087e-02 1.39873155e-03 9.99034573e-01 8.24945572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.80710568099997 meters 0.030431396412789486 Centerline is valid? [True, True] Translation: X:192.59, Y:90.52, Z:8.25 [[ 4.19618507e-01 -9.07532698e-01 -1.74559936e-02 1.92587818e+02] [ 9.06562813e-01 4.19977607e-01 -4.19842400e-02 9.05220174e+01] [ 4.54331970e-02 1.79240941e-03 9.98965771e-01 8.24762193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.83710568099997 meters 0.032044195572125865 Centerline is valid? [True, True] Translation: X:192.60, Y:90.55, Z:8.25 [[ 4.21440247e-01 -9.06680633e-01 -1.78422840e-02 1.92596508e+02] [ 9.05664530e-01 4.21813284e-01 -4.29570865e-02 9.05478814e+01] [ 4.64744708e-02 1.94472140e-03 9.98917585e-01 8.24657549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.86710568099997 meters 0.03312738290918838 Centerline is valid? [True, True] Translation: X:192.61, Y:90.57, Z:8.25 [[ 4.22279983e-01 -9.06291355e-01 -1.77650365e-02 1.92609416e+02] [ 9.05281730e-01 4.22648781e-01 -4.28135117e-02 9.05718447e+01] [ 4.63098866e-02 1.99692601e-03 9.98925126e-01 8.24673875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.89710568099997 meters 0.03353674654554413 Centerline is valid? [True, True] Translation: X:192.63, Y:90.59, Z:8.25 [[ 4.22130193e-01 -9.06372437e-01 -1.71786376e-02 1.92626123e+02] [ 9.05426770e-01 4.22475146e-01 -4.14380993e-02 9.05946395e+01] [ 4.48158985e-02 1.93827454e-03 9.98993383e-01 8.24974392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.92710568099997 meters 0.03235588049557711 Centerline is valid? [True, True] Translation: X:192.64, Y:90.62, Z:8.25 [[ 4.22263058e-01 -9.06309349e-01 -1.72416365e-02 1.92641230e+02] [ 9.05354795e-01 4.22610322e-01 -4.16318368e-02 9.06186721e+01] [ 4.50178164e-02 1.96978846e-03 9.98984242e-01 8.25138960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.95710568099997 meters 0.03422054870152782 Centerline is valid? [True, True] Translation: X:192.65, Y:90.64, Z:8.25 [[ 4.21692958e-01 -9.06575933e-01 -1.71792533e-02 1.92651042e+02] [ 9.05626555e-01 4.22038227e-01 -4.15244152e-02 9.06435085e+01] [ 4.48953371e-02 1.95256550e-03 9.98989788e-01 8.25212063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.98710568099997 meters 0.03007331887705256 Centerline is valid? [True, True] Translation: X:192.67, Y:90.67, Z:8.25 [[ 4.19338081e-01 -9.07674755e-01 -1.67961925e-02 1.92672879e+02] [ 9.06766240e-01 4.19670411e-01 -4.06415014e-02 9.06650138e+01] [ 4.39381298e-02 1.81230887e-03 9.99032610e-01 8.25471716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.01710568099998 meters 0.03083283381263326 Centerline is valid? [True, True] Translation: X:192.69, Y:90.69, Z:8.26 [[ 4.13834266e-01 -9.10213378e-01 -1.58998823e-02 1.92690617e+02] [ 9.09399520e-01 4.14136960e-01 -3.85109203e-02 9.06867273e+01] [ 4.16378838e-02 1.47779311e-03 9.99131674e-01 8.25735983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.04710568099998 meters 0.023694926607184797 Centerline is valid? [True, True] Translation: X:192.72, Y:90.70, Z:8.26 [[ 4.05987852e-01 -9.13746076e-01 -1.55554843e-02 1.92721260e+02] [ 9.12967987e-01 4.06284229e-01 -3.77171025e-02 9.07045519e+01] [ 4.07838024e-02 1.11102626e-03 9.99167377e-01 8.25951897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.07710568099998 meters 0.022040687856089505 Centerline is valid? [True, True] Translation: X:192.74, Y:90.73, Z:8.26 [[ 4.01861121e-01 -9.15568712e-01 -1.55426242e-02 1.92738881e+02] [ 9.14791638e-01 4.02160473e-01 -3.77255098e-02 9.07275487e+01] [ 4.07909255e-02 9.42153028e-04 9.99167260e-01 8.26037918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.10710568099998 meters 0.019856418990792612 Centerline is valid? [True, True] Translation: X:192.76, Y:90.75, Z:8.26 [[ 3.95824231e-01 -9.18188347e-01 -1.59165940e-02 1.92760850e+02] [ 9.17373764e-01 3.96143484e-01 -3.86745055e-02 9.07484851e+01] [ 4.18157353e-02 7.06840623e-04 9.99125090e-01 8.26017598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.13710568099998 meters 0.020664066179463883 Centerline is valid? [True, True] Translation: X:192.77, Y:90.77, Z:8.26 [[ 3.93971088e-01 -9.18979583e-01 -1.62267784e-02 1.92772369e+02] [ 9.18131769e-01 3.94304579e-01 -3.94709112e-02 9.07735143e+01] [ 4.26712545e-02 6.52077070e-04 9.99088954e-01 8.25894211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.16710568099998 meters 0.019035029929363307 Centerline is valid? [True, True] Translation: X:192.79, Y:90.80, Z:8.26 [[ 3.92469650e-01 -9.19617461e-01 -1.64711588e-02 1.92788909e+02] [ 9.18742536e-01 3.92814657e-01 -4.01098212e-02 9.07975142e+01] [ 4.33558045e-02 6.09133256e-04 9.99059509e-01 8.26015602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.19710568099998 meters 0.020288048503035644 Centerline is valid? [True, True] Translation: X:192.80, Y:90.82, Z:8.26 [[ 3.92367451e-01 -9.19644137e-01 -1.73909396e-02 1.92800231e+02] [ 9.18666646e-01 3.92752120e-01 -4.23953506e-02 9.08227223e+01] [ 4.58189640e-02 6.58079503e-04 9.98949543e-01 8.25718749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.22710568099995 meters 0.021312084890863156 Centerline is valid? [True, True] Translation: X:192.81, Y:90.85, Z:8.26 [[ 3.97264064e-01 -9.17530653e-01 -1.78539780e-02 1.92811443e+02] [ 9.16496229e-01 3.97663940e-01 -4.35666456e-02 9.08485417e+01] [ 4.70736160e-02 9.44359165e-04 9.98890976e-01 8.25999628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25710568099996 meters 0.025884743527732797 Centerline is valid? [True, True] Translation: X:192.81, Y:90.88, Z:8.26 [[ 4.05398709e-01 -9.13976543e-01 -1.72848536e-02 1.92813962e+02] [ 9.13001810e-01 4.05764829e-01 -4.22208188e-02 9.08761732e+01] [ 4.56024237e-02 1.33516274e-03 9.98958776e-01 8.26334600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.28710568099996 meters 0.028870012463064722 Centerline is valid? [True, True] Translation: X:192.82, Y:90.90, Z:8.26 [[ 4.09570230e-01 -9.12120197e-01 -1.69991990e-02 1.92819661e+02] [ 9.11173828e-01 4.09919977e-01 -4.15676348e-02 9.09031536e+01] [ 4.48829905e-02 1.53564050e-03 9.98991071e-01 8.26443407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.31710568099996 meters 0.03277181560662403 Centerline is valid? [True, True] Translation: X:192.83, Y:90.93, Z:8.27 [[ 4.17256405e-01 -9.08637947e-01 -1.65581722e-02 1.92826813e+02] [ 9.07735466e-01 4.17580580e-01 -4.05312505e-02 9.09301740e+01] [ 4.37426033e-02 1.88148376e-03 9.99041063e-01 8.26598647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.34710568099996 meters 0.034724778129940674 Centerline is valid? [True, True] Translation: X:192.84, Y:90.96, Z:8.27 [[ 4.19611433e-01 -9.07563727e-01 -1.59476077e-02 1.92836274e+02] [ 9.06724196e-01 4.19909908e-01 -3.90755883e-02 9.09569627e+01] [ 4.21601451e-02 1.93648182e-03 9.99108989e-01 8.26825639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.37710568099996 meters 0.037116728804350366 Centerline is valid? [True, True] Translation: X:192.85, Y:90.98, Z:8.27 [[ 4.22247681e-01 -9.06351447e-01 -1.52954725e-02 1.92846155e+02] [ 9.05577051e-01 4.22519945e-01 -3.75113528e-02 9.09815469e+01] [ 4.04611111e-02 1.98785287e-03 9.99179137e-01 8.27068758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.40710568099996 meters 0.03801229727982843 Centerline is valid? [True, True] Translation: X:192.86, Y:91.01, Z:8.27 [[ 4.22675340e-01 -9.06152600e-01 -1.52650800e-02 1.92857233e+02] [ 9.05379707e-01 4.22946088e-01 -3.74725599e-02 9.10067236e+01] [ 4.04121634e-02 2.01803336e-03 9.99181057e-01 8.27154353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.43710568099996 meters 0.0404634644394199 Centerline is valid? [True, True] Translation: X:192.87, Y:91.03, Z:8.27 [[ 4.24959293e-01 -9.05083426e-01 -1.52836918e-02 1.92868508e+02] [ 9.04306384e-01 4.25228663e-01 -3.75572687e-02 9.10314146e+01] [ 4.04915253e-02 2.13917033e-03 9.99177592e-01 8.27258635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.46710568099996 meters 0.04220363683210816 Centerline is valid? [True, True] Translation: X:192.88, Y:91.06, Z:8.27 [[ 4.26391322e-01 -9.04402498e-01 -1.57022625e-02 1.92878304e+02] [ 9.03580139e-01 4.26674248e-01 -3.86266550e-02 9.10576562e+01] [ 4.16337944e-02 2.28181798e-03 9.99130332e-01 8.27263195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.49710568099997 meters 0.042522873167107005 Centerline is valid? [True, True] Translation: X:192.89, Y:91.08, Z:8.27 [[ 4.30461239e-01 -9.02446767e-01 -1.71158965e-02 1.92890702e+02] [ 9.01466214e-01 4.30792846e-01 -4.21448677e-02 9.10828293e+01] [ 4.54069054e-02 2.71232960e-03 9.98964892e-01 8.26854109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.52710568099997 meters 0.039861892290812384 Centerline is valid? [True, True] Translation: X:192.91, Y:91.11, Z:8.27 [[ 4.32581842e-01 -9.01408015e-01 -1.83450549e-02 1.92908300e+02] [ 9.00278795e-01 4.32959983e-01 -4.52077890e-02 9.11060624e+01] [ 4.86933380e-02 3.04040472e-03 9.98809148e-01 8.26520437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.55710568099997 meters 0.04023671741178591 Centerline is valid? [True, True] Translation: X:192.92, Y:91.13, Z:8.27 [[ 4.32318344e-01 -9.01539337e-01 -1.81017311e-02 1.92919761e+02] [ 9.00437710e-01 4.32686708e-01 -4.46558217e-02 9.11312102e+01] [ 4.80913583e-02 3.00604959e-03 9.98838418e-01 8.26634965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.58710568099997 meters 0.03761044782080043 Centerline is valid? [True, True] Translation: X:192.94, Y:91.15, Z:8.27 [[ 4.30006110e-01 -9.02648159e-01 -1.79177646e-02 1.92938322e+02] [ 9.01567528e-01 4.30369662e-01 -4.42486876e-02 9.11538064e+01] [ 4.76522587e-02 2.87313133e-03 9.98859854e-01 8.26850144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.61710568099997 meters 0.038098395372066496 Centerline is valid? [True, True] Translation: X:192.95, Y:91.18, Z:8.27 [[ 4.28054695e-01 -9.03577129e-01 -1.78199461e-02 1.92951054e+02] [ 9.02506997e-01 4.28416480e-01 -4.40504252e-02 9.11776513e+01] [ 4.74373153e-02 2.77336522e-03 9.98870367e-01 8.26886447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.64710568099997 meters 0.03433873183174013 Centerline is valid? [True, True] Translation: X:192.97, Y:91.20, Z:8.27 [[ 4.22107420e-01 -9.06379458e-01 -1.73667502e-02 1.92973539e+02] [ 9.05363959e-01 4.22457650e-01 -4.29608588e-02 9.11989649e+01] [ 4.62755564e-02 2.41086751e-03 9.98925803e-01 8.27196559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.67710568099997 meters 0.03256935012095995 Centerline is valid? [True, True] Translation: X:192.99, Y:91.22, Z:8.27 [[ 4.18588321e-01 -9.08009979e-01 -1.73693735e-02 1.92989926e+02] [ 9.06993435e-01 4.18942492e-01 -4.30127589e-02 9.12229624e+01] [ 4.63327830e-02 2.25073082e-03 9.98923524e-01 8.27301152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.70710568099997 meters 0.0313928484820811 Centerline is valid? [True, True] Translation: X:193.01, Y:91.25, Z:8.27 [[ 4.15388018e-01 -9.09481716e-01 -1.71989212e-02 1.93005900e+02] [ 9.08484315e-01 4.15738697e-01 -4.26331483e-02 9.12473401e+01] [ 4.59243259e-02 2.08434879e-03 9.98942747e-01 8.27458761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.73710568099997 meters 0.028502715908994822 Centerline is valid? [True, True] Translation: X:193.03, Y:91.27, Z:8.28 [[ 4.08933192e-01 -9.12418941e-01 -1.62886599e-02 1.93026533e+02] [ 9.11524915e-01 4.09254021e-01 -4.04162909e-02 9.12677776e+01] [ 4.35427889e-02 1.68004351e-03 9.99050150e-01 8.27766009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.76710568099998 meters 0.02514363740019192 Centerline is valid? [True, True] Translation: X:193.05, Y:91.29, Z:8.28 [[ 4.02174437e-01 -9.15407458e-01 -1.68791977e-02 1.93046004e+02] [ 9.14447764e-01 4.02525957e-01 -4.19302023e-02 9.12899912e+01] [ 4.51775352e-02 1.42811090e-03 9.98977953e-01 8.27532616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.79710568099998 meters 0.02407077171594204 Centerline is valid? [True, True] Translation: X:193.06, Y:91.31, Z:8.27 [[ 3.98951325e-01 -9.16801386e-01 -1.76934697e-02 1.93060413e+02] [ 9.15746052e-01 3.99341202e-01 -4.39974108e-02 9.13138809e+01] [ 4.74026187e-02 1.35010028e-03 9.98874952e-01 8.27364330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.82710568099998 meters 0.021310206333117865 Centerline is valid? [True, True] Translation: X:193.08, Y:91.34, Z:8.27 [[ 3.92364319e-01 -9.19626346e-01 -1.83745864e-02 1.93082397e+02] [ 9.18489422e-01 3.92792885e-01 -4.57266938e-02 9.13352456e+01] [ 4.92688791e-02 1.06465982e-03 9.98784984e-01 8.27486889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.85710568099998 meters 0.020076890300188586 Centerline is valid? [True, True] Translation: X:193.10, Y:91.36, Z:8.28 [[ 3.88839630e-01 -9.21128713e-01 -1.80453998e-02 1.93096439e+02] [ 9.20031468e-01 3.89257143e-01 -4.49552532e-02 9.13596254e+01] [ 4.84338753e-02 8.78048389e-04 9.98826005e-01 8.27815758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.88710568099998 meters 0.017953350298503038 Centerline is valid? [True, True] Translation: X:193.11, Y:91.38, Z:8.28 [[ 3.81876604e-01 -9.24050696e-01 -1.73369819e-02 1.93111420e+02] [ 9.23038897e-01 3.82269609e-01 -4.32335546e-02 9.13823382e+01] [ 4.65773976e-02 5.07174328e-04 9.98914555e-01 8.28112824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91710568099998 meters 0.016865834661736682 Centerline is valid? [True, True] Translation: X:193.13, Y:91.41, Z:8.28 [[ 3.76048422e-01 -9.26442049e-01 -1.71089038e-02 1.93127884e+02] [ 9.25457288e-01 3.76437351e-01 -4.27051448e-02 9.14063864e+01] [ 4.60042723e-02 2.25642624e-04 9.98941218e-01 8.28451815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.94710568099995 meters 0.016653618894189832 Centerline is valid? [True, True] Translation: X:193.14, Y:91.43, Z:8.29 [[ 3.73417023e-01 -9.27508190e-01 -1.69789506e-02 1.93138813e+02] [ 9.26537482e-01 3.73802816e-01 -4.24234497e-02 9.14304948e+01] [ 4.56948766e-02 1.10004127e-04 9.98955438e-01 8.28592440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97710568099995 meters 0.01663876245960474 Centerline is valid? [True, True] Translation: X:193.15, Y:91.46, Z:8.29 [[ 3.69494478e-01 -9.29080599e-01 -1.68247535e-02 1.93149324e+02] [ 9.28126775e-01 3.69877327e-01 -4.20886266e-02 9.14556530e+01] [ 4.53268212e-02 -6.39890738e-05 9.98972209e-01 8.28630467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.00710568099996 meters 0.016949410929327405 Centerline is valid? [True, True] Translation: X:193.16, Y:91.48, Z:8.29 [[ 3.66603742e-01 -9.30229924e-01 -1.65524612e-02 1.93161186e+02] [ 9.29305799e-01 3.66977184e-01 -4.14545364e-02 9.14797206e+01] [ 4.46366259e-02 -1.84909946e-04 9.99003272e-01 8.28809488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03710568099996 meters 0.018654396720745352 Centerline is valid? [True, True] Translation: X:193.18, Y:91.50, Z:8.29 [[ 3.58664442e-01 -9.33317660e-01 -1.66722567e-02 1.93176985e+02] [ 9.32381298e-01 3.59051306e-01 -4.18004055e-02 9.15021200e+01] [ 4.49992522e-02 -5.52581232e-04 9.98986868e-01 8.28885892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.06710568099996 meters 0.024464963657527424 Centerline is valid? [True, True] Translation: X:193.19, Y:91.52, Z:8.29 [[ 3.46635807e-01 -9.37837398e-01 -1.74537258e-02 1.93193650e+02] [ 9.36814775e-01 3.47072975e-01 -4.37998507e-02 9.15241912e+01] [ 4.71348546e-02 -1.16831158e-03 9.98887852e-01 8.28560701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.09710568099996 meters 0.024924528572369816 Centerline is valid? [True, True] Translation: X:193.20, Y:91.55, Z:8.29 [[ 3.40405937e-01 -9.40120289e-01 -1.72522732e-02 1.93202369e+02] [ 9.39121752e-01 3.40839766e-01 -4.33426999e-02 9.15507304e+01] [ 4.66276123e-02 -1.44787266e-03 9.98911292e-01 8.28768776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.12710568099996 meters 0.0355451134052265 Centerline is valid? [True, True] Translation: X:193.22, Y:91.57, Z:8.29 [[ 3.29534555e-01 -9.43989993e-01 -1.70255745e-02 1.93222151e+02] [ 9.43020339e-01 3.29968348e-01 -4.28197465e-02 9.15711343e+01] [ 4.60393129e-02 -1.94487696e-03 9.98937735e-01 8.28924421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.15710568099996 meters 0.038366943421699835 Centerline is valid? [True, True] Translation: X:193.23, Y:91.60, Z:8.29 [[ 3.25465232e-01 -9.45404007e-01 -1.68418234e-02 1.93232957e+02] [ 9.44455125e-01 3.25893886e-01 -4.23991965e-02 9.15960873e+01] [ 4.55730175e-02 -2.10688208e-03 9.98958789e-01 8.29119285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.18710568099996 meters 0.04321719605727256 Centerline is valid? [True, True] Translation: X:193.24, Y:91.62, Z:8.29 [[ 3.20086530e-01 -9.47237003e-01 -1.69314636e-02 1.93239341e+02] [ 9.46278270e-01 3.20525315e-01 -4.26726798e-02 9.16217960e+01] [ 4.58481040e-02 -2.36292607e-03 9.98945628e-01 8.29274948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.21710568099996 meters 0.044268808459831915 Centerline is valid? [True, True] Translation: X:193.24, Y:91.65, Z:8.29 [[ 3.19070215e-01 -9.47580028e-01 -1.69200466e-02 1.93244054e+02] [ 9.46620847e-01 3.19509552e-01 -4.26921329e-02 9.16494792e+01] [ 4.58603290e-02 -2.39508085e-03 9.98944990e-01 8.29284494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.24710568099997 meters 0.044268808459831915 Centerline is valid? [True, True] Translation: X:193.25, Y:91.67, Z:8.29 [[ 3.18673227e-01 -9.47713903e-01 -1.69036088e-02 1.93253249e+02] [ 9.46754568e-01 3.19112227e-01 -4.26986411e-02 9.16737497e+01] [ 4.58602441e-02 -2.39665513e-03 9.98944991e-01 8.29380208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.27710568099997 meters 0.0437761236431348 Centerline is valid? [True, True] Translation: X:193.25, Y:91.70, Z:8.29 [[ 3.20225659e-01 -9.47181932e-01 -1.73757176e-02 1.93247922e+02] [ 9.46164894e-01 3.20687982e-01 -4.39455589e-02 9.17043673e+01] [ 4.71966232e-02 -2.36779840e-03 9.98882812e-01 8.29220267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.30710568099997 meters 0.04351068995161978 Centerline is valid? [True, True] Translation: X:193.24, Y:91.73, Z:8.29 [[ 3.21482326e-01 -9.46738190e-01 -1.83279404e-02 1.93243770e+02] [ 9.45603076e-01 3.21995320e-01 -4.64094410e-02 9.17339941e+01] [ 4.98391012e-02 -2.41114172e-03 9.98754349e-01 8.28941628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.33710568099997 meters 0.04435773000803878 Centerline is valid? [True, True] Translation: X:193.25, Y:91.76, Z:8.29 [[ 3.20495920e-01 -9.47068956e-01 -1.85137018e-02 1.93248510e+02] [ 9.45908567e-01 3.21020698e-01 -4.69328706e-02 9.17613452e+01] [ 5.03919462e-02 -2.47047554e-03 9.98726463e-01 8.29027913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.36710568099997 meters 0.036586478025611845 Centerline is valid? [True, True] Translation: X:193.23, Y:91.80, Z:8.30 [[ 3.19276816e-01 -9.47498435e-01 -1.75792699e-02 1.93234191e+02] [ 9.46450635e-01 3.19751439e-01 -4.46117921e-02 9.17962274e+01] [ 4.78906000e-02 -2.39440023e-03 9.98849717e-01 8.29843442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.39710568099997 meters 0.03683702255802525 Centerline is valid? [True, True] Translation: X:193.24, Y:91.82, Z:8.30 [[ 3.18393621e-01 -9.47810670e-01 -1.67462057e-02 1.93235638e+02] [ 9.46857952e-01 3.18825348e-01 -4.25489809e-02 9.18249088e+01] [ 4.56674930e-02 -2.30895393e-03 9.98954027e-01 8.30127332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.42710568099997 meters 0.03767542170687326 Centerline is valid? [True, True] Translation: X:193.23, Y:91.86, Z:8.30 [[ 3.14896851e-01 -9.48988022e-01 -1.61773737e-02 1.93230845e+02] [ 9.48098254e-01 3.15303150e-01 -4.11536752e-02 9.18564689e+01] [ 4.41551217e-02 -2.37857705e-03 9.99021855e-01 8.30382650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.45710568099997 meters 0.040765375596500814 Centerline is valid? [True, True] Translation: X:193.24, Y:91.88, Z:8.30 [[ 3.13099952e-01 -9.49580346e-01 -1.62968294e-02 1.93237658e+02] [ 9.48675982e-01 3.13514102e-01 -4.15064960e-02 9.18824060e+01] [ 4.45230386e-02 -2.46472869e-03 9.99005317e-01 8.30394896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.48710568099997 meters 0.03818276713862189 Centerline is valid? [True, True] Translation: X:193.23, Y:91.92, Z:8.30 [[ 3.09969831e-01 -9.50590685e-01 -1.72061868e-02 1.93229782e+02] [ 9.49581944e-01 3.10434911e-01 -4.38668163e-02 9.19160762e+01] [ 4.70407881e-02 -2.74129470e-03 9.98889208e-01 8.30369661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.51710568099998 meters 0.03905742528050657 Centerline is valid? [True, True] Translation: X:193.23, Y:91.94, Z:8.30 [[ 3.09062471e-01 -9.50883238e-01 -1.73625302e-02 1.93232562e+02] [ 9.49854105e-01 3.09537161e-01 -4.43161908e-02 9.19442903e+01] [ 4.75138713e-02 -2.79539910e-03 9.98866667e-01 8.30358417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.54710568099998 meters 0.03825448157916615 Centerline is valid? [True, True] Translation: X:193.22, Y:91.98, Z:8.31 [[ 3.09446517e-01 -9.50762240e-01 -1.71468909e-02 1.93223487e+02] [ 9.49755876e-01 3.09909232e-01 -4.38183186e-02 9.19779574e+01] [ 4.69747825e-02 -2.72593437e-03 9.98892356e-01 8.30522416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.57710568099998 meters 0.04038720378705563 Centerline is valid? [True, True] Translation: X:193.22, Y:92.01, Z:8.31 [[ 3.10021433e-01 -9.50581071e-01 -1.68029575e-02 1.93218760e+02] [ 9.49612204e-01 3.10465321e-01 -4.29877514e-02 9.20090381e+01] [ 4.60800783e-02 -2.62916927e-03 9.98934289e-01 8.30672048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.60710568099998 meters 0.04016680908057104 Centerline is valid? [True, True] Translation: X:193.21, Y:92.04, Z:8.31 [[ 3.09708937e-01 -9.50680697e-01 -1.69288874e-02 1.93213132e+02] [ 9.49695131e-01 3.10159953e-01 -4.33585174e-02 9.20416867e+01] [ 4.64707684e-02 -2.64876160e-03 9.98916138e-01 8.30656124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.63710568099998 meters 0.03839628341284978 Centerline is valid? [True, True] Translation: X:193.21, Y:92.07, Z:8.31 [[ 3.09067059e-01 -9.50893743e-01 -1.66925627e-02 1.93213639e+02] [ 9.49933693e-01 3.09506345e-01 -4.27995381e-02 9.20714760e+01] [ 4.58642670e-02 -2.62890033e-03 9.98944222e-01 8.30706985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.66710568099998 meters 0.039435882583171135 Centerline is valid? [True, True] Translation: X:193.21, Y:92.10, Z:8.31 [[ 3.08286831e-01 -9.51155043e-01 -1.62269727e-02 1.93210827e+02] [ 9.50246275e-01 3.08702815e-01 -4.16483890e-02 9.21022783e+01] [ 4.46233874e-02 -2.57997055e-03 9.99000549e-01 8.30948714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69710568099995 meters 0.03978294081440917 Centerline is valid? [True, True] Translation: X:193.21, Y:92.13, Z:8.31 [[ 3.08251570e-01 -9.51161175e-01 -1.65345039e-02 1.93214148e+02] [ 9.50216106e-01 3.08683589e-01 -4.24710950e-02 9.21307414e+01] [ 4.55007866e-02 -2.61957023e-03 9.98960868e-01 8.30963273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.72710568099995 meters 0.036704323845012404 Centerline is valid? [True, True] Translation: X:193.21, Y:92.16, Z:8.31 [[ 3.11514654e-01 -9.50085349e-01 -1.72177464e-02 1.93205814e+02] [ 9.49056709e-01 3.11979698e-01 -4.42722432e-02 9.21647042e+01] [ 4.74339969e-02 -2.54916519e-03 9.98871122e-01 8.30824839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75710568099996 meters 0.03542248041309648 Centerline is valid? [True, True] Translation: X:193.21, Y:92.19, Z:8.31 [[ 3.13573304e-01 -9.49404686e-01 -1.73932543e-02 1.93206120e+02] [ 9.48352224e-01 3.14045685e-01 -4.47589942e-02 9.21946238e+01] [ 4.79566753e-02 -2.45970567e-03 9.98846388e-01 8.30828870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.78710568099996 meters 0.03285470647234911 Centerline is valid? [True, True] Translation: X:193.20, Y:92.23, Z:8.31 [[ 3.16289649e-01 -9.48500443e-01 -1.75432811e-02 1.93198402e+02] [ 9.47425881e-01 3.16767263e-01 -4.51962527e-02 9.22273133e+01] [ 4.84258029e-02 -2.32585166e-03 9.98824075e-01 8.30859905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.81710568099996 meters 0.033744972364674816 Centerline is valid? [True, True] Translation: X:193.20, Y:92.26, Z:8.31 [[ 3.14215175e-01 -9.49196144e-01 -1.71902630e-02 1.93197582e+02] [ 9.48163086e-01 3.14676140e-01 -4.43360996e-02 9.22575819e+01] [ 4.74930204e-02 -2.36809753e-03 9.98868763e-01 8.31054048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.84710568099996 meters 0.035242308026123735 Centerline is valid? [True, True] Translation: X:193.20, Y:92.29, Z:8.31 [[ 3.11417678e-01 -9.50125970e-01 -1.67233488e-02 1.93202883e+02] [ 9.49147477e-01 3.11856942e-01 -4.31776997e-02 9.22859032e+01] [ 4.62395462e-02 -2.42662534e-03 9.98927433e-01 8.31365865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.87710568099996 meters 0.03809998360998948 Centerline is valid? [True, True] Translation: X:193.20, Y:92.31, Z:8.32 [[ 3.07768799e-01 -9.51336971e-01 -1.53731829e-02 1.93202577e+02] [ 9.50510038e-01 3.08143279e-01 -3.97289342e-02 9.23147650e+01] [ 4.25327469e-02 -2.38503830e-03 9.99092226e-01 8.31948026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.90710568099996 meters 0.037555783608613426 Centerline is valid? [True, True] Translation: X:193.21, Y:92.34, Z:8.32 [[ 3.06062489e-01 -9.51895098e-01 -1.48820392e-02 1.93206309e+02] [ 9.51119668e-01 3.06414885e-01 -3.84875915e-02 9.23438980e+01] [ 4.11962280e-02 -2.37499217e-03 9.99148252e-01 8.32188547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.93710568099996 meters 0.040161206743939845 Centerline is valid? [True, True] Translation: X:193.21, Y:92.37, Z:8.32 [[ 3.04138332e-01 -9.52519490e-01 -1.43699658e-02 1.93208103e+02] [ 9.51795747e-01 3.04468447e-01 -3.71997501e-02 9.23719228e+01] [ 3.98086882e-02 -2.36340238e-03 9.99204525e-01 8.32329562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.96710568099996 meters 0.04011659605049031 Centerline is valid? [True, True] Translation: X:193.21, Y:92.40, Z:8.32 [[ 3.03682606e-01 -9.52664068e-01 -1.44239057e-02 1.93211990e+02] [ 9.51934247e-01 3.04015600e-01 -3.73591335e-02 9.24009215e+01] [ 3.99757964e-02 -2.38529079e-03 9.99197801e-01 8.32368498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.99710568099997 meters 0.040389547335569966 Centerline is valid? [True, True] Translation: X:193.21, Y:92.43, Z:8.32 [[ 3.03815114e-01 -9.52601321e-01 -1.57193820e-02 1.93210106e+02] [ 9.51732257e-01 3.04210594e-01 -4.07630400e-02 9.24303989e+01] [ 4.36129283e-02 -2.57621523e-03 9.99045182e-01 8.31916236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.02710568099997 meters 0.040558139273100376 Centerline is valid? [True, True] Translation: X:193.22, Y:92.46, Z:8.32 [[ 3.04088430e-01 -9.52506757e-01 -1.61587319e-02 1.93215056e+02] [ 9.51586082e-01 3.04506184e-01 -4.19513198e-02 9.24572554e+01] [ 4.48793493e-02 -2.61951344e-03 9.98988980e-01 8.31817913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.05710568099997 meters 0.040144041424667994 Centerline is valid? [True, True] Translation: X:193.22, Y:92.49, Z:8.32 [[ 3.06202393e-01 -9.51836092e-01 -1.57527528e-02 1.93216211e+02] [ 9.50958468e-01 3.06597581e-01 -4.09379491e-02 9.24858176e+01] [ 4.37959734e-02 -2.44491573e-03 9.99037504e-01 8.32017625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.08710568099997 meters 0.037854897676017 Centerline is valid? [True, True] Translation: X:193.21, Y:92.52, Z:8.32 [[ 3.09826461e-01 -9.50650014e-01 -1.64959111e-02 1.93213849e+02] [ 9.49684673e-01 3.10256198e-01 -4.28965461e-02 9.25171177e+01] [ 4.58975608e-02 -2.37542884e-03 9.98943327e-01 8.32051359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.11710568099997 meters 0.03527590506412239 Centerline is valid? [True, True] Translation: X:193.22, Y:92.55, Z:8.32 [[ 3.13887224e-01 -9.49310640e-01 -1.68558640e-02 1.93215952e+02] [ 9.48298594e-01 3.14331703e-01 -4.38788870e-02 9.25463143e+01] [ 4.69530267e-02 -2.21137008e-03 9.98894651e-01 8.31983589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.14710568099997 meters 0.029226291655197377 Centerline is valid? [True, True] Translation: X:193.21, Y:92.58, Z:8.32 [[ 3.24846380e-01 -9.45622344e-01 -1.65291428e-02 1.93209729e+02] [ 9.44642227e-01 3.25262590e-01 -4.30733184e-02 9.25778372e+01] [ 4.61074041e-02 -1.62191476e-03 9.98935171e-01 8.32128252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.17710568099997 meters 0.02507661635617051 Centerline is valid? [True, True] Translation: X:193.21, Y:92.61, Z:8.32 [[ 3.32166091e-01 -9.43081914e-01 -1.61923221e-02 1.93209466e+02] [ 9.42136232e-01 3.32558272e-01 -4.22411729e-02 9.26071557e+01] [ 4.52217768e-02 -1.22428808e-03 9.98976222e-01 8.32294926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.20710568099997 meters 0.01815948910389657 Centerline is valid? [True, True] Translation: X:193.20, Y:92.64, Z:8.33 [[ 3.46465536e-01 -9.37930140e-01 -1.57697423e-02 1.93197177e+02] [ 9.37025679e-01 3.46823866e-01 -4.11835252e-02 9.26425538e+01] [ 4.40965926e-02 -5.07981393e-04 9.99027143e-01 8.32617768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.23710568099997 meters 0.017398375675035847 Centerline is valid? [True, True] Translation: X:193.20, Y:92.67, Z:8.33 [[ 3.51858374e-01 -9.35926608e-01 -1.53970736e-02 1.93199145e+02] [ 9.35060800e-01 3.52195016e-01 -4.02488668e-02 9.26713288e+01] [ 4.30927580e-02 -2.35299097e-04 9.99071048e-01 8.32753002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.26710568099998 meters 0.017567084984181646 Centerline is valid? [True, True] Translation: X:193.20, Y:92.70, Z:8.33 [[ 3.60249215e-01 -9.32733938e-01 -1.50965114e-02 1.93196664e+02] [ 9.31898031e-01 3.60565359e-01 -3.94801527e-02 9.27007444e+01] [ 4.22677574e-02 1.54284780e-04 9.99106307e-01 8.32737430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.29710568099998 meters 0.01898790532502923 Centerline is valid? [True, True] Translation: X:193.20, Y:92.73, Z:8.33 [[ 3.65360103e-01 -9.30737644e-01 -1.54736056e-02 1.93200293e+02] [ 9.29855941e-01 3.65687392e-01 -4.05050774e-02 9.27290835e+01] [ 4.33581028e-02 4.10715183e-04 9.99059511e-01 8.32529154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.32710568099998 meters 0.018868082532084413 Centerline is valid? [True, True] Translation: X:193.21, Y:92.76, Z:8.33 [[ 3.66770577e-01 -9.30175175e-01 -1.59213088e-02 1.93209596e+02] [ 9.29239845e-01 3.67115639e-01 -4.17063320e-02 9.27567600e+01] [ 4.46391561e-02 5.01940905e-04 9.99003050e-01 8.32556218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.35710568099998 meters 0.01972313713985981 Centerline is valid? [True, True] Translation: X:193.22, Y:92.79, Z:8.32 [[ 3.69088730e-01 -9.29232960e-01 -1.73094139e-02 1.93216116e+02] [ 9.28123934e-01 3.69493752e-01 -4.53908561e-02 9.27851228e+01] [ 4.85743998e-02 6.87972125e-04 9.98819330e-01 8.32271315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.38710568099998 meters 0.019970100461776986 Centerline is valid? [True, True] Translation: X:193.23, Y:92.81, Z:8.32 [[ 3.69995338e-01 -9.28860024e-01 -1.79584174e-02 1.93225791e+02] [ 9.27663276e-01 3.70430077e-01 -4.71423833e-02 9.28118460e+01] [ 5.04410132e-02 7.83097689e-04 9.98726735e-01 8.32188069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41710568099998 meters 0.020443983748826017 Centerline is valid? [True, True] Translation: X:193.24, Y:92.84, Z:8.32 [[ 3.70437675e-01 -9.28679318e-01 -1.81838712e-02 1.93239462e+02] [ 9.27449502e-01 3.70882763e-01 -4.77849062e-02 9.28371915e+01] [ 5.11209385e-02 8.36707246e-04 9.98692120e-01 8.32061805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.44710568099995 meters 0.020346675725833537 Centerline is valid? [True, True] Translation: X:193.25, Y:92.86, Z:8.32 [[ 3.69819973e-01 -9.28931429e-01 -1.78770343e-02 1.93251857e+02] [ 9.27740448e-01 3.70250926e-01 -4.70309833e-02 9.28624176e+01] [ 5.03075470e-02 8.07749200e-04 9.98733447e-01 8.32284918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47710568099995 meters 0.019512862841281217 Centerline is valid? [True, True] Translation: X:193.27, Y:92.89, Z:8.33 [[ 3.67782893e-01 -9.29753022e-01 -1.71773360e-02 1.93268350e+02] [ 9.28651996e-01 3.68183169e-01 -4.52396365e-02 9.28870577e+01] [ 4.83860947e-02 6.86597043e-04 9.98828471e-01 8.32696444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.50710568099996 meters 0.01931564882734961 Centerline is valid? [True, True] Translation: X:193.28, Y:92.91, Z:8.33 [[ 3.66487207e-01 -9.30269074e-01 -1.69285955e-02 1.93281358e+02] [ 9.29198127e-01 3.66877443e-01 -4.46293935e-02 9.29114150e+01] [ 4.77280644e-02 6.26082540e-04 9.98860170e-01 8.32918507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53710568099996 meters 0.018255748379261024 Centerline is valid? [True, True] Translation: X:193.30, Y:92.93, Z:8.33 [[ 3.63795424e-01 -9.31340773e-01 -1.60391379e-02 1.93299853e+02] [ 9.30378932e-01 3.64148514e-01 -4.23190648e-02 9.29339210e+01] [ 4.52540987e-02 4.73006160e-04 9.98975397e-01 8.33404733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.56710568099996 meters 0.017092292466238623 Centerline is valid? [True, True] Translation: X:193.32, Y:92.96, Z:8.34 [[ 3.58832590e-01 -9.33275730e-01 -1.53487202e-02 1.93322361e+02] [ 9.32395900e-01 3.59160632e-01 -4.05157647e-02 9.29551785e+01] [ 4.33250360e-02 2.27293070e-04 9.99061004e-01 8.33688095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.59710568099996 meters 0.01660836130648686 Centerline is valid? [True, True] Translation: X:193.34, Y:92.98, Z:8.34 [[ 3.55582404e-01 -9.34519598e-01 -1.53060606e-02 1.93338422e+02] [ 9.33643874e-01 3.55911665e-01 -4.04475442e-02 9.29787546e+01] [ 4.32466282e-02 9.20252302e-05 9.99064423e-01 8.33775619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.62710568099996 meters 0.016732326540921532 Centerline is valid? [True, True] Translation: X:193.36, Y:93.00, Z:8.34 [[ 3.50470920e-01 -9.36439341e-01 -1.58585706e-02 1.93359921e+02] [ 9.35498984e-01 3.50829507e-01 -4.19560336e-02 9.30004564e+01] [ 4.48529350e-02 -1.31306977e-04 9.98993592e-01 8.33625035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.65710568099996 meters 0.016867132626604855 Centerline is valid? [True, True] Translation: X:193.37, Y:93.02, Z:8.34 [[ 3.48306130e-01 -9.37239899e-01 -1.62545960e-02 1.93374583e+02] [ 9.36250693e-01 3.48685133e-01 -4.30501817e-02 9.30233403e+01] [ 4.60160839e-02 -2.23734574e-04 9.98940674e-01 8.33611636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.68710568099996 meters 0.016961300421798307 Centerline is valid? [True, True] Translation: X:193.39, Y:93.05, Z:8.34 [[ 3.46790478e-01 -9.37799701e-01 -1.63732960e-02 1.93390564e+02] [ 9.36794820e-01 3.47176667e-01 -4.34030776e-02 9.30474772e+01] [ 4.63878195e-02 -2.86644876e-04 9.98923465e-01 8.33786127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.71710568099996 meters 0.01691655272956714 Centerline is valid? [True, True] Translation: X:193.40, Y:93.07, Z:8.34 [[ 3.48503774e-01 -9.37164132e-01 -1.63862675e-02 1.93400642e+02] [ 9.36154690e-01 3.48888744e-01 -4.34860841e-02 9.30726430e+01] [ 4.64705826e-02 -1.85016785e-04 9.98919642e-01 8.33852823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.74710568099997 meters 0.017044330420968996 Centerline is valid? [True, True] Translation: X:193.41, Y:93.10, Z:8.34 [[ 3.55670690e-01 -9.34464984e-01 -1.65394603e-02 1.93409822e+02] [ 9.33431419e-01 3.56054992e-01 -4.39389113e-02 9.30980991e+01] [ 4.69483315e-02 1.89330966e-04 9.98897301e-01 8.33991372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.77710568099997 meters 0.017863027467719443 Centerline is valid? [True, True] Translation: X:193.42, Y:93.12, Z:8.34 [[ 3.60073311e-01 -9.32789346e-01 -1.58507470e-02 1.93418611e+02] [ 9.31836366e-01 3.60421792e-01 -4.21558813e-02 9.31245162e+01] [ 4.50355116e-02 4.08905315e-04 9.98985303e-01 8.34368224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.80710568099997 meters 0.0208742752835206 Centerline is valid? [True, True] Translation: X:193.42, Y:93.15, Z:8.35 [[ 3.67144466e-01 -9.30058123e-01 -1.40296112e-02 1.93423732e+02] [ 9.29308157e-01 3.67411804e-01 -3.73485600e-02 9.31513168e+01] [ 3.98909764e-02 6.74484990e-04 9.99203811e-01 8.35273173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.83710568099997 meters 0.022282780470795904 Centerline is valid? [True, True] Translation: X:193.43, Y:93.18, Z:8.36 [[ 3.71777243e-01 -9.28221077e-01 -1.36862891e-02 1.93434320e+02] [ 9.27504685e-01 3.72028069e-01 -3.64715749e-02 9.31774207e+01] [ 3.89453683e-02 8.65204289e-04 9.99240967e-01 8.35506488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.86710568099997 meters 0.02318328139632155 Centerline is valid? [True, True] Translation: X:193.45, Y:93.20, Z:8.35 [[ 3.73456058e-01 -9.27544800e-01 -1.38281393e-02 1.93446460e+02] [ 9.26811448e-01 3.73710747e-01 -3.68892601e-02 9.32035877e+01] [ 3.93841656e-02 9.60439882e-04 9.99223681e-01 8.35465801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.89710568099997 meters 0.024554892360589425 Centerline is valid? [True, True] Translation: X:193.46, Y:93.23, Z:8.35 [[ 3.75133418e-01 -9.26857473e-01 -1.44963175e-02 1.93461218e+02] [ 9.26049200e-01 3.75411796e-01 -3.87151549e-02 9.32280742e+01] [ 4.13255193e-02 1.09904514e-03 9.99145131e-01 8.35077595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.92710568099997 meters 0.024718984283425262 Centerline is valid? [True, True] Translation: X:193.47, Y:93.25, Z:8.35 [[ 3.74974642e-01 -9.26907621e-01 -1.53713817e-02 1.93473281e+02] [ 9.25996780e-01 3.75287724e-01 -4.10985153e-02 9.32535535e+01] [ 4.38632179e-02 1.17705109e-03 9.99036853e-01 8.34826489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.95710568099997 meters 0.02417392432362475 Centerline is valid? [True, True] Translation: X:193.49, Y:93.28, Z:8.35 [[ 3.74060440e-01 -9.27262895e-01 -1.61960127e-02 1.93490728e+02] [ 9.26249596e-01 3.74408928e-01 -4.33548294e-02 9.32765112e+01] [ 4.62652564e-02 1.21577635e-03 9.98928450e-01 8.34523579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.98710568099997 meters 0.023960707828665922 Centerline is valid? [True, True] Translation: X:193.50, Y:93.30, Z:8.35 [[ 3.72645379e-01 -9.27829435e-01 -1.63695058e-02 1.93504287e+02] [ 9.26792436e-01 3.73002887e-01 -4.38705750e-02 9.33003759e+01] [ 4.68102837e-02 1.17703290e-03 9.98903104e-01 8.34545389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.01710568099998 meters 0.022626928058770403 Centerline is valid? [True, True] Translation: X:193.52, Y:93.32, Z:8.35 [[ 3.68942986e-01 -9.29309729e-01 -1.62634695e-02 1.93521239e+02] [ 9.28285354e-01 3.69299912e-01 -4.36334376e-02 9.33228797e+01] [ 4.65550759e-02 1.00111018e-03 9.98915223e-01 8.34621723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.04710568099998 meters 0.01955122161259577 Centerline is valid? [True, True] Translation: X:193.54, Y:93.34, Z:8.35 [[ 3.61847790e-01 -9.32097861e-01 -1.61168930e-02 1.93542073e+02] [ 9.31093068e-01 3.62205953e-01 -4.32729203e-02 9.33448255e+01] [ 4.61722310e-02 6.51883199e-04 9.98933281e-01 8.34716634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.07710568099998 meters 0.018090760233839563 Centerline is valid? [True, True] Translation: X:193.56, Y:93.37, Z:8.35 [[ 3.57325742e-01 -9.33845264e-01 -1.58535829e-02 1.93558723e+02] [ 9.32872744e-01 3.57676994e-01 -4.26100035e-02 9.33674971e+01] [ 4.54616118e-02 4.36275756e-04 9.98965991e-01 8.34780700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.10710568099998 meters 0.016750928377244276 Centerline is valid? [True, True] Translation: X:193.58, Y:93.39, Z:8.35 [[ 3.46069717e-01 -9.38086980e-01 -1.51184988e-02 1.93583660e+02] [ 9.37205161e-01 3.46399782e-01 -4.06654434e-02 9.33882047e+01] [ 4.33847677e-02 -9.60565793e-05 9.99058433e-01 8.34987458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.13710568099998 meters 0.017589293731163625 Centerline is valid? [True, True] Translation: X:193.60, Y:93.41, Z:8.35 [[ 3.40522699e-01 -9.40117585e-01 -1.49404859e-02 1.93599088e+02] [ 9.39256436e-01 3.40850136e-01 -4.02309878e-02 9.34113909e+01] [ 4.29143257e-02 -3.33382962e-04 9.99078700e-01 8.35082575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.16710568099998 meters 0.017589293731163625 Centerline is valid? [True, True] Translation: X:193.61, Y:93.44, Z:8.35 [[ 3.40174467e-01 -9.40243865e-01 -1.49267040e-02 1.93608410e+02] [ 9.39382613e-01 3.40501633e-01 -4.02361010e-02 9.34372273e+01] [ 4.29143142e-02 -3.34591982e-04 9.99078700e-01 8.35184293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19710568099995 meters 0.0204215861685513 Centerline is valid? [True, True] Translation: X:193.63, Y:93.46, Z:8.35 [[ 3.30979217e-01 -9.43519996e-01 -1.49256275e-02 1.93628648e+02] [ 9.42660156e-01 3.31314761e-01 -4.02785271e-02 9.34599607e+01] [ 4.29486765e-02 -7.38439008e-04 9.99077007e-01 8.35284666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.22710568099995 meters 0.021603051765314393 Centerline is valid? [True, True] Translation: X:193.64, Y:93.49, Z:8.36 [[ 3.27571813e-01 -9.44713760e-01 -1.45814250e-02 1.93641077e+02] [ 9.43892600e-01 3.27895061e-01 -3.93902052e-02 9.34857304e+01] [ 4.19936461e-02 -8.60178220e-04 9.99117507e-01 8.35502822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25710568099996 meters 0.023076118250315192 Centerline is valid? [True, True] Translation: X:193.65, Y:93.51, Z:8.35 [[ 3.25100246e-01 -9.45559108e-01 -1.50931337e-02 1.93651862e+02] [ 9.44678251e-01 3.25448913e-01 -4.08167614e-02 9.35106354e+01] [ 4.35067045e-02 -9.88615971e-04 9.99052646e-01 8.35465868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.28710568099996 meters 0.022765813915513414 Centerline is valid? [True, True] Translation: X:193.66, Y:93.54, Z:8.35 [[ 3.24428039e-01 -9.45783290e-01 -1.55053499e-02 1.93659870e+02] [ 9.44851877e-01 3.24796711e-01 -4.19765133e-02 9.35374654e+01] [ 4.47367715e-02 -1.03190107e-03 9.98998277e-01 8.35357046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.31710568099996 meters 0.0240903257576803 Centerline is valid? [True, True] Translation: X:193.67, Y:93.56, Z:8.35 [[ 3.23791870e-01 -9.45984669e-01 -1.64873255e-02 1.93670367e+02] [ 9.44929502e-01 3.24209455e-01 -4.46818325e-02 9.35624138e+01] [ 4.76136753e-02 -1.11174617e-03 9.98865207e-01 8.34945864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.34710568099996 meters 0.022944069531715634 Centerline is valid? [True, True] Translation: X:193.68, Y:93.59, Z:8.35 [[ 3.23764877e-01 -9.46000415e-01 -1.61096244e-02 1.93676608e+02] [ 9.44991833e-01 3.24163615e-01 -4.36850893e-02 9.35895951e+01] [ 4.65482667e-02 -1.07976591e-03 9.98915458e-01 8.35318461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.37710568099996 meters 0.022163060355449918 Centerline is valid? [True, True] Translation: X:193.68, Y:93.62, Z:8.36 [[ 3.24117429e-01 -9.45891651e-01 -1.53908142e-02 1.93683296e+02] [ 9.44968961e-01 3.24481095e-01 -4.17813567e-02 9.36166606e+01] [ 4.45146647e-02 -1.00177574e-03 9.99008229e-01 8.35755929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.40710568099996 meters 0.021115946700138864 Centerline is valid? [True, True] Translation: X:193.69, Y:93.65, Z:8.36 [[ 3.26460534e-01 -9.45103004e-01 -1.42769675e-02 1.93685842e+02] [ 9.44306597e-01 3.26771553e-01 -3.87995174e-02 9.36457788e+01] [ 4.13348473e-02 -8.15323386e-04 9.99145017e-01 8.36328366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.43710568099996 meters 0.01998252237914111 Centerline is valid? [True, True] Translation: X:193.69, Y:93.67, Z:8.36 [[ 3.28623239e-01 -9.44357452e-01 -1.39917320e-02 1.93690848e+02] [ 9.43590188e-01 3.28920236e-01 -3.80661908e-02 9.36741501e+01] [ 4.05502548e-02 -6.93026088e-04 9.99177260e-01 8.36481259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.46710568099996 meters 0.017600092121726803 Centerline is valid? [True, True] Translation: X:193.69, Y:93.70, Z:8.37 [[ 3.36294619e-01 -9.41665846e-01 -1.30905952e-02 1.93690852e+02] [ 9.40990753e-01 3.36549144e-01 -3.56521691e-02 9.37038364e+01] [ 3.79780586e-02 -3.28496376e-04 9.99278519e-01 8.36898985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.49710568099997 meters 0.016690569451744325 Centerline is valid? [True, True] Translation: X:193.69, Y:93.73, Z:8.37 [[ 3.46042085e-01 -9.38146216e-01 -1.16856003e-02 1.93689059e+02] [ 9.37605128e-01 3.46239329e-01 -3.18582779e-02 9.37331167e+01] [ 3.39337372e-02 6.78261785e-05 9.99424083e-01 8.37418561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.52710568099997 meters 0.017574739811316385 Centerline is valid? [True, True] Translation: X:193.69, Y:93.76, Z:8.38 [[ 3.51507174e-01 -9.36114367e-01 -1.15151695e-02 1.93691092e+02] [ 9.35586564e-01 3.51695631e-01 -3.14318958e-02 9.37628894e+01] [ 3.34736840e-02 2.75099012e-04 9.99439561e-01 8.37526462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.55710568099997 meters 0.01865341386057957 Centerline is valid? [True, True] Translation: X:193.69, Y:93.79, Z:8.37 [[ 3.56356600e-01 -9.34276711e-01 -1.17047145e-02 1.93693682e+02] [ 9.33729185e-01 3.56548464e-01 -3.19843873e-02 9.37917807e+01] [ 3.40555661e-02 4.68813951e-04 9.99419831e-01 8.37399976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.58710568099997 meters 0.022373354106595057 Centerline is valid? [True, True] Translation: X:193.69, Y:93.82, Z:8.37 [[ 3.65228906e-01 -9.30838024e-01 -1.21827074e-02 1.93694331e+02] [ 9.30241537e-01 3.65431070e-01 -3.33288962e-02 9.38207406e+01] [ 3.54757437e-02 8.39815890e-04 9.99370185e-01 8.36970872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.61710568099997 meters 0.024094636335798697 Centerline is valid? [True, True] Translation: X:193.70, Y:93.85, Z:8.37 [[ 3.68090722e-01 -9.29706006e-01 -1.24884974e-02 1.93703216e+02] [ 9.29076982e-01 3.68301187e-01 -3.42081523e-02 9.38462952e+01] [ 3.64030530e-02 9.88928044e-04 9.99336700e-01 8.36838849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.64710568099997 meters 0.02427960643434375 Centerline is valid? [True, True] Translation: X:193.72, Y:93.87, Z:8.37 [[ 3.67629435e-01 -9.29887654e-01 -1.25518896e-02 1.93715570e+02] [ 9.29251699e-01 3.67842339e-01 -3.43990428e-02 9.38713468e+01] [ 3.66043616e-02 9.82235893e-04 9.99329353e-01 8.36878886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.67710568099997 meters 0.024299220356395416 Centerline is valid? [True, True] Translation: X:193.73, Y:93.90, Z:8.37 [[ 3.67522168e-01 -9.29930178e-01 -1.25427484e-02 1.93727671e+02] [ 9.29293737e-01 3.67734797e-01 -3.44132078e-02 9.38965346e+01] [ 3.66142855e-02 9.91719154e-04 9.99328980e-01 8.36980421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.70710568099997 meters 0.024475624209533343 Centerline is valid? [True, True] Translation: X:193.74, Y:93.92, Z:8.37 [[ 3.67110599e-01 -9.30091782e-01 -1.26128777e-02 1.93739315e+02] [ 9.29446818e-01 3.67325857e-01 -3.46457351e-02 9.39209796e+01] [ 3.68567496e-02 9.95817517e-04 9.99320063e-01 8.37010669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.73710568099997 meters 0.025142993238315724 Centerline is valid? [True, True] Translation: X:193.75, Y:93.94, Z:8.37 [[ 3.67641571e-01 -9.29886012e-01 -1.23158098e-02 1.93753437e+02] [ 9.29269523e-01 3.67846421e-01 -3.38698191e-02 9.39446026e+01] [ 3.60253976e-02 1.00724684e-03 9.99350367e-01 8.37018319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.76710568099998 meters 0.024186032493111437 Centerline is valid? [True, True] Translation: X:193.77, Y:93.97, Z:8.37 [[ 3.66410141e-01 -9.30369529e-01 -1.24959559e-02 1.93772434e+02] [ 9.29733861e-01 3.66621830e-01 -3.44003084e-02 9.39677624e+01] [ 3.65862889e-02 9.86708460e-04 9.99330010e-01 8.36888018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.79710568099998 meters 0.0246101660028178 Centerline is valid? [True, True] Translation: X:193.78, Y:93.99, Z:8.37 [[ 3.65934378e-01 -9.30545849e-01 -1.32835689e-02 1.93784766e+02] [ 9.29825880e-01 3.66173903e-01 -3.66129072e-02 9.39917784e+01] [ 3.89340850e-02 1.04651531e-03 9.99241233e-01 8.36674313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.82710568099998 meters 0.022399227506580365 Centerline is valid? [True, True] Translation: X:193.81, Y:94.01, Z:8.36 [[ 3.63294076e-01 -9.31567818e-01 -1.41001793e-02 1.93805180e+02] [ 9.30755296e-01 3.63566190e-01 -3.89127863e-02 9.40141736e+01] [ 4.13762479e-02 1.01296816e-03 9.99143123e-01 8.36424718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.85710568099998 meters 0.02161404408466248 Centerline is valid? [True, True] Translation: X:193.82, Y:94.04, Z:8.36 [[ 3.58690669e-01 -9.33352371e-01 -1.39411343e-02 1.93824155e+02] [ 9.32557696e-01 3.58960566e-01 -3.85156468e-02 9.40360256e+01] [ 4.09529877e-02 8.14291030e-04 9.99160743e-01 8.36435476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.88710568099998 meters 0.020088706054147736 Centerline is valid? [True, True] Translation: X:193.84, Y:94.06, Z:8.37 [[ 3.54738601e-01 -9.34862268e-01 -1.38947553e-02 1.93840641e+02] [ 9.34072858e-01 3.55010025e-01 -3.84158605e-02 9.40587888e+01] [ 4.08463159e-02 6.48874845e-04 9.99165230e-01 8.36606704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91710568099998 meters 0.017600776531086163 Centerline is valid? [True, True] Translation: X:193.86, Y:94.08, Z:8.37 [[ 3.49296765e-01 -9.36911459e-01 -1.37363473e-02 1.93860139e+02] [ 9.36139897e-01 3.49566504e-01 -3.80178025e-02 9.40816487e+01] [ 4.04210817e-02 4.20352678e-04 9.99182646e-01 8.36805319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.94710568099995 meters 0.016413439995339903 Centerline is valid? [True, True] Translation: X:193.89, Y:94.10, Z:8.37 [[ 3.36751648e-01 -9.41488437e-01 -1.40659718e-02 1.93885997e+02] [ 9.40681379e-01 3.37045268e-01 -3.89747525e-02 9.41023314e+01] [ 4.14351481e-02 -1.06785652e-04 9.99141190e-01 8.36836862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.97710568099995 meters 0.01749554461240895 Centerline is valid? [True, True] Translation: X:193.90, Y:94.13, Z:8.37 [[ 3.29835859e-01 -9.43930554e-01 -1.42623482e-02 1.93903296e+02] [ 9.43101024e-01 3.30143830e-01 -3.95665303e-02 9.41258597e+01] [ 4.20566831e-02 -4.00374674e-04 9.99115146e-01 8.36946522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.00710568099996 meters 0.020516745747893674 Centerline is valid? [True, True] Translation: X:193.93, Y:94.15, Z:8.37 [[ 3.21159586e-01 -9.46925128e-01 -1.37594162e-02 1.93925474e+02] [ 9.46154079e-01 3.21453332e-01 -3.82127513e-02 9.41465358e+01] [ 4.06076246e-02 -7.46136361e-04 9.99174892e-01 8.37370355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03710568099996 meters 0.021201371054983625 Centerline is valid? [True, True] Translation: X:193.94, Y:94.17, Z:8.38 [[ 3.19046329e-01 -9.47638886e-01 -1.37833965e-02 1.93937536e+02] [ 9.46864862e-01 3.19342844e-01 -3.83024860e-02 9.41723211e+01] [ 4.06985542e-02 -8.30746302e-04 9.99171125e-01 8.37616479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.06710568099996 meters 0.020708866761751914 Centerline is valid? [True, True] Translation: X:193.94, Y:94.20, Z:8.38 [[ 3.19877481e-01 -9.47355282e-01 -1.40130619e-02 1.93944890e+02] [ 9.46553097e-01 3.20183290e-01 -3.89858447e-02 9.41996009e+01] [ 4.14201941e-02 -7.93413298e-04 9.99141500e-01 8.37546903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.09710568099996 meters 0.01817574316701784 Centerline is valid? [True, True] Translation: X:193.95, Y:94.23, Z:8.38 [[ 3.26457150e-01 -9.45103855e-01 -1.42980087e-02 1.93946473e+02] [ 9.44264454e-01 3.26769727e-01 -3.98269688e-02 9.42296103e+01] [ 4.23127781e-02 -4.99302625e-04 9.99104289e-01 8.37556709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.12710568099996 meters 0.0171717157070806 Centerline is valid? [True, True] Translation: X:193.95, Y:94.26, Z:8.38 [[ 3.31282545e-01 -9.43419769e-01 -1.45263163e-02 1.93951015e+02] [ 9.42549752e-01 3.31600761e-01 -4.05080347e-02 9.42566541e+01] [ 4.30330183e-02 -2.72170948e-04 9.99073614e-01 8.37560840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.15710568099996 meters 0.01700325743968057 Centerline is valid? [True, True] Translation: X:193.95, Y:94.29, Z:8.38 [[ 3.43256490e-01 -9.39133094e-01 -1.42833483e-02 1.93948879e+02] [ 9.38286525e-01 3.43553419e-01 -3.98678573e-02 9.42872306e+01] [ 4.23483173e-02 2.83027459e-04 9.99102868e-01 8.37768203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.18710568099996 meters 0.018846122037815397 Centerline is valid? [True, True] Translation: X:193.95, Y:94.31, Z:8.38 [[ 3.49871200e-01 -9.36694705e-01 -1.38986562e-02 1.93951568e+02] [ 9.35889279e-01 3.50146671e-01 -3.88402763e-02 9.43149936e+01] [ 4.12480493e-02 5.81490702e-04 9.99148768e-01 8.37958684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.21710568099996 meters 0.023059855104974773 Centerline is valid? [True, True] Translation: X:193.95, Y:94.34, Z:8.38 [[ 3.61215849e-01 -9.32387603e-01 -1.32841386e-02 1.93952070e+02] [ 9.31647237e-01 3.61458517e-01 -3.71640435e-02 9.43447910e+01] [ 3.94529585e-02 1.04811051e-03 9.99220879e-01 8.38251031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.24710568099997 meters 0.027453386106688862 Centerline is valid? [True, True] Translation: X:193.96, Y:94.37, Z:8.38 [[ 3.67828467e-01 -9.29795988e-01 -1.34774012e-02 1.93956713e+02] [ 9.29030394e-01 3.68072765e-01 -3.77487274e-02 9.43718630e+01] [ 4.00592796e-02 1.36414114e-03 9.99196374e-01 8.38327449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.27710568099997 meters 0.0289705183746378 Centerline is valid? [True, True] Translation: X:193.97, Y:94.40, Z:8.39 [[ 3.69558000e-01 -9.29113273e-01 -1.32442800e-02 1.93965824e+02] [ 9.28372147e-01 3.69792499e-01 -3.71303714e-02 9.43980074e+01] [ 3.93959563e-02 1.42620514e-03 9.99222660e-01 8.38506388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.30710568099997 meters 0.02891618645795071 Centerline is valid? [True, True] Translation: X:193.98, Y:94.42, Z:8.39 [[ 3.70387382e-01 -9.28791900e-01 -1.26013299e-02 1.93977143e+02] [ 9.28119422e-01 3.70599024e-01 -3.53652531e-02 9.44235684e+01] [ 3.75170012e-02 1.40330449e-03 9.99295004e-01 8.38771204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.33710568099997 meters 0.03012766573242668 Centerline is valid? [True, True] Translation: X:193.99, Y:94.45, Z:8.39 [[ 3.70965253e-01 -9.28560614e-01 -1.26478078e-02 1.93988867e+02] [ 9.27881541e-01 3.71177980e-01 -3.55352429e-02 9.44485226e+01] [ 3.76912148e-02 1.44667300e-03 9.99288387e-01 8.38773681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.36710568099997 meters 0.029704677224260508 Centerline is valid? [True, True] Translation: X:194.00, Y:94.47, Z:8.39 [[ 3.70543274e-01 -9.28725468e-01 -1.29107628e-02 1.94001459e+02] [ 9.28016445e-01 3.70765199e-01 -3.63131660e-02 9.44739456e+01] [ 3.85118236e-02 1.47419921e-03 9.99257057e-01 8.38700176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.39710568099997 meters 0.03040698557129012 Centerline is valid? [True, True] Translation: X:194.02, Y:94.50, Z:8.39 [[ 3.71335846e-01 -9.28406520e-01 -1.30775926e-02 1.94017561e+02] [ 9.27677163e-01 3.71562853e-01 -3.68256508e-02 9.44982560e+01] [ 3.90483219e-02 1.54290024e-03 9.99236132e-01 8.38822067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.42710568099997 meters 0.03129409034254539 Centerline is valid? [True, True] Translation: X:194.04, Y:94.52, Z:8.39 [[ 3.72467545e-01 -9.27954856e-01 -1.29504028e-02 1.94035696e+02] [ 9.27237821e-01 3.72689225e-01 -3.65070559e-02 9.45219451e+01] [ 3.87033754e-02 1.58959017e-03 9.99249479e-01 8.39132340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.45710568099997 meters 0.03246916471496422 Centerline is valid? [True, True] Translation: X:194.05, Y:94.55, Z:8.39 [[ 3.73029456e-01 -9.27727385e-01 -1.30738064e-02 1.94047610e+02] [ 9.26994913e-01 3.73254871e-01 -3.68948898e-02 9.45462076e+01] [ 3.91082616e-02 1.64352868e-03 9.99233628e-01 8.39314961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.48710568099997 meters 0.03366963161744562 Centerline is valid? [True, True] Translation: X:194.06, Y:94.57, Z:8.39 [[ 3.74462804e-01 -9.27152380e-01 -1.28869332e-02 1.94060846e+02] [ 9.26439210e-01 3.74680672e-01 -3.63975811e-02 9.45713879e+01] [ 3.85745888e-02 1.69058005e-03 9.99254293e-01 8.39362615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.51710568099998 meters 0.03441960891276993 Centerline is valid? [True, True] Translation: X:194.07, Y:94.60, Z:8.39 [[ 3.75768320e-01 -9.26622491e-01 -1.29972207e-02 1.94072382e+02] [ 9.25895210e-01 3.75988840e-01 -3.67485054e-02 9.45969630e+01] [ 3.89388015e-02 1.77485973e-03 9.99240021e-01 8.39380769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.54710568099998 meters 0.034377511728517544 Centerline is valid? [True, True] Translation: X:194.09, Y:94.62, Z:8.39 [[ 3.78501170e-01 -9.25507267e-01 -1.31591515e-02 1.94092042e+02] [ 9.24759432e-01 3.78724935e-01 -3.72480472e-02 9.46201611e+01] [ 3.94570372e-02 1.92937997e-03 9.99219405e-01 8.39453492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.57710568099998 meters 0.035020692990633956 Centerline is valid? [True, True] Translation: X:194.11, Y:94.64, Z:8.40 [[ 3.79808833e-01 -9.24965198e-01 -1.35880098e-02 1.94110737e+02] [ 9.24165704e-01 3.80046196e-01 -3.85050783e-02 9.46432710e+01] [ 4.07799288e-02 2.06699619e-03 9.99166015e-01 8.39527350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.60710568099998 meters 0.03483130061544105 Centerline is valid? [True, True] Translation: X:194.13, Y:94.67, Z:8.40 [[ 3.79164423e-01 -9.25226725e-01 -1.37785013e-02 1.94126031e+02] [ 9.24403546e-01 3.79408993e-01 -3.90755702e-02 9.46677500e+01] [ 4.13814491e-02 2.07917060e-03 9.99141258e-01 8.39543941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.63710568099998 meters 0.03511500757461781 Centerline is valid? [True, True] Translation: X:194.15, Y:94.69, Z:8.39 [[ 3.76571404e-01 -9.26277487e-01 -1.42826908e-02 1.94147981e+02] [ 9.25391546e-01 3.76836563e-01 -4.05547847e-02 9.46892210e+01] [ 4.29472242e-02 2.05469085e-03 9.99075229e-01 8.39357461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.66710568099998 meters 0.03674622588042377 Centerline is valid? [True, True] Translation: X:194.16, Y:94.71, Z:8.39 [[ 3.74715949e-01 -9.27028910e-01 -1.43302982e-02 1.94160437e+02] [ 9.26135654e-01 3.74984575e-01 -4.07347330e-02 9.47139295e+01] [ 4.31359159e-02 1.99215403e-03 9.99067227e-01 8.39422253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69710568099995 meters 0.03250084059537737 Centerline is valid? [True, True] Translation: X:194.19, Y:94.73, Z:8.40 [[ 3.72942202e-01 -9.27750311e-01 -1.39095063e-02 1.94187330e+02] [ 9.26908065e-01 3.73196849e-01 -3.95670493e-02 9.47345320e+01] [ 4.18993262e-02 1.86338889e-03 9.99120100e-01 8.39714833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.72710568099995 meters 0.0360692741613458 Centerline is valid? [True, True] Translation: X:194.20, Y:94.76, Z:8.40 [[ 3.76013462e-01 -9.26519017e-01 -1.32810602e-02 1.94201676e+02] [ 9.25748849e-01 3.76243011e-01 -3.78188507e-02 9.47578324e+01] [ 4.00367905e-02 1.92547085e-03 9.99196351e-01 8.40074343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75710568099996 meters 0.03834152549630437 Centerline is valid? [True, True] Translation: X:194.21, Y:94.78, Z:8.40 [[ 3.78746019e-01 -9.25404570e-01 -1.33354702e-02 1.94211946e+02] [ 9.24626318e-01 3.78975103e-01 -3.80005833e-02 9.47835693e+01] [ 4.02197247e-02 2.06224294e-03 9.99188731e-01 8.40203393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.78710568099996 meters 0.040424637165990984 Centerline is valid? [True, True] Translation: X:194.23, Y:94.81, Z:8.40 [[ 3.85325498e-01 -9.22685141e-01 -1.32812097e-02 1.94227345e+02] [ 9.21910376e-01 3.85547149e-01 -3.78768374e-02 9.48077562e+01] [ 4.00689276e-02 2.35082621e-03 9.99194153e-01 8.40361436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.81710568099996 meters 0.04148325125384847 Centerline is valid? [True, True] Translation: X:194.24, Y:94.83, Z:8.40 [[ 3.87316856e-01 -9.21846796e-01 -1.35697623e-02 1.94240026e+02] [ 9.21036207e-01 3.87546411e-01 -3.87309267e-02 9.48333447e+01] [ 4.09628933e-02 2.50289838e-03 9.99157534e-01 8.40438381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.84710568099996 meters 0.044308646676393865 Centerline is valid? [True, True] Translation: X:194.25, Y:94.86, Z:8.40 [[ 3.87605970e-01 -9.21723831e-01 -1.36671204e-02 1.94254103e+02] [ 9.20899723e-01 3.87838463e-01 -3.90516017e-02 9.48576937e+01] [ 4.12954269e-02 2.55058662e-03 9.99143725e-01 8.40456945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.87710568099996 meters 0.04414976005317728 Centerline is valid? [True, True] Translation: X:194.27, Y:94.88, Z:8.41 [[ 3.86489369e-01 -9.22195456e-01 -1.34725163e-02 1.94267183e+02] [ 9.21393313e-01 3.86716163e-01 -3.85353255e-02 9.48827635e+01] [ 4.07471419e-02 2.48000726e-03 9.99166413e-01 8.40534836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.90710568099996 meters 0.04242735645488332 Centerline is valid? [True, True] Translation: X:194.29, Y:94.91, Z:8.41 [[ 3.84581507e-01 -9.22996807e-01 -1.31893673e-02 1.94286796e+02] [ 9.22226865e-01 3.84800367e-01 -3.77662083e-02 9.49052293e+01] [ 3.99333630e-02 2.36059640e-03 9.99199557e-01 8.40600008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.93710568099996 meters 0.04067587077901976 Centerline is valid? [True, True] Translation: X:194.30, Y:94.93, Z:8.41 [[ 3.83468595e-01 -9.23462116e-01 -1.30214233e-02 1.94302942e+02] [ 9.22710291e-01 3.83682730e-01 -3.73266797e-02 9.49295498e+01] [ 3.94658699e-02 2.29860812e-03 9.99218275e-01 8.40793224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.96710568099996 meters 0.04214655133170775 Centerline is valid? [True, True] Translation: X:194.32, Y:94.95, Z:8.41 [[ 3.82200714e-01 -9.23985098e-01 -1.31967199e-02 1.94320640e+02] [ 9.23211523e-01 3.82421615e-01 -3.78707232e-02 9.49524601e+01] [ 4.00386948e-02 2.29085363e-03 9.99195504e-01 8.40994132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.99710568099997 meters 0.04075037144606197 Centerline is valid? [True, True] Translation: X:194.34, Y:94.98, Z:8.41 [[ 3.82239394e-01 -9.23960406e-01 -1.37918427e-02 1.94338922e+02] [ 9.23113518e-01 3.82480508e-01 -3.96244150e-02 9.49759785e+01] [ 4.18865015e-02 2.41457593e-03 9.99119458e-01 8.40945486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.02710568099997 meters 0.038782023944849336 Centerline is valid? [True, True] Translation: X:194.35, Y:95.00, Z:8.41 [[ 3.82770547e-01 -9.23742685e-01 -1.36440603e-02 1.94353455e+02] [ 9.22911921e-01 3.83005943e-01 -3.92432602e-02 9.50010135e+01] [ 4.14764307e-02 2.42889830e-03 9.99136530e-01 8.41032896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.05710568099997 meters 0.038782023944849336 Centerline is valid? [True, True] Translation: X:194.36, Y:95.03, Z:8.41 [[ 3.82437324e-01 -9.23880890e-01 -1.36306378e-02 1.94362313e+02] [ 9.23050050e-01 3.82672452e-01 -3.92479221e-02 9.50271320e+01] [ 4.14764748e-02 2.42810938e-03 9.99136530e-01 8.41134800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.08710568099997 meters 0.043544072968568576 Centerline is valid? [True, True] Translation: X:194.37, Y:95.05, Z:8.41 [[ 3.83288512e-01 -9.23520943e-01 -1.41062114e-02 1.94370180e+02] [ 9.22628760e-01 3.83539377e-01 -4.06659194e-02 9.50534953e+01] [ 4.29661158e-02 2.57198345e-03 9.99073219e-01 8.40947533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.11710568099997 meters 0.04041182791609657 Centerline is valid? [True, True] Translation: X:194.39, Y:95.08, Z:8.41 [[ 3.82797453e-01 -9.23719157e-01 -1.44578102e-02 1.94387570e+02] [ 9.22779928e-01 3.83061341e-01 -4.17278572e-02 9.50771409e+01] [ 4.40830492e-02 2.63194035e-03 9.99024403e-01 8.40992084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.14710568099997 meters 0.039158167244091206 Centerline is valid? [True, True] Translation: X:194.41, Y:95.10, Z:8.41 [[ 3.78962628e-01 -9.25299328e-01 -1.44388400e-02 1.94406714e+02] [ 9.24361647e-01 3.79229596e-01 -4.17188049e-02 9.50985501e+01] [ 4.40780176e-02 2.46315803e-03 9.99025055e-01 8.41294211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.17710568099997 meters 0.03733347437901779 Centerline is valid? [True, True] Translation: X:194.42, Y:95.12, Z:8.42 [[ 3.75286899e-01 -9.26800828e-01 -1.41410264e-02 1.94421793e+02] [ 9.25900938e-01 3.75546463e-01 -4.08938448e-02 9.51223853e+01] [ 4.32110616e-02 2.25373458e-03 9.99063424e-01 8.41523997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.20710568099997 meters 0.03233688691801673 Centerline is valid? [True, True] Translation: X:194.44, Y:95.14, Z:8.42 [[ 3.65619464e-01 -9.30671667e-01 -1.31398372e-02 1.94444032e+02] [ 9.29895435e-01 3.65851599e-01 -3.80406133e-02 9.51425355e+01] [ 4.02105514e-02 1.68971405e-03 9.99189800e-01 8.42017275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.23710568099997 meters 0.029101257162330075 Centerline is valid? [True, True] Translation: X:194.46, Y:95.17, Z:8.42 [[ 3.59553205e-01 -9.33043550e-01 -1.22974052e-02 1.94461429e+02] [ 9.32363748e-01 3.59760918e-01 -3.56359832e-02 9.51659375e+01] [ 3.76740501e-02 1.34737719e-03 9.99289173e-01 8.42354245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.26710568099998 meters 0.023343213291965315 Centerline is valid? [True, True] Translation: X:194.48, Y:95.19, Z:8.43 [[ 3.46435280e-01 -9.38003271e-01 -1.15091521e-02 1.94484862e+02] [ 9.37409156e-01 3.46625530e-01 -3.33888640e-02 9.51859474e+01] [ 3.53082296e-02 7.78295863e-04 9.99376167e-01 8.42923522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.29710568099998 meters 0.018647232609670366 Centerline is valid? [True, True] Translation: X:194.51, Y:95.21, Z:8.43 [[ 3.33825834e-01 -9.42557887e-01 -1.20392076e-02 1.94507754e+02] [ 9.41908945e-01 3.34042689e-01 -3.49717076e-02 9.52070289e+01] [ 3.69844681e-02 3.34622129e-04 9.99315784e-01 8.42974733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.32710568099998 meters 0.01803465479178784 Centerline is valid? [True, True] Translation: X:194.52, Y:95.23, Z:8.43 [[ 3.28109288e-01 -9.44560801e-01 -1.22142884e-02 1.94522625e+02] [ 9.43892435e-01 3.28336531e-01 -3.55273701e-02 9.52319599e+01] [ 3.75681582e-02 1.27885643e-04 9.99294059e-01 8.43224593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.35710568099998 meters 0.018383497443529635 Centerline is valid? [True, True] Translation: X:194.54, Y:95.26, Z:8.44 [[ 3.19722341e-01 -9.47438364e-01 -1.17546712e-02 1.94537795e+02] [ 9.46819876e-01 3.19938295e-01 -3.42287954e-02 9.52551185e+01] [ 3.61904433e-02 -1.85845721e-04 9.99344894e-01 8.43774996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.38710568099998 meters 0.019192520137363014 Centerline is valid? [True, True] Translation: X:194.54, Y:95.28, Z:8.44 [[ 3.14038475e-01 -9.49345762e-01 -1.10662031e-02 1.94544842e+02] [ 9.48797414e-01 3.14233178e-01 -3.22641650e-02 9.52825709e+01] [ 3.41072165e-02 -3.67395676e-04 9.99418112e-01 8.43842236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41710568099998 meters 0.019821717155158534 Centerline is valid? [True, True] Translation: X:194.55, Y:95.31, Z:8.44 [[ 3.11477285e-01 -9.50189366e-01 -1.10485368e-02 1.94551865e+02] [ 9.49642005e-01 3.11672856e-01 -3.22504786e-02 9.53097175e+01] [ 3.40875909e-02 -4.46863119e-04 9.99418749e-01 8.43925918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.44710568099995 meters 0.020654071835621117 Centerline is valid? [True, True] Translation: X:194.56, Y:95.34, Z:8.44 [[ 3.08294490e-01 -9.51225224e-01 -1.11839310e-02 1.94557764e+02] [ 9.50663622e-01 3.08496782e-01 -3.26865896e-02 9.53362629e+01] [ 3.45425153e-02 -5.55060897e-04 9.99403075e-01 8.44094043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47710568099995 meters 0.020790732593744792 Centerline is valid? [True, True] Translation: X:194.56, Y:95.36, Z:8.44 [[ 3.07617528e-01 -9.51441412e-01 -1.14322188e-02 1.94563330e+02] [ 9.50853690e-01 3.07829334e-01 -3.34419079e-02 9.53630717e+01] [ 3.53371884e-02 -5.83050443e-04 9.99375276e-01 8.44203031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.50710568099996 meters 0.020447501950752813 Centerline is valid? [True, True] Translation: X:194.56, Y:95.39, Z:8.44 [[ 3.08865057e-01 -9.51030682e-01 -1.19590127e-02 1.94561566e+02] [ 9.50385395e-01 3.09096011e-01 -3.50322145e-02 9.53919070e+01] [ 3.70131940e-02 -5.45444100e-04 9.99314628e-01 8.44222067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53710568099996 meters 0.019637853369335566 Centerline is valid? [True, True] Translation: X:194.56, Y:95.42, Z:8.44 [[ 3.10869397e-01 -9.50375551e-01 -1.21049451e-02 1.94562932e+02] [ 9.49712114e-01 3.11104648e-01 -3.55077120e-02 9.54203730e+01] [ 3.75115661e-02 -4.57951935e-04 9.99296089e-01 8.44234957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.56710568099996 meters 0.0182708940902674 Centerline is valid? [True, True] Translation: X:194.56, Y:95.45, Z:8.44 [[ 3.16954278e-01 -9.48362102e-01 -1.22191819e-02 1.94556378e+02] [ 9.47682755e-01 3.17189661e-01 -3.58903308e-02 9.54521204e+01] [ 3.79128277e-02 -2.04314063e-04 9.99281029e-01 8.44240944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.59710568099996 meters 0.018019890683858626 Centerline is valid? [True, True] Translation: X:194.55, Y:95.48, Z:8.44 [[ 3.24908834e-01 -9.45654283e-01 -1.31235002e-02 1.94548126e+02] [ 9.44866381e-01 3.25173733e-01 -3.85948864e-02 9.54838634e+01] [ 4.07648372e-02 1.39865391e-04 9.99168759e-01 8.44135343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.62710568099996 meters 0.0188266121022613 Centerline is valid? [True, True] Translation: X:194.55, Y:95.51, Z:8.44 [[ 3.30134747e-01 -9.43833816e-01 -1.37396428e-02 1.94546425e+02] [ 9.42966270e-01 3.30420289e-01 -4.04604297e-02 9.55128436e+01] [ 4.27277785e-02 4.01373994e-04 9.99086671e-01 8.44073515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.65710568099996 meters 0.02307323574188571 Centerline is valid? [True, True] Translation: X:194.53, Y:95.55, Z:8.44 [[ 3.41694348e-01 -9.39704834e-01 -1.41349405e-02 1.94534177e+02] [ 9.38781254e-01 3.41985219e-01 -4.16637436e-02 9.55456737e+01] [ 4.39855620e-02 9.66648507e-04 9.99031699e-01 8.44001829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.68710568099996 meters 0.025746238070240946 Centerline is valid? [True, True] Translation: X:194.53, Y:95.57, Z:8.44 [[ 3.46637989e-01 -9.37890498e-01 -1.42660059e-02 1.94533751e+02] [ 9.36945789e-01 3.46929252e-01 -4.21032276e-02 9.55746961e+01] [ 4.44375119e-02 1.22810406e-03 9.99011411e-01 8.44093015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.71710568099996 meters 0.030429747821269223 Centerline is valid? [True, True] Translation: X:194.53, Y:95.60, Z:8.44 [[ 3.53120836e-01 -9.35465861e-01 -1.44671796e-02 1.94527600e+02] [ 9.34489854e-01 3.53413551e-01 -4.27501325e-02 9.56044651e+01] [ 4.51041868e-02 1.57652995e-03 9.98981044e-01 8.44063170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.74710568099997 meters 0.02806608719617813 Centerline is valid? [True, True] Translation: X:194.54, Y:95.63, Z:8.44 [[ 3.53624818e-01 -9.35274937e-01 -1.45010357e-02 1.94535703e+02] [ 9.34291797e-01 3.53918290e-01 -4.29031747e-02 9.56319630e+01] [ 4.52584458e-02 1.62342861e-03 9.98973992e-01 8.44198079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.77710568099997 meters 0.028563867582952093 Centerline is valid? [True, True] Translation: X:194.54, Y:95.66, Z:8.44 [[ 3.51570130e-01 -9.36046498e-01 -1.46763926e-02 1.94541957e+02] [ 9.35037887e-01 3.51872875e-01 -4.34698733e-02 9.56590452e+01] [ 4.58540472e-02 1.55972593e-03 9.98946932e-01 8.44163811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.80710568099997 meters 0.0264021352573006 Centerline is valid? [True, True] Translation: X:194.55, Y:95.68, Z:8.44 [[ 3.45723361e-01 -9.38219991e-01 -1.47853289e-02 1.94552153e+02] [ 9.37196444e-01 3.46036943e-01 -4.38321680e-02 9.56836963e+01] [ 4.62404862e-02 1.29704681e-03 9.98929495e-01 8.44250286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.83710568099997 meters 0.02464558292041988 Centerline is valid? [True, True] Translation: X:194.56, Y:95.71, Z:8.44 [[ 3.42725550e-01 -9.39317646e-01 -1.48847948e-02 1.94564104e+02] [ 9.38278691e-01 3.43046608e-01 -4.41828334e-02 9.57093500e+01] [ 4.66078935e-02 1.17650007e-03 9.98912569e-01 8.44335513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.86710568099997 meters 0.023632329996213793 Centerline is valid? [True, True] Translation: X:194.58, Y:95.74, Z:8.44 [[ 3.40067921e-01 -9.40275064e-01 -1.53822249e-02 1.94575244e+02] [ 9.39163767e-01 3.40413857e-01 -4.57145979e-02 9.57355867e+01] [ 4.82206190e-02 1.09963998e-03 9.98836104e-01 8.44481988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.89710568099997 meters 0.024559024368254665 Centerline is valid? [True, True] Translation: X:194.58, Y:95.76, Z:8.45 [[ 3.41948980e-01 -9.39581702e-01 -1.60350055e-02 1.94583780e+02] [ 9.38370313e-01 3.42322387e-01 -4.77130886e-02 9.57624182e+01] [ 5.03194863e-02 1.26866884e-03 9.98732366e-01 8.44556682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.92710568099997 meters 0.024894827032814867 Centerline is valid? [True, True] Translation: X:194.59, Y:95.79, Z:8.45 [[ 3.42674596e-01 -9.39313152e-01 -1.62764990e-02 1.94590949e+02] [ 9.38061580e-01 3.43058281e-01 -4.84921362e-02 9.57890130e+01] [ 5.11330890e-02 1.34866477e-03 9.98690937e-01 8.44672757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.95710568099997 meters 0.026345632392744976 Centerline is valid? [True, True] Translation: X:194.60, Y:95.82, Z:8.45 [[ 3.43208386e-01 -9.39120527e-01 -1.61443164e-02 1.94595195e+02] [ 9.37885861e-01 3.43585084e-01 -4.81601635e-02 9.58160149e+01] [ 5.07751444e-02 1.38744588e-03 9.98709147e-01 8.44722325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.98710568099997 meters 0.025841260780361253 Centerline is valid? [True, True] Translation: X:194.60, Y:95.84, Z:8.45 [[ 3.43009002e-01 -9.39199218e-01 -1.58004231e-02 1.94603650e+02] [ 9.38013785e-01 3.43370006e-01 -4.71929939e-02 9.58431737e+01] [ 4.97490143e-02 1.36660712e-03 9.98760816e-01 8.44936058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.01710568099998 meters 0.025084491591973235 Centerline is valid? [True, True] Translation: X:194.61, Y:95.87, Z:8.45 [[ 3.39037932e-01 -9.40638765e-01 -1.58743458e-02 1.94614990e+02] [ 9.39440881e-01 3.39407304e-01 -4.74711852e-02 9.58681919e+01] [ 5.00411059e-02 1.18152304e-03 9.98746460e-01 8.45056910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.04710568099998 meters 0.02311845270199773 Centerline is valid? [True, True] Translation: X:194.63, Y:95.89, Z:8.45 [[ 3.36184370e-01 -9.41657596e-01 -1.61567654e-02 1.94629732e+02] [ 9.40414811e-01 3.36570690e-01 -4.83751439e-02 9.58927055e+01] [ 5.09907154e-02 1.06890576e-03 9.98698555e-01 8.45290427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.07710568099998 meters 0.021814774146783348 Centerline is valid? [True, True] Translation: X:194.64, Y:95.92, Z:8.46 [[ 3.31409557e-01 -9.43343153e-01 -1.64742478e-02 1.94643024e+02] [ 9.42049906e-01 3.31817686e-01 -4.93862015e-02 9.59185355e+01] [ 5.20545819e-02 8.47495556e-04 9.98643882e-01 8.45548211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.10710568099998 meters 0.02167411582760696 Centerline is valid? [True, True] Translation: X:194.65, Y:95.95, Z:8.46 [[ 3.31003322e-01 -9.43488049e-01 -1.63432792e-02 1.94650337e+02] [ 9.42212543e-01 3.31405494e-01 -4.90502050e-02 9.59452243e+01] [ 5.16945347e-02 8.36938192e-04 9.98662593e-01 8.45757841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.13710568099998 meters 0.022472639661642698 Centerline is valid? [True, True] Translation: X:194.65, Y:95.97, Z:8.46 [[ 3.32663014e-01 -9.42910172e-01 -1.59914698e-02 1.94653197e+02] [ 9.41685332e-01 3.33045867e-01 -4.80539881e-02 9.59740005e+01] [ 5.06364870e-02 9.26851999e-04 9.98716720e-01 8.46021019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.16710568099998 meters 0.024783650830457304 Centerline is valid? [True, True] Translation: X:194.65, Y:96.00, Z:8.46 [[ 3.35174473e-01 -9.42017613e-01 -1.61520877e-02 1.94654913e+02] [ 9.40763797e-01 3.35561650e-01 -4.85989502e-02 9.60021033e+01] [ 5.12010882e-02 1.09382820e-03 9.98687765e-01 8.45969045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19710568099995 meters 0.02679803702435505 Centerline is valid? [True, True] Translation: X:194.66, Y:96.03, Z:8.47 [[ 3.42736384e-01 -9.39294570e-01 -1.60462554e-02 1.94657725e+02] [ 9.38050964e-01 3.43108455e-01 -4.83422919e-02 9.60308280e+01] [ 5.09132582e-02 1.51645704e-03 9.98701928e-01 8.46562439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.22710568099995 meters 0.03130825716797117 Centerline is valid? [True, True] Translation: X:194.66, Y:96.06, Z:8.47 [[ 3.46340647e-01 -9.37974569e-01 -1.58702431e-02 1.94656849e+02] [ 9.36753788e-01 3.46699834e-01 -4.78702997e-02 9.60594218e+01] [ 5.04033344e-02 1.71292029e-03 9.98727475e-01 8.46657340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25710568099996 meters 0.031548514473829115 Centerline is valid? [True, True] Translation: X:194.66, Y:96.09, Z:8.47 [[ 3.52151979e-01 -9.35817069e-01 -1.53426209e-02 1.94661813e+02] [ 9.34671249e-01 3.52480499e-01 -4.63373879e-02 9.60871213e+01] [ 4.87712932e-02 1.97749623e-03 9.98808015e-01 8.47244464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.28710568099996 meters 0.03508244829411955 Centerline is valid? [True, True] Translation: X:194.66, Y:96.12, Z:8.47 [[ 3.55031457e-01 -9.34725734e-01 -1.55070153e-02 1.94661118e+02] [ 9.33551274e-01 3.55363316e-01 -4.68927834e-02 9.61161484e+01] [ 4.93425157e-02 2.17181930e-03 9.98779555e-01 8.47147669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.31710568099996 meters 0.03256390109879506 Centerline is valid? [True, True] Translation: X:194.67, Y:96.14, Z:8.47 [[ 3.54343726e-01 -9.34983418e-01 -1.57013323e-02 1.94672935e+02] [ 9.33776598e-01 3.54684704e-01 -4.75397384e-02 9.61419176e+01] [ 5.00178895e-02 2.18387135e-03 9.98745934e-01 8.47106633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.34710568099996 meters 0.03489560748084172 Centerline is valid? [True, True] Translation: X:194.68, Y:96.17, Z:8.47 [[ 3.53175459e-01 -9.35421086e-01 -1.59526641e-02 1.94679506e+02] [ 9.34172566e-01 3.53528851e-01 -4.83628767e-02 9.61684619e+01] [ 5.08793817e-02 2.17803999e-03 9.98702430e-01 8.46979910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.37710568099996 meters 0.031472997199723324 Centerline is valid? [True, True] Translation: X:194.70, Y:96.19, Z:8.47 [[ 3.50865949e-01 -9.36282684e-01 -1.63652913e-02 1.94698047e+02] [ 9.34966251e-01 3.51240947e-01 -4.96780270e-02 9.61923118e+01] [ 5.22608369e-02 2.12933300e-03 9.98631199e-01 8.47124372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.40710568099996 meters 0.03448980383529013 Centerline is valid? [True, True] Translation: X:194.70, Y:96.22, Z:8.47 [[ 3.50407816e-01 -9.36454144e-01 -1.63706637e-02 1.94702830e+02] [ 9.35133849e-01 3.50783576e-01 -4.97550845e-02 9.62188450e+01] [ 5.23359150e-02 2.12580871e-03 9.98627274e-01 8.46944023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.43710568099996 meters 0.03297804147590473 Centerline is valid? [True, True] Translation: X:194.72, Y:96.24, Z:8.47 [[ 3.51795701e-01 -9.35931565e-01 -1.64890814e-02 1.94716028e+02] [ 9.34588114e-01 3.52174781e-01 -5.01794807e-02 9.62443499e+01] [ 5.27715986e-02 2.24242608e-03 9.98604091e-01 8.47034378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.46710568099996 meters 0.033792718186026395 Centerline is valid? [True, True] Translation: X:194.73, Y:96.27, Z:8.47 [[ 3.52727154e-01 -9.35579791e-01 -1.65532663e-02 1.94725803e+02] [ 9.34222203e-01 3.53107697e-01 -5.04364001e-02 9.62708781e+01] [ 5.30323624e-02 2.32585897e-03 9.98590086e-01 8.47071305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.49710568099997 meters 0.0339144775159805 Centerline is valid? [True, True] Translation: X:194.74, Y:96.30, Z:8.47 [[ 3.55865766e-01 -9.34377075e-01 -1.72927496e-02 1.94740033e+02] [ 9.32890698e-01 3.56275900e-01 -5.27487357e-02 9.62958593e+01] [ 5.54481993e-02 2.63922400e-03 9.98458077e-01 8.47056052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.52710568099997 meters 0.03517634985202502 Centerline is valid? [True, True] Translation: X:194.75, Y:96.32, Z:8.47 [[ 3.57155400e-01 -9.33878191e-01 -1.76506348e-02 1.94749354e+02] [ 9.32326753e-01 3.57580417e-01 -5.38801540e-02 9.63211453e+01] [ 5.66290221e-02 2.78742885e-03 9.98391398e-01 8.46988718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.55710568099997 meters 0.035670570672202515 Centerline is valid? [True, True] Translation: X:194.76, Y:96.35, Z:8.47 [[ 3.58036844e-01 -9.33526995e-01 -1.83566900e-02 1.94762646e+02] [ 9.31845781e-01 3.58494786e-01 -5.60796701e-02 9.63467681e+01] [ 5.89326636e-02 2.97298395e-03 9.98257533e-01 8.46737653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.58710568099997 meters 0.04015534725932354 Centerline is valid? [True, True] Translation: X:194.77, Y:96.37, Z:8.46 [[ 3.58737440e-01 -9.33244323e-01 -1.90389814e-02 1.94769292e+02] [ 9.31431940e-01 3.59228479e-01 -5.82189109e-02 9.63731635e+01] [ 6.11718125e-02 3.15178768e-03 9.98122275e-01 8.46075751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.61710568099997 meters 0.037743284664157474 Centerline is valid? [True, True] Translation: X:194.79, Y:96.40, Z:8.46 [[ 3.58222069e-01 -9.33436640e-01 -1.93129195e-02 1.94786680e+02] [ 9.31568947e-01 3.58728196e-01 -5.91048106e-02 9.63969250e+01] [ 6.20986846e-02 3.18133138e-03 9.98064944e-01 8.46250451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.64710568099997 meters 0.037162336925412175 Centerline is valid? [True, True] Translation: X:194.80, Y:96.42, Z:8.47 [[ 3.57082569e-01 -9.33876042e-01 -1.91723211e-02 1.94800127e+02] [ 9.32031663e-01 3.57583388e-01 -5.87460553e-02 9.64216093e+01] [ 6.17172371e-02 3.10798200e-03 9.98088835e-01 8.46540478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.67710568099997 meters 0.03500436460301526 Centerline is valid? [True, True] Translation: X:194.82, Y:96.44, Z:8.47 [[ 3.54305125e-01 -9.34945878e-01 -1.85494781e-02 1.94817976e+02] [ 9.33216743e-01 3.54778905e-01 -5.69072823e-02 9.64448793e+01] [ 5.97861925e-02 2.85185820e-03 9.98207132e-01 8.47114759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.70710568099997 meters 0.03821434680027491 Centerline is valid? [True, True] Translation: X:194.82, Y:96.47, Z:8.47 [[ 3.51906126e-01 -9.35866226e-01 -1.77900695e-02 1.94822963e+02] [ 9.34273113e-01 3.52345851e-01 -5.46456809e-02 9.64720109e+01] [ 5.74093044e-02 2.60936620e-03 9.98347316e-01 8.47069168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.73710568099997 meters 0.033316155011139874 Centerline is valid? [True, True] Translation: X:194.84, Y:96.50, Z:8.48 [[ 3.49689051e-01 -9.36709880e-01 -1.70929071e-02 1.94840420e+02] [ 9.35236677e-01 3.50098350e-01 -5.25690269e-02 9.64952606e+01] [ 5.52261255e-02 2.39689953e-03 9.98470996e-01 8.47558123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.76710568099998 meters 0.030403162049170762 Centerline is valid? [True, True] Translation: X:194.86, Y:96.52, Z:8.48 [[ 3.43341736e-01 -9.39055786e-01 -1.70494550e-02 1.94860205e+02] [ 9.37589235e-01 3.43758736e-01 -5.25010251e-02 9.65182391e+01] [ 5.51622905e-02 2.04040758e-03 9.98475317e-01 8.47662871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.79710568099998 meters 0.02899131684534055 Centerline is valid? [True, True] Translation: X:194.87, Y:96.54, Z:8.48 [[ 3.39097804e-01 -9.40592093e-01 -1.72972179e-02 1.94874238e+02] [ 9.39080927e-01 3.39533694e-01 -5.33280725e-02 9.65420977e+01] [ 5.60329516e-02 1.83994481e-03 9.98427225e-01 8.47720646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.82710568099998 meters 0.0265435185310703 Centerline is valid? [True, True] Translation: X:194.89, Y:96.57, Z:8.48 [[ 3.34651874e-01 -9.42181217e-01 -1.73976286e-02 1.94891692e+02] [ 9.40651085e-01 3.35099952e-01 -5.36987767e-02 9.65662106e+01] [ 5.64239233e-02 1.60529802e-03 9.98405611e-01 8.47888855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.85710568099998 meters 0.028062700166316602 Centerline is valid? [True, True] Translation: X:194.90, Y:96.59, Z:8.48 [[ 3.36854605e-01 -9.41391175e-01 -1.76530829e-02 1.94898301e+02] [ 9.39811071e-01 3.37312127e-01 -5.45497956e-02 9.65920408e+01] [ 5.73072951e-02 1.78478709e-03 9.98354991e-01 8.47800807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.88710568099998 meters 0.029326217896792964 Centerline is valid? [True, True] Translation: X:194.90, Y:96.62, Z:8.48 [[ 3.38931714e-01 -9.40646633e-01 -1.75842064e-02 1.94904932e+02] [ 9.39074471e-01 3.39382101e-01 -5.43960288e-02 9.66197446e+01] [ 5.71352063e-02 1.92365998e-03 9.98364597e-01 8.47938099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91710568099998 meters 0.031048662351153892 Centerline is valid? [True, True] Translation: X:194.91, Y:96.65, Z:8.48 [[ 3.43341057e-01 -9.39053981e-01 -1.71621533e-02 1.94909145e+02] [ 9.37550837e-01 3.43762935e-01 -5.31551862e-02 9.66477517e+01] [ 5.58153014e-02 2.15996657e-03 9.98438775e-01 8.48260876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.94710568099995 meters 0.033550937587612045 Centerline is valid? [True, True] Translation: X:194.91, Y:96.68, Z:8.48 [[ 3.45138789e-01 -9.38400249e-01 -1.68579050e-02 1.94912739e+02] [ 9.36945571e-01 3.45542930e-01 -5.22788799e-02 9.66753750e+01] [ 5.48836438e-02 2.24852984e-03 9.98490225e-01 8.48303865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97710568099995 meters 0.033550937587612045 Centerline is valid? [True, True] Translation: X:194.92, Y:96.70, Z:8.48 [[ 3.44770880e-01 -9.38535845e-01 -1.68376993e-02 1.94920679e+02] [ 9.37081013e-01 3.45174468e-01 -5.22853882e-02 9.67009060e+01] [ 5.48836549e-02 2.24819099e-03 9.98490225e-01 8.48402597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.00710568099996 meters 0.034429861713978605 Centerline is valid? [True, True] Translation: X:194.93, Y:96.73, Z:8.49 [[ 3.46688238e-01 -9.37844222e-01 -1.59837841e-02 1.94929465e+02] [ 9.36529322e-01 3.47049144e-01 -4.96962906e-02 9.67273294e+01] [ 5.21545376e-02 2.25983694e-03 9.98636469e-01 8.48762771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03710568099996 meters 0.03266348379802862 Centerline is valid? [True, True] Translation: X:194.94, Y:96.75, Z:8.49 [[ 3.45705019e-01 -9.38223454e-01 -1.49929847e-02 1.94943141e+02] [ 9.37064296e-01 3.46023704e-01 -4.66701272e-02 9.67518335e+01] [ 4.89749361e-02 2.08470661e-03 9.98797832e-01 8.49278996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.06710568099996 meters 0.032018555147204766 Centerline is valid? [True, True] Translation: X:194.95, Y:96.78, Z:8.49 [[ 3.44446306e-01 -9.38689272e-01 -1.48051930e-02 1.94952972e+02] [ 9.37556619e-01 3.44758464e-01 -4.61431195e-02 9.67780418e+01] [ 4.84182668e-02 2.01312029e-03 9.98825119e-01 8.49367322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.09710568099996 meters 0.0315239695532638 Centerline is valid? [True, True] Translation: X:194.96, Y:96.80, Z:8.49 [[ 3.42358750e-01 -9.39447243e-01 -1.51447537e-02 1.94964044e+02] [ 9.38259731e-01 3.42687895e-01 -4.72618631e-02 9.68043044e+01] [ 4.95899508e-02 1.97079985e-03 9.98767717e-01 8.49091717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.12710568099996 meters 0.03210502226068298 Centerline is valid? [True, True] Translation: X:194.97, Y:96.83, Z:8.49 [[ 3.41722405e-01 -9.39680731e-01 -1.50306829e-02 1.94972430e+02] [ 9.38508355e-01 3.42047291e-01 -4.69650641e-02 9.68297196e+01] [ 4.92733702e-02 1.94259314e-03 9.98783441e-01 8.49109442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.15710568099996 meters 0.031657257633053076 Centerline is valid? [True, True] Translation: X:194.98, Y:96.86, Z:8.49 [[ 3.42157988e-01 -9.39525580e-01 -1.48187586e-02 1.94981952e+02] [ 9.38383009e-01 3.42473141e-01 -4.63624548e-02 9.68566255e+01] [ 4.86337391e-02 1.95761295e-03 9.98814761e-01 8.49159575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.18710568099996 meters 0.033423153886359684 Centerline is valid? [True, True] Translation: X:194.99, Y:96.88, Z:8.49 [[ 3.44070669e-01 -9.38823571e-01 -1.50225633e-02 1.94986720e+02] [ 9.37645684e-01 3.44392024e-01 -4.70606576e-02 9.68833745e+01] [ 4.93553056e-02 2.10635027e-03 9.98779063e-01 8.49004629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.21710568099996 meters 0.03659992612961044 Centerline is valid? [True, True] Translation: X:194.99, Y:96.91, Z:8.49 [[ 3.46988393e-01 -9.37746824e-01 -1.51640976e-02 1.94988643e+02] [ 9.36542513e-01 3.47311950e-01 -4.75660735e-02 9.69108394e+01] [ 4.98716067e-02 2.30305336e-03 9.98752982e-01 8.48733381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.24710568099997 meters 0.036608693957714024 Centerline is valid? [True, True] Translation: X:195.00, Y:96.94, Z:8.49 [[ 3.47647932e-01 -9.37505848e-01 -1.49566054e-02 1.94997582e+02] [ 9.36331285e-01 3.47961747e-01 -4.69717602e-02 9.69376460e+01] [ 4.92406264e-02 2.32529775e-03 9.98784238e-01 8.48879475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.27710568099997 meters 0.03498397342200908 Centerline is valid? [True, True] Translation: X:195.01, Y:96.96, Z:8.49 [[ 3.42288080e-01 -9.39484567e-01 -1.44089922e-02 1.95006817e+02] [ 9.38393573e-01 3.42585466e-01 -4.53067313e-02 9.69628613e+01] [ 4.75012861e-02 1.98664833e-03 9.98869201e-01 8.48809306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.30710568099997 meters 0.030487729578512646 Centerline is valid? [True, True] Translation: X:195.02, Y:96.99, Z:8.49 [[ 3.37931289e-01 -9.41059533e-01 -1.44706441e-02 1.95022318e+02] [ 9.39957685e-01 3.38236211e-01 -4.55611173e-02 9.69876384e+01] [ 4.77702195e-02 1.79473398e-03 9.98856739e-01 8.48876871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.33710568099997 meters 0.03092421003772343 Centerline is valid? [True, True] Translation: X:195.03, Y:97.01, Z:8.49 [[ 3.33363518e-01 -9.42682633e-01 -1.47722353e-02 1.95029528e+02] [ 9.41533117e-01 3.33686747e-01 -4.65676352e-02 9.70137379e+01] [ 4.88278000e-02 1.61540198e-03 9.98805905e-01 8.48664590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.36710568099997 meters 0.025275946146084506 Centerline is valid? [True, True] Translation: X:195.05, Y:97.04, Z:8.49 [[ 3.24950022e-01 -9.45617271e-01 -1.46785432e-02 1.95048087e+02] [ 9.44482592e-01 3.25279204e-01 -4.63257316e-02 9.70368646e+01] [ 4.85810367e-02 1.18991895e-03 9.98818536e-01 8.48790818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.39710568099997 meters 0.022456936965190348 Centerline is valid? [True, True] Translation: X:195.06, Y:97.06, Z:8.49 [[ 3.15285559e-01 -9.48890068e-01 -1.42357161e-02 1.95064591e+02] [ 9.47823292e-01 3.15606023e-01 -4.49871713e-02 9.70599814e+01] [ 4.71807577e-02 6.90862154e-04 9.98886129e-01 8.48926356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.42710568099997 meters 0.021391181251481522 Centerline is valid? [True, True] Translation: X:195.08, Y:97.09, Z:8.49 [[ 3.11063837e-01 -9.50282815e-01 -1.42078003e-02 1.95076319e+02] [ 9.49218752e-01 3.11387738e-01 -4.49603964e-02 9.70861201e+01] [ 4.71492268e-02 4.99242919e-04 9.98887732e-01 8.49079880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.45710568099997 meters 0.02029029155502128 Centerline is valid? [True, True] Translation: X:195.09, Y:97.11, Z:8.49 [[ 3.03905476e-01 -9.52600941e-01 -1.38892014e-02 1.95088197e+02] [ 9.51584196e-01 3.04222655e-01 -4.40010711e-02 9.71105205e+01] [ 4.61408715e-02 1.55421858e-04 9.98934931e-01 8.49282349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.48710568099997 meters 0.019967313991460074 Centerline is valid? [True, True] Translation: X:195.10, Y:97.14, Z:8.49 [[ 3.00992461e-01 -9.53526422e-01 -1.38166644e-02 1.95096915e+02] [ 9.52519203e-01 3.01309411e-01 -4.38155975e-02 9.71363033e+01] [ 4.59424209e-02 2.75263097e-05 9.98944089e-01 8.49399638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.51710568099998 meters 0.01992918546869558 Centerline is valid? [True, True] Translation: X:195.10, Y:97.16, Z:8.49 [[ 2.98075663e-01 -9.54442385e-01 -1.38069980e-02 1.95101922e+02] [ 9.53434708e-01 2.98395250e-01 -4.38466856e-02 9.71622814e+01] [ 4.59690778e-02 -9.44412035e-05 9.98942859e-01 8.49301682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.54710568099998 meters 0.019713796917393424 Centerline is valid? [True, True] Translation: X:195.11, Y:97.19, Z:8.49 [[ 2.95133552e-01 -9.55366888e-01 -1.30497526e-02 1.95106393e+02] [ 9.54465239e-01 2.95421844e-01 -4.14974984e-02 9.71880630e+01] [ 4.35005179e-02 -2.08231099e-04 9.99053383e-01 8.49473506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.57710568099998 meters 0.020074272838263997 Centerline is valid? [True, True] Translation: X:195.11, Y:97.21, Z:8.50 [[ 2.92342588e-01 -9.56233215e-01 -1.24036194e-02 1.95113763e+02] [ 9.55417713e-01 2.92605440e-01 -3.94847980e-02 9.72144698e+01] [ 4.13860419e-02 -3.07549658e-04 9.99143183e-01 8.49903895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.60710568099998 meters 0.021735774375783796 Centerline is valid? [True, True] Translation: X:195.12, Y:97.24, Z:8.50 [[ 2.84595167e-01 -9.58581119e-01 -1.13061905e-02 1.95121010e+02] [ 9.57903610e-01 2.84819083e-01 -3.60383679e-02 9.72399536e+01] [ 3.77659178e-02 -5.73895409e-04 9.99286448e-01 8.50468408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.63710568099998 meters 0.02391415786909873 Centerline is valid? [True, True] Translation: X:195.13, Y:97.26, Z:8.51 [[ 2.78926444e-01 -9.60253269e-01 -1.06629061e-02 1.95129244e+02] [ 9.59650704e-01 2.79129193e-01 -3.40208652e-02 9.72649842e+01] [ 3.56449754e-02 -7.43346361e-04 9.99364239e-01 8.50756401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.66710568099998 meters 0.028744298641961707 Centerline is valid? [True, True] Translation: X:195.14, Y:97.29, Z:8.51 [[ 2.67842323e-01 -9.63415575e-01 -9.53521534e-03 1.95140182e+02] [ 9.62934798e-01 2.68010032e-01 -3.04499201e-02 9.72896901e+01] [ 3.18914607e-02 -1.02601333e-03 9.99490811e-01 8.51252171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69710568099995 meters 0.03034357973904378 Centerline is valid? [True, True] Translation: X:195.15, Y:97.32, Z:8.51 [[ 2.64237200e-01 -9.64411448e-01 -9.44777882e-03 1.95148428e+02] [ 9.63938731e-01 2.64403661e-01 -3.02130241e-02 9.73161333e+01] [ 3.16358136e-02 -1.12367503e-03 9.99498831e-01 8.51471730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.72710568099995 meters 0.03296354438376736 Centerline is valid? [True, True] Translation: X:195.15, Y:97.34, Z:8.52 [[ 2.60164050e-01 -9.65518832e-01 -9.38363248e-03 1.95150598e+02] [ 9.65052027e-01 2.60330272e-01 -3.00455522e-02 9.73440124e+01] [ 3.14523900e-02 -1.23892103e-03 9.99504483e-01 8.51585925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75710568099996 meters 0.03573297566467092 Centerline is valid? [True, True] Translation: X:195.16, Y:97.37, Z:8.52 [[ 2.59734254e-01 -9.65635291e-01 -9.30601726e-03 1.95155865e+02] [ 9.65174997e-01 2.59897993e-01 -2.98371911e-02 9.73693275e+01] [ 3.12304599e-02 -1.23219461e-03 9.99511451e-01 8.51633295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.78710568099996 meters 0.03291016293543317 Centerline is valid? [True, True] Translation: X:195.15, Y:97.40, Z:8.52 [[ 2.62216958e-01 -9.64964641e-01 -9.24713024e-03 1.95146974e+02] [ 9.64508556e-01 2.62377505e-01 -2.96865454e-02 9.74004948e+01] [ 3.10727056e-02 -1.13462060e-03 9.99516483e-01 8.51506680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.81710568099996 meters 0.028268515782675543 Centerline is valid? [True, True] Translation: X:195.14, Y:97.43, Z:8.51 [[ 2.67799195e-01 -9.63426874e-01 -9.60467299e-03 1.95137799e+02] [ 9.62932419e-01 2.67969586e-01 -3.08780999e-02 9.74325819e+01] [ 3.23225515e-02 -9.79520692e-04 9.99477010e-01 8.51494676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.84710568099996 meters 0.02720423337318835 Centerline is valid? [True, True] Translation: X:195.14, Y:97.46, Z:8.52 [[ 2.70110853e-01 -9.62778382e-01 -9.89514853e-03 1.95137919e+02] [ 9.62251632e-01 2.70290486e-01 -3.18566986e-02 9.74609345e+01] [ 3.33455052e-02 -9.16782791e-04 9.99443464e-01 8.51566990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.87710568099996 meters 0.023877473326601024 Centerline is valid? [True, True] Translation: X:195.13, Y:97.49, Z:8.51 [[ 2.76090026e-01 -9.61078614e-01 -1.01091652e-02 1.95125920e+02] [ 9.60526335e-01 2.76274118e-01 -3.25848208e-02 9.74932862e+01] [ 3.41094751e-02 -7.13775356e-04 9.99417848e-01 8.51371206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.90710568099996 meters 0.02253099060003954 Centerline is valid? [True, True] Translation: X:195.12, Y:97.52, Z:8.52 [[ 2.79265692e-01 -9.60165007e-01 -9.68674751e-03 1.95124454e+02] [ 9.59656009e-01 2.79433071e-01 -3.12650525e-02 9.75218979e+01] [ 3.27264069e-02 -5.64688936e-04 9.99464188e-01 8.51591887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.93710568099996 meters 0.019676387143873514 Centerline is valid? [True, True] Translation: X:195.11, Y:97.56, Z:8.52 [[ 2.87054083e-01 -9.57876662e-01 -8.50018859e-03 1.95113524e+02] [ 9.57482916e-01 2.87179795e-01 -2.74632687e-02 9.75550212e+01] [ 2.87475065e-02 -2.55341961e-04 9.99586672e-01 8.52020762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.96710568099996 meters 0.018547342109634192 Centerline is valid? [True, True] Translation: X:195.10, Y:97.59, Z:8.52 [[ 2.94326078e-01 -9.55667601e-01 -8.46147637e-03 1.95102460e+02] [ 9.55275669e-01 2.94447679e-01 -2.73671547e-02 9.75881352e+01] [ 2.86453652e-02 -2.81751874e-05 9.99589637e-01 8.51969214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.99710568099997 meters 0.018625101722425163 Centerline is valid? [True, True] Translation: X:195.10, Y:97.62, Z:8.52 [[ 2.98103463e-01 -9.54492707e-01 -8.83162665e-03 1.95100869e+02] [ 9.54064015e-01 2.98234240e-01 -2.86040846e-02 9.76177911e+01] [ 2.99362836e-02 1.01039508e-04 9.99551804e-01 8.51917717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.02710568099997 meters 0.02170308268882991 Centerline is valid? [True, True] Translation: X:195.09, Y:97.65, Z:8.52 [[ 3.08107944e-01 -9.51306805e-01 -9.21177014e-03 1.95088197e+02] [ 9.50837616e-01 3.08245296e-01 -2.98775060e-02 9.76496232e+01] [ 3.12621596e-02 4.46599381e-04 9.99511119e-01 8.51796849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.05710568099997 meters 0.02497854401417077 Centerline is valid? [True, True] Translation: X:195.09, Y:97.68, Z:8.52 [[ 3.13536151e-01 -9.49528337e-01 -9.54034857e-03 1.95085571e+02] [ 9.49023093e-01 3.13680574e-01 -3.09784806e-02 9.76781775e+01] [ 3.24075672e-02 6.58862476e-04 9.99474520e-01 8.51671969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.08710568099997 meters 0.026831419704122172 Centerline is valid? [True, True] Translation: X:195.08, Y:97.71, Z:8.51 [[ 3.22635243e-01 -9.46465221e-01 -1.04921173e-02 1.95083889e+02] [ 9.45851123e-01 3.22803994e-01 -3.41062109e-02 9.77085264e+01] [ 3.56672398e-02 1.07988473e-03 9.99363138e-01 8.51276975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.11710568099997 meters 0.028841905998854236 Centerline is valid? [True, True] Translation: X:195.08, Y:97.74, Z:8.51 [[ 3.27456313e-01 -9.44802278e-01 -1.10008496e-02 1.95083709e+02] [ 9.44124471e-01 3.27638311e-01 -3.58067028e-02 9.77378465e+01] [ 3.74345542e-02 1.33895956e-03 9.99298184e-01 8.51107213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.14710568099997 meters 0.030853638467877646 Centerline is valid? [True, True] Translation: X:195.09, Y:97.77, Z:8.51 [[ 3.28793221e-01 -9.44337320e-01 -1.10473530e-02 1.95087204e+02] [ 9.43651679e-01 3.28975724e-01 -3.60066801e-02 9.77653620e+01] [ 3.76367627e-02 1.41389912e-03 9.99290486e-01 8.51207665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.17710568099997 meters 0.0306895789772655 Centerline is valid? [True, True] Translation: X:195.09, Y:97.79, Z:8.51 [[ 3.31266186e-01 -9.43476430e-01 -1.07209815e-02 1.95094105e+02] [ 9.42828749e-01 3.31436316e-01 -3.49845566e-02 9.77929780e+01] [ 3.65604272e-02 1.48115107e-03 9.99330346e-01 8.51304233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.20710568099997 meters 0.03195748111663494 Centerline is valid? [True, True] Translation: X:195.10, Y:97.82, Z:8.51 [[ 3.32056111e-01 -9.43198190e-01 -1.07663296e-02 1.95098987e+02] [ 9.42543258e-01 3.32227068e-01 -3.51764428e-02 9.78198784e+01] [ 3.67552233e-02 1.53282136e-03 9.99323123e-01 8.51360860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.23710568099997 meters 0.03169877366913525 Centerline is valid? [True, True] Translation: X:195.11, Y:97.85, Z:8.51 [[ 3.32524912e-01 -9.43030734e-01 -1.09643678e-02 1.95107425e+02] [ 9.42349730e-01 3.32701805e-01 -3.58677436e-02 9.78468343e+01] [ 3.74722495e-02 1.59464920e-03 9.99296396e-01 8.51368730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.26710568099998 meters 0.030674574016436484 Centerline is valid? [True, True] Translation: X:195.12, Y:97.87, Z:8.52 [[ 3.31180251e-01 -9.43508003e-01 -1.05966750e-02 1.95119498e+02] [ 9.42870635e-01 3.31346328e-01 -3.47070032e-02 9.78725691e+01] [ 3.62575046e-02 1.50298035e-03 9.99341350e-01 8.51602864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.29710568099998 meters 0.028364617359360772 Centerline is valid? [True, True] Translation: X:195.14, Y:97.90, Z:8.52 [[ 3.25334778e-01 -9.45548304e-01 -9.78200336e-03 1.95135321e+02] [ 9.45004782e-01 3.25479623e-01 -3.20776836e-02 9.78953497e+01] [ 3.35148421e-02 1.19194614e-03 9.99437509e-01 8.52073002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.32710568099998 meters 0.026508656838344778 Centerline is valid? [True, True] Translation: X:195.15, Y:97.92, Z:8.52 [[ 3.20708625e-01 -9.47129245e-01 -9.60060361e-03 1.95146781e+02] [ 9.46605347e-01 3.20850674e-01 -3.15144793e-02 9.79204440e+01] [ 3.29286451e-02 1.01898261e-03 9.99457186e-01 8.52184735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.35710568099998 meters 0.02267879289939037 Centerline is valid? [True, True] Translation: X:195.16, Y:97.94, Z:8.52 [[ 3.11728505e-01 -9.50119448e-01 -9.91839331e-03 1.95164164e+02] [ 9.49560220e-01 3.11885364e-01 -3.26022611e-02 9.79446730e+01] [ 3.40694441e-02 7.44942392e-04 9.99419190e-01 8.51987660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.38710568099998 meters 0.019670432567404604 Centerline is valid? [True, True] Translation: X:195.18, Y:97.97, Z:8.52 [[ 3.03649664e-01 -9.52721777e-01 -1.08672678e-02 1.95183164e+02] [ 9.52050088e-01 3.03843627e-01 -3.57726295e-02 9.79686227e+01] [ 3.73833132e-02 5.16163637e-04 9.99300866e-01 8.51782092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41710568099995 meters 0.018045790755987178 Centerline is valid? [True, True] Translation: X:195.20, Y:97.99, Z:8.52 [[ 2.97240318e-01 -9.54736105e-01 -1.12766370e-02 1.95200839e+02] [ 9.54012947e-01 2.97454009e-01 -3.71538507e-02 9.79926137e+01] [ 3.88264036e-02 2.85564701e-04 9.99245930e-01 8.51717898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.44710568099995 meters 0.017836773464363662 Centerline is valid? [True, True] Translation: X:195.21, Y:98.02, Z:8.52 [[ 2.95296864e-01 -9.55337164e-01 -1.14308612e-02 1.95211915e+02] [ 9.54592499e-01 2.95517938e-01 -3.77135151e-02 9.80171601e+01] [ 3.94071471e-02 2.24868376e-04 9.99223211e-01 8.51760259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.47710568099995 meters 0.018132139151868485 Centerline is valid? [True, True] Translation: X:195.22, Y:98.04, Z:8.52 [[ 2.95856806e-01 -9.55166623e-01 -1.12014428e-02 1.95222485e+02] [ 9.54449445e-01 2.96068667e-01 -3.70081413e-02 9.80433970e+01] [ 3.86653376e-02 2.57899631e-04 9.99252183e-01 8.52106425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.50710568099996 meters 0.018338492268396647 Centerline is valid? [True, True] Translation: X:195.23, Y:98.07, Z:8.52 [[ 2.96740697e-01 -9.54893806e-01 -1.10805514e-02 1.95229178e+02] [ 9.54189973e-01 2.96947347e-01 -3.66574341e-02 9.80706295e+01] [ 3.82942971e-02 3.04801489e-04 9.99266458e-01 8.52310717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.53710568099996 meters 0.019563818800664184 Centerline is valid? [True, True] Translation: X:195.23, Y:98.10, Z:8.52 [[ 3.01425827e-01 -9.53416966e-01 -1.17711122e-02 1.95231033e+02] [ 9.52619232e-01 3.01655093e-01 -3.89974916e-02 9.80989293e+01] [ 4.07316861e-02 5.41463270e-04 9.99169974e-01 8.52253786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.56710568099996 meters 0.020751585309543356 Centerline is valid? [True, True] Translation: X:195.24, Y:98.13, Z:8.52 [[ 3.04576620e-01 -9.52417271e-01 -1.15941476e-02 1.95235516e+02] [ 9.51640453e-01 3.04796450e-01 -3.84652056e-02 9.81266591e+01] [ 4.01687812e-02 6.82142401e-04 9.99192676e-01 8.52420792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.59710568099996 meters 0.023837293756777712 Centerline is valid? [True, True] Translation: X:195.24, Y:98.16, Z:8.53 [[ 3.12279297e-01 -9.49930950e-01 -1.06221946e-02 1.95237012e+02] [ 9.49275892e-01 3.12458503e-01 -3.52840566e-02 9.81557214e+01] [ 3.68364125e-02 9.35087157e-04 9.99320872e-01 8.52984105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.62710568099996 meters 0.025970790748452124 Centerline is valid? [True, True] Translation: X:195.24, Y:98.18, Z:8.53 [[ 3.15943072e-01 -9.48722281e-01 -1.02961139e-02 1.95240495e+02] [ 9.48104633e-01 3.16109026e-01 -3.42445439e-02 9.81829325e+01] [ 3.57432564e-02 1.05753306e-03 9.99360446e-01 8.53234834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.65710568099996 meters 0.028101359249345505 Centerline is valid? [True, True] Translation: X:195.24, Y:98.21, Z:8.53 [[ 3.19610261e-01 -9.47491816e-01 -1.04182798e-02 1.95242708e+02] [ 9.46858024e-01 3.19777703e-01 -3.46713484e-02 9.82117420e+01] [ 3.61823524e-02 1.21668692e-03 9.99344464e-01 8.53176418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.68710568099996 meters 0.02948192594826449 Centerline is valid? [True, True] Translation: X:195.25, Y:98.24, Z:8.53 [[ 3.20379583e-01 -9.47229949e-01 -1.05993275e-02 1.95250010e+02] [ 9.46572146e-01 3.20552303e-01 -3.53184727e-02 9.82378336e+01] [ 3.68523540e-02 1.28228938e-03 9.99319899e-01 8.53090607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.71710568099996 meters 0.029677623896247715 Centerline is valid? [True, True] Translation: X:195.26, Y:98.26, Z:8.53 [[ 3.20656677e-01 -9.47133091e-01 -1.08721034e-02 1.95259310e+02] [ 9.46438972e-01 3.20838125e-01 -3.62790619e-02 9.82642394e+01] [ 3.78492853e-02 1.34334110e-03 9.99282556e-01 8.53101640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.74710568099997 meters 0.029705526862471927 Centerline is valid? [True, True] Translation: X:195.27, Y:98.29, Z:8.53 [[ 3.21263107e-01 -9.46918721e-01 -1.16168687e-02 1.95269324e+02] [ 9.46123877e-01 3.21469664e-01 -3.88183598e-02 9.82901002e+01] [ 4.04923025e-02 1.47991006e-03 9.99178754e-01 8.52822802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.77710568099997 meters 0.029663807178197877 Centerline is valid? [True, True] Translation: X:195.28, Y:98.32, Z:8.53 [[ 3.21551153e-01 -9.46805727e-01 -1.27972956e-02 1.95278982e+02] [ 9.45838114e-01 3.21801393e-01 -4.28266946e-02 9.83164503e+01] [ 4.46667473e-02 1.66680308e-03 9.99000552e-01 8.52508972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.80710568099997 meters 0.03268449355914633 Centerline is valid? [True, True] Translation: X:195.28, Y:98.34, Z:8.52 [[ 3.22573692e-01 -9.46453218e-01 -1.31346451e-02 1.95282807e+02] [ 9.45431053e-01 3.22836090e-01 -4.40111639e-02 9.83442376e+01] [ 4.58948452e-02 1.77894226e-03 9.98944692e-01 8.52344558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.83710568099997 meters 0.032631417381018615 Centerline is valid? [True, True] Translation: X:195.29, Y:98.37, Z:8.52 [[ 3.26728956e-01 -9.45020780e-01 -1.35615574e-02 1.95294076e+02] [ 9.43926989e-01 3.27003761e-01 -4.55014215e-02 9.83697201e+01] [ 4.74344691e-02 2.06551186e-03 9.98872216e-01 8.52478134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.86710568099997 meters 0.032631417381018615 Centerline is valid? [True, True] Translation: X:195.30, Y:98.40, Z:8.53 [[ 3.26381074e-01 -9.45141228e-01 -1.35444812e-02 1.95301711e+02] [ 9.44047333e-01 3.26655462e-01 -4.55065049e-02 9.83961607e+01] [ 4.74344527e-02 2.06583058e-03 9.98872217e-01 8.52579947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.89710568099997 meters 0.033112116443621824 Centerline is valid? [True, True] Translation: X:195.31, Y:98.42, Z:8.53 [[ 3.27580496e-01 -9.44726032e-01 -1.35551999e-02 1.95311574e+02] [ 9.43627165e-01 3.27853797e-01 -4.56033121e-02 9.84231371e+01] [ 4.75267599e-02 2.14770077e-03 9.98867656e-01 8.52715042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.92710568099997 meters 0.03287578881652367 Centerline is valid? [True, True] Translation: X:195.32, Y:98.45, Z:8.53 [[ 3.26162024e-01 -9.45214027e-01 -1.37396143e-02 1.95319904e+02] [ 9.44082746e-01 3.26444381e-01 -4.62799646e-02 9.84486873e+01] [ 4.82296916e-02 2.12343406e-03 9.98834014e-01 8.52720827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.95710568099997 meters 0.03121459694833626 Centerline is valid? [True, True] Translation: X:195.33, Y:98.47, Z:8.53 [[ 3.21950180e-01 -9.46654982e-01 -1.38717692e-02 1.95331642e+02] [ 9.45500675e-01 3.22243025e-01 -4.67750553e-02 9.84735230e+01] [ 4.87499200e-02 1.94347035e-03 9.98809125e-01 8.52695236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.98710568099997 meters 0.030187175426001845 Centerline is valid? [True, True] Translation: X:195.34, Y:98.50, Z:8.53 [[ 3.19063765e-01 -9.47634328e-01 -1.36928384e-02 1.95342423e+02] [ 9.46507488e-01 3.19352424e-01 -4.62342224e-02 9.84994673e+01] [ 4.81859774e-02 1.79129101e-03 9.98836775e-01 8.52857545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.01710568099998 meters 0.028437140430332176 Centerline is valid? [True, True] Translation: X:195.36, Y:98.52, Z:8.53 [[ 3.13101120e-01 -9.49629136e-01 -1.31222178e-02 1.95356968e+02] [ 9.48593423e-01 3.13372658e-01 -4.43632164e-02 9.85224192e+01] [ 4.62407471e-02 1.44252325e-03 9.98929283e-01 8.53266321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.04710568099998 meters 0.023565231322440906 Centerline is valid? [True, True] Translation: X:195.38, Y:98.55, Z:8.54 [[ 3.05239818e-01 -9.52193497e-01 -1.24978713e-02 1.95375935e+02] [ 9.51254007e-01 3.05493857e-01 -4.23003342e-02 9.85456667e+01] [ 4.40961261e-02 1.02309617e-03 9.99026769e-01 8.53636152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.07710568099998 meters 0.022115227474773028 Centerline is valid? [True, True] Translation: X:195.39, Y:98.57, Z:8.54 [[ 3.01487415e-01 -9.53387903e-01 -1.25238015e-02 1.95386767e+02] [ 9.52442945e-01 3.01746172e-01 -4.24462570e-02 9.85718193e+01] [ 4.42467571e-02 8.68805959e-04 9.99020255e-01 8.53650495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.10710568099998 meters 0.020104252607251183 Centerline is valid? [True, True] Translation: X:195.40, Y:98.60, Z:8.54 [[ 2.97823793e-01 -9.54534538e-01 -1.28375911e-02 1.95399049e+02] [ 9.53539988e-01 2.98099440e-01 -4.35685106e-02 9.85978421e+01] [ 4.54145269e-02 7.34582650e-04 9.98967958e-01 8.53640235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13710568099998 meters 0.020227082451138512 Centerline is valid? [True, True] Translation: X:195.41, Y:98.62, Z:8.54 [[ 2.96721484e-01 -9.54878562e-01 -1.27785895e-02 1.95406583e+02] [ 9.53890774e-01 2.96995701e-01 -4.34274712e-02 9.86236754e+01] [ 4.52631474e-02 6.96485100e-04 9.98974856e-01 8.53685565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.16710568099995 meters 0.019989238952897437 Centerline is valid? [True, True] Translation: X:195.41, Y:98.65, Z:8.54 [[ 2.95188663e-01 -9.55354523e-01 -1.27038571e-02 1.95412010e+02] [ 9.54375799e-01 2.95461209e-01 -4.32378020e-02 9.86491712e+01] [ 4.50609267e-02 6.39055210e-04 9.98984036e-01 8.53915353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19710568099995 meters 0.020740402242373435 Centerline is valid? [True, True] Translation: X:195.42, Y:98.68, Z:8.54 [[ 2.97167421e-01 -9.54724946e-01 -1.38492038e-02 1.95415136e+02] [ 9.53557166e-01 2.97488818e-01 -4.72137047e-02 9.86772055e+01] [ 4.91960849e-02 8.24367328e-04 9.98788799e-01 8.53754646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.22710568099995 meters 0.02143507848220297 Centerline is valid? [True, True] Translation: X:195.42, Y:98.71, Z:8.54 [[ 2.98538902e-01 -9.54288454e-01 -1.44246310e-02 1.95418824e+02] [ 9.53017525e-01 2.98885655e-01 -4.92439007e-02 9.87053889e+01] [ 5.13042012e-02 9.54293854e-04 9.98682616e-01 8.53727078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25710568099996 meters 0.02309953037092967 Centerline is valid? [True, True] Translation: X:195.42, Y:98.74, Z:8.54 [[ 3.01961784e-01 -9.53209271e-01 -1.45315997e-02 1.95417522e+02] [ 9.51914648e-01 3.02308985e-01 -4.96767590e-02 9.87350570e+01] [ 5.17453804e-02 1.16764016e-03 9.98659628e-01 8.53830186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.28710568099996 meters 0.025273510788095935 Centerline is valid? [True, True] Translation: X:195.42, Y:98.76, Z:8.55 [[ 3.06528984e-01 -9.51768866e-01 -1.32668197e-02 1.95415385e+02] [ 9.50685849e-01 3.06813165e-01 -4.54103305e-02 9.87647633e+01] [ 4.72905737e-02 1.30700471e-03 9.98880320e-01 8.54579793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.31710568099996 meters 0.02681048329005466 Centerline is valid? [True, True] Translation: X:195.42, Y:98.79, Z:8.55 [[ 3.09065194e-01 -9.50954556e-01 -1.28116701e-02 1.95418007e+02] [ 9.49941258e-01 3.09327449e-01 -4.39105326e-02 9.87925432e+01] [ 4.57199223e-02 1.40088326e-03 9.98953315e-01 8.54943035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.34710568099996 meters 0.029605248431546334 Centerline is valid? [True, True] Translation: X:195.42, Y:98.82, Z:8.55 [[ 3.13677486e-01 -9.49447310e-01 -1.24996068e-02 1.95418532e+02] [ 9.48479075e-01 3.13922354e-01 -4.28975620e-02 9.88207130e+01] [ 4.46528808e-02 1.60038393e-03 9.99001281e-01 8.55245563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.37710568099996 meters 0.030937861173670332 Centerline is valid? [True, True] Translation: X:195.42, Y:98.85, Z:8.56 [[ 3.14599045e-01 -9.49148663e-01 -1.20106498e-02 1.95422974e+02] [ 9.48252723e-01 3.14824207e-01 -4.12612624e-02 9.88473181e+01] [ 4.29443154e-02 1.59162236e-03 9.99076200e-01 8.55518095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.40710568099996 meters 0.0306131713859272 Centerline is valid? [True, True] Translation: X:195.43, Y:98.87, Z:8.56 [[ 3.13762294e-01 -9.49434279e-01 -1.13036799e-02 1.95429419e+02] [ 9.48638837e-01 3.13962367e-01 -3.88843017e-02 9.88737610e+01] [ 4.04670190e-02 1.47731792e-03 9.99179783e-01 8.55738955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.43710568099996 meters 0.03033649838687521 Centerline is valid? [True, True] Translation: X:195.44, Y:98.90, Z:8.56 [[ 3.12660930e-01 -9.49794873e-01 -1.15257360e-02 1.95440703e+02] [ 9.48965637e-01 3.12869808e-01 -3.97077227e-02 9.88989976e+01] [ 4.13202462e-02 1.47752612e-03 9.99144861e-01 8.55725486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.46710568099996 meters 0.02992699028544526 Centerline is valid? [True, True] Translation: X:195.45, Y:98.92, Z:8.56 [[ 3.12742761e-01 -9.49760849e-01 -1.20952445e-02 1.95451339e+02] [ 9.48844855e-01 3.12972601e-01 -4.17323945e-02 9.89246448e+01] [ 4.34212745e-02 1.57499374e-03 9.99055610e-01 8.55753590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.49710568099997 meters 0.031690363860527176 Centerline is valid? [True, True] Translation: X:195.46, Y:98.95, Z:8.55 [[ 3.14520318e-01 -9.49159258e-01 -1.31785091e-02 1.95459022e+02] [ 9.48068281e-01 3.14790989e-01 -4.55320530e-02 9.89501437e+01] [ 4.73656456e-02 1.82662929e-03 9.98875948e-01 8.55374614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.52710568099997 meters 0.03369856631757853 Centerline is valid? [True, True] Translation: X:195.46, Y:98.98, Z:8.55 [[ 3.17293535e-01 -9.48234175e-01 -1.32951916e-02 1.95464515e+02] [ 9.47120441e-01 3.17565664e-01 -4.59882389e-02 9.89770488e+01] [ 4.78297161e-02 1.99962319e-03 9.98853503e-01 8.55381929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.55710568099997 meters 0.04112045028341601 Centerline is valid? [True, True] Translation: X:195.46, Y:99.00, Z:8.55 [[ 3.25703158e-01 -9.45376525e-01 -1.34417007e-02 1.95462874e+02] [ 9.44232616e-01 3.25971035e-01 -4.65580392e-02 9.90048740e+01] [ 4.83964824e-02 2.47200815e-03 9.98825145e-01 8.55384247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.58710568099997 meters 0.046341914066824266 Centerline is valid? [True, True] Translation: X:195.46, Y:99.03, Z:8.55 [[ 3.29888006e-01 -9.43920477e-01 -1.37126187e-02 1.95464150e+02] [ 9.42726041e-01 3.30161353e-01 -4.75509521e-02 9.90317098e+01] [ 4.94116942e-02 2.75924599e-03 9.98774685e-01 8.55242230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.61710568099997 meters 0.043794383030783625 Centerline is valid? [True, True] Translation: X:195.48, Y:99.06, Z:8.56 [[ 3.35584428e-01 -9.41909967e-01 -1.37370397e-02 1.95481321e+02] [ 9.40706954e-01 3.35851335e-01 -4.76897017e-02 9.90553502e+01] [ 4.95330084e-02 3.08139248e-03 9.98767734e-01 8.55530719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.64710568099997 meters 0.04479020321982267 Centerline is valid? [True, True] Translation: X:195.49, Y:99.08, Z:8.56 [[ 3.37808966e-01 -9.41117789e-01 -1.35059159e-02 1.95491457e+02] [ 9.39951509e-01 3.38064045e-01 -4.69452980e-02 9.90815175e+01] [ 4.87469196e-02 3.16363654e-03 9.98806152e-01 8.55744130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.67710568099997 meters 0.04476943285257152 Centerline is valid? [True, True] Translation: X:195.50, Y:99.11, Z:8.56 [[ 3.37160485e-01 -9.41353306e-01 -1.32951704e-02 1.95499105e+02] [ 9.40221197e-01 3.37408315e-01 -4.62572241e-02 9.91089238e+01] [ 4.80302918e-02 3.09570705e-03 9.98841082e-01 8.55793192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.70710568099997 meters 0.044126382882365124 Centerline is valid? [True, True] Translation: X:195.51, Y:99.13, Z:8.56 [[ 3.34087524e-01 -9.42450197e-01 -1.31587213e-02 1.95510501e+02] [ 9.41339244e-01 3.34333744e-01 -4.58407559e-02 9.91336403e+01] [ 4.76020340e-02 2.92800384e-03 9.98862089e-01 8.55714802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.73710568099997 meters 0.04177847863406677 Centerline is valid? [True, True] Translation: X:195.53, Y:99.16, Z:8.56 [[ 3.28306481e-01 -9.44472725e-01 -1.36428241e-02 1.95529827e+02] [ 9.43277321e-01 3.28578290e-01 -4.75836321e-02 9.91560973e+01] [ 4.94241785e-02 2.75304822e-03 9.98774084e-01 8.55548344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.76710568099998 meters 0.039559134328135584 Centerline is valid? [True, True] Translation: X:195.55, Y:99.18, Z:8.56 [[ 3.24528548e-01 -9.45772366e-01 -1.39947620e-02 1.95545210e+02] [ 9.44511966e-01 3.24819384e-01 -4.88826503e-02 9.91807963e+01] [ 5.07776298e-02 2.64559537e-03 9.98706480e-01 8.55663768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.79710568099998 meters 0.03508569414638974 Centerline is valid? [True, True] Translation: X:195.57, Y:99.20, Z:8.56 [[ 3.16075791e-01 -9.48636366e-01 -1.36065919e-02 1.95566622e+02] [ 9.47444581e-01 3.16361228e-01 -4.75850689e-02 9.92038125e+01] [ 4.94455250e-02 2.14899650e-03 9.98774510e-01 8.55923432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.82710568099998 meters 0.032811690278680444 Centerline is valid? [True, True] Translation: X:195.58, Y:99.23, Z:8.56 [[ 3.11474921e-01 -9.50159041e-01 -1.34599769e-02 1.95579561e+02] [ 9.48991835e-01 3.11759803e-01 -4.71202914e-02 9.92286124e+01] [ 4.89680506e-02 1.90338087e-03 9.98798532e-01 8.56057937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.85710568099998 meters 0.028749815779071274 Centerline is valid? [True, True] Translation: X:195.60, Y:99.25, Z:8.56 [[ 3.03631034e-01 -9.52696611e-01 -1.33177689e-02 1.95597584e+02] [ 9.51553135e-01 3.03919246e-01 -4.66875088e-02 9.92511486e+01] [ 4.85265577e-02 1.50321181e-03 9.98820761e-01 8.56180649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.88710568099998 meters 0.027437288847993905 Centerline is valid? [True, True] Translation: X:195.61, Y:99.28, Z:8.56 [[ 3.00501430e-01 -9.53683585e-01 -1.36568569e-02 1.95613097e+02] [ 9.52478610e-01 3.00808343e-01 -4.79462134e-02 9.92755988e+01] [ 4.98336131e-02 1.40004163e-03 9.98756552e-01 8.56221780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91710568099995 meters 0.02918016815447228 Centerline is valid? [True, True] Translation: X:195.62, Y:99.30, Z:8.57 [[ 3.02658874e-01 -9.53004360e-01 -1.34274241e-02 1.95622178e+02] [ 9.51835926e-01 3.02952841e-01 -4.72011132e-02 9.93007670e+01] [ 4.90507430e-02 1.50513107e-03 9.98795154e-01 8.56595637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.94710568099995 meters 0.03176151621226485 Centerline is valid? [True, True] Translation: X:195.63, Y:99.33, Z:8.57 [[ 3.05799633e-01 -9.52006957e-01 -1.30129967e-02 1.95626442e+02] [ 9.50906015e-01 3.06072037e-01 -4.58002155e-02 9.93275887e+01] [ 4.75850382e-02 1.63155230e-03 9.98865858e-01 8.56850355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97710568099995 meters 0.03833817114185326 Centerline is valid? [True, True] Translation: X:195.62, Y:99.36, Z:8.57 [[ 3.15129258e-01 -9.48963126e-01 -1.27489974e-02 1.95624416e+02] [ 9.47901845e-01 3.15380253e-01 -4.49153480e-02 9.93566906e+01] [ 4.66437911e-02 2.06934212e-03 9.98909443e-01 8.57090382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.00710568099996 meters 0.04558240371770242 Centerline is valid? [True, True] Translation: X:195.62, Y:99.38, Z:8.57 [[ 3.23299549e-01 -9.46209384e-01 -1.28531742e-02 1.95622036e+02] [ 9.45125630e-01 3.23545196e-01 -4.53436858e-02 9.93848969e+01] [ 4.70632038e-02 2.51172878e-03 9.98888756e-01 8.57056578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03710568099996 meters 0.04702612023213896 Centerline is valid? [True, True] Translation: X:195.63, Y:99.41, Z:8.57 [[ 3.25886117e-01 -9.45325053e-01 -1.26009263e-02 1.95627782e+02] [ 9.44280051e-01 3.26119220e-01 -4.45133711e-02 9.94114874e+01] [ 4.61890091e-02 2.60748634e-03 9.98929315e-01 8.57218247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.06710568099996 meters 0.05130017688006287 Centerline is valid? [True, True] Translation: X:195.63, Y:99.44, Z:8.57 [[ 3.30077446e-01 -9.43873103e-01 -1.23468988e-02 1.95630360e+02] [ 9.42866259e-01 3.30296641e-01 -4.36731768e-02 9.94378088e+01] [ 4.53000760e-02 2.77405637e-03 9.98969573e-01 8.57335157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.09710568099996 meters 0.04241886295218367 Centerline is valid? [True, True] Translation: X:195.65, Y:99.46, Z:8.58 [[ 3.31268914e-01 -9.43454172e-01 -1.24551719e-02 1.95651708e+02] [ 9.42426460e-01 3.31490495e-01 -4.41182519e-02 9.94609403e+01] [ 4.57523199e-02 2.87692180e-03 9.98948672e-01 8.57500486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.12710568099996 meters 0.05489773054592119 Centerline is valid? [True, True] Translation: X:195.64, Y:99.49, Z:8.57 [[ 3.31838469e-01 -9.43248607e-01 -1.28567614e-02 1.95644372e+02] [ 9.42150355e-01 3.32073702e-01 -4.56044374e-02 9.94912534e+01] [ 4.72857144e-02 3.02030436e-03 9.98876839e-01 8.57267250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.15710568099996 meters 0.0444986372136022 Centerline is valid? [True, True] Translation: X:195.67, Y:99.51, Z:8.57 [[ 3.33506733e-01 -9.42658257e-01 -1.29872533e-02 1.95669590e+02] [ 9.41534244e-01 3.33744586e-01 -4.61282828e-02 9.95136232e+01] [ 4.78176321e-02 3.15614914e-03 9.98851096e-01 8.57486145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.18710568099996 meters 0.05936925939730892 Centerline is valid? [True, True] Translation: X:195.66, Y:99.55, Z:8.57 [[ 3.34736792e-01 -9.42220746e-01 -1.30899471e-02 1.95661065e+02] [ 9.41075585e-01 3.34976726e-01 -4.65546503e-02 9.95450579e+01] [ 4.82495850e-02 3.26492466e-03 9.98829974e-01 8.57167192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.21710568099996 meters 0.046812110825022124 Centerline is valid? [True, True] Translation: X:195.69, Y:99.57, Z:8.58 [[ 3.35587261e-01 -9.41919691e-01 -1.29801920e-02 1.95686650e+02] [ 9.40790421e-01 3.35821967e-01 -4.62275846e-02 9.95664149e+01] [ 4.79017058e-02 3.30174821e-03 9.98846597e-01 8.57624368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.24710568099997 meters 0.048193803483940215 Centerline is valid? [True, True] Translation: X:195.69, Y:99.59, Z:8.58 [[ 3.36828066e-01 -9.41477730e-01 -1.29049471e-02 1.95693730e+02] [ 9.40358110e-01 3.37058371e-01 -4.60247657e-02 9.95938286e+01] [ 4.76810124e-02 3.36716113e-03 9.98856938e-01 8.57735096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.27710568099997 meters 0.0498614835567935 Centerline is valid? [True, True] Translation: X:195.70, Y:99.62, Z:8.58 [[ 3.37930689e-01 -9.41077300e-01 -1.32802830e-02 1.95702406e+02] [ 9.39888064e-01 3.38172951e-01 -4.74287049e-02 9.96206637e+01] [ 4.91251100e-02 3.54563538e-03 9.98786340e-01 8.57714938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.30710568099997 meters 0.050352577490258 Centerline is valid? [True, True] Translation: X:195.71, Y:99.65, Z:8.58 [[ 3.37697598e-01 -9.41155964e-01 -1.36302276e-02 1.95712105e+02] [ 9.39899880e-01 3.37952849e-01 -4.87451366e-02 9.96474561e+01] [ 5.04831503e-02 3.65006623e-03 9.98718243e-01 8.57706723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.33710568099997 meters 0.0480062493182209 Centerline is valid? [True, True] Translation: X:195.73, Y:99.67, Z:8.58 [[ 3.36945263e-01 -9.41420264e-01 -1.39920308e-02 1.95727231e+02] [ 9.40093211e-01 3.37215030e-01 -5.01076723e-02 9.96722367e+01] [ 5.18907012e-02 3.72972963e-03 9.98645805e-01 8.57705176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.36710568099997 meters 0.05075800729103193 Centerline is valid? [True, True] Translation: X:195.73, Y:99.70, Z:8.58 [[ 3.35942389e-01 -9.41777331e-01 -1.40772642e-02 1.95731958e+02] [ 9.40431008e-01 3.36216642e-01 -5.04766163e-02 9.96986873e+01] [ 5.22707435e-02 3.71853929e-03 9.98626027e-01 8.57512854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.39710568099997 meters 0.049371420725239375 Centerline is valid? [True, True] Translation: X:195.75, Y:99.72, Z:8.58 [[ 3.35020025e-01 -9.42103361e-01 -1.42421908e-02 1.95746003e+02] [ 9.40722978e-01 3.35301902e-01 -5.11166565e-02 9.97244367e+01] [ 5.29326075e-02 3.72714744e-03 9.98591131e-01 8.57536568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.42710568099997 meters 0.043466073189930454 Centerline is valid? [True, True] Translation: X:195.77, Y:99.75, Z:8.58 [[ 3.32454439e-01 -9.43010941e-01 -1.42972399e-02 1.95768292e+02] [ 9.41617943e-01 3.32742099e-01 -5.13648182e-02 9.97478022e+01] [ 5.31948792e-02 3.61392417e-03 9.98577611e-01 8.57904554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.45710568099997 meters 0.04160371365394528 Centerline is valid? [True, True] Translation: X:195.78, Y:99.77, Z:8.58 [[ 3.30259712e-01 -9.43783008e-01 -1.42181489e-02 1.95780731e+02] [ 9.42402381e-01 3.30547164e-01 -5.11500278e-02 9.97730645e+01] [ 5.29742959e-02 3.49357607e-03 9.98589765e-01 8.58046450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.48710568099997 meters 0.04235524493709954 Centerline is valid? [True, True] Translation: X:195.79, Y:99.80, Z:8.58 [[ 3.26821620e-01 -9.44983633e-01 -1.39126453e-02 1.95791921e+02] [ 9.43659024e-01 3.27101444e-01 -5.01227621e-02 9.97979435e+01] [ 5.19160362e-02 3.25240905e-03 9.98646157e-01 8.58263568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.51710568099998 meters 0.042485546742968186 Centerline is valid? [True, True] Translation: X:195.80, Y:99.82, Z:8.59 [[ 3.25933987e-01 -9.45298158e-01 -1.33577031e-02 1.95802529e+02] [ 9.44073987e-01 3.26192890e-01 -4.81923721e-02 9.98239470e+01] [ 4.99133483e-02 3.09687192e-03 9.98748751e-01 8.58600716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.54710568099998 meters 0.04094119748776176 Centerline is valid? [True, True] Translation: X:195.82, Y:99.85, Z:8.59 [[ 3.22372905e-01 -9.46533386e-01 -1.22580314e-02 1.95817982e+02] [ 9.45500739e-01 3.22594692e-01 -4.42833739e-02 9.98472113e+01] [ 4.58700677e-02 2.68578213e-03 9.98943804e-01 8.59372368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.57710568099998 meters 0.03740562486199274 Centerline is valid? [True, True] Translation: X:195.84, Y:99.87, Z:8.60 [[ 3.18402439e-01 -9.47887898e-01 -1.13322516e-02 1.95835411e+02] [ 9.47003737e-01 3.18595577e-01 -4.09973231e-02 9.98707054e+01] [ 4.24712716e-02 2.32196301e-03 9.99094990e-01 8.60068008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.60710568099998 meters 0.036595558861511224 Centerline is valid? [True, True] Translation: X:195.85, Y:99.90, Z:8.60 [[ 3.15931783e-01 -9.48713370e-01 -1.14039977e-02 1.95845796e+02] [ 9.47815854e-01 3.16129567e-01 -4.13183339e-02 9.98969206e+01] [ 4.28043966e-02 2.24488511e-03 9.99080950e-01 8.60109400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63710568099998 meters 0.03639805370230532 Centerline is valid? [True, True] Translation: X:195.86, Y:99.92, Z:8.60 [[ 3.14447319e-01 -9.49201277e-01 -1.18245193e-02 1.95856560e+02] [ 9.48233876e-01 3.14661315e-01 -4.29042421e-02 9.99224069e+01] [ 4.44454802e-02 2.27871408e-03 9.99009213e-01 8.59918897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.66710568099995 meters 0.03947179338978279 Centerline is valid? [True, True] Translation: X:195.86, Y:99.95, Z:8.60 [[ 3.17967059e-01 -9.48029049e-01 -1.17418837e-02 1.95862269e+02] [ 9.47071882e-01 3.18174399e-01 -4.26603140e-02 9.99486602e+01] [ 4.41791837e-02 2.44416673e-03 9.99020633e-01 8.60053176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69710568099995 meters 0.043009586504972795 Centerline is valid? [True, True] Translation: X:195.87, Y:99.98, Z:8.60 [[ 3.20793479e-01 -9.47077377e-01 -1.16613008e-02 1.95865456e+02] [ 9.46130679e-01 3.20995050e-01 -4.24136277e-02 9.99751711e+01] [ 4.39122071e-02 2.57290075e-03 9.99032081e-01 8.60162092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.72710568099995 meters 0.045494491900449296 Centerline is valid? [True, True] Translation: X:195.87, Y:100.00, Z:8.60 [[ 3.26663931e-01 -9.45066810e-01 -1.18067729e-02 1.95872376e+02] [ 9.44092328e-01 3.26864355e-01 -4.30042946e-02 1.00001630e+02] [ 4.45011448e-02 2.90126821e-03 9.99005120e-01 8.60333858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75710568099996 meters 0.04544728562340155 Centerline is valid? [True, True] Translation: X:195.88, Y:100.03, Z:8.60 [[ 3.30953778e-01 -9.43567632e-01 -1.22360649e-02 1.95880938e+02] [ 9.42516834e-01 3.31164050e-01 -4.46361887e-02 1.00027798e+02] [ 4.61694076e-02 3.23981816e-03 9.98928370e-01 8.60163587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.78710568099996 meters 0.04544728562340155 Centerline is valid? [True, True] Translation: X:195.89, Y:100.05, Z:8.60 [[ 3.30619254e-01 -9.43685112e-01 -1.22196209e-02 1.95888036e+02] [ 9.42634234e-01 3.30829125e-01 -4.46406906e-02 1.00054475e+02] [ 4.61693615e-02 3.24043886e-03 9.98928371e-01 8.60265543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.81710568099996 meters 0.04620052096571467 Centerline is valid? [True, True] Translation: X:195.90, Y:100.08, Z:8.60 [[ 3.30595236e-01 -9.43693500e-01 -1.22216548e-02 1.95895156e+02] [ 9.42639395e-01 3.30805001e-01 -4.47104242e-02 1.00081559e+02] [ 4.62359212e-02 3.26043998e-03 9.98925227e-01 8.60273123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.84710568099996 meters 0.046214161235237514 Centerline is valid? [True, True] Translation: X:195.91, Y:100.11, Z:8.60 [[ 3.28396768e-01 -9.44459040e-01 -1.23565726e-02 1.95906159e+02] [ 9.43379129e-01 3.28613496e-01 -4.52657623e-02 1.00106334e+02] [ 4.68121949e-02 3.20819735e-03 9.98898556e-01 8.60318624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.87710568099996 meters 0.04560342929684271 Centerline is valid? [True, True] Translation: X:195.92, Y:100.13, Z:8.60 [[ 3.26237345e-01 -9.45201401e-01 -1.27869269e-02 1.95915977e+02] [ 9.44042499e-01 3.26471863e-01 -4.69029143e-02 1.00132578e+02] [ 4.85072722e-02 3.23007987e-03 9.98817607e-01 8.60192857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.90710568099996 meters 0.03811749871507881 Centerline is valid? [True, True] Translation: X:195.94, Y:100.16, Z:8.60 [[ 3.19678943e-01 -9.47425193e-01 -1.38158502e-02 1.95937664e+02] [ 9.46070057e-01 3.19961805e-01 -5.07532356e-02 1.00155588e+02] [ 5.25054384e-02 3.15397855e-03 9.98615657e-01 8.59919773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.93710568099996 meters 0.03618450770243981 Centerline is valid? [True, True] Translation: X:195.95, Y:100.18, Z:8.60 [[ 3.15241021e-01 -9.48906111e-01 -1.41524570e-02 1.95950088e+02] [ 9.47481164e-01 3.15544230e-01 -5.20699878e-02 1.00180786e+02] [ 5.38752557e-02 3.00540968e-03 9.98543151e-01 8.59824743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.96710568099996 meters 0.0309716955548409 Centerline is valid? [True, True] Translation: X:195.97, Y:100.20, Z:8.60 [[ 3.04564037e-01 -9.52391330e-01 -1.38384137e-02 1.95969536e+02] [ 9.51028656e-01 3.04869072e-01 -5.09837730e-02 1.00204514e+02] [ 5.27754078e-02 2.36709577e-03 9.98603602e-01 8.60111028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.99710568099997 meters 0.029010673733599272 Centerline is valid? [True, True] Translation: X:195.98, Y:100.23, Z:8.60 [[ 2.98803601e-01 -9.54222134e-01 -1.32863751e-02 1.95981633e+02] [ 9.52964969e-01 2.99092281e-01 -4.90058637e-02 1.00228757e+02] [ 5.07363321e-02 1.98167856e-03 9.98710117e-01 8.60459330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.02710568099997 meters 0.023427360222869134 Centerline is valid? [True, True] Translation: X:196.00, Y:100.25, Z:8.61 [[ 2.85982484e-01 -9.58155959e-01 -1.22954061e-02 1.96001354e+02] [ 9.57079650e-01 2.86244069e-01 -4.54189010e-02 1.00251657e+02] [ 4.70378777e-02 1.22132720e-03 9.98892360e-01 8.61130101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.05710568099997 meters 0.020884439641312466 Centerline is valid? [True, True] Translation: X:196.02, Y:100.28, Z:8.61 [[ 2.79822128e-01 -9.59974927e-01 -1.21538855e-02 1.96015089e+02] [ 9.58921956e-01 2.80084420e-01 -4.49599824e-02 1.00277241e+02] [ 4.65645698e-02 9.26170315e-04 9.98914853e-01 8.61399821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.08710568099997 meters 0.018093109476653952 Centerline is valid? [True, True] Translation: X:196.03, Y:100.30, Z:8.62 [[ 2.69342623e-01 -9.62967297e-01 -1.21875114e-02 1.96032592e+02] [ 9.61909276e-01 2.69617873e-01 -4.51303449e-02 1.00301914e+02] [ 4.67450172e-02 4.32245263e-04 9.98906761e-01 8.61663224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.11710568099997 meters 0.017515920764267296 Centerline is valid? [True, True] Translation: X:196.04, Y:100.33, Z:8.62 [[ 2.65012744e-01 -9.64168109e-01 -1.21697749e-02 1.96041124e+02] [ 9.63111423e-01 2.65291916e-01 -4.51285499e-02 1.00327221e+02] [ 4.67400516e-02 2.38791582e-04 9.98907058e-01 8.61722520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.14710568099997 meters 0.01733999800001233 Centerline is valid? [True, True] Translation: X:196.05, Y:100.35, Z:8.62 [[ 2.59690422e-01 -9.65612885e-01 -1.23547510e-02 1.96048488e+02] [ 9.64521631e-01 2.59984144e-01 -4.58941014e-02 1.00353601e+02] [ 4.75279750e-02 1.83397897e-06 9.98869907e-01 8.61833625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.17710568099997 meters 0.017452784619389282 Centerline is valid? [True, True] Translation: X:196.05, Y:100.38, Z:8.62 [[ 2.58444692e-01 -9.65949921e-01 -1.21281295e-02 1.96054244e+02] [ 9.64895280e-01 2.58729103e-01 -4.51259434e-02 1.00380456e+02] [ 4.67273015e-02 -3.98143673e-05 9.98907682e-01 8.62069668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.20710568099997 meters 0.01744492966883424 Centerline is valid? [True, True] Translation: X:196.06, Y:100.41, Z:8.63 [[ 2.58869213e-01 -9.65843417e-01 -1.15423009e-02 1.96056024e+02] [ 9.64885086e-01 2.59126406e-01 -4.30148327e-02 1.00408495e+02] [ 4.45365080e-02 -1.77812684e-06 9.99007757e-01 8.62526925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.23710568099997 meters 0.017558272064470925 Centerline is valid? [True, True] Translation: X:196.06, Y:100.44, Z:8.63 [[ 2.60405081e-01 -9.65428513e-01 -1.17038646e-02 1.96058077e+02] [ 9.64439383e-01 2.60667947e-01 -4.36909460e-02 1.00435854e+02] [ 4.52313074e-02 8.96763405e-05 9.98976537e-01 8.62642991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.26710568099998 meters 0.01809707238467317 Centerline is valid? [True, True] Translation: X:196.05, Y:100.46, Z:8.62 [[ 2.64600050e-01 -9.64279469e-01 -1.23255624e-02 1.96054989e+02] [ 9.63177345e-01 2.64886770e-01 -4.60912323e-02 1.00464638e+02] [ 4.77097074e-02 3.24039955e-04 9.98861191e-01 8.62287299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.29710568099998 meters 0.019063589192736697 Centerline is valid? [True, True] Translation: X:196.06, Y:100.49, Z:8.62 [[ 2.68658360e-01 -9.63152834e-01 -1.26215277e-02 1.96055169e+02] [ 9.61992226e-01 2.68954096e-01 -4.72720942e-02 1.00493956e+02] [ 4.89248631e-02 5.58231755e-04 9.98802306e-01 8.62220102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.32710568099998 meters 0.019740912517900912 Centerline is valid? [True, True] Translation: X:196.06, Y:100.52, Z:8.62 [[ 2.70565995e-01 -9.62620073e-01 -1.25154561e-02 1.96059129e+02] [ 9.61475049e-01 2.70854479e-01 -4.69423292e-02 1.00522030e+02] [ 4.85774958e-02 6.67699300e-04 9.98819193e-01 8.62348290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.35710568099998 meters 0.021805059519139414 Centerline is valid? [True, True] Translation: X:196.06, Y:100.55, Z:8.62 [[ 2.75027948e-01 -9.61349260e-01 -1.29316338e-02 1.96056752e+02] [ 9.60121902e-01 2.75330185e-01 -4.85718373e-02 1.00550238e+02] [ 5.02549690e-02 9.42667883e-04 9.98735976e-01 8.62142990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.38710568099998 meters 0.02270356696456557 Centerline is valid? [True, True] Translation: X:196.06, Y:100.58, Z:8.62 [[ 2.77961230e-01 -9.60501382e-01 -1.32155360e-02 1.96060805e+02] [ 9.59215314e-01 2.78272887e-01 -4.97009169e-02 1.00577922e+02] [ 5.14153247e-02 1.13838351e-03 9.98676709e-01 8.62186882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41710568099995 meters 0.02570394372819826 Centerline is valid? [True, True] Translation: X:196.06, Y:100.61, Z:8.62 [[ 2.82956623e-01 -9.59035939e-01 -1.36241071e-02 1.96060738e+02] [ 9.57663548e-01 2.83280609e-01 -5.13091176e-02 1.00605661e+02] [ 5.30667331e-02 1.47094389e-03 9.98589885e-01 8.62103972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.44710568099995 meters 0.0274298375622825 Centerline is valid? [True, True] Translation: X:196.06, Y:100.63, Z:8.62 [[ 2.86604441e-01 -9.57948894e-01 -1.38495999e-02 1.96064287e+02] [ 9.56525719e-01 2.86933714e-01 -5.22263625e-02 1.00633269e+02] [ 5.40041033e-02 1.72080891e-03 9.98539231e-01 8.62128269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.47710568099995 meters 0.026305601351818954 Centerline is valid? [True, True] Translation: X:196.07, Y:100.66, Z:8.62 [[ 2.87514147e-01 -9.57676476e-01 -1.38340984e-02 1.96073127e+02] [ 9.56251889e-01 2.87841193e-01 -5.22472328e-02 1.00660203e+02] [ 5.40179692e-02 1.79293587e-03 9.98538354e-01 8.62367474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.50710568099996 meters 0.030122219418434577 Centerline is valid? [True, True] Translation: X:196.07, Y:100.69, Z:8.62 [[ 2.88960506e-01 -9.57244451e-01 -1.35973253e-02 1.96071347e+02] [ 9.55863613e-01 2.89274239e-01 -5.14311902e-02 1.00688743e+02] [ 5.31655773e-02 1.86439430e-03 9.98583970e-01 8.62338716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.53710568099996 meters 0.030626805374354905 Centerline is valid? [True, True] Translation: X:196.08, Y:100.72, Z:8.62 [[ 2.88971556e-01 -9.57245154e-01 -1.33099807e-02 1.96075806e+02] [ 9.55918016e-01 2.89272022e-01 -5.04226570e-02 1.00715932e+02] [ 5.21170491e-02 1.84746331e-03 9.98639274e-01 8.62427616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.56710568099996 meters 0.02751495066539185 Centerline is valid? [True, True] Translation: X:196.09, Y:100.74, Z:8.63 [[ 2.87509329e-01 -9.57680979e-01 -1.36208709e-02 1.96085669e+02] [ 9.56287107e-01 2.87825952e-01 -5.16835685e-02 1.00741411e+02] [ 5.34168106e-02 1.83404489e-03 9.98570619e-01 8.62519552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.59710568099996 meters 0.027024280672535917 Centerline is valid? [True, True] Translation: X:196.09, Y:100.77, Z:8.63 [[ 2.86355592e-01 -9.58021966e-01 -1.39422869e-02 1.96093252e+02] [ 9.56557104e-01 2.86688918e-01 -5.29902844e-02 1.00768726e+02] [ 5.47629556e-02 1.83747066e-03 9.98497693e-01 8.62545036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.62710568099996 meters 0.02579570205528743 Centerline is valid? [True, True] Translation: X:196.10, Y:100.80, Z:8.63 [[ 2.82616964e-01 -9.59131456e-01 -1.39464117e-02 1.96100610e+02] [ 9.57663190e-01 2.82956087e-01 -5.30760489e-02 1.00796288e+02] [ 5.48531302e-02 1.64422666e-03 9.98493080e-01 8.62613649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.65710568099996 meters 0.024622395618149374 Centerline is valid? [True, True] Translation: X:196.11, Y:100.82, Z:8.63 [[ 2.80014381e-01 -9.59895266e-01 -1.38933169e-02 1.96108549e+02] [ 9.58435826e-01 2.80354791e-01 -5.29335294e-02 1.00823006e+02] [ 5.47057022e-02 1.50629686e-03 9.98501386e-01 8.62786724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.68710568099996 meters 0.021550075194827798 Centerline is valid? [True, True] Translation: X:196.12, Y:100.85, Z:8.63 [[ 2.71808306e-01 -9.62256678e-01 -1.35029759e-02 1.96119761e+02] [ 9.60876839e-01 2.72141554e-01 -5.15235454e-02 1.00848767e+02] [ 5.32535965e-02 1.02983079e-03 9.98580489e-01 8.62992103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.71710568099996 meters 0.01847515852261499 Centerline is valid? [True, True] Translation: X:196.14, Y:100.87, Z:8.63 [[ 2.59344929e-01 -9.65693168e-01 -1.33008681e-02 1.96137609e+02] [ 9.64354421e-01 2.59685537e-01 -5.08327969e-02 1.00872574e+02] [ 5.25429277e-02 3.56477129e-04 9.98618603e-01 8.63302784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.74710568099997 meters 0.017950036326263824 Centerline is valid? [True, True] Translation: X:196.15, Y:100.90, Z:8.63 [[ 2.52409351e-01 -9.67529916e-01 -1.32431851e-02 1.96149466e+02] [ 9.66200840e-01 2.52756528e-01 -5.06959009e-02 1.00897351e+02] [ 5.23971022e-02 5.42896166e-07 9.98626328e-01 8.63488058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.77710568099997 meters 0.019078473631304386 Centerline is valid? [True, True] Translation: X:196.16, Y:100.92, Z:8.64 [[ 2.42772517e-01 -9.69997695e-01 -1.28832119e-02 1.96162275e+02] [ 9.68739393e-01 2.43113621e-01 -4.93938887e-02 1.00921417e+02] [ 5.10440424e-02 -4.88996217e-04 9.98696283e-01 8.63590062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.80710568099997 meters 0.019273841191812472 Centerline is valid? [True, True] Translation: X:196.17, Y:100.95, Z:8.64 [[ 2.40284942e-01 -9.70622177e-01 -1.24794267e-02 1.96169211e+02] [ 9.69439256e-01 2.40608076e-01 -4.79091120e-02 1.00947965e+02] [ 4.95042975e-02 -5.86207916e-04 9.98773739e-01 8.63997021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.83710568099997 meters 0.01918888480121014 Centerline is valid? [True, True] Translation: X:196.17, Y:100.98, Z:8.65 [[ 2.39578322e-01 -9.70804486e-01 -1.18692199e-02 1.96174388e+02] [ 9.69731173e-01 2.39871465e-01 -4.56413500e-02 1.00975098e+02] [ 4.71559145e-02 -5.75274507e-04 9.98887375e-01 8.64540830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.86710568099997 meters 0.01873811788626098 Centerline is valid? [True, True] Translation: X:196.17, Y:101.00, Z:8.65 [[ 2.40776195e-01 -9.70512352e-01 -1.15151280e-02 1.96173216e+02] [ 9.69498529e-01 2.41050905e-01 -4.43515779e-02 1.01003206e+02] [ 4.58194862e-02 -4.85095477e-04 9.98949618e-01 8.64884786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.89710568099997 meters 0.018407069270474873 Centerline is valid? [True, True] Translation: X:196.17, Y:101.03, Z:8.65 [[ 2.42445264e-01 -9.70096352e-01 -1.15482687e-02 1.96174961e+02] [ 9.69072609e-01 2.42719834e-01 -4.45573800e-02 1.01029384e+02] [ 4.60279456e-02 -3.88385134e-04 9.98940077e-01 8.64965284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.92710568099997 meters 0.017809959462111807 Centerline is valid? [True, True] Translation: X:196.18, Y:101.06, Z:8.65 [[ 2.44937338e-01 -9.69469419e-01 -1.16080263e-02 1.96175874e+02] [ 9.68430598e-01 2.45212118e-01 -4.48686409e-02 1.01057443e+02] [ 4.63452039e-02 -2.51562328e-04 9.98925452e-01 8.65176204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.95710568099997 meters 0.017591135515356536 Centerline is valid? [True, True] Translation: X:196.17, Y:101.09, Z:8.65 [[ 2.51252940e-01 -9.67850723e-01 -1.17020561e-02 1.96169951e+02] [ 9.66789490e-01 2.51525293e-01 -4.53112373e-02 1.01085990e+02] [ 4.67978769e-02 7.11567747e-05 9.98904377e-01 8.65208618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.98710568099997 meters 0.017680470978724012 Centerline is valid? [True, True] Translation: X:196.17, Y:101.11, Z:8.65 [[ 2.54473493e-01 -9.67007992e-01 -1.17807271e-02 1.96170355e+02] [ 9.65927655e-01 2.54745916e-01 -4.56977354e-02 1.01113923e+02] [ 4.71911675e-02 2.49532258e-04 9.98885845e-01 8.65303513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.01710568099998 meters 0.019613123012363193 Centerline is valid? [True, True] Translation: X:196.16, Y:101.14, Z:8.65 [[ 2.62614710e-01 -9.64824219e-01 -1.21548930e-02 1.96161195e+02] [ 9.63667881e-01 2.62894945e-01 -4.72277808e-02 1.01144136e+02] [ 4.87619666e-02 6.89429938e-04 9.98810190e-01 8.65070844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.04710568099998 meters 0.021085260847525118 Centerline is valid? [True, True] Translation: X:196.16, Y:101.17, Z:8.65 [[ 2.66774648e-01 -9.63677296e-01 -1.25441640e-02 1.96159932e+02] [ 9.62441252e-01 2.67067732e-01 -4.88022915e-02 1.01173450e+02] [ 5.03798018e-02 9.46193254e-04 9.98729683e-01 8.64877177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.07710568099998 meters 0.0244291783031625 Centerline is valid? [True, True] Translation: X:196.15, Y:101.20, Z:8.65 [[ 2.74563247e-01 -9.61476590e-01 -1.33337624e-02 1.96153839e+02] [ 9.60072785e-01 2.74882923e-01 -5.19579256e-02 1.01203860e+02] [ 5.36215527e-02 1.46435436e-03 9.98560256e-01 8.64606534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.10710568099998 meters 0.028152225729217797 Centerline is valid? [True, True] Translation: X:196.15, Y:101.23, Z:8.65 [[ 2.81998160e-01 -9.59317347e-01 -1.36844674e-02 1.96150460e+02] [ 9.57831343e-01 2.82323232e-01 -5.34107760e-02 1.01233501e+02] [ 5.51013270e-02 1.95432875e-03 9.98478855e-01 8.64692110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.13710568099998 meters 0.02914691074920838 Centerline is valid? [True, True] Translation: X:196.15, Y:101.26, Z:8.65 [[ 2.84314705e-01 -9.58631814e-01 -1.37910354e-02 1.96154526e+02] [ 9.57116839e-01 2.84641021e-01 -5.39151739e-02 1.01260778e+02] [ 5.56102954e-02 2.12924455e-03 9.98450280e-01 8.64818535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.16710568099995 meters 0.0305835741843379 Centerline is valid? [True, True] Translation: X:196.16, Y:101.29, Z:8.65 [[ 2.87043671e-01 -9.57812615e-01 -1.41748420e-02 1.96155915e+02] [ 9.56206335e-01 2.87383624e-01 -5.54986298e-02 1.01288787e+02] [ 5.72309052e-02 2.37645664e-03 9.98358140e-01 8.64604332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.19710568099995 meters 0.030753646638708377 Centerline is valid? [True, True] Translation: X:196.16, Y:101.32, Z:8.65 [[ 2.87240006e-01 -9.57749789e-01 -1.44402235e-02 1.96161370e+02] [ 9.56078334e-01 2.87592269e-01 -5.66118888e-02 1.01316479e+02] [ 5.83729212e-02 2.45521449e-03 9.98291828e-01 8.64513388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.22710568099995 meters 0.032061334882583115 Centerline is valid? [True, True] Translation: X:196.17, Y:101.34, Z:8.64 [[ 2.87986227e-01 -9.57520003e-01 -1.48113606e-02 1.96167878e+02] [ 9.55756182e-01 2.88355222e-01 -5.81496974e-02 1.01343094e+02] [ 5.99504317e-02 2.59026255e-03 9.98197995e-01 8.64392573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.25710568099996 meters 0.03256943197630824 Centerline is valid? [True, True] Translation: X:196.17, Y:101.37, Z:8.64 [[ 2.87299534e-01 -9.57726613e-01 -1.47889162e-02 1.96174066e+02] [ 9.55963563e-01 2.87668467e-01 -5.81422297e-02 1.01368514e+02] [ 5.99386656e-02 2.56657044e-03 9.98198762e-01 8.64440884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.28710568099996 meters 0.03115868992391448 Centerline is valid? [True, True] Translation: X:196.19, Y:101.40, Z:8.65 [[ 2.85374045e-01 -9.58302134e-01 -1.47876635e-02 1.96185108e+02] [ 9.56534323e-01 2.85746219e-01 -5.82338963e-02 1.01395044e+02] [ 6.00311860e-02 2.47353478e-03 9.98193437e-01 8.64643791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.31710568099996 meters 0.030049916297744478 Centerline is valid? [True, True] Translation: X:196.19, Y:101.42, Z:8.65 [[ 2.83036904e-01 -9.58995505e-01 -1.47557728e-02 1.96194878e+02] [ 9.57231846e-01 2.83411597e-01 -5.81812589e-02 1.01422062e+02] [ 5.99775229e-02 2.34274772e-03 9.98196979e-01 8.64775444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.34710568099996 meters 0.028130103123804307 Centerline is valid? [True, True] Translation: X:196.21, Y:101.45, Z:8.65 [[ 2.77794054e-01 -9.60536494e-01 -1.41459162e-02 1.96207259e+02] [ 9.58913784e-01 2.78147169e-01 -5.58435951e-02 1.01445951e+02] [ 5.75744576e-02 1.94830464e-03 9.98339314e-01 8.65175598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.37710568099996 meters 0.024959860707215672 Centerline is valid? [True, True] Translation: X:196.22, Y:101.47, Z:8.66 [[ 2.72136868e-01 -9.62168209e-01 -1.31857213e-02 1.96222632e+02] [ 9.60755818e-01 2.72451882e-01 -5.21366509e-02 1.01470522e+02] [ 5.37567025e-02 1.52004640e-03 9.98552906e-01 8.65898463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.40710568099996 meters 0.023613697209736408 Centerline is valid? [True, True] Translation: X:196.23, Y:101.50, Z:8.66 [[ 2.68911837e-01 -9.63079536e-01 -1.28152931e-02 1.96232872e+02] [ 9.61742270e-01 2.69213777e-01 -5.07518225e-02 1.01496905e+02] [ 5.23280951e-02 1.32275666e-03 9.98629071e-01 8.66192726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.43710568099996 meters 0.021688516314189464 Centerline is valid? [True, True] Translation: X:196.24, Y:101.52, Z:8.67 [[ 2.63836791e-01 -9.64486878e-01 -1.24583213e-02 1.96244159e+02] [ 9.63220893e-01 2.64128733e-01 -4.94117762e-02 1.01523236e+02] [ 5.09476103e-02 1.03652914e-03 9.98700789e-01 8.66552483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.46710568099996 meters 0.02064682005964551 Centerline is valid? [True, True] Translation: X:196.25, Y:101.55, Z:8.67 [[ 2.61585912e-01 -9.65097631e-01 -1.26243540e-02 1.96250064e+02] [ 9.63794305e-01 2.61888639e-01 -5.01485648e-02 1.01550119e+02] [ 5.17044360e-02 9.50877571e-04 9.98661978e-01 8.66536190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.49710568099997 meters 0.021069542105689034 Centerline is valid? [True, True] Translation: X:196.25, Y:101.58, Z:8.66 [[ 2.60300528e-01 -9.65439500e-01 -1.30463634e-02 1.96254888e+02] [ 9.64042845e-01 2.60625581e-01 -5.19201246e-02 1.01576219e+02] [ 5.35259551e-02 9.37582602e-04 9.98566018e-01 8.66214443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.52710568099997 meters 0.020201501448429377 Centerline is valid? [True, True] Translation: X:196.27, Y:101.60, Z:8.66 [[ 2.56499057e-01 -9.66438824e-01 -1.42910137e-02 1.96266856e+02] [ 9.64758138e-01 2.56895533e-01 -5.69773633e-02 1.01602493e+02] [ 5.87364335e-02 8.27268182e-04 9.98273183e-01 8.65776944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.55710568099997 meters 0.019256348009372582 Centerline is valid? [True, True] Translation: X:196.28, Y:101.63, Z:8.66 [[ 2.53543215e-01 -9.67214040e-01 -1.45889805e-02 1.96276091e+02] [ 9.65458126e-01 2.53961670e-01 -5.82587163e-02 1.01628579e+02] [ 6.00536902e-02 6.86052519e-04 9.98194913e-01 8.65959454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.58710568099997 meters 0.018585886649345164 Centerline is valid? [True, True] Translation: X:196.28, Y:101.66, Z:8.66 [[ 2.50391044e-01 -9.68039239e-01 -1.42953754e-02 1.96281453e+02] [ 9.66349102e-01 2.50798284e-01 -5.71807146e-02 1.01656153e+02] [ 5.89384310e-02 5.03215599e-04 9.98261493e-01 8.66091372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.61710568099997 meters 0.018379955861886215 Centerline is valid? [True, True] Translation: X:196.29, Y:101.68, Z:8.66 [[ 2.49134692e-01 -9.68368901e-01 -1.39132019e-02 1.96286308e+02] [ 9.66763637e-01 2.49522510e-01 -5.57367774e-02 1.01683178e+02] [ 5.74454189e-02 4.35187271e-04 9.98348554e-01 8.66399155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.64710568099997 meters 0.018140187197186883 Centerline is valid? [True, True] Translation: X:196.29, Y:101.71, Z:8.67 [[ 2.47802662e-01 -9.68709366e-01 -1.40001874e-02 1.96292784e+02] [ 9.67079220e-01 2.48197541e-01 -5.61761700e-02 1.01709458e+02] [ 5.78931941e-02 3.81314134e-04 9.98322710e-01 8.66531652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.67710568099997 meters 0.018140187197186883 Centerline is valid? [True, True] Translation: X:196.30, Y:101.74, Z:8.67 [[ 2.47409720e-01 -9.68810129e-01 -1.39773207e-02 1.96298954e+02] [ 9.67179823e-01 2.47803933e-01 -5.61818607e-02 1.01735451e+02] [ 5.78931907e-02 3.81355828e-04 9.98322710e-01 8.66630300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.70710568099997 meters 0.017896272372503134 Centerline is valid? [True, True] Translation: X:196.31, Y:101.76, Z:8.67 [[ 2.44200441e-01 -9.69622912e-01 -1.40553736e-02 1.96306170e+02] [ 9.67970535e-01 2.44604504e-01 -5.65833821e-02 1.01762232e+02] [ 5.83025514e-02 2.12499323e-04 9.98298937e-01 8.66623180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.73710568099997 meters 0.017604136663519433 Centerline is valid? [True, True] Translation: X:196.31, Y:101.79, Z:8.67 [[ 2.41849675e-01 -9.70214825e-01 -1.38537835e-02 1.96313193e+02] [ 9.68605944e-01 2.42246125e-01 -5.58510626e-02 1.01787772e+02] [ 5.75435543e-02 8.87043175e-05 9.98342993e-01 8.66783381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.76710568099998 meters 0.01773440424924435 Centerline is valid? [True, True] Translation: X:196.32, Y:101.81, Z:8.67 [[ 2.36735883e-01 -9.71482461e-01 -1.33397658e-02 1.96319647e+02] [ 9.69987830e-01 2.37111351e-01 -5.38685166e-02 1.01814478e+02] [ 5.54953289e-02 -1.86799663e-04 9.98458929e-01 8.67049903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.79710568099998 meters 0.018030320248521085 Centerline is valid? [True, True] Translation: X:196.33, Y:101.84, Z:8.67 [[ 2.34087732e-01 -9.72127001e-01 -1.31159021e-02 1.96325646e+02] [ 9.70678684e-01 2.34454675e-01 -5.30461888e-02 1.01841310e+02] [ 5.46427171e-02 -3.13864503e-04 9.98505921e-01 8.67249018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.82710568099998 meters 0.019161803141394068 Centerline is valid? [True, True] Translation: X:196.33, Y:101.87, Z:8.67 [[ 2.29771789e-01 -9.73158030e-01 -1.29758895e-02 1.96331183e+02] [ 9.71737262e-01 2.30137279e-01 -5.25692594e-02 1.01867016e+02] [ 5.41444329e-02 -5.30222578e-04 9.98532974e-01 8.67379277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.85710568099998 meters 0.01869197587627268 Centerline is valid? [True, True] Translation: X:196.33, Y:101.89, Z:8.68 [[ 2.27723974e-01 -9.73641196e-01 -1.28301635e-02 1.96334398e+02] [ 9.72247972e-01 2.28084286e-01 -5.20714801e-02 1.01893841e+02] [ 5.36252969e-02 -6.16176116e-04 9.98560938e-01 8.67743878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.88710568099998 meters 0.01941338183641105 Centerline is valid? [True, True] Translation: X:196.34, Y:101.92, Z:8.68 [[ 2.24877253e-01 -9.74303054e-01 -1.27976686e-02 1.96337514e+02] [ 9.72912943e-01 2.25239864e-01 -5.20327613e-02 1.01921674e+02] [ 5.35782234e-02 -7.50033048e-04 9.98563374e-01 8.67958629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91710568099995 meters 0.019444389752165205 Centerline is valid? [True, True] Translation: X:196.34, Y:101.95, Z:8.68 [[ 2.24421768e-01 -9.74409442e-01 -1.26928738e-02 1.96337393e+02] [ 9.73037391e-01 2.24779177e-01 -5.16967889e-02 1.01948875e+02] [ 5.32269330e-02 -7.48756060e-04 9.98582161e-01 8.68120615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.94710568099995 meters 0.019066139050514755 Centerline is valid? [True, True] Translation: X:196.34, Y:101.98, Z:8.68 [[ 2.24997060e-01 -9.74282628e-01 -1.22345367e-02 1.96339400e+02] [ 9.73003094e-01 2.25328447e-01 -4.99206347e-02 1.01976889e+02] [ 5.13935963e-02 -6.72245992e-04 9.98678250e-01 8.68404647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.97710568099995 meters 0.018532839717550233 Centerline is valid? [True, True] Translation: X:196.34, Y:102.00, Z:8.69 [[ 2.26844704e-01 -9.73863017e-01 -1.15023905e-02 1.96337044e+02] [ 9.72728049e-01 2.27135529e-01 -4.70063292e-02 1.02004943e+02] [ 4.83903271e-02 -5.25561056e-04 9.98828364e-01 8.68618435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.00710568099996 meters 0.01808083059810571 Centerline is valid? [True, True] Translation: X:196.34, Y:102.03, Z:8.69 [[ 2.27961852e-01 -9.73600617e-01 -1.16289859e-02 1.96338930e+02] [ 9.72436332e-01 2.28257816e-01 -4.76019905e-02 1.02032345e+02] [ 4.89997342e-02 -4.57010466e-04 9.98798687e-01 8.68716943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.03710568099996 meters 0.01771339886981694 Centerline is valid? [True, True] Translation: X:196.34, Y:102.06, Z:8.68 [[ 2.29958879e-01 -9.73118819e-01 -1.25967355e-02 1.96338972e+02] [ 9.71746939e-01 2.30303349e-01 -5.16551352e-02 1.02061526e+02] [ 5.31676546e-02 -3.62282126e-04 9.98585534e-01 8.68444087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.06710568099996 meters 0.01745388247975782 Centerline is valid? [True, True] Translation: X:196.34, Y:102.09, Z:8.69 [[ 2.29825516e-01 -9.73149543e-01 -1.26569480e-02 1.96342282e+02] [ 9.71759915e-01 2.30173506e-01 -5.19886946e-02 1.02088699e+02] [ 5.35060685e-02 -3.51186188e-04 9.98567463e-01 8.68556303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.09710568099996 meters 0.01752081863429613 Centerline is valid? [True, True] Translation: X:196.34, Y:102.12, Z:8.69 [[ 2.27837031e-01 -9.73625505e-01 -1.19859697e-02 1.96343845e+02] [ 9.72375551e-01 2.28151707e-01 -4.93212577e-02 1.02115134e+02] [ 5.07550539e-02 -4.17654949e-04 9.98711044e-01 8.68957765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.12710568099996 meters 0.018290170732092152 Centerline is valid? [True, True] Translation: X:196.35, Y:102.14, Z:8.70 [[ 2.22462543e-01 -9.74877899e-01 -1.11129770e-02 1.96347978e+02] [ 9.73801093e-01 2.22739049e-01 -4.58120955e-02 1.02142308e+02] [ 4.71364934e-02 -6.30353898e-04 9.98888259e-01 8.69547929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.15710568099996 meters 0.02185887742349561 Centerline is valid? [True, True] Translation: X:196.36, Y:102.17, Z:8.69 [[ 2.13908058e-01 -9.76789896e-01 -1.11732716e-02 1.96358297e+02] [ 9.75699886e-01 2.14197190e-01 -4.61442930e-02 1.02167006e+02] [ 4.74665625e-02 -1.03112376e-03 9.98872295e-01 8.69419214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.18710568099996 meters 0.023565764091408564 Centerline is valid? [True, True] Translation: X:196.37, Y:102.19, Z:8.69 [[ 2.10200975e-01 -9.77591080e-01 -1.14555769e-02 1.96366703e+02] [ 9.76442677e-01 2.10509333e-01 -4.73869115e-02 1.02193504e+02] [ 4.87365279e-02 -1.22493921e-03 9.98810918e-01 8.69315218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.21710568099996 meters 0.02393500199866401 Centerline is valid? [True, True] Translation: X:196.37, Y:102.22, Z:8.69 [[ 2.06960823e-01 -9.78279073e-01 -1.17163889e-02 1.96373082e+02] [ 9.77074589e-01 2.07287474e-01 -4.85505026e-02 1.02220717e+02] [ 4.99246013e-02 -1.39973386e-03 9.98752009e-01 8.69330211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.24710568099997 meters 0.027572012779769756 Centerline is valid? [True, True] Translation: X:196.38, Y:102.25, Z:8.69 [[ 2.03134629e-01 -9.79080832e-01 -1.17067062e-02 1.96379653e+02] [ 9.77875407e-01 2.03465573e-01 -4.85947378e-02 1.02247322e+02] [ 4.99600880e-02 -1.57642605e-03 9.98749971e-01 8.69337777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.27710568099997 meters 0.024572884578601715 Centerline is valid? [True, True] Translation: X:196.37, Y:102.28, Z:8.70 [[ 2.05079405e-01 -9.78680917e-01 -1.12294142e-02 1.96369046e+02] [ 9.77567380e-01 2.05381834e-01 -4.66939035e-02 1.02278192e+02] [ 4.80047500e-02 -1.40155105e-03 9.98846124e-01 8.69827117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.30710568099997 meters 0.024661763100239778 Centerline is valid? [True, True] Translation: X:196.37, Y:102.31, Z:8.70 [[ 2.08332109e-01 -9.77995297e-01 -1.10874126e-02 1.96370369e+02] [ 9.76905142e-01 2.08623424e-01 -4.61802026e-02 1.02306110e+02] [ 4.74771150e-02 -1.21053138e-03 9.98871592e-01 8.69778227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.33710568099997 meters 0.020058939897947718 Centerline is valid? [True, True] Translation: X:196.36, Y:102.34, Z:8.70 [[ 2.17104584e-01 -9.76079935e-01 -1.15568525e-02 1.96361216e+02] [ 9.74888545e-01 2.17410496e-01 -4.82182629e-02 1.02336782e+02] [ 4.95774600e-02 -7.98237180e-04 9.98769963e-01 8.69565182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.36710568099997 meters 0.017498696688351766 Centerline is valid? [True, True] Translation: X:196.36, Y:102.37, Z:8.70 [[ 2.21521732e-01 -9.75083456e-01 -1.18480421e-02 1.96356681e+02] [ 9.73825586e-01 2.21837621e-01 -4.95156302e-02 1.02367123e+02] [ 5.09102133e-02 -5.69138378e-04 9.98703072e-01 8.69717572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.39710568099997 meters 0.01603230960636171 Centerline is valid? [True, True] Translation: X:196.34, Y:102.40, Z:8.69 [[ 2.31737915e-01 -9.72706074e-01 -1.18504445e-02 1.96343241e+02] [ 9.71440295e-01 2.32040716e-01 -4.96070547e-02 1.02397979e+02] [ 5.10028691e-02 -1.61638838e-05 9.98698507e-01 8.69479137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.42710568099997 meters 0.01755758932748302 Centerline is valid? [True, True] Translation: X:196.33, Y:102.43, Z:8.70 [[ 2.42094803e-01 -9.70191410e-01 -1.08965580e-02 1.96330105e+02] [ 9.69115128e-01 2.42339385e-01 -4.56890647e-02 1.02427627e+02] [ 4.69678033e-02 5.01065962e-04 9.98896278e-01 8.69959957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.45710568099997 meters 0.01863189074605738 Centerline is valid? [True, True] Translation: X:196.33, Y:102.46, Z:8.70 [[ 2.45215072e-01 -9.69412798e-01 -1.04112935e-02 1.96329997e+02] [ 9.68426016e-01 2.45435154e-01 -4.37336995e-02 1.02455963e+02] [ 4.49513054e-02 6.41594797e-04 9.98988973e-01 8.70295807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.48710568099997 meters 0.01927130068103847 Centerline is valid? [True, True] Translation: X:196.33, Y:102.48, Z:8.71 [[ 2.46691171e-01 -9.69046696e-01 -9.58996795e-03 1.96331582e+02] [ 9.68206666e-01 2.46876599e-01 -4.03459708e-02 1.02483000e+02] [ 4.14646684e-02 6.67923896e-04 9.99139748e-01 8.70750262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.51710568099998 meters 0.01903109177690468 Centerline is valid? [True, True] Translation: X:196.34, Y:102.51, Z:8.71 [[ 2.46059216e-01 -9.69212635e-01 -9.04048537e-03 1.96337975e+02] [ 9.68463679e-01 2.46224460e-01 -3.81000998e-02 1.02510157e+02] [ 3.91530867e-02 6.19498975e-04 9.99233032e-01 8.71145141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.54710568099998 meters 0.018148284419078807 Centerline is valid? [True, True] Translation: X:196.34, Y:102.54, Z:8.71 [[ 2.43708089e-01 -9.69807183e-01 -8.96632057e-03 1.96343609e+02] [ 9.69068449e-01 2.43872387e-01 -3.78497004e-02 1.02537711e+02] [ 3.88935493e-02 5.35299775e-04 9.99243216e-01 8.71231707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.57710568099998 meters 0.01869253644375279 Centerline is valid? [True, True] Translation: X:196.35, Y:102.56, Z:8.71 [[ 2.44308080e-01 -9.69650608e-01 -9.55299891e-03 1.96347587e+02] [ 9.68808983e-01 2.44494010e-01 -4.03959538e-02 1.02564975e+02] [ 4.15056122e-02 6.14026767e-04 9.99138082e-01 8.70953970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.60710568099998 meters 0.020977949973565117 Centerline is valid? [True, True] Translation: X:196.35, Y:102.59, Z:8.71 [[ 2.49318108e-01 -9.68366841e-01 -1.03025374e-02 1.96349396e+02] [ 9.67384062e-01 2.49529222e-01 -4.36261857e-02 1.02593099e+02] [ 4.48169358e-02 9.10287552e-04 9.98994802e-01 8.70544083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.63710568099998 meters 0.022875964787343547 Centerline is valid? [True, True] Translation: X:196.35, Y:102.62, Z:8.71 [[ 2.52325566e-01 -9.67585578e-01 -1.04860527e-02 1.96352005e+02] [ 9.66563198e-01 2.52541014e-01 -4.44816889e-02 1.02620555e+02] [ 4.56879991e-02 1.08843467e-03 9.98955165e-01 8.70529437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.66710568099995 meters 0.025786726735271697 Centerline is valid? [True, True] Translation: X:196.35, Y:102.65, Z:8.71 [[ 2.57906606e-01 -9.66110284e-01 -1.07285818e-02 1.96351239e+02] [ 9.65035033e-01 2.58125836e-01 -4.55898913e-02 1.02649693e+02] [ 4.68141870e-02 1.40447688e-03 9.98902628e-01 8.70538219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.69710568099995 meters 0.026202816841750763 Centerline is valid? [True, True] Translation: X:196.36, Y:102.68, Z:8.71 [[ 2.59659094e-01 -9.65641595e-01 -1.06519542e-02 1.96356511e+02] [ 9.64577791e-01 2.59873171e-01 -4.53389556e-02 1.02677545e+02] [ 4.65493385e-02 1.49803370e-03 9.98914869e-01 8.70704321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.72710568099995 meters 0.026950368264482827 Centerline is valid? [True, True] Translation: X:196.36, Y:102.70, Z:8.71 [[ 2.60761503e-01 -9.65348270e-01 -1.03032478e-02 1.96363522e+02] [ 9.64349546e-01 2.60960558e-01 -4.39265359e-02 1.02704122e+02] [ 4.50931467e-02 1.51841718e-03 9.98981633e-01 8.70897892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.75710568099996 meters 0.027158970164638238 Centerline is valid? [True, True] Translation: X:196.37, Y:102.73, Z:8.71 [[ 2.59847837e-01 -9.65592642e-01 -1.04857690e-02 1.96372040e+02] [ 9.64554734e-01 2.60054860e-01 -4.47843050e-02 1.02729988e+02] [ 4.59702706e-02 1.52300664e-03 9.98941647e-01 8.70909607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.78710568099996 meters 0.024702212006601373 Centerline is valid? [True, True] Translation: X:196.39, Y:102.75, Z:8.71 [[ 2.56632085e-01 -9.66449397e-01 -1.07487921e-02 1.96387659e+02] [ 9.65355646e-01 2.56853131e-01 -4.59885400e-02 1.02754992e+02] [ 4.72064577e-02 1.42572785e-03 9.98884136e-01 8.70871096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.81710568099996 meters 0.02310172083344279 Centerline is valid? [True, True] Translation: X:196.40, Y:102.78, Z:8.71 [[ 2.52217363e-01 -9.67615676e-01 -1.03104548e-02 1.96401242e+02] [ 9.66607175e-01 2.52425271e-01 -4.41820405e-02 1.02779464e+02] [ 4.53538544e-02 1.17731817e-03 9.98970291e-01 8.71183524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.84710568099996 meters 0.021680788416296008 Centerline is valid? [True, True] Translation: X:196.41, Y:102.81, Z:8.71 [[ 2.49659719e-01 -9.68281564e-01 -1.00417438e-02 1.96411779e+02] [ 9.67322982e-01 2.49859407e-01 -4.30874176e-02 1.02805578e+02] [ 4.42297763e-02 1.04358302e-03 9.99020840e-01 8.71369106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.87710568099996 meters 0.019477129109837003 Centerline is valid? [True, True] Translation: X:196.43, Y:102.83, Z:8.72 [[ 2.43481350e-01 -9.69853324e-01 -1.00678884e-02 1.96426288e+02] [ 9.68887812e-01 2.43688161e-01 -4.32722446e-02 1.02829527e+02] [ 4.44211554e-02 7.81330112e-04 9.99012588e-01 8.71504880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.90710568099996 meters 0.01810626474388234 Centerline is valid? [True, True] Translation: X:196.44, Y:102.86, Z:8.72 [[ 2.39863067e-01 -9.70755889e-01 -9.93541529e-03 1.96438110e+02] [ 9.69813633e-01 2.40067941e-01 -4.27656472e-02 1.02856031e+02] [ 4.39001786e-02 6.22398112e-04 9.99035729e-01 8.71598560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.93710568099996 meters 0.016264615210481892 Centerline is valid? [True, True] Translation: X:196.46, Y:102.88, Z:8.72 [[ 2.32367959e-01 -9.72577272e-01 -9.92883223e-03 1.96456274e+02] [ 9.71635707e-01 2.32579799e-01 -4.27865585e-02 1.02880480e+02] [ 4.39224801e-02 2.95017334e-04 9.99034899e-01 8.71789279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.96710568099996 meters 0.015700189718878058 Centerline is valid? [True, True] Translation: X:196.47, Y:102.91, Z:8.72 [[ 2.28761195e-01 -9.73434811e-01 -9.64285523e-03 1.96467255e+02] [ 9.72544461e-01 2.28964295e-01 -4.16247895e-02 1.02905685e+02] [ 4.27268887e-02 1.44031151e-04 9.99086779e-01 8.71989154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.99710568099997 meters 0.015732468491519068 Centerline is valid? [True, True] Translation: X:196.48, Y:102.93, Z:8.72 [[ 2.25978452e-01 -9.74084496e-01 -9.65060242e-03 1.96477547e+02] [ 9.73189833e-01 2.26184424e-01 -4.17391350e-02 1.02930130e+02] [ 4.28402602e-02 4.02769701e-05 9.99081934e-01 8.71971587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.02710568099997 meters 0.0158115577446854 Centerline is valid? [True, True] Translation: X:196.48, Y:102.96, Z:8.72 [[ 2.25970678e-01 -9.74083645e-01 -9.91491777e-03 1.96483363e+02] [ 9.73135534e-01 2.26188084e-01 -4.29672279e-02 1.02956181e+02] [ 4.40963103e-02 6.07748307e-05 9.99027283e-01 8.72008095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.05710568099997 meters 0.016180124371911627 Centerline is valid? [True, True] Translation: X:196.49, Y:102.98, Z:8.72 [[ 2.28186429e-01 -9.73562918e-01 -1.03052754e-02 1.96485898e+02] [ 9.72534807e-01 2.28418938e-01 -4.47307349e-02 1.02983267e+02] [ 4.59021049e-02 1.84707642e-04 9.98945926e-01 8.71946216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.08710568099997 meters 0.016330457227390092 Centerline is valid? [True, True] Translation: X:196.49, Y:103.01, Z:8.72 [[ 2.28532941e-01 -9.73481506e-01 -1.03175782e-02 1.96489410e+02] [ 9.72446924e-01 2.28765620e-01 -4.48694855e-02 1.03008924e+02] [ 4.60399215e-02 2.20858290e-04 9.98939576e-01 8.71963481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.11710568099997 meters 0.016499678486118826 Centerline is valid? [True, True] Translation: X:196.49, Y:103.04, Z:8.72 [[ 2.28858738e-01 -9.73406932e-01 -1.01303135e-02 1.96493773e+02] [ 9.72405638e-01 2.29082697e-01 -4.41406129e-02 1.03035917e+02] [ 4.52874581e-02 2.51191035e-04 9.98973965e-01 8.72192984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.14710568099997 meters 0.016721592202289352 Centerline is valid? [True, True] Translation: X:196.50, Y:103.06, Z:8.72 [[ 2.28586242e-01 -9.73472192e-01 -1.00110427e-02 1.96499064e+02] [ 9.72490606e-01 2.28805215e-01 -4.37057674e-02 1.03061632e+02] [ 4.48369279e-02 2.54892118e-04 9.98994287e-01 8.72391400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.17710568099997 meters 0.017147899171177948 Centerline is valid? [True, True] Translation: X:196.50, Y:103.09, Z:8.73 [[ 2.29749752e-01 -9.73203497e-01 -9.48709717e-03 1.96504104e+02] [ 9.72318380e-01 2.29945336e-01 -4.14983110e-02 1.03088022e+02] [ 4.25678152e-02 3.09747693e-04 9.99093532e-01 8.72909789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.20710568099997 meters 0.01750943485208578 Centerline is valid? [True, True] Translation: X:196.51, Y:103.11, Z:8.73 [[ 2.30642361e-01 -9.72997435e-01 -8.94946779e-03 1.96506665e+02] [ 9.72206793e-01 2.30815668e-01 -3.92183478e-02 1.03114487e+02] [ 4.02250292e-02 3.44678946e-04 9.99190587e-01 8.73268588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.23710568099997 meters 0.01963194454130544 Centerline is valid? [True, True] Translation: X:196.50, Y:103.14, Z:8.74 [[ 2.36101017e-01 -9.71691890e-01 -8.43691607e-03 1.96503223e+02] [ 9.70985730e-01 2.36251064e-01 -3.70424978e-02 1.03142535e+02] [ 3.79871251e-02 5.53646290e-04 9.99278075e-01 8.73575968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.26710568099998 meters 0.02445811720377897 Centerline is valid? [True, True] Translation: X:196.50, Y:103.17, Z:8.74 [[ 2.44762180e-01 -9.69545358e-01 -8.55997417e-03 1.96498717e+02] [ 9.68814488e-01 2.44910080e-01 -3.76502356e-02 1.03170572e+02] [ 3.86000352e-02 9.22326765e-04 9.99254315e-01 8.73559968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.29710568099998 meters 0.026951814713286355 Centerline is valid? [True, True] Translation: X:196.50, Y:103.20, Z:8.73 [[ 2.48904013e-01 -9.68490297e-01 -8.56371631e-03 1.96499766e+02] [ 9.67755731e-01 2.49048845e-01 -3.77295276e-02 1.03198782e+02] [ 3.86734650e-02 1.10344526e-03 9.99251292e-01 8.73473852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.32710568099998 meters 0.028339035234776495 Centerline is valid? [True, True] Translation: X:196.50, Y:103.23, Z:8.73 [[ 2.52177295e-01 -9.67642536e-01 -8.63337159e-03 1.96502186e+02] [ 9.66892988e-01 2.52321887e-01 -3.81000671e-02 1.03226424e+02] [ 3.90456341e-02 1.26042541e-03 9.99236634e-01 8.73379154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.35710568099998 meters 0.028465179813362478 Centerline is valid? [True, True] Translation: X:196.51, Y:103.25, Z:8.73 [[ 2.56439941e-01 -9.66517726e-01 -9.05766227e-03 1.96505712e+02] [ 9.65689859e-01 2.56595370e-01 -4.00239060e-02 1.03254681e+02] [ 4.10079688e-02 1.51683550e-03 9.99157668e-01 8.72998164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.38710568099998 meters 0.03173664225271246 Centerline is valid? [True, True] Translation: X:196.51, Y:103.28, Z:8.73 [[ 2.56942561e-01 -9.66381683e-01 -9.32535636e-03 1.96506420e+02] [ 9.65501037e-01 2.57106737e-01 -4.12779976e-02 1.03282126e+02] [ 4.22879127e-02 1.60243318e-03 9.99104181e-01 8.72865818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41710568099995 meters 0.03381083855432264 Centerline is valid? [True, True] Translation: X:196.51, Y:103.31, Z:8.73 [[ 2.58474012e-01 -9.65974425e-01 -9.19755970e-03 1.96511486e+02] [ 9.65114533e-01 2.58632245e-01 -4.07835816e-02 1.03308024e+02] [ 4.17746823e-02 1.66479740e-03 9.99125670e-01 8.73000895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.44710568099995 meters 0.03442669665970908 Centerline is valid? [True, True] Translation: X:196.52, Y:103.34, Z:8.73 [[ 2.58880521e-01 -9.65867187e-01 -9.02517672e-03 1.96518128e+02] [ 9.65037035e-01 2.59032447e-01 -4.00713395e-02 1.03335058e+02] [ 4.10414055e-02 1.66405944e-03 9.99156061e-01 8.73272027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.47710568099995 meters 0.03371595037309889 Centerline is valid? [True, True] Translation: X:196.53, Y:103.36, Z:8.73 [[ 2.62596230e-01 -9.64860385e-01 -9.36260219e-03 1.96525278e+02] [ 9.63963401e-01 2.62756150e-01 -4.16385206e-02 1.03361410e+02] [ 4.26354403e-02 1.90891268e-03 9.99088873e-01 8.73248591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.50710568099996 meters 0.03830410705256479 Centerline is valid? [True, True] Translation: X:196.52, Y:103.39, Z:8.73 [[ 2.68145293e-01 -9.63333011e-01 -9.36014290e-03 1.96523647e+02] [ 9.62432339e-01 2.68299801e-01 -4.17038420e-02 1.03389385e+02] [ 4.26860122e-02 2.17418472e-03 9.99086171e-01 8.73173660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.53710568099996 meters 0.040392041653005265 Centerline is valid? [True, True] Translation: X:196.53, Y:103.42, Z:8.73 [[ 2.69998092e-01 -9.62814434e-01 -9.45496703e-03 1.96527518e+02] [ 9.61891741e-01 2.70153797e-01 -4.22043076e-02 1.03416091e+02] [ 4.31892117e-02 2.30042781e-03 9.99064262e-01 8.73151011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.56710568099996 meters 0.04236130483768412 Centerline is valid? [True, True] Translation: X:196.54, Y:103.44, Z:8.73 [[ 2.72779477e-01 -9.62025987e-01 -9.86694480e-03 1.96535398e+02] [ 9.61017022e-01 2.72945928e-01 -4.41225932e-02 1.03442792e+02] [ 4.51402237e-02 2.55343600e-03 9.98977397e-01 8.73038853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.59710568099996 meters 0.04236130483768412 Centerline is valid? [True, True] Translation: X:196.54, Y:103.47, Z:8.73 [[ 2.72403371e-01 -9.62132716e-01 -9.85093736e-03 1.96540935e+02] [ 9.61123695e-01 2.72569485e-01 -4.41261673e-02 1.03468904e+02] [ 4.51402941e-02 2.55214741e-03 9.98977397e-01 8.73137644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.62710568099996 meters 0.04337962440316603 Centerline is valid? [True, True] Translation: X:196.55, Y:103.50, Z:8.73 [[ 2.73323789e-01 -9.61873131e-01 -9.70495232e-03 1.96548193e+02] [ 9.60890196e-01 2.73483884e-01 -4.35499315e-02 1.03495803e+02] [ 4.45436570e-02 2.57783876e-03 9.99004113e-01 8.73279736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.65710568099996 meters 0.044738030618308854 Centerline is valid? [True, True] Translation: X:196.56, Y:103.52, Z:8.73 [[ 2.73363296e-01 -9.61862728e-01 -9.62293531e-03 1.96556276e+02] [ 9.60893210e-01 2.73520477e-01 -4.32525983e-02 1.03521579e+02] [ 4.42351321e-02 2.57705962e-03 9.99017824e-01 8.73212850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.68710568099996 meters 0.04467934961990219 Centerline is valid? [True, True] Translation: X:196.56, Y:103.55, Z:8.73 [[ 2.72375246e-01 -9.62142177e-01 -9.70346075e-03 1.96563795e+02] [ 9.61153251e-01 2.72535891e-01 -4.36877042e-02 1.03546387e+02] [ 4.46783241e-02 2.57293634e-03 9.98998112e-01 8.73128980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.71710568099996 meters 0.04343277481466821 Centerline is valid? [True, True] Translation: X:196.58, Y:103.57, Z:8.73 [[ 2.69517338e-01 -9.62945150e-01 -9.85100753e-03 1.96579316e+02] [ 9.61923441e-01 2.69685764e-01 -4.44171490e-02 1.03571107e+02] [ 4.54279547e-02 2.49527668e-03 9.98964501e-01 8.72964497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.74710568099997 meters 0.04233159367598596 Centerline is valid? [True, True] Translation: X:196.59, Y:103.60, Z:8.73 [[ 2.67287906e-01 -9.63566260e-01 -9.86092522e-03 1.96591946e+02] [ 9.62539578e-01 2.67458866e-01 -4.45344424e-02 1.03597192e+02] [ 4.55492780e-02 2.41198706e-03 9.98959181e-01 8.73049559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.77710568099997 meters 0.039458515048164895 Centerline is valid? [True, True] Translation: X:196.61, Y:103.62, Z:8.73 [[ 2.61545395e-01 -9.65139471e-01 -9.99042050e-03 1.96609058e+02] [ 9.64083378e-01 2.61726986e-01 -4.51909931e-02 1.03620068e+02] [ 4.62303738e-02 2.18789780e-03 9.98928409e-01 8.73162694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.80710568099997 meters 0.0327272222729616 Centerline is valid? [True, True] Translation: X:196.63, Y:103.65, Z:8.73 [[ 2.58174676e-01 -9.66046447e-01 -1.00049570e-02 1.96626994e+02] [ 9.64984161e-01 2.58360326e-01 -4.53377510e-02 1.03645090e+02] [ 4.63832572e-02 2.05043415e-03 9.98921613e-01 8.73438653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.83710568099997 meters 0.03435752981788752 Centerline is valid? [True, True] Translation: X:196.64, Y:103.67, Z:8.73 [[ 2.52430739e-01 -9.67563629e-01 -9.96720369e-03 1.96636154e+02] [ 9.66506872e-01 2.52621115e-01 -4.52442130e-02 1.03670517e+02] [ 4.62945810e-02 1.78765927e-03 9.98926232e-01 8.73406406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.86710568099997 meters 0.028760285203210705 Centerline is valid? [True, True] Translation: X:196.65, Y:103.70, Z:8.74 [[ 2.49743763e-01 -9.68260339e-01 -9.99840744e-03 1.96653954e+02] [ 9.67193486e-01 2.49938138e-01 -4.54718267e-02 1.03695280e+02] [ 4.65275497e-02 1.68591054e-03 9.98915584e-01 8.73680920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.89710568099997 meters 0.026455407608662676 Centerline is valid? [True, True] Translation: X:196.67, Y:103.72, Z:8.74 [[ 2.45499381e-01 -9.69340802e-01 -1.04145645e-02 1.96669986e+02] [ 9.68180019e-01 2.45715196e-01 -4.74499063e-02 1.03719995e+02] [ 4.85541470e-02 1.56574940e-03 9.98819325e-01 8.73737335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.92710568099997 meters 0.02644313521738787 Centerline is valid? [True, True] Translation: X:196.68, Y:103.75, Z:8.74 [[ 2.44210195e-01 -9.69670706e-01 -1.00051080e-02 1.96679674e+02] [ 9.68596044e-01 2.44410697e-01 -4.56630620e-02 1.03745470e+02] [ 4.67234890e-02 1.46047729e-03 9.98906794e-01 8.73918923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.95710568099997 meters 0.025866003327373037 Centerline is valid? [True, True] Translation: X:196.69, Y:103.77, Z:8.74 [[ 2.44516613e-01 -9.69596817e-01 -9.67666991e-03 1.96687166e+02] [ 9.68588111e-01 2.44703750e-01 -4.42396526e-02 1.03772388e+02] [ 4.52625438e-02 1.44462261e-03 9.98974081e-01 8.74205444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.98710568099997 meters 0.028462965527259364 Centerline is valid? [True, True] Translation: X:196.69, Y:103.80, Z:8.75 [[ 2.48395335e-01 -9.68615895e-01 -9.11074693e-03 1.96692082e+02] [ 9.67718081e-01 2.48557546e-01 -4.17236438e-02 1.03798848e+02] [ 4.26787295e-02 1.54732393e-03 9.99087650e-01 8.74646194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.01710568099998 meters 0.029183261304876088 Centerline is valid? [True, True] Translation: X:196.70, Y:103.83, Z:8.75 [[ 2.50288602e-01 -9.68129893e-01 -8.95129772e-03 1.96700110e+02] [ 9.67259763e-01 2.50443372e-01 -4.10690617e-02 1.03825779e+02] [ 4.20019795e-02 1.62088793e-03 9.99116213e-01 8.74995165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.04710568099998 meters 0.03092907842675628 Centerline is valid? [True, True] Translation: X:196.71, Y:103.85, Z:8.75 [[ 2.53608755e-01 -9.67268427e-01 -8.62499970e-03 1.96708101e+02] [ 9.66457340e-01 2.53749564e-01 -3.96404812e-02 1.03851957e+02] [ 4.05315758e-02 1.71747881e-03 9.99176782e-01 8.75342816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.07710568099998 meters 0.03203642597944023 Centerline is valid? [True, True] Translation: X:196.71, Y:103.88, Z:8.75 [[ 2.54976780e-01 -9.66909713e-01 -8.51164260e-03 1.96713071e+02] [ 9.66116677e-01 2.55112667e-01 -3.91930238e-02 1.03879354e+02] [ 4.00675433e-02 1.77007114e-03 9.99195406e-01 8.75405778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.10710568099998 meters 0.03453443129401373 Centerline is valid? [True, True] Translation: X:196.72, Y:103.91, Z:8.75 [[ 2.59515089e-01 -9.65698599e-01 -8.83938232e-03 1.96717294e+02] [ 9.64839469e-01 2.59657463e-01 -4.07774498e-02 1.03906467e+02] [ 4.16739377e-02 2.05377858e-03 9.99129153e-01 8.75240144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.13710568099998 meters 0.03421393664660938 Centerline is valid? [True, True] Translation: X:196.73, Y:103.93, Z:8.75 [[ 2.61178590e-01 -9.65249129e-01 -8.93660837e-03 1.96725166e+02] [ 9.64367430e-01 2.61322428e-01 -4.13043397e-02 1.03933907e+02] [ 4.22043141e-02 2.16963514e-03 9.99106645e-01 8.75274868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.16710568099995 meters 0.039190008434089686 Centerline is valid? [True, True] Translation: X:196.73, Y:103.96, Z:8.75 [[ 2.62570262e-01 -9.64871068e-01 -8.98223396e-03 1.96728536e+02] [ 9.63977072e-01 2.62714125e-01 -4.15871685e-02 1.03960584e+02] [ 4.24860154e-02 2.26088615e-03 9.99094503e-01 8.75249696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.19710568099995 meters 0.037163001839964856 Centerline is valid? [True, True] Translation: X:196.74, Y:103.99, Z:8.75 [[ 2.62096507e-01 -9.65001062e-01 -8.85270302e-03 1.96740224e+02] [ 9.64129482e-01 2.62236507e-01 -4.10652644e-02 1.03985978e+02] [ 4.19495257e-02 2.22791038e-03 9.99117247e-01 8.75494385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.22710568099995 meters 0.040330854431247246 Centerline is valid? [True, True] Translation: X:196.75, Y:104.01, Z:8.76 [[ 2.62739156e-01 -9.64826178e-01 -8.86468705e-03 1.96747148e+02] [ 9.63948882e-01 2.62878778e-01 -4.11983243e-02 1.04011597e+02] [ 4.20795599e-02 2.27930781e-03 9.99111663e-01 8.75619652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.25710568099996 meters 0.03891623259985635 Centerline is valid? [True, True] Translation: X:196.76, Y:104.04, Z:8.76 [[ 2.63267687e-01 -9.64679796e-01 -9.11126485e-03 1.96756590e+02] [ 9.63750355e-01 2.63414529e-01 -4.24032924e-02 1.04038256e+02] [ 4.33056390e-02 2.38243198e-03 9.99059030e-01 8.75539654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.28710568099996 meters 0.04065484498508463 Centerline is valid? [True, True] Translation: X:196.76, Y:104.06, Z:8.75 [[ 2.64488180e-01 -9.64343726e-01 -9.33702404e-03 1.96763088e+02] [ 9.63364015e-01 2.64640954e-01 -4.35309116e-02 1.04064543e+02] [ 4.44497205e-02 2.51845862e-03 9.99008448e-01 8.75265993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.31710568099996 meters 0.040821402963626574 Centerline is valid? [True, True] Translation: X:196.77, Y:104.09, Z:8.75 [[ 2.64408068e-01 -9.64367218e-01 -9.17841119e-03 1.96770947e+02] [ 9.63417164e-01 2.64555587e-01 -4.28685219e-02 1.04090614e+02] [ 4.37691971e-02 2.49214416e-03 9.99038561e-01 8.75410205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.34710568099996 meters 0.04188339723783851 Centerline is valid? [True, True] Translation: X:196.78, Y:104.12, Z:8.75 [[ 2.63849204e-01 -9.64521727e-01 -9.02416031e-03 1.96780507e+02] [ 9.63599974e-01 2.63992147e-01 -4.22283798e-02 1.04115284e+02] [ 4.31124973e-02 2.44624373e-03 9.99067229e-01 8.75497429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.37710568099996 meters 0.04205701520122454 Centerline is valid? [True, True] Translation: X:196.79, Y:104.14, Z:8.75 [[ 2.62843728e-01 -9.64793794e-01 -9.27950798e-03 1.96789484e+02] [ 9.63815348e-01 2.62995664e-01 -4.35115693e-02 1.04141632e+02] [ 4.44201624e-02 2.49301086e-03 9.99009827e-01 8.75470918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.40710568099996 meters 0.041993244361457786 Centerline is valid? [True, True] Translation: X:196.80, Y:104.17, Z:8.75 [[ 2.61037489e-01 -9.65277592e-01 -9.92970981e-03 1.96800835e+02] [ 9.64153217e-01 2.61213306e-01 -4.66495750e-02 1.04166769e+02] [ 4.76235617e-02 2.60352623e-03 9.98861961e-01 8.75245803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.43710568099996 meters 0.039701733903943895 Centerline is valid? [True, True] Translation: X:196.81, Y:104.19, Z:8.75 [[ 2.60102588e-01 -9.65528284e-01 -1.00884303e-02 1.96811726e+02] [ 9.64363883e-01 2.60284976e-01 -4.74766413e-02 1.04192143e+02] [ 4.84659068e-02 2.61987945e-03 9.98821402e-01 8.75362468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.46710568099996 meters 0.0357113684669145 Centerline is valid? [True, True] Translation: X:196.83, Y:104.22, Z:8.76 [[ 2.58504224e-01 -9.65962388e-01 -9.60371992e-03 1.96829759e+02] [ 9.64903729e-01 2.58671069e-01 -4.52777163e-02 1.04217122e+02] [ 4.62207755e-02 2.43781574e-03 9.98928274e-01 8.75832645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.49710568099997 meters 0.03478515102829633 Centerline is valid? [True, True] Translation: X:196.84, Y:104.24, Z:8.76 [[ 2.57247899e-01 -9.66300828e-01 -9.28594284e-03 1.96839030e+02] [ 9.65307850e-01 2.57405004e-01 -4.38567906e-02 1.04244024e+02] [ 4.47691012e-02 2.31827374e-03 9.98994671e-01 8.76164097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.52710568099997 meters 0.035507375161620995 Centerline is valid? [True, True] Translation: X:196.85, Y:104.27, Z:8.77 [[ 2.56283264e-01 -9.66562700e-01 -8.68538712e-03 1.96848168e+02] [ 9.65691253e-01 2.56421436e-01 -4.10907548e-02 1.04270170e+02] [ 4.19439103e-02 2.14347040e-03 9.99117668e-01 8.76532281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.55710568099997 meters 0.0351502584412838 Centerline is valid? [True, True] Translation: X:196.86, Y:104.30, Z:8.77 [[ 2.55828158e-01 -9.66683986e-01 -8.60380427e-03 1.96856333e+02] [ 9.65825840e-01 2.55963995e-01 -4.07784306e-02 1.04296010e+02] [ 4.16221199e-02 2.12249431e-03 9.99131170e-01 8.76704027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.58710568099997 meters 0.03647607843431194 Centerline is valid? [True, True] Translation: X:196.86, Y:104.32, Z:8.77 [[ 2.56502545e-01 -9.66504625e-01 -8.67486797e-03 1.96864499e+02] [ 9.65628658e-01 2.56639844e-01 -4.11981196e-02 1.04321587e+02] [ 4.20444899e-02 2.19072142e-03 9.99113338e-01 8.76747652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.61710568099997 meters 0.0373625239167418 Centerline is valid? [True, True] Translation: X:196.87, Y:104.35, Z:8.77 [[ 2.58171120e-01 -9.66055356e-01 -9.20445593e-03 1.96871887e+02] [ 9.65065004e-01 2.58323769e-01 -4.37991758e-02 1.04348889e+02] [ 4.46901581e-02 2.42478398e-03 9.98997953e-01 8.76514688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.64710568099997 meters 0.035940077328141015 Centerline is valid? [True, True] Translation: X:196.88, Y:104.38, Z:8.77 [[ 2.58574887e-01 -9.65946868e-01 -9.25611723e-03 1.96882097e+02] [ 9.64941733e-01 2.58728639e-01 -4.41241784e-02 1.04375702e+02] [ 4.50164345e-02 2.47779065e-03 9.98983174e-01 8.76698441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.67710568099997 meters 0.03561526039799204 Centerline is valid? [True, True] Translation: X:196.89, Y:104.40, Z:8.77 [[ 2.58401618e-01 -9.65997499e-01 -8.79974568e-03 1.96894643e+02] [ 9.65085950e-01 2.58540583e-01 -4.20223241e-02 1.04401692e+02] [ 4.28685514e-02 2.36612560e-03 9.99077919e-01 8.77186384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.70710568099997 meters 0.03550121587812682 Centerline is valid? [True, True] Translation: X:196.90, Y:104.43, Z:8.77 [[ 2.56715901e-01 -9.66448740e-01 -8.58945430e-03 1.96902359e+02] [ 9.65577391e-01 2.56849658e-01 -4.10920249e-02 1.04428592e+02] [ 4.19195341e-02 2.25519335e-03 9.99118445e-01 8.77362599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.73710568099997 meters 0.03536558305047447 Centerline is valid? [True, True] Translation: X:196.91, Y:104.45, Z:8.77 [[ 2.52862024e-01 -9.67465517e-01 -8.44214641e-03 1.96910529e+02] [ 9.66621311e-01 2.52994438e-01 -4.04605488e-02 1.04454019e+02] [ 4.12800019e-02 2.07057765e-03 9.99145472e-01 8.77286988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.76710568099998 meters 0.03556714130783692 Centerline is valid? [True, True] Translation: X:196.92, Y:104.48, Z:8.77 [[ 2.49993485e-01 -9.68212147e-01 -8.27622563e-03 1.96918614e+02] [ 9.67398074e-01 2.50123005e-01 -3.97422845e-02 1.04479521e+02] [ 4.05490370e-02 1.92890747e-03 9.99175688e-01 8.77352780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.79710568099998 meters 0.03225057455693897 Centerline is valid? [True, True] Translation: X:196.94, Y:104.50, Z:8.78 [[ 2.43043380e-01 -9.69981704e-01 -8.08758594e-03 1.96936630e+02] [ 9.69202841e-01 2.43172542e-01 -3.88968854e-02 1.04502728e+02] [ 3.96959461e-02 1.61511925e-03 9.99210500e-01 8.77745008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.82710568099998 meters 0.026840721508312126 Centerline is valid? [True, True] Translation: X:196.95, Y:104.53, Z:8.78 [[ 2.34483948e-01 -9.72088942e-01 -7.76960627e-03 1.96954652e+02] [ 9.71368495e-01 2.34609402e-01 -3.74389655e-02 1.04526364e+02] [ 3.82168270e-02 1.23168567e-03 9.99268711e-01 8.78101309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.85710568099998 meters 0.024582270042987922 Centerline is valid? [True, True] Translation: X:196.96, Y:104.55, Z:8.78 [[ 2.30235905e-01 -9.73104294e-01 -7.71113546e-03 1.96964860e+02] [ 9.72392378e-01 2.30362498e-01 -3.72314821e-02 1.04553154e+02] [ 3.80064715e-02 1.07377463e-03 9.99276916e-01 8.78190861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.88710568099995 meters 0.021371139660937854 Centerline is valid? [True, True] Translation: X:196.98, Y:104.58, Z:8.78 [[ 2.22219014e-01 -9.74964341e-01 -7.95261603e-03 1.96979429e+02] [ 9.74205599e-01 2.22359830e-01 -3.84650203e-02 1.04577319e+02] [ 3.92703656e-02 8.00175828e-04 9.99228301e-01 8.78350398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91710568099995 meters 0.019965988443297614 Centerline is valid? [True, True] Translation: X:196.99, Y:104.60, Z:8.78 [[ 2.18190851e-01 -9.75872075e-01 -8.15148260e-03 1.96988857e+02] [ 9.75072277e-01 2.18342032e-01 -3.95071200e-02 1.04603244e+02] [ 4.03337064e-02 6.71807443e-04 9.99186039e-01 8.78462654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.94710568099995 meters 0.017801261871977912 Centerline is valid? [True, True] Translation: X:197.00, Y:104.63, Z:8.78 [[ 2.12697318e-01 -9.77083215e-01 -8.26083871e-03 1.96997406e+02] [ 9.76259446e-01 2.12857163e-01 -4.01163570e-02 1.04630388e+02] [ 4.09553978e-02 4.67919722e-04 9.99160866e-01 8.78491152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.97710568099995 meters 0.01748230424889301 Centerline is valid? [True, True] Translation: X:197.00, Y:104.66, Z:8.79 [[ 2.10929968e-01 -9.77465703e-01 -8.32752957e-03 1.97001077e+02] [ 9.76625695e-01 2.11093885e-01 -4.05169602e-02 1.04657715e+02] [ 4.13618296e-02 4.13361752e-04 9.99144148e-01 8.78500130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.00710568099996 meters 0.017378219806005197 Centerline is valid? [True, True] Translation: X:197.00, Y:104.68, Z:8.79 [[ 2.10593740e-01 -9.77538494e-01 -8.29269705e-03 1.97003540e+02] [ 9.76702061e-01 2.10756541e-01 -4.04322315e-02 1.04683508e+02] [ 4.12718029e-02 4.15280544e-04 9.99147870e-01 8.78533540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.03710568099996 meters 0.01760370405426292 Centerline is valid? [True, True] Translation: X:197.00, Y:104.71, Z:8.79 [[ 2.10371419e-01 -9.77589147e-01 -7.95780922e-03 1.97003654e+02] [ 9.76815717e-01 2.10521485e-01 -3.88813550e-02 1.04710110e+02] [ 3.96852804e-02 4.06212686e-04 9.99212146e-01 8.78727899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.06710568099996 meters 0.017534299687564 Centerline is valid? [True, True] Translation: X:197.01, Y:104.74, Z:8.79 [[ 2.09553287e-01 -9.77766894e-01 -7.70196930e-03 1.97006438e+02] [ 9.77039508e-01 2.09694440e-01 -3.77099666e-02 1.04737216e+02] [ 3.84866171e-02 3.77119177e-04 9.99259045e-01 8.78843831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.09710568099996 meters 0.017190839360042048 Centerline is valid? [True, True] Translation: X:197.01, Y:104.76, Z:8.79 [[ 2.07952779e-01 -9.78110045e-01 -7.50874332e-03 1.97007879e+02] [ 9.77416194e-01 2.08088050e-01 -3.68367723e-02 1.04764921e+02] [ 3.75928968e-02 3.21141852e-04 9.99293086e-01 8.79092492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.12710568099996 meters 0.016963860283210182 Centerline is valid? [True, True] Translation: X:197.01, Y:104.79, Z:8.79 [[ 2.07207175e-01 -9.78267819e-01 -7.56714160e-03 1.97010673e+02] [ 9.77560362e-01 2.07345071e-01 -3.71989206e-02 1.04791573e+02] [ 3.79595164e-02 3.10545551e-04 9.99279230e-01 8.79237195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.15710568099996 meters 0.017542992727282082 Centerline is valid? [True, True] Translation: X:197.01, Y:104.82, Z:8.79 [[ 2.08451992e-01 -9.77999102e-01 -8.09465176e-03 1.97007490e+02] [ 9.77185671e-01 2.08608709e-01 -3.98819730e-02 1.04819436e+02] [ 4.06931486e-02 4.03499006e-04 9.99171609e-01 8.79147215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.18710568099996 meters 0.01815614442434542 Centerline is valid? [True, True] Translation: X:197.01, Y:104.85, Z:8.79 [[ 2.10095741e-01 -9.77644548e-01 -8.42125676e-03 1.97007248e+02] [ 9.76760038e-01 2.10263829e-01 -4.15806569e-02 1.04847176e+02] [ 4.24217882e-02 5.10371871e-04 9.99099660e-01 8.79111278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.21710568099996 meters 0.020274577116821044 Centerline is valid? [True, True] Translation: X:197.00, Y:104.88, Z:8.79 [[ 2.17291347e-01 -9.76065044e-01 -9.02774111e-03 1.97001865e+02] [ 9.75043049e-01 2.17476930e-01 -4.46636142e-02 1.04876334e+02] [ 4.55579180e-02 9.02580688e-04 9.98961291e-01 8.79061649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.24710568099997 meters 0.022036509584506595 Centerline is valid? [True, True] Translation: X:197.00, Y:104.90, Z:8.79 [[ 2.20607479e-01 -9.75320309e-01 -9.09042726e-03 1.97000276e+02] [ 9.74280302e-01 2.20792050e-01 -4.50417996e-02 1.04904611e+02] [ 4.59372760e-02 1.07993366e-03 9.98943742e-01 8.79125368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.27710568099997 meters 0.02312237618019462 Centerline is valid? [True, True] Translation: X:197.00, Y:104.93, Z:8.79 [[ 2.23337047e-01 -9.74699722e-01 -9.00088973e-03 1.96997520e+02] [ 9.73675595e-01 2.23515041e-01 -4.46862632e-02 1.04933262e+02] [ 4.55675225e-02 1.21615139e-03 9.98960521e-01 8.79253975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.30710568099997 meters 0.022634240471902736 Centerline is valid? [True, True] Translation: X:197.00, Y:104.96, Z:8.80 [[ 2.23254782e-01 -9.74721492e-01 -8.67840487e-03 1.97001132e+02] [ 9.73765741e-01 2.23420239e-01 -4.31703355e-02 1.04960376e+02] [ 4.40179851e-02 1.18725050e-03 9.99030033e-01 8.79531601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.33710568099997 meters 0.021892310690292207 Centerline is valid? [True, True] Translation: X:197.00, Y:104.99, Z:8.80 [[ 2.20818186e-01 -9.75279029e-01 -8.37518633e-03 1.97002253e+02] [ 9.74385615e-01 2.20974422e-01 -4.17489963e-02 1.04987863e+02] [ 4.25676225e-02 1.05827653e-03 9.99093027e-01 8.79609955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.36710568099997 meters 0.021292874427669535 Centerline is valid? [True, True] Translation: X:197.01, Y:105.01, Z:8.80 [[ 2.18957580e-01 -9.75697854e-01 -8.44255109e-03 1.97006398e+02] [ 9.74786766e-01 2.19117987e-01 -4.21671407e-02 1.05014936e+02] [ 4.29923035e-02 1.00312802e-03 9.99074900e-01 8.79640031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.39710568099997 meters 0.020328058934280756 Centerline is valid? [True, True] Translation: X:197.01, Y:105.04, Z:8.80 [[ 2.14234233e-01 -9.76746021e-01 -8.42040361e-03 1.97010387e+02] [ 9.75836639e-01 2.14398111e-01 -4.21462105e-02 1.05041787e+02] [ 4.29714620e-02 8.12222702e-04 9.99075970e-01 8.79623695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.42710568099997 meters 0.01945828859210085 Centerline is valid? [True, True] Translation: X:197.02, Y:105.07, Z:8.80 [[ 2.12388173e-01 -9.77146728e-01 -8.69113136e-03 1.97015595e+02] [ 9.76174449e-01 2.12564518e-01 -4.35863620e-02 1.05068074e+02] [ 4.44376972e-02 7.73167448e-04 9.99011858e-01 8.79605776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.45710568099997 meters 0.01984476382703629 Centerline is valid? [True, True] Translation: X:197.01, Y:105.10, Z:8.79 [[ 2.11358785e-01 -9.77363361e-01 -9.39810027e-03 1.97014770e+02] [ 9.76221364e-01 2.11566075e-01 -4.72402894e-02 1.05096284e+02] [ 4.81592473e-02 8.10023916e-04 9.98839342e-01 8.79230004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.48710568099997 meters 0.01984476382703629 Centerline is valid? [True, True] Translation: X:197.02, Y:105.12, Z:8.79 [[ 2.10969368e-01 -9.77447673e-01 -9.37939541e-03 1.97019698e+02] [ 9.76305594e-01 2.11176209e-01 -4.72440038e-02 1.05122536e+02] [ 4.81592468e-02 8.09881407e-04 9.98839342e-01 8.79328649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.51710568099998 meters 0.019703463718976875 Centerline is valid? [True, True] Translation: X:197.02, Y:105.15, Z:8.80 [[ 2.11319644e-01 -9.77372668e-01 -9.30994476e-03 1.97022500e+02] [ 9.76242648e-01 2.11522950e-01 -4.69929212e-02 1.05149662e+02] [ 4.78988638e-02 8.41762258e-04 9.98851836e-01 8.79569338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.54710568099998 meters 0.019684501720996322 Centerline is valid? [True, True] Translation: X:197.03, Y:105.18, Z:8.80 [[ 2.10471889e-01 -9.77558429e-01 -9.00567589e-03 1.97025554e+02] [ 9.76496767e-01 2.10662973e-01 -4.55541072e-02 1.05176214e+02] [ 4.64289639e-02 7.93845609e-04 9.98921279e-01 8.79904944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.57710568099998 meters 0.01902987537604909 Centerline is valid? [True, True] Translation: X:197.03, Y:105.20, Z:8.81 [[ 2.08763341e-01 -9.77933494e-01 -7.99678313e-03 1.97026714e+02] [ 9.77093518e-01 2.08915442e-01 -4.05289401e-02 1.05204144e+02] [ 4.13052595e-02 6.47351970e-04 9.99146364e-01 8.80566301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.60710568099998 meters 0.018796255825680733 Centerline is valid? [True, True] Translation: X:197.03, Y:105.23, Z:8.81 [[ 2.06960377e-01 -9.78319846e-01 -7.59482951e-03 1.97029593e+02] [ 9.77559665e-01 2.07098936e-01 -3.85633607e-02 1.05229908e+02] [ 3.93001822e-02 5.56688693e-04 9.99227294e-01 8.80810686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.63710568099995 meters 0.017715666246872565 Centerline is valid? [True, True] Translation: X:197.04, Y:105.26, Z:8.81 [[ 2.03682272e-01 -9.79006819e-01 -7.69285270e-03 1.97036020e+02] [ 9.78223810e-01 2.03827001e-01 -3.91501207e-02 1.05256889e+02] [ 3.98962463e-02 4.48853872e-04 9.99203727e-01 8.80921618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.66710568099995 meters 0.017569385169787517 Centerline is valid? [True, True] Translation: X:197.04, Y:105.28, Z:8.81 [[ 2.01576437e-01 -9.79439984e-01 -8.01615966e-03 1.97040857e+02] [ 9.78586557e-01 2.01735376e-01 -4.08801740e-02 1.05282511e+02] [ 4.16568200e-02 3.95973728e-04 9.99131899e-01 8.80764436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.69710568099995 meters 0.01660441216472962 Centerline is valid? [True, True] Translation: X:197.05, Y:105.31, Z:8.81 [[ 1.95452304e-01 -9.80678451e-01 -8.25661580e-03 1.97045379e+02] [ 9.79769813e-01 1.95626556e-01 -4.22061992e-02 1.05308169e+02] [ 4.30059233e-02 1.59715955e-04 9.99074805e-01 8.80579896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.72710568099995 meters 0.016364403883177617 Centerline is valid? [True, True] Translation: X:197.05, Y:105.33, Z:8.81 [[ 1.90917416e-01 -9.81573335e-01 -8.02042876e-03 1.97049227e+02] [ 9.80712887e-01 1.91085810e-01 -4.10907094e-02 1.05333685e+02] [ 4.18661348e-02 -2.08057732e-05 9.99123229e-01 8.80565601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.75710568099996 meters 0.016448771346205655 Centerline is valid? [True, True] Translation: X:197.05, Y:105.36, Z:8.81 [[ 1.88915942e-01 -9.81959200e-01 -8.17900311e-03 1.97054447e+02] [ 9.81060635e-01 1.89092890e-01 -4.19989133e-02 1.05360817e+02] [ 4.27878106e-02 -8.98337269e-05 9.99084178e-01 8.80674601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.78710568099996 meters 0.016739309348594474 Centerline is valid? [True, True] Translation: X:197.06, Y:105.39, Z:8.81 [[ 1.86307853e-01 -9.82454947e-01 -8.46524883e-03 1.97059505e+02] [ 9.81488488e-01 1.86499972e-01 -4.35672818e-02 1.05386554e+02] [ 4.43816602e-02 -1.91617562e-04 9.99014630e-01 8.80956859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.81710568099996 meters 0.01682965262225934 Centerline is valid? [True, True] Translation: X:197.06, Y:105.41, Z:8.81 [[ 1.85979257e-01 -9.82519014e-01 -8.25241012e-03 1.97062762e+02] [ 9.81596538e-01 1.86162167e-01 -4.25662308e-02 1.05413940e+02] [ 4.33584177e-02 -1.84101238e-04 9.99059565e-01 8.81267600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.84710568099996 meters 0.016562471004366794 Centerline is valid? [True, True] Translation: X:197.06, Y:105.44, Z:8.82 [[ 1.88902903e-01 -9.81968176e-01 -7.36169488e-03 1.97058383e+02] [ 9.81230921e-01 1.89046291e-01 -3.80444392e-02 1.05441890e+02] [ 3.87501297e-02 -3.68176406e-05 9.99248931e-01 8.82039572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.87710568099996 meters 0.016601441462044498 Centerline is valid? [True, True] Translation: X:197.06, Y:105.47, Z:8.82 [[ 1.91690375e-01 -9.81429928e-01 -7.07795627e-03 1.97056521e+02] [ 9.80745180e-01 1.91820984e-01 -3.66551804e-02 1.05469769e+02] [ 3.73321916e-02 8.47737629e-05 9.99302907e-01 8.82325230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.90710568099996 meters 0.01830997049209112 Centerline is valid? [True, True] Translation: X:197.05, Y:105.50, Z:8.82 [[ 2.00776242e-01 -9.79610411e-01 -7.23489751e-03 1.97045384e+02] [ 9.78890537e-01 2.00906033e-01 -3.75510761e-02 1.05500080e+02] [ 3.82389596e-02 4.57191219e-04 9.99268519e-01 8.82207727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.93710568099996 meters 0.01963525334639214 Centerline is valid? [True, True] Translation: X:197.04, Y:105.53, Z:8.82 [[ 2.04556311e-01 -9.78825961e-01 -7.51361904e-03 1.97042683e+02] [ 9.78045706e-01 2.04693239e-01 -3.90803715e-02 1.05529473e+02] [ 3.97908692e-02 6.45473783e-04 9.99207821e-01 8.82002660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.96710568099996 meters 0.02360878309579658 Centerline is valid? [True, True] Translation: X:197.03, Y:105.56, Z:8.82 [[ 2.12678697e-01 -9.77089778e-01 -7.95847454e-03 1.97032925e+02] [ 9.76209567e-01 2.12824947e-01 -4.14779871e-02 1.05559857e+02] [ 4.22214791e-02 1.05234524e-03 9.99107722e-01 8.81737894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.99710568099997 meters 0.027665328826996665 Centerline is valid? [True, True] Translation: X:197.03, Y:105.59, Z:8.82 [[ 2.19367922e-01 -9.75607278e-01 -8.25556465e-03 1.97026504e+02] [ 9.74655264e-01 2.19518674e-01 -4.31122837e-02 1.05589585e+02] [ 4.38729084e-02 1.41112254e-03 9.99036124e-01 8.81735730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.02710568099997 meters 0.029146537655045136 Centerline is valid? [True, True] Translation: X:197.03, Y:105.62, Z:8.82 [[ 2.21149197e-01 -9.75203173e-01 -8.47369556e-03 1.97027619e+02] [ 9.74195953e-01 2.21306050e-01 -4.43382265e-02 1.05618168e+02] [ 4.51140592e-02 1.55032328e-03 9.98980640e-01 8.81749268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.05710568099997 meters 0.031298225922261246 Centerline is valid? [True, True] Translation: X:197.03, Y:105.65, Z:8.82 [[ 2.23531505e-01 -9.74655679e-01 -8.94282015e-03 1.97026801e+02] [ 9.73529077e-01 2.23703290e-01 -4.68825585e-02 1.05645350e+02] [ 4.76948902e-02 1.77363343e-03 9.98860376e-01 8.81540605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.08710568099997 meters 0.03174187445522883 Centerline is valid? [True, True] Translation: X:197.03, Y:105.67, Z:8.81 [[ 2.23816799e-01 -9.74588373e-01 -9.14027442e-03 1.97029439e+02] [ 9.73407265e-01 2.23995747e-01 -4.80021101e-02 1.05673760e+02] [ 4.88296809e-02 1.84646908e-03 9.98805413e-01 8.81447680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.11710568099997 meters 0.03438534143049645 Centerline is valid? [True, True] Translation: X:197.03, Y:105.70, Z:8.82 [[ 2.26761490e-01 -9.73909435e-01 -8.92403303e-03 1.97027720e+02] [ 9.72779104e-01 2.26928512e-01 -4.69495989e-02 1.05700896e+02] [ 4.77497749e-02 1.96524816e-03 9.98857396e-01 8.81509280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.14710568099997 meters 0.03671146647027577 Centerline is valid? [True, True] Translation: X:197.03, Y:105.73, Z:8.82 [[ 2.29497099e-01 -9.73270669e-01 -8.67679678e-03 1.97027833e+02] [ 9.72198136e-01 2.29651843e-01 -4.57254444e-02 1.05728886e+02] [ 4.64958762e-02 2.05829121e-03 9.98916361e-01 8.81712123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.17710568099997 meters 0.04144398954422911 Centerline is valid? [True, True] Translation: X:197.03, Y:105.76, Z:8.82 [[ 2.35033651e-01 -9.71950035e-01 -8.50364148e-03 1.97026945e+02] [ 9.70915098e-01 2.35176219e-01 -4.49000990e-02 1.05755626e+02] [ 4.56405071e-02 2.29672032e-03 9.98955289e-01 8.81920994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.20710568099997 meters 0.041556076133504836 Centerline is valid? [True, True] Translation: X:197.03, Y:105.78, Z:8.82 [[ 2.35097462e-01 -9.71935275e-01 -8.42645926e-03 1.97033359e+02] [ 9.70914835e-01 2.35237177e-01 -4.45853635e-02 1.05782064e+02] [ 4.53163040e-02 2.30053151e-03 9.98970040e-01 8.82073718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.23710568099997 meters 0.039201552283010525 Centerline is valid? [True, True] Translation: X:197.04, Y:105.81, Z:8.82 [[ 2.29870439e-01 -9.73184309e-01 -8.47835907e-03 1.97041429e+02] [ 9.72147870e-01 2.30017239e-01 -4.49509621e-02 1.05807709e+02] [ 4.56957397e-02 2.09067866e-03 9.98953216e-01 8.82028874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.26710568099998 meters 0.033846654444611025 Centerline is valid? [True, True] Translation: X:197.06, Y:105.83, Z:8.82 [[ 2.21157006e-01 -9.75201763e-01 -8.43212952e-03 1.97056284e+02] [ 9.74173795e-01 2.21311221e-01 -4.47968847e-02 1.05831200e+02] [ 4.55521258e-02 1.69278529e-03 9.98960529e-01 8.81905084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.29710568099998 meters 0.03120936600334345 Centerline is valid? [True, True] Translation: X:197.07, Y:105.86, Z:8.82 [[ 2.16526676e-01 -9.76240501e-01 -8.40726688e-03 1.97068053e+02] [ 9.75215037e-01 2.16684692e-01 -4.47590786e-02 1.05856542e+02] [ 4.55173514e-02 1.49264144e-03 9.98962433e-01 8.81953299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.32710568099998 meters 0.021923233374335212 Centerline is valid? [True, True] Translation: X:197.09, Y:105.88, Z:8.82 [[ 2.07100922e-01 -9.78282971e-01 -8.46386827e-03 1.97091882e+02] [ 9.77240890e-01 2.07270986e-01 -4.51550759e-02 1.05879776e+02] [ 4.59287561e-02 1.08041968e-03 9.98944134e-01 8.82168865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.35710568099998 meters 0.02280520235326362 Centerline is valid? [True, True] Translation: X:197.10, Y:105.91, Z:8.82 [[ 2.01787117e-01 -9.79393116e-01 -8.43107594e-03 1.97095515e+02] [ 9.78355407e-01 2.01961393e-01 -4.50809568e-02 1.05906255e+02] [ 4.58547306e-02 8.48167546e-04 9.98947759e-01 8.82001248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.38710568099995 meters 0.019020389298740243 Centerline is valid? [True, True] Translation: X:197.11, Y:105.93, Z:8.82 [[ 1.93748147e-01 -9.81017063e-01 -8.19615524e-03 1.97108415e+02] [ 9.80033985e-01 1.93920849e-01 -4.39100432e-02 1.05930625e+02] [ 4.46659071e-02 4.74978821e-04 9.99001867e-01 8.82342987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41710568099995 meters 0.018172067760513454 Centerline is valid? [True, True] Translation: X:197.11, Y:105.96, Z:8.83 [[ 1.91421966e-01 -9.81473655e-01 -8.19114127e-03 1.97114762e+02] [ 9.80488212e-01 1.91596751e-01 -4.39721553e-02 1.05956116e+02] [ 4.47269080e-02 3.85918949e-04 9.98999177e-01 8.82509380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.44710568099995 meters 0.017583288762609926 Centerline is valid? [True, True] Translation: X:197.12, Y:105.98, Z:8.83 [[ 1.91875138e-01 -9.81382332e-01 -8.52350431e-03 1.97118534e+02] [ 9.80310338e-01 1.92063849e-01 -4.58597726e-02 1.05983371e+02] [ 4.66430276e-02 4.43670809e-04 9.98911523e-01 8.82762370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.47710568099995 meters 0.018941092324532532 Centerline is valid? [True, True] Translation: X:197.12, Y:106.01, Z:8.83 [[ 1.96612525e-01 -9.80442493e-01 -8.71975249e-03 1.97115930e+02] [ 9.79314387e-01 1.96804523e-01 -4.70245772e-02 1.06012670e+02] [ 4.78209804e-02 7.06241772e-04 9.98855673e-01 8.82792524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.50710568099996 meters 0.020202179598246627 Centerline is valid? [True, True] Translation: X:197.12, Y:106.04, Z:8.83 [[ 1.99528509e-01 -9.79853347e-01 -8.70584580e-03 1.97115781e+02] [ 9.78723566e-01 1.99716465e-01 -4.70480166e-02 1.06041615e+02] [ 4.78388573e-02 8.66804148e-04 9.98854690e-01 8.82881087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.53710568099996 meters 0.022265765062205525 Centerline is valid? [True, True] Translation: X:197.11, Y:106.07, Z:8.83 [[ 2.05133646e-01 -9.78695093e-01 -8.72363926e-03 1.97110342e+02] [ 9.77554867e-01 2.05315760e-01 -4.72432089e-02 1.06071417e+02] [ 4.80277974e-02 1.16333568e-03 9.98845322e-01 8.82989271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.56710568099996 meters 0.024336563063059483 Centerline is valid? [True, True] Translation: X:197.11, Y:106.10, Z:8.83 [[ 2.07854100e-01 -9.78122133e-01 -8.58869321e-03 1.97110069e+02] [ 9.77012030e-01 2.08027434e-01 -4.66055876e-02 1.06098391e+02] [ 4.73726406e-02 1.29590589e-03 9.98876446e-01 8.83092649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.59710568099996 meters 0.02921194143600029 Centerline is valid? [True, True] Translation: X:197.11, Y:106.13, Z:8.83 [[ 2.14597368e-01 -9.76665238e-01 -8.54296495e-03 1.97109419e+02] [ 9.75562092e-01 2.14761154e-01 -4.64354450e-02 1.06125029e+02] [ 4.71865820e-02 1.63073153e-03 9.98884762e-01 8.83263619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.62710568099996 meters 0.029367810019213396 Centerline is valid? [True, True] Translation: X:197.12, Y:106.15, Z:8.83 [[ 2.17043270e-01 -9.76125574e-01 -8.43111517e-03 1.97115345e+02] [ 9.75046975e-01 2.17199966e-01 -4.59082978e-02 1.06152040e+02] [ 4.66435015e-02 1.74335372e-03 9.98910078e-01 8.83493471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.65710568099996 meters 0.03147839806943543 Centerline is valid? [True, True] Translation: X:197.12, Y:106.18, Z:8.84 [[ 2.22066687e-01 -9.74994862e-01 -8.45020008e-03 1.97115528e+02] [ 9.73906346e-01 2.22218332e-01 -4.61025213e-02 1.06180182e+02] [ 4.68275107e-02 2.00813069e-03 9.98900972e-01 8.83525249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.68710568099996 meters 0.03395677890923895 Centerline is valid? [True, True] Translation: X:197.11, Y:106.21, Z:8.83 [[ 2.24341639e-01 -9.74474122e-01 -8.42702013e-03 1.97114965e+02] [ 9.73387549e-01 2.24489759e-01 -4.60546188e-02 1.06207673e+02] [ 4.67708140e-02 2.12921218e-03 9.98903377e-01 8.83421037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.71710568099996 meters 0.03564142082766092 Centerline is valid? [True, True] Translation: X:197.12, Y:106.24, Z:8.83 [[ 2.27757549e-01 -9.73682252e-01 -8.32893649e-03 1.97118499e+02] [ 9.72615700e-01 2.27898293e-01 -4.56187326e-02 1.06235008e+02] [ 4.63163007e-02 2.28915630e-03 9.98924201e-01 8.83436715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.74710568099997 meters 0.03632880219786217 Centerline is valid? [True, True] Translation: X:197.13, Y:106.26, Z:8.84 [[ 2.30321231e-01 -9.73079509e-01 -8.27040952e-03 1.97127414e+02] [ 9.72023170e-01 2.30457008e-01 -4.53929987e-02 1.06261134e+02] [ 4.60769707e-02 2.41594167e-03 9.98934971e-01 8.83650944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.77710568099997 meters 0.03673515742867729 Centerline is valid? [True, True] Translation: X:197.13, Y:106.29, Z:8.84 [[ 2.31024772e-01 -9.72912394e-01 -8.30827841e-03 1.97133180e+02] [ 9.71842701e-01 2.31160834e-01 -4.56774947e-02 1.06288296e+02] [ 4.63607493e-02 2.47829307e-03 9.98921688e-01 8.83831307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.80710568099997 meters 0.03786640797143478 Centerline is valid? [True, True] Translation: X:197.14, Y:106.32, Z:8.84 [[ 2.31793807e-01 -9.72728982e-01 -8.36412651e-03 1.97139434e+02] [ 9.71640145e-01 2.31930595e-01 -4.60828389e-02 1.06315876e+02] [ 4.67660098e-02 2.55479558e-03 9.98902605e-01 8.83791669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.83710568099997 meters 0.03796642943452072 Centerline is valid? [True, True] Translation: X:197.15, Y:106.34, Z:8.84 [[ 2.30979440e-01 -9.72923728e-01 -8.24118342e-03 1.97145308e+02] [ 9.71862420e-01 2.31112888e-01 -4.55002218e-02 1.06343457e+02] [ 4.61728891e-02 2.50031929e-03 9.98930334e-01 8.83832692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.86710568099997 meters 0.03757559497535394 Centerline is valid? [True, True] Translation: X:197.15, Y:106.37, Z:8.84 [[ 2.28992894e-01 -9.73395648e-01 -7.94778585e-03 1.97154321e+02] [ 9.72405052e-01 2.29118835e-01 -4.39656029e-02 1.06369166e+02] [ 4.46169140e-02 2.33934355e-03 9.99001431e-01 8.83857285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.89710568099997 meters 0.03787694833581101 Centerline is valid? [True, True] Translation: X:197.16, Y:106.39, Z:8.84 [[ 2.27087756e-01 -9.73844418e-01 -7.62898108e-03 1.97164659e+02] [ 9.72929139e-01 2.27205447e-01 -4.22678983e-02 1.06394379e+02] [ 4.28957028e-02 2.17606417e-03 9.99077186e-01 8.84080905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.92710568099997 meters 0.039570062871768806 Centerline is valid? [True, True] Translation: X:197.17, Y:106.42, Z:8.84 [[ 2.26092257e-01 -9.74076676e-01 -7.54458129e-03 1.97170314e+02] [ 9.73178114e-01 2.26208098e-01 -4.18838172e-02 1.06419782e+02] [ 4.25046948e-02 2.12738538e-03 9.99094002e-01 8.84153310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.95710568099997 meters 0.03401707328812149 Centerline is valid? [True, True] Translation: X:197.19, Y:106.45, Z:8.84 [[ 2.25039687e-01 -9.74319288e-01 -7.68530993e-03 1.97186505e+02] [ 9.73382573e-01 2.25160675e-01 -4.27672393e-02 1.06445057e+02] [ 4.33993757e-02 2.14357938e-03 9.99055504e-01 8.84309936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.98710568099997 meters 0.03507153454202515 Centerline is valid? [True, True] Translation: X:197.20, Y:106.47, Z:8.84 [[ 2.25426055e-01 -9.74226135e-01 -8.15665344e-03 1.97195602e+02] [ 9.73166047e-01 2.25561664e-01 -4.54948465e-02 1.06470646e+02] [ 4.61620968e-02 2.31794559e-03 9.98931273e-01 8.84078017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.01710568099998 meters 0.03537301906644762 Centerline is valid? [True, True] Translation: X:197.20, Y:106.50, Z:8.84 [[ 2.25687604e-01 -9.74164345e-01 -8.30270275e-03 1.97202234e+02] [ 9.73060883e-01 2.25827560e-01 -4.64158515e-02 1.06498320e+02] [ 4.70916466e-02 2.39644705e-03 9.98887698e-01 8.84065801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.04710568099998 meters 0.04036112099068756 Centerline is valid? [True, True] Translation: X:197.21, Y:106.53, Z:8.84 [[ 2.26615571e-01 -9.73949244e-01 -8.26158846e-03 1.97205926e+02] [ 9.72851894e-01 2.26752861e-01 -4.62853391e-02 1.06525173e+02] [ 4.69529098e-02 2.45167655e-03 9.98894095e-01 8.83961644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.07710568099998 meters 0.03844464713484013 Centerline is valid? [True, True] Translation: X:197.22, Y:106.55, Z:8.84 [[ 2.26263043e-01 -9.74029891e-01 -8.41473820e-03 1.97217543e+02] [ 9.72886324e-01 2.26405607e-01 -4.72514777e-02 1.06550936e+02] [ 4.79294956e-02 2.50467941e-03 9.98847581e-01 8.84069910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.10710568099998 meters 0.03612340806655735 Centerline is valid? [True, True] Translation: X:197.24, Y:106.58, Z:8.84 [[ 2.24560114e-01 -9.74419574e-01 -8.90223327e-03 1.97235223e+02] [ 9.73134261e-01 2.24721608e-01 -5.00989962e-02 1.06575987e+02] [ 5.08179667e-02 2.58716810e-03 9.98704581e-01 8.84048216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.13710568099995 meters 0.03559412140599693 Centerline is valid? [True, True] Translation: X:197.25, Y:106.60, Z:8.84 [[ 2.22288426e-01 -9.74942477e-01 -8.66158475e-03 1.97246726e+02] [ 9.73722098e-01 2.22443957e-01 -4.88258365e-02 1.06601115e+02] [ 4.95290991e-02 2.41944188e-03 9.98769751e-01 8.84370611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.16710568099995 meters 0.034837434009416815 Centerline is valid? [True, True] Translation: X:197.26, Y:106.63, Z:8.85 [[ 2.21505003e-01 -9.75122306e-01 -8.48661334e-03 1.97255318e+02] [ 9.73946197e-01 2.21655035e-01 -4.79358986e-02 1.06627050e+02] [ 4.86244646e-02 2.35253659e-03 9.98814361e-01 8.84533247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.19710568099995 meters 0.03491407239809674 Centerline is valid? [True, True] Translation: X:197.27, Y:106.65, Z:8.85 [[ 2.20971786e-01 -9.75245920e-01 -8.17715385e-03 1.97265124e+02] [ 9.74149063e-01 2.21111439e-01 -4.62961627e-02 1.06651394e+02] [ 4.69582060e-02 2.26437898e-03 9.98894288e-01 8.84876541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.22710568099995 meters 0.03412706542563375 Centerline is valid? [True, True] Translation: X:197.27, Y:106.68, Z:8.85 [[ 2.20592373e-01 -9.75332938e-01 -8.04140594e-03 1.97274190e+02] [ 9.74267090e-01 2.20727596e-01 -4.56395151e-02 1.06677046e+02] [ 4.62886826e-02 2.23325178e-03 9.98925608e-01 8.85100315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.25710568099996 meters 0.03612772305767822 Centerline is valid? [True, True] Translation: X:197.28, Y:106.70, Z:8.85 [[ 2.21519560e-01 -9.75121273e-01 -8.22111629e-03 1.97281553e+02] [ 9.74001748e-01 2.21659566e-01 -4.67721351e-02 1.06703373e+02] [ 4.74307930e-02 2.35356116e-03 9.98871754e-01 8.85054912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.28710568099996 meters 0.03832395163153085 Centerline is valid? [True, True] Translation: X:197.29, Y:106.73, Z:8.85 [[ 2.24489218e-01 -9.74441636e-01 -8.25157995e-03 1.97287460e+02] [ 9.73308381e-01 2.24626561e-01 -4.70500099e-02 1.06730869e+02] [ 4.77010127e-02 2.53088799e-03 9.98858452e-01 8.85151804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.31710568099996 meters 0.04039634855233246 Centerline is valid? [True, True] Translation: X:197.29, Y:106.76, Z:8.85 [[ 2.26555325e-01 -9.73964756e-01 -8.08322650e-03 1.97291852e+02] [ 9.72872815e-01 2.26684588e-01 -4.61798984e-02 1.06757259e+02] [ 4.68099364e-02 2.59835059e-03 9.98900435e-01 8.85353782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.34710568099996 meters 0.04190533592556597 Centerline is valid? [True, True] Translation: X:197.30, Y:106.78, Z:8.86 [[ 2.28786124e-01 -9.73444624e-01 -7.90402729e-03 1.97297660e+02] [ 9.72397246e-01 2.28907156e-01 -4.52228978e-02 1.06784098e+02] [ 4.58312752e-02 2.66051715e-03 9.98945652e-01 8.85630272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.37710568099996 meters 0.0438717802983947 Centerline is valid? [True, True] Translation: X:197.31, Y:106.81, Z:8.86 [[ 2.30040013e-01 -9.73152546e-01 -7.46420196e-03 1.97305927e+02] [ 9.72215579e-01 2.30146591e-01 -4.27716652e-02 1.06809759e+02] [ 4.33412155e-02 2.58238098e-03 9.99056991e-01 8.86105242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.40710568099996 meters 0.0438717802983947 Centerline is valid? [True, True] Translation: X:197.31, Y:106.84, Z:8.86 [[ 2.29670806e-01 -9.73239867e-01 -7.44860967e-03 1.97310253e+02] [ 9.72302863e-01 2.29777057e-01 -4.27743808e-02 1.06836152e+02] [ 4.33412523e-02 2.58172203e-03 9.99056991e-01 8.86204054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.43710568099996 meters 0.04201700534120061 Centerline is valid? [True, True] Translation: X:197.32, Y:106.86, Z:8.86 [[ 2.26020236e-01 -9.74097213e-01 -7.03373483e-03 1.97324061e+02] [ 9.73258533e-01 2.26117923e-01 -4.04785596e-02 1.06861286e+02] [ 4.10205056e-02 2.30333114e-03 9.99155650e-01 8.86489538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.46710568099996 meters 0.04324819775408859 Centerline is valid? [True, True] Translation: X:197.33, Y:106.89, Z:8.86 [[ 2.23056322e-01 -9.74779377e-01 -7.14442385e-03 1.97329582e+02] [ 9.73910421e-01 2.23159526e-01 -4.12106652e-02 1.06887603e+02] [ 4.17656528e-02 2.23427058e-03 9.99124936e-01 8.86424493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.49710568099997 meters 0.038271117626880104 Centerline is valid? [True, True] Translation: X:197.35, Y:106.91, Z:8.86 [[ 2.17928180e-01 -9.75935234e-01 -7.59786061e-03 1.97346598e+02] [ 9.74948464e-01 2.18049829e-01 -4.39290913e-02 1.06912899e+02] [ 4.45286602e-02 2.16586437e-03 9.99005759e-01 8.86080038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.52710568099997 meters 0.037698742433384905 Centerline is valid? [True, True] Translation: X:197.35, Y:106.94, Z:8.86 [[ 2.15637105e-01 -9.76442461e-01 -7.79484683e-03 1.97354715e+02] [ 9.75399565e-01 2.15767363e-01 -4.51678389e-02 1.06938275e+02] [ 4.57856693e-02 2.13677179e-03 9.98949001e-01 8.85988322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.55710568099997 meters 0.03365405001880167 Centerline is valid? [True, True] Translation: X:197.37, Y:106.96, Z:8.86 [[ 2.16436274e-01 -9.76263554e-01 -8.05060341e-03 1.97370020e+02] [ 9.75145737e-01 2.16574052e-01 -4.67597127e-02 1.06963945e+02] [ 4.73933552e-02 2.26998640e-03 9.98873724e-01 8.86135519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.58710568099997 meters 0.03648151604933416 Centerline is valid? [True, True] Translation: X:197.37, Y:106.99, Z:8.86 [[ 2.20393106e-01 -9.75376771e-01 -8.18738622e-03 1.97372985e+02] [ 9.74214883e-01 2.20530642e-01 -4.76612867e-02 1.06990230e+02] [ 4.82932815e-02 2.52794551e-03 9.98830000e-01 8.86273463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.61710568099997 meters 0.036857074773503425 Centerline is valid? [True, True] Translation: X:197.38, Y:107.02, Z:8.86 [[ 2.22116545e-01 -9.74985558e-01 -8.20982207e-03 1.97377516e+02] [ 9.73811655e-01 2.22252477e-01 -4.79030028e-02 1.07017928e+02] [ 4.85293892e-02 2.64522906e-03 9.98818252e-01 8.86388923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.64710568099997 meters 0.03920181748478347 Centerline is valid? [True, True] Translation: X:197.38, Y:107.05, Z:8.86 [[ 2.26007328e-01 -9.74091620e-01 -8.13656464e-03 1.97380362e+02] [ 9.72933027e-01 2.26135948e-01 -4.75800257e-02 1.07045134e+02] [ 4.81872741e-02 2.83710201e-03 9.98834289e-01 8.86485385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.67710568099997 meters 0.040421871373245884 Centerline is valid? [True, True] Translation: X:197.38, Y:107.07, Z:8.86 [[ 2.26947272e-01 -9.73871278e-01 -8.34683288e-03 1.97384732e+02] [ 9.72646176e-01 2.27081098e-01 -4.89243425e-02 1.07073001e+02] [ 4.95414200e-02 2.98473098e-03 9.98767610e-01 8.86396647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.70710568099997 meters 0.03894147368963708 Centerline is valid? [True, True] Translation: X:197.39, Y:107.10, Z:8.86 [[ 2.24687006e-01 -9.74391260e-01 -8.79896809e-03 1.97393980e+02] [ 9.73024045e-01 2.24838509e-01 -5.16899619e-02 1.07099724e+02] [ 5.23445940e-02 3.05245524e-03 9.98624417e-01 8.85960606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.73710568099997 meters 0.03712637017806831 Centerline is valid? [True, True] Translation: X:197.40, Y:107.13, Z:8.86 [[ 2.21650803e-01 -9.75086144e-01 -8.82798814e-03 1.97403745e+02] [ 9.73704351e-01 2.21807258e-01 -5.19747703e-02 1.07126536e+02] [ 5.26379902e-02 2.92439909e-03 9.98609378e-01 8.85959764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.76710568099998 meters 0.03189581701884893 Centerline is valid? [True, True] Translation: X:197.42, Y:107.15, Z:8.86 [[ 2.13228098e-01 -9.76963567e-01 -8.71586753e-03 1.97423235e+02] [ 9.75612524e-01 2.13391968e-01 -5.14205331e-02 1.07151295e+02] [ 5.20958836e-02 2.46099297e-03 9.98639055e-01 8.86268291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.79710568099998 meters 0.029759905551884697 Centerline is valid? [True, True] Translation: X:197.43, Y:107.18, Z:8.87 [[ 2.08154044e-01 -9.78057607e-01 -8.67238430e-03 1.97433958e+02] [ 9.76715921e-01 2.08323016e-01 -5.12594468e-02 1.07177088e+02] [ 5.19413491e-02 2.19940535e-03 9.98647715e-01 8.86528421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.82710568099998 meters 0.025800715739867797 Centerline is valid? [True, True] Translation: X:197.45, Y:107.20, Z:8.87 [[ 1.98090803e-01 -9.80150287e-01 -8.09000730e-03 1.97448272e+02] [ 9.78978906e-01 1.98249677e-01 -4.79308592e-02 1.07201538e+02] [ 4.85832868e-02 1.57471589e-03 9.98817894e-01 8.86945316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.85710568099998 meters 0.02101122938112911 Centerline is valid? [True, True] Translation: X:197.46, Y:107.23, Z:8.87 [[ 1.87505436e-01 -9.82234610e-01 -7.54197169e-03 1.97464832e+02] [ 9.81213461e-01 1.87654402e-01 -4.47880451e-02 1.07226327e+02] [ 4.54076523e-02 9.97717802e-04 9.98968042e-01 8.87492202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.88710568099995 meters 0.019318670391370113 Centerline is valid? [True, True] Translation: X:197.47, Y:107.25, Z:8.88 [[ 1.81614766e-01 -9.83341875e-01 -7.40495630e-03 1.97474231e+02] [ 9.82353749e-01 1.81764194e-01 -4.40782228e-02 1.07252903e+02] [ 4.46899182e-02 7.30969536e-04 9.99000639e-01 8.87626542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91710568099995 meters 0.017124123531291748 Centerline is valid? [True, True] Translation: X:197.49, Y:107.28, Z:8.88 [[ 1.70896824e-01 -9.85262428e-01 -7.22661518e-03 1.97486364e+02] [ 9.84318787e-01 1.71049360e-01 -4.31119626e-02 1.07279480e+02] [ 4.37127048e-02 2.54404380e-04 9.99044110e-01 8.87732216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.94710568099995 meters 0.016875041653839674 Centerline is valid? [True, True] Translation: X:197.49, Y:107.31, Z:8.88 [[ 1.67269483e-01 -9.85883989e-01 -7.32672356e-03 1.97493619e+02] [ 9.84910227e-01 1.67429831e-01 -4.38074864e-02 1.07305965e+02] [ 4.44158115e-02 1.11490623e-04 9.99013125e-01 8.87856183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.97710568099995 meters 0.016869907335732404 Centerline is valid? [True, True] Translation: X:197.50, Y:107.33, Z:8.88 [[ 1.64226282e-01 -9.86395101e-01 -7.37792621e-03 1.97499725e+02] [ 9.85403102e-01 1.64391926e-01 -4.42269310e-02 1.07331585e+02] [ 4.48380995e-02 -7.00693165e-06 9.98994267e-01 8.88011536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.00710568099996 meters 0.016936223697703676 Centerline is valid? [True, True] Translation: X:197.50, Y:107.36, Z:8.88 [[ 1.61622121e-01 -9.86825767e-01 -7.29354555e-03 1.97502450e+02] [ 9.85851701e-01 1.61786572e-01 -4.38352396e-02 1.07359132e+02] [ 4.44377417e-02 -1.05609879e-04 9.99012150e-01 8.88294500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.03710568099996 meters 0.016988529633830202 Centerline is valid? [True, True] Translation: X:197.50, Y:107.39, Z:8.88 [[ 1.61855029e-01 -9.86788369e-01 -7.18776739e-03 1.97502859e+02] [ 9.85837583e-01 1.62014532e-01 -4.33076375e-02 1.07386606e+02] [ 4.38999958e-02 -7.64122885e-05 9.99035928e-01 8.88459929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.06710568099996 meters 0.017006614784596488 Centerline is valid? [True, True] Translation: X:197.50, Y:107.42, Z:8.88 [[ 1.65614515e-01 -9.86163053e-01 -7.36654545e-03 1.97497020e+02] [ 9.85158507e-01 1.65778228e-01 -4.45005156e-02 1.07415694e+02] [ 4.51059772e-02 1.12716395e-04 9.98982201e-01 8.88399681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.09710568099996 meters 0.017419632679881593 Centerline is valid? [True, True] Translation: X:197.49, Y:107.44, Z:8.88 [[ 1.69421555e-01 -9.85516555e-01 -7.31141851e-03 1.97491817e+02] [ 9.84521313e-01 1.69578972e-01 -4.42804331e-02 1.07444389e+02] [ 4.48789627e-02 3.03812479e-04 9.98992386e-01 8.88420466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.12710568099996 meters 0.0178846153207575 Centerline is valid? [True, True] Translation: X:197.49, Y:107.47, Z:8.89 [[ 1.71210360e-01 -9.85208491e-01 -7.15841659e-03 1.97490902e+02] [ 9.84249401e-01 1.71359486e-01 -4.34631333e-02 1.07471934e+02] [ 4.40469106e-02 3.95671448e-04 9.99029386e-01 8.88617794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.15710568099996 meters 0.019242497890880915 Centerline is valid? [True, True] Translation: X:197.48, Y:107.50, Z:8.89 [[ 1.76466264e-01 -9.84281461e-01 -7.04724897e-03 1.97484646e+02] [ 9.83346554e-01 1.76605767e-01 -4.28947342e-02 1.07501730e+02] [ 4.34650764e-02 6.39585495e-04 9.99054742e-01 8.88691441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.18710568099996 meters 0.020258740489477352 Centerline is valid? [True, True] Translation: X:197.48, Y:107.53, Z:8.89 [[ 1.79093969e-01 -9.83805859e-01 -7.16817967e-03 1.97483631e+02] [ 9.82833608e-01 1.79235634e-01 -4.37342643e-02 1.07529354e+02] [ 4.43108187e-02 7.87415084e-04 9.99017483e-01 8.88636303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.21710568099996 meters 0.023400831987438035 Centerline is valid? [True, True] Translation: X:197.48, Y:107.56, Z:8.88 [[ 1.87132230e-01 -9.82306321e-01 -7.47128362e-03 1.97477629e+02] [ 9.81243489e-01 1.87277339e-01 -4.56991743e-02 1.07558001e+02] [ 4.62897899e-02 1.22064000e-03 9.98927307e-01 8.88433964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.24710568099997 meters 0.026219329690625733 Centerline is valid? [True, True] Translation: X:197.47, Y:107.59, Z:8.88 [[ 1.90625235e-01 -9.81631693e-01 -7.82551352e-03 1.97473778e+02] [ 9.80459040e-01 1.90780087e-01 -4.79898782e-02 1.07586172e+02] [ 4.86013376e-02 1.47548632e-03 9.98817167e-01 8.88154958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.27710568099997 meters 0.03022214131865955 Centerline is valid? [True, True] Translation: X:197.47, Y:107.62, Z:8.88 [[ 1.97678371e-01 -9.80231396e-01 -8.34697126e-03 1.97465934e+02] [ 9.78889077e-01 1.97844671e-01 -5.13192132e-02 1.07615742e+02] [ 5.19561078e-02 1.97393946e-03 9.98647418e-01 8.87691515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.30710568099997 meters 0.03251111970543757 Centerline is valid? [True, True] Translation: X:197.46, Y:107.64, Z:8.88 [[ 2.00952173e-01 -9.79564907e-01 -8.41525113e-03 1.97464164e+02] [ 9.78193325e-01 2.01116367e-01 -5.18654570e-02 1.07643891e+02] [ 5.24980263e-02 2.19073383e-03 9.98618625e-01 8.87720388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.33710568099997 meters 0.035605142886485405 Centerline is valid? [True, True] Translation: X:197.46, Y:107.67, Z:8.88 [[ 2.06689197e-01 -9.78370148e-01 -8.45160659e-03 1.97459650e+02] [ 9.76979119e-01 2.06846385e-01 -5.22146933e-02 1.07672243e+02] [ 5.28334815e-02 2.53516989e-03 9.98600118e-01 8.87964075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.36710568099997 meters 0.03718376579322786 Centerline is valid? [True, True] Translation: X:197.46, Y:107.70, Z:8.88 [[ 2.08536849e-01 -9.77977848e-01 -8.46827461e-03 1.97458843e+02] [ 9.76574437e-01 2.08691688e-01 -5.24418594e-02 1.07700745e+02] [ 5.30542353e-02 2.66615960e-03 9.98588073e-01 8.88076786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.39710568099997 meters 0.04001453804156405 Centerline is valid? [True, True] Translation: X:197.45, Y:107.73, Z:8.88 [[ 2.12276069e-01 -9.77174659e-01 -8.27990485e-03 1.97454625e+02] [ 9.75826554e-01 2.12418651e-01 -5.13892411e-02 1.07729322e+02] [ 5.19750703e-02 2.82895507e-03 9.98644376e-01 8.88215294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.42710568099997 meters 0.041732357666842405 Centerline is valid? [True, True] Translation: X:197.45, Y:107.76, Z:8.88 [[ 2.13506616e-01 -9.76907253e-01 -8.19417342e-03 1.97454444e+02] [ 9.75580587e-01 2.13644256e-01 -5.09769545e-02 1.07756740e+02] [ 5.15503947e-02 2.88984051e-03 9.98666213e-01 8.88294777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.45710568099997 meters 0.042105943566734784 Centerline is valid? [True, True] Translation: X:197.46, Y:107.79, Z:8.88 [[ 2.13811103e-01 -9.76838684e-01 -8.42599850e-03 1.97456219e+02] [ 9.75429293e-01 2.13955826e-01 -5.25414026e-02 1.07785183e+02] [ 5.31272661e-02 3.01496952e-03 9.98583198e-01 8.88115882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.48710568099997 meters 0.0406418765026857 Centerline is valid? [True, True] Translation: X:197.46, Y:107.81, Z:8.88 [[ 2.09276386e-01 -9.77818140e-01 -8.66482030e-03 1.97463589e+02] [ 9.76321654e-01 2.09435977e-01 -5.41534863e-02 1.07810508e+02] [ 5.47669864e-02 2.87339423e-03 9.98495028e-01 8.87861905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.51710568099998 meters 0.03860325704795478 Centerline is valid? [True, True] Translation: X:197.47, Y:107.84, Z:8.88 [[ 2.04952522e-01 -9.78732735e-01 -8.75772827e-03 1.97472058e+02] [ 9.77197594e-01 2.05121962e-01 -5.48620433e-02 1.07837061e+02] [ 5.54916801e-02 2.68608316e-03 9.98455537e-01 8.87879920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.54710568099998 meters 0.028877884620160218 Centerline is valid? [True, True] Translation: X:197.49, Y:107.86, Z:8.88 [[ 1.94779276e-01 -9.80806705e-01 -8.90175707e-03 1.97493272e+02] [ 9.79215792e-01 1.94970528e-01 -5.58831514e-02 1.07861034e+02] [ 5.65461499e-02 2.16813868e-03 9.98397632e-01 8.88121462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.57710568099998 meters 0.030138790744340668 Centerline is valid? [True, True] Translation: X:197.50, Y:107.89, Z:8.88 [[ 1.89516781e-01 -9.81837780e-01 -8.82971037e-03 1.97496539e+02] [ 9.80267148e-01 1.89713133e-01 -5.55449818e-02 1.07887826e+02] [ 5.62112736e-02 1.87123116e-03 9.98417143e-01 8.87891621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.60710568099998 meters 0.02282831967691434 Centerline is valid? [True, True] Translation: X:197.52, Y:107.91, Z:8.88 [[ 1.79664893e-01 -9.83691715e-01 -8.43422123e-03 1.97515374e+02] [ 9.82253360e-01 1.79858254e-01 -5.31915843e-02 1.07912804e+02] [ 5.38410851e-02 1.27211817e-03 9.98548707e-01 8.88481246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.63710568099995 meters 0.021176994936950824 Centerline is valid? [True, True] Translation: X:197.53, Y:107.94, Z:8.89 [[ 1.74366095e-01 -9.84645456e-01 -8.35414301e-03 1.97525113e+02] [ 9.83228845e-01 1.74563280e-01 -5.28081481e-02 1.07938636e+02] [ 5.34556297e-02 9.93916166e-04 9.98569731e-01 8.88581468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.66710568099995 meters 0.018353764572235486 Centerline is valid? [True, True] Translation: X:197.54, Y:107.96, Z:8.89 [[ 1.62926144e-01 -9.86605045e-01 -8.09678008e-03 1.97542156e+02] [ 9.85271530e-01 1.63126772e-01 -5.12802953e-02 1.07964008e+02] [ 5.19141996e-02 3.77373863e-04 9.98651477e-01 8.88943131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.69710568099995 meters 0.01773796918716711 Centerline is valid? [True, True] Translation: X:197.55, Y:107.99, Z:8.89 [[ 1.57182256e-01 -9.87537724e-01 -7.93611660e-03 1.97551542e+02] [ 9.86251526e-01 1.57382448e-01 -5.03854330e-02 1.07990456e+02] [ 5.10065213e-02 9.26889064e-05 9.98698316e-01 8.89265613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.72710568099995 meters 0.018369761301336884 Centerline is valid? [True, True] Translation: X:197.56, Y:108.02, Z:8.90 [[ 1.48245275e-01 -9.88921631e-01 -7.57269399e-03 1.97560686e+02] [ 9.87746538e-01 1.48438186e-01 -4.81962913e-02 1.08015426e+02] [ 4.87864319e-02 -3.35029794e-04 9.98809177e-01 8.89637267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.75710568099996 meters 0.020498474411378302 Centerline is valid? [True, True] Translation: X:197.57, Y:108.04, Z:8.90 [[ 1.41250282e-01 -9.89945309e-01 -7.52616180e-03 1.97566305e+02] [ 9.88780019e-01 1.41449114e-01 -4.80231479e-02 1.08040790e+02] [ 4.86048589e-02 -6.58435204e-04 9.98817868e-01 8.89591405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.78710568099996 meters 0.021800295975764963 Centerline is valid? [True, True] Translation: X:197.57, Y:108.07, Z:8.90 [[ 1.37620970e-01 -9.90456630e-01 -7.49215401e-03 1.97570661e+02] [ 9.89297616e-01 1.37822325e-01 -4.79085897e-02 1.08067990e+02] [ 4.84839664e-02 -8.18743531e-04 9.98823625e-01 8.89696155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.81710568099996 meters 0.02513393956900388 Centerline is valid? [True, True] Translation: X:197.58, Y:108.09, Z:8.90 [[ 1.30052482e-01 -9.91482422e-01 -6.99707591e-03 1.97576080e+02] [ 9.90467980e-01 1.30235953e-01 -4.48528414e-02 1.08093216e+02] [ 4.53820747e-02 -1.09715629e-03 9.98969100e-01 8.90212523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.84710568099996 meters 0.02664651159304265 Centerline is valid? [True, True] Translation: X:197.58, Y:108.12, Z:8.91 [[ 1.26102296e-01 -9.91995131e-01 -6.62352961e-03 1.97580021e+02] [ 9.91082116e-01 1.26270457e-01 -4.25677140e-02 1.08119955e+02] [ 4.30633211e-02 -1.19657527e-03 9.99071628e-01 8.90660598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.87710568099996 meters 0.031005597127578992 Centerline is valid? [True, True] Translation: X:197.58, Y:108.15, Z:8.91 [[ 1.18947241e-01 -9.92879214e-01 -6.51302772e-03 1.97581523e+02] [ 9.91993163e-01 1.19116355e-01 -4.19625948e-02 1.08145767e+02] [ 4.24395963e-02 -1.46954409e-03 9.99097954e-01 8.90681500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.90710568099996 meters 0.029479036570780874 Centerline is valid? [True, True] Translation: X:197.58, Y:108.18, Z:8.91 [[ 1.16045065e-01 -9.93220890e-01 -6.76802649e-03 1.97576857e+02] [ 9.92260154e-01 1.16230639e-01 -4.37061160e-02 1.08175105e+02] [ 4.41964795e-02 -1.64376392e-03 9.99021506e-01 8.90557465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.93710568099996 meters 0.03019344985218169 Centerline is valid? [True, True] Translation: X:197.58, Y:108.20, Z:8.90 [[ 1.14005648e-01 -9.93455057e-01 -7.05420860e-03 1.97575927e+02] [ 9.92406199e-01 1.14209600e-01 -4.56738787e-02 1.08203780e+02] [ 4.61806041e-02 -1.79356021e-03 9.98931497e-01 8.90291116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.96710568099996 meters 0.03136552695569743 Centerline is valid? [True, True] Translation: X:197.57, Y:108.23, Z:8.90 [[ 1.12597242e-01 -9.93613372e-01 -7.37080339e-03 1.97571211e+02] [ 9.92462289e-01 1.12821778e-01 -4.78523847e-02 1.08232227e+02] [ 4.83783564e-02 -1.92719788e-03 9.98827223e-01 8.90043978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.99710568099997 meters 0.03294673746756014 Centerline is valid? [True, True] Translation: X:197.56, Y:108.26, Z:8.90 [[ 1.10981559e-01 -9.93791958e-01 -7.78706256e-03 1.97563423e+02] [ 9.92500165e-01 1.11234554e-01 -5.06980982e-02 1.08261153e+02] [ 5.12495527e-02 -2.10210690e-03 9.98683666e-01 8.89662715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.02710568099997 meters 0.032663662681694065 Centerline is valid? [True, True] Translation: X:197.56, Y:108.29, Z:8.90 [[ 1.10305560e-01 -9.93865310e-01 -8.02677040e-03 1.97560345e+02] [ 9.92485354e-01 1.10575610e-01 -5.24009160e-02 1.08290356e+02] [ 5.29670176e-02 -2.18633969e-03 9.98593869e-01 8.89619567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.05710568099997 meters 0.03380546381536898 Centerline is valid? [True, True] Translation: X:197.55, Y:108.32, Z:8.90 [[ 1.07910444e-01 -9.94130074e-01 -7.79313921e-03 1.97552807e+02] [ 9.92823359e-01 1.08168429e-01 -5.10036099e-02 1.08319729e+02] [ 5.15471941e-02 -2.23338846e-03 9.98668062e-01 8.89840412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.08710568099997 meters 0.0354360815930906 Centerline is valid? [True, True] Translation: X:197.55, Y:108.35, Z:8.90 [[ 1.06219972e-01 -9.94314687e-01 -7.45795785e-03 1.97552319e+02] [ 9.93112875e-01 1.06458533e-01 -4.89223798e-02 1.08347288e+02] [ 4.94382040e-02 -2.21006015e-03 9.98774739e-01 8.90145219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.11710568099997 meters 0.03679230214154007 Centerline is valid? [True, True] Translation: X:197.54, Y:108.38, Z:8.91 [[ 1.02312905e-01 -9.94727227e-01 -7.05786857e-03 1.97543586e+02] [ 9.93647627e-01 1.02530994e-01 -4.63873686e-02 1.08376850e+02] [ 4.68664288e-02 -2.26700790e-03 9.98898593e-01 8.90727217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.14710568099997 meters 0.03953186474073914 Centerline is valid? [True, True] Translation: X:197.54, Y:108.40, Z:8.91 [[ 9.88232908e-02 -9.95083469e-01 -6.54570553e-03 1.97536583e+02] [ 9.94151196e-01 9.90143675e-02 -4.31225630e-02 1.08403689e+02] [ 4.35586685e-02 -2.24590740e-03 9.99048346e-01 8.91317097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.17710568099997 meters 0.039720030427879964 Centerline is valid? [True, True] Translation: X:197.53, Y:108.43, Z:8.92 [[ 9.72536144e-02 -9.95239511e-01 -6.32859886e-03 1.97533048e+02] [ 9.94364263e-01 9.74338203e-02 -4.17895017e-02 1.08431569e+02] [ 4.22071828e-02 -2.22875246e-03 9.99106394e-01 8.91611248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.20710568099997 meters 0.04279090350891558 Centerline is valid? [True, True] Translation: X:197.52, Y:108.46, Z:8.92 [[ 9.42273622e-02 -9.95531452e-01 -6.19134058e-03 1.97524255e+02] [ 9.94689674e-01 9.44026412e-02 -4.09950427e-02 1.08459001e+02] [ 4.13963333e-02 -2.29560781e-03 9.99140167e-01 8.91849202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.23710568099997 meters 0.04316783354469244 Centerline is valid? [True, True] Translation: X:197.52, Y:108.49, Z:8.92 [[ 9.24299809e-02 -9.95701386e-01 -5.95382827e-03 1.97520115e+02] [ 9.94918809e-01 9.25937319e-02 -3.95343432e-02 1.08486680e+02] [ 3.99156875e-02 -2.26941715e-03 9.99200474e-01 8.92096297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.26710568099998 meters 0.043629463196273074 Centerline is valid? [True, True] Translation: X:197.51, Y:108.52, Z:8.93 [[ 9.02078385e-02 -9.95907096e-01 -5.62161543e-03 1.97508464e+02] [ 9.95206163e-01 9.03555973e-02 -3.74240574e-02 1.08516006e+02] [ 3.77788287e-02 -2.21872299e-03 9.99283662e-01 8.92513294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.29710568099998 meters 0.043629463196273074 Centerline is valid? [True, True] Translation: X:197.51, Y:108.54, Z:8.93 [[ 8.98131368e-02 -9.95942853e-01 -5.60667447e-03 1.97512130e+02] [ 9.95241860e-01 8.99606138e-02 -3.74262957e-02 1.08542477e+02] [ 3.77788316e-02 -2.21862412e-03 9.99283662e-01 8.92612083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.32710568099998 meters 0.045035419994218 Centerline is valid? [True, True] Translation: X:197.51, Y:108.57, Z:8.93 [[ 8.86222646e-02 -9.96050007e-01 -5.52071679e-03 1.97508838e+02] [ 9.95366841e-01 8.87662874e-02 -3.69512959e-02 1.08569408e+02] [ 3.72953920e-02 -2.22043091e-03 9.99301818e-01 8.92768708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.35710568099998 meters 0.04639674459975197 Centerline is valid? [True, True] Translation: X:197.50, Y:108.60, Z:8.93 [[ 8.77379909e-02 -9.96127214e-01 -5.71128979e-03 1.97495787e+02] [ 9.95391833e-01 8.78930382e-02 -3.83394386e-02 1.08598020e+02] [ 3.86929408e-02 -2.32114590e-03 9.99248452e-01 8.92566158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.38710568099995 meters 0.04378199778148987 Centerline is valid? [True, True] Translation: X:197.49, Y:108.63, Z:8.93 [[ 8.78493735e-02 -9.96117003e-01 -5.77967799e-03 1.97487458e+02] [ 9.95359548e-01 8.80083298e-02 -3.89089081e-02 1.08627275e+02] [ 3.92664847e-02 -2.33473447e-03 9.99226047e-01 8.92575928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41710568099995 meters 0.040499960262917294 Centerline is valid? [True, True] Translation: X:197.47, Y:108.66, Z:8.92 [[ 9.19376616e-02 -9.95747027e-01 -5.94350596e-03 1.97470589e+02] [ 9.94941003e-01 9.21027041e-02 -4.01184881e-02 1.08657620e+02] [ 4.04952782e-02 -2.22503780e-03 9.99177252e-01 8.92486287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.44710568099995 meters 0.033646257906206054 Centerline is valid? [True, True] Translation: X:197.45, Y:108.69, Z:8.93 [[ 1.00971012e-01 -9.94870503e-01 -6.12671311e-03 1.97448634e+02] [ 9.94007668e-01 1.01138821e-01 -4.14692106e-02 1.08688101e+02] [ 4.18761430e-02 -1.90281165e-03 9.99120998e-01 8.92585332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.47710568099995 meters 0.03269344279020064 Centerline is valid? [True, True] Translation: X:197.44, Y:108.72, Z:8.93 [[ 1.07129855e-01 -9.94226405e-01 -6.08680187e-03 1.97442620e+02] [ 9.93368912e-01 1.07290399e-01 -4.13155537e-02 1.08716042e+02] [ 4.17300698e-02 -1.62031047e-03 9.99127607e-01 8.92779434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.50710568099996 meters 0.028480671190494522 Centerline is valid? [True, True] Translation: X:197.43, Y:108.74, Z:8.93 [[ 1.14166333e-01 -9.93443323e-01 -6.03425948e-03 1.97431403e+02] [ 9.92594625e-01 1.14318300e-01 -4.10759899e-02 1.08744285e+02] [ 4.14964942e-02 -1.30007838e-03 9.99137804e-01 8.93010945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.53710568099996 meters 0.019260322486586857 Centerline is valid? [True, True] Translation: X:197.40, Y:108.78, Z:8.93 [[ 1.30239744e-01 -9.91464381e-01 -5.99911673e-03 1.97403213e+02] [ 9.90618661e-01 1.30376410e-01 -4.09470330e-02 1.08775984e+02] [ 4.13796681e-02 -6.09905888e-04 9.99143309e-01 8.93377793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.56710568099996 meters 0.017347706766487763 Centerline is valid? [True, True] Translation: X:197.40, Y:108.81, Z:8.93 [[ 1.37442619e-01 -9.90491889e-01 -5.94504071e-03 1.97395078e+02] [ 9.89655876e-01 1.37570826e-01 -4.06880097e-02 1.08805411e+02] [ 4.11190078e-02 -2.91277851e-04 9.99154214e-01 8.93494729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.59710568099996 meters 0.017042249588887143 Centerline is valid? [True, True] Translation: X:197.38, Y:108.84, Z:8.93 [[ 1.48685737e-01 -9.88865103e-01 -6.19344839e-03 1.97379087e+02] [ 9.87951377e-01 1.48814539e-01 -4.25007024e-02 1.08835637e+02] [ 4.29491367e-02 2.00422411e-04 9.99077240e-01 8.93416821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.62710568099996 meters 0.018279740107502013 Centerline is valid? [True, True] Translation: X:197.37, Y:108.86, Z:8.93 [[ 1.53389884e-01 -9.88144910e-01 -6.41726392e-03 1.97371037e+02] [ 9.87157926e-01 1.53523437e-01 -4.41563634e-02 1.08864365e+02] [ 4.46180861e-02 4.38286515e-04 9.99004021e-01 8.93336132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.65710568099996 meters 0.018421886215746426 Centerline is valid? [True, True] Translation: X:197.37, Y:108.89, Z:8.93 [[ 1.53897335e-01 -9.88065694e-01 -6.46487724e-03 1.97372881e+02] [ 9.87058288e-01 1.54032302e-01 -4.46092700e-02 1.08891893e+02] [ 4.50726892e-02 4.84037102e-04 9.98983593e-01 8.93324215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.68710568099996 meters 0.018313831671364376 Centerline is valid? [True, True] Translation: X:197.38, Y:108.92, Z:8.93 [[ 1.52706513e-01 -9.88248501e-01 -6.75436719e-03 1.97375848e+02] [ 9.87142329e-01 1.52855091e-01 -4.67476537e-02 1.08919416e+02] [ 4.72307381e-02 4.71149435e-04 9.98883895e-01 8.93045294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.71710568099996 meters 0.018338201981811672 Centerline is valid? [True, True] Translation: X:197.38, Y:108.95, Z:8.93 [[ 1.51619319e-01 -9.88415646e-01 -6.78924407e-03 1.97378368e+02] [ 9.87291567e-01 1.51770603e-01 -4.71279636e-02 1.08945673e+02] [ 4.76124242e-02 4.42546318e-04 9.98865787e-01 8.92984550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.74710568099997 meters 0.017284977569079138 Centerline is valid? [True, True] Translation: X:197.38, Y:108.97, Z:8.93 [[ 1.48851416e-01 -9.88834856e-01 -6.99171859e-03 1.97384206e+02] [ 9.87635880e-01 1.49015139e-01 -4.86811822e-02 1.08973244e+02] [ 4.91795217e-02 3.40990742e-04 9.98789897e-01 8.93151609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.77710568099997 meters 0.017394386347179817 Centerline is valid? [True, True] Translation: X:197.39, Y:109.00, Z:8.93 [[ 1.48155642e-01 -9.88939759e-01 -6.93237274e-03 1.97387361e+02] [ 9.87754648e-01 1.48317388e-01 -4.84015196e-02 1.09000433e+02] [ 4.88943786e-02 3.23474835e-04 9.98803902e-01 8.93233315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.80710568099997 meters 0.017253929991574248 Centerline is valid? [True, True] Translation: X:197.39, Y:109.03, Z:8.94 [[ 1.47935280e-01 -9.88973976e-01 -6.75478337e-03 1.97390953e+02] [ 9.87842525e-01 1.48089059e-01 -4.72945774e-02 1.09028321e+02] [ 4.77734158e-02 3.23874303e-04 9.98858146e-01 8.93725797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.83710568099997 meters 0.017329226861844096 Centerline is valid? [True, True] Translation: X:197.40, Y:109.06, Z:8.94 [[ 1.47865892e-01 -9.88984966e-01 -6.66451574e-03 1.97395112e+02] [ 9.87877843e-01 1.48015629e-01 -4.67839902e-02 1.09055148e+02] [ 4.72551154e-02 3.34029027e-04 9.98882797e-01 8.93834727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.86710568099997 meters 0.01714588736168843 Centerline is valid? [True, True] Translation: X:197.40, Y:109.08, Z:8.94 [[ 1.45931483e-01 -9.89272829e-01 -6.57809174e-03 1.97403805e+02] [ 9.88189872e-01 1.46079448e-01 -4.62771209e-02 1.09082551e+02] [ 4.67416224e-02 2.52885264e-04 9.98906981e-01 8.94050992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.89710568099997 meters 0.016823573523820898 Centerline is valid? [True, True] Translation: X:197.41, Y:109.11, Z:8.94 [[ 1.43554352e-01 -9.89620954e-01 -6.52037158e-03 1.97409358e+02] [ 9.88551420e-01 1.43702270e-01 -4.59972614e-02 1.09109341e+02] [ 4.64568460e-02 1.57384490e-04 9.98920285e-01 8.94184026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.92710568099997 meters 0.01679172045703346 Centerline is valid? [True, True] Translation: X:197.41, Y:109.14, Z:8.94 [[ 1.43097630e-01 -9.89687485e-01 -6.46136854e-03 1.97413735e+02] [ 9.88631314e-01 1.43243351e-01 -4.57106889e-02 1.09136738e+02] [ 4.61648448e-02 1.53179991e-04 9.98933823e-01 8.94360631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.95710568099997 meters 0.01676096491270826 Centerline is valid? [True, True] Translation: X:197.42, Y:109.16, Z:8.94 [[ 1.41517009e-01 -9.89912949e-01 -6.72980868e-03 1.97422319e+02] [ 9.88760676e-01 1.41676898e-01 -4.77491655e-02 1.09162412e+02] [ 4.82209756e-02 1.03148907e-04 9.98836687e-01 8.94154149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.98710568099997 meters 0.01673487949693339 Centerline is valid? [True, True] Translation: X:197.43, Y:109.19, Z:8.94 [[ 1.40086776e-01 -9.90114533e-01 -6.99329370e-03 1.97429727e+02] [ 9.88862993e-01 1.40261213e-01 -4.97671945e-02 1.09189378e+02] [ 5.02561104e-02 5.63164973e-05 9.98736362e-01 8.94032095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.01710568099998 meters 0.01705130250957125 Centerline is valid? [True, True] Translation: X:197.44, Y:109.22, Z:8.94 [[ 1.36616584e-01 -9.90594814e-01 -7.60421714e-03 1.97440324e+02] [ 9.89106657e-01 1.36828009e-01 -5.42781457e-02 1.09215829e+02] [ 5.48081195e-02 -1.06086944e-04 9.98496900e-01 8.93682361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.04710568099998 meters 0.017237963151318317 Centerline is valid? [True, True] Translation: X:197.45, Y:109.24, Z:8.94 [[ 1.35814051e-01 -9.90703145e-01 -7.86270794e-03 1.97446681e+02] [ 9.89102709e-01 1.36041395e-01 -5.62900445e-02 1.09243143e+02] [ 5.68363779e-02 -1.32046740e-04 9.98383498e-01 8.93538911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.07710568099998 meters 0.017516172870085625 Centerline is valid? [True, True] Translation: X:197.45, Y:109.27, Z:8.93 [[ 1.38798033e-01 -9.90287001e-01 -8.17072511e-03 1.97451831e+02] [ 9.88547582e-01 1.39038305e-01 -5.86687991e-02 1.09270157e+02] [ 5.92349929e-02 6.59633639e-05 9.98244064e-01 8.93492243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.10710568099998 meters 0.018166865342562222 Centerline is valid? [True, True] Translation: X:197.45, Y:109.30, Z:8.94 [[ 1.42327908e-01 -9.89786331e-01 -8.11087679e-03 1.97452098e+02] [ 9.88062298e-01 1.42558520e-01 -5.83948921e-02 1.09297163e+02] [ 5.89547406e-02 2.97171299e-04 9.98260612e-01 8.93619802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.13710568099995 meters 0.020469144737994643 Centerline is valid? [True, True] Translation: X:197.45, Y:109.33, Z:8.94 [[ 1.50613289e-01 -9.88563375e-01 -7.62170877e-03 1.97445037e+02] [ 9.87032465e-01 1.50804093e-01 -5.50003446e-02 1.09325248e+02] [ 5.55207112e-02 7.60908824e-04 9.98457246e-01 8.94185752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.16710568099995 meters 0.023368724571660886 Centerline is valid? [True, True] Translation: X:197.44, Y:109.35, Z:8.95 [[ 1.58049306e-01 -9.87405043e-01 -7.19012537e-03 1.97444384e+02] [ 9.86033630e-01 1.58208704e-01 -5.20354319e-02 1.09352702e+02] [ 5.25175883e-02 1.13445847e-03 9.98619355e-01 8.94905859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.19710568099995 meters 0.02495779001293367 Centerline is valid? [True, True] Translation: X:197.45, Y:109.38, Z:8.96 [[ 1.62031164e-01 -9.86763847e-01 -6.55831555e-03 1.97447405e+02] [ 9.85616293e-01 1.62159038e-01 -4.75916994e-02 1.09380004e+02] [ 4.80252585e-02 1.24735579e-03 9.98845343e-01 8.95660735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.22710568099995 meters 0.026019749208247848 Centerline is valid? [True, True] Translation: X:197.45, Y:109.41, Z:8.96 [[ 1.62472873e-01 -9.86692958e-01 -6.29067444e-03 1.97449752e+02] [ 9.85631214e-01 1.62589901e-01 -4.57780892e-02 1.09405551e+02] [ 4.61917184e-02 1.23741259e-03 9.98931826e-01 8.95941698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.25710568099996 meters 0.026063662780090625 Centerline is valid? [True, True] Translation: X:197.46, Y:109.43, Z:8.96 [[ 1.65117956e-01 -9.86254972e-01 -6.09834813e-03 1.97458145e+02] [ 9.85250636e-01 1.65225081e-01 -4.45180473e-02 1.09432936e+02] [ 4.49137456e-02 1.34232761e-03 9.98989967e-01 8.96200647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.28710568099996 meters 0.027767552665048496 Centerline is valid? [True, True] Translation: X:197.46, Y:109.46, Z:8.96 [[ 1.67407019e-01 -9.85867381e-01 -6.35589867e-03 1.97461027e+02] [ 9.84769552e-01 1.67520630e-01 -4.65378216e-02 1.09460271e+02] [ 4.69448645e-02 1.53166252e-03 9.98896308e-01 8.96066335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.31710568099996 meters 0.03219801354537859 Centerline is valid? [True, True] Translation: X:197.46, Y:109.49, Z:8.96 [[ 1.74854119e-01 -9.84570247e-01 -6.88954002e-03 1.97460390e+02] [ 9.83271012e-01 1.74977500e-01 -5.06062418e-02 1.09488917e+02] [ 5.10309145e-02 2.07442483e-03 9.98694920e-01 8.95681684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.34710568099996 meters 0.03435250127629694 Centerline is valid? [True, True] Translation: X:197.46, Y:109.52, Z:8.96 [[ 1.78529195e-01 -9.83908955e-01 -7.10591757e-03 1.97462825e+02] [ 9.82518039e-01 1.78654908e-01 -5.23519577e-02 1.09516812e+02] [ 5.27790670e-02 2.36466068e-03 9.98603414e-01 8.95675802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.37710568099996 meters 0.03738535832823279 Centerline is valid? [True, True] Translation: X:197.47, Y:109.54, Z:8.96 [[ 1.82379794e-01 -9.83202866e-01 -7.05232877e-03 1.97469777e+02] [ 9.81824517e-01 1.82497870e-01 -5.21070507e-02 1.09542553e+02] [ 5.25188365e-02 2.57912386e-03 9.98616603e-01 8.95868006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.40710568099996 meters 0.03594412827912785 Centerline is valid? [True, True] Translation: X:197.48, Y:109.57, Z:8.96 [[ 1.80428126e-01 -9.83564897e-01 -6.76647820e-03 1.97483619e+02] [ 9.82289311e-01 1.80539024e-01 -5.01335148e-02 1.09569041e+02] [ 5.05311787e-02 2.39885692e-03 9.98719603e-01 8.96320714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.43710568099996 meters 0.0322214195228357 Centerline is valid? [True, True] Translation: X:197.50, Y:109.60, Z:8.97 [[ 1.76465690e-01 -9.84284157e-01 -6.67521836e-03 1.97496778e+02] [ 9.83036602e-01 1.76578331e-01 -4.95896353e-02 1.09596094e+02] [ 4.99889913e-02 2.18888521e-03 9.98747370e-01 8.96523985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.46710568099996 meters 0.027570157621186964 Centerline is valid? [True, True] Translation: X:197.52, Y:109.62, Z:8.97 [[ 1.65683342e-01 -9.86155790e-01 -6.76671633e-03 1.97518334e+02] [ 9.84867708e-01 1.65812866e-01 -5.04151919e-02 1.09620181e+02] [ 5.08392420e-02 1.68863706e-03 9.98705422e-01 8.96524737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.49710568099997 meters 0.024842401818376065 Centerline is valid? [True, True] Translation: X:197.53, Y:109.65, Z:8.97 [[ 1.59221416e-01 -9.87218966e-01 -6.87409707e-03 1.97532132e+02] [ 9.85882146e-01 1.59363556e-01 -5.13775374e-02 1.09646300e+02] [ 5.18163599e-02 1.40335469e-03 9.98655644e-01 8.96582203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.52710568099997 meters 0.021291614180377352 Centerline is valid? [True, True] Translation: X:197.55, Y:109.67, Z:8.97 [[ 1.48498284e-01 -9.88888571e-01 -6.90311995e-03 1.97552087e+02] [ 9.87534127e-01 1.48656118e-01 -5.17465634e-02 1.09670047e+02] [ 5.21977762e-02 8.67209347e-04 9.98636390e-01 8.96531514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.55710568099997 meters 0.019884975884799375 Centerline is valid? [True, True] Translation: X:197.56, Y:109.70, Z:8.97 [[ 1.43790714e-01 -9.89583220e-01 -7.02014186e-03 1.97563335e+02] [ 9.88175422e-01 1.43960509e-01 -5.27703241e-02 1.09696673e+02] [ 5.32312504e-02 6.50750917e-04 9.98582000e-01 8.96503960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.58710568099997 meters 0.01892572694091923 Centerline is valid? [True, True] Translation: X:197.58, Y:109.72, Z:8.96 [[ 1.36634246e-01 -9.90592014e-01 -7.65140416e-03 1.97578771e+02] [ 9.88910441e-01 1.36847948e-01 -5.76955769e-02 1.09722259e+02] [ 5.81998567e-02 3.16638190e-04 9.98304902e-01 8.95978740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.61710568099997 meters 0.01876103953073444 Centerline is valid? [True, True] Translation: X:197.59, Y:109.75, Z:8.96 [[ 1.32473077e-01 -9.91155979e-01 -7.79156401e-03 1.97590540e+02] [ 9.89401927e-01 1.32701977e-01 -5.89407589e-02 1.09748099e+02] [ 5.94534416e-02 9.90752409e-05 9.98231075e-01 8.96080062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.64710568099997 meters 0.018965676005118375 Centerline is valid? [True, True] Translation: X:197.60, Y:109.77, Z:8.96 [[ 1.31408540e-01 -9.91297279e-01 -7.84219519e-03 1.97596041e+02] [ 9.89509692e-01 1.31642321e-01 -5.95051984e-02 1.09773360e+02] [ 6.00197060e-02 5.95630662e-05 9.98197191e-01 8.96093286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.67710568099997 meters 0.019136504363723283 Centerline is valid? [True, True] Translation: X:197.60, Y:109.80, Z:8.96 [[ 1.33598330e-01 -9.91003407e-01 -7.98336275e-03 1.97599513e+02] [ 9.89140099e-01 1.33836467e-01 -6.07426042e-02 1.09801486e+02] [ 6.12645928e-02 2.18446231e-04 9.98121537e-01 8.96212094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.70710568099997 meters 0.01982551575163633 Centerline is valid? [True, True] Translation: X:197.60, Y:109.83, Z:8.96 [[ 1.36593140e-01 -9.90595181e-01 -7.96875124e-03 1.97600817e+02] [ 9.88726382e-01 1.36824717e-01 -6.08205421e-02 1.09828417e+02] [ 6.13388580e-02 4.28754234e-04 9.98116907e-01 8.96469300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.73710568099997 meters 0.020023518969816485 Centerline is valid? [True, True] Translation: X:197.60, Y:109.86, Z:8.97 [[ 1.38522816e-01 -9.90328667e-01 -7.78213329e-03 1.97602861e+02] [ 9.88533987e-01 1.38740101e-01 -5.95964805e-02 1.09855826e+02] [ 6.00997970e-02 5.62569050e-04 9.98192215e-01 8.96697390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.76710568099998 meters 0.02123335226645389 Centerline is valid? [True, True] Translation: X:197.60, Y:109.88, Z:8.97 [[ 1.41705632e-01 -9.89878399e-01 -7.76330425e-03 1.97601413e+02] [ 9.88079777e-01 1.41915973e-01 -5.96507435e-02 1.09883144e+02] [ 6.01487194e-02 7.82082365e-04 9.98189120e-01 8.96769456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.79710568099998 meters 0.021836276839846704 Centerline is valid? [True, True] Translation: X:197.60, Y:109.91, Z:8.97 [[ 1.42871613e-01 -9.89710723e-01 -7.77084701e-03 1.97601833e+02] [ 9.87896909e-01 1.43080075e-01 -5.98981555e-02 1.09910799e+02] [ 6.03937002e-02 8.80950348e-04 9.98174246e-01 8.96848836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.82710568099998 meters 0.022501855790847753 Centerline is valid? [True, True] Translation: X:197.60, Y:109.94, Z:8.97 [[ 1.44261145e-01 -9.89512706e-01 -7.30252484e-03 1.97604096e+02] [ 9.87901438e-01 1.44442861e-01 -5.64536020e-02 1.09937868e+02] [ 5.69163541e-02 9.29886486e-04 9.98378517e-01 8.97479784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.85710568099998 meters 0.022426743456800513 Centerline is valid? [True, True] Translation: X:197.61, Y:109.97, Z:8.98 [[ 1.44971868e-01 -9.89412019e-01 -6.85664941e-03 1.97609645e+02] [ 9.87983524e-01 1.45130934e-01 -5.31560730e-02 1.09965541e+02] [ 5.35883695e-02 9.31878573e-04 9.98562676e-01 8.98163943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.88710568099995 meters 0.022600267758116743 Centerline is valid? [True, True] Translation: X:197.61, Y:109.99, Z:8.99 [[ 1.45021881e-01 -9.89406767e-01 -6.55001584e-03 1.97612699e+02] [ 9.88095507e-01 1.45166846e-01 -5.09299104e-02 1.09991896e+02] [ 5.13412432e-02 9.13910164e-04 9.98680751e-01 8.98540174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91710568099995 meters 0.02382054673043826 Centerline is valid? [True, True] Translation: X:197.61, Y:110.02, Z:8.99 [[ 1.47850735e-01 -9.88991787e-01 -5.95021736e-03 1.97613099e+02] [ 9.87902831e-01 1.47967153e-01 -4.64081720e-02 1.10018760e+02] [ 4.67777377e-02 9.83245793e-04 9.98904839e-01 8.99144218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.94710568099995 meters 0.025188681777692862 Centerline is valid? [True, True] Translation: X:197.61, Y:110.05, Z:8.99 [[ 1.50251180e-01 -9.88630245e-01 -5.90102732e-03 1.97612384e+02] [ 9.87552433e-01 1.50362928e-01 -4.61647291e-02 1.10045737e+02] [ 4.65271432e-02 1.10873115e-03 9.98916411e-01 8.99274788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.97710568099995 meters 0.026892114152966762 Centerline is valid? [True, True] Translation: X:197.61, Y:110.07, Z:8.99 [[ 1.56464011e-01 -9.87666057e-01 -5.89685245e-03 1.97612801e+02] [ 9.86584003e-01 1.56568678e-01 -4.62412549e-02 1.10073330e+02] [ 4.65941803e-02 1.41735194e-03 9.98912896e-01 8.99195146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.0071056809999 meters 0.030270098413806668 Centerline is valid? [True, True] Translation: X:197.61, Y:110.10, Z:8.99 [[ 1.58736345e-01 -9.87302225e-01 -6.09006505e-03 1.97612609e+02] [ 9.86140465e-01 1.58845078e-01 -4.79085058e-02 1.10100191e+02] [ 4.82675512e-02 1.59916151e-03 9.98833162e-01 8.98869969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.03710568099996 meters 0.028792768625142184 Centerline is valid? [True, True] Translation: X:197.62, Y:110.13, Z:8.99 [[ 1.60717032e-01 -9.86979001e-01 -6.51817164e-03 1.97622785e+02] [ 9.85640454e-01 1.60838640e-01 -5.14181571e-02 1.10127570e+02] [ 5.17970152e-02 1.83919994e-03 9.98655940e-01 8.98625219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.06710568099993 meters 0.02905108229825861 Centerline is valid? [True, True] Translation: X:197.63, Y:110.16, Z:8.99 [[ 1.60577339e-01 -9.87001209e-01 -6.59781796e-03 1.97625797e+02] [ 9.85621170e-01 1.60701823e-01 -5.22095204e-02 1.10155702e+02] [ 5.25911411e-02 1.88071681e-03 9.98614357e-01 8.98580419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.09710568099996 meters 0.03116498597083503 Centerline is valid? [True, True] Translation: X:197.62, Y:110.18, Z:8.99 [[ 1.62469284e-01 -9.86691808e-01 -6.55799470e-03 1.97624727e+02] [ 9.85320236e-01 1.62589358e-01 -5.20455009e-02 1.10182623e+02] [ 5.24191296e-02 1.99407039e-03 9.98623181e-01 8.98588486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.12710568099993 meters 0.031602468408246646 Centerline is valid? [True, True] Translation: X:197.63, Y:110.21, Z:8.99 [[ 1.65376240e-01 -9.86208063e-01 -6.66008315e-03 1.97628349e+02] [ 9.84785384e-01 1.65495590e-01 -5.29996009e-02 1.10210098e+02] [ 5.33708481e-02 2.20612216e-03 9.98572324e-01 8.98608806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.15710568099996 meters 0.03329837689019796 Centerline is valid? [True, True] Translation: X:197.63, Y:110.24, Z:8.98 [[ 1.66311809e-01 -9.86049835e-01 -6.79008675e-03 1.97631168e+02] [ 9.84562369e-01 1.66434092e-01 -5.41907225e-02 1.10237173e+02] [ 5.45648549e-02 2.32729320e-03 9.98507516e-01 8.98496625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.18710568099993 meters 0.03271155856913243 Centerline is valid? [True, True] Translation: X:197.64, Y:110.26, Z:8.99 [[ 1.65831307e-01 -9.86130347e-01 -6.84948573e-03 1.97640659e+02] [ 9.84609102e-01 1.65956147e-01 -5.48039587e-02 1.10264540e+02] [ 5.51805611e-02 2.34414611e-03 9.98473640e-01 8.98701823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.21710568099996 meters 0.03271155856913243 Centerline is valid? [True, True] Translation: X:197.64, Y:110.29, Z:8.99 [[ 1.65462245e-01 -9.86192482e-01 -6.82887815e-03 1.97643834e+02] [ 9.84671190e-01 1.65586512e-01 -5.48065277e-02 1.10291861e+02] [ 5.51805558e-02 2.34421156e-03 9.98473641e-01 8.98803643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.24710568099994 meters 0.03225949413062022 Centerline is valid? [True, True] Translation: X:197.65, Y:110.32, Z:8.99 [[ 1.63828228e-01 -9.86466168e-01 -6.69406972e-03 1.97649295e+02] [ 9.84995782e-01 1.63949704e-01 -5.38869620e-02 1.10319699e+02] [ 5.42551557e-02 2.23457507e-03 9.98524604e-01 8.99020018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.2771056809999 meters 0.028598074313903626 Centerline is valid? [True, True] Translation: X:197.66, Y:110.35, Z:9.00 [[ 1.57509979e-01 -9.87498455e-01 -6.11616286e-03 1.97662069e+02] [ 9.86264686e-01 1.57619016e-01 -4.93782895e-02 1.10345819e+02] [ 4.97250082e-02 1.74541790e-03 9.98761422e-01 8.99663409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.30710568099994 meters 0.02776496043699994 Centerline is valid? [True, True] Translation: X:197.67, Y:110.37, Z:9.00 [[ 1.53896243e-01 -9.88069031e-01 -5.96128079e-03 1.97669912e+02] [ 9.86889950e-01 1.54003886e-01 -4.82807404e-02 1.10372218e+02] [ 4.86227648e-02 1.54709646e-03 9.98816016e-01 8.99959881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.3371056809999 meters 0.024391451927544626 Centerline is valid? [True, True] Translation: X:197.69, Y:110.40, Z:9.00 [[ 1.46775639e-01 -9.89152428e-01 -5.86399471e-03 1.97685921e+02] [ 9.88005086e-01 1.46887836e-01 -4.76436113e-02 1.10397649e+02] [ 4.79881432e-02 1.19926487e-03 9.98847185e-01 9.00168495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.36710568099994 meters 0.0230188204439544 Centerline is valid? [True, True] Translation: X:197.70, Y:110.42, Z:9.00 [[ 1.43085395e-01 -9.89692371e-01 -5.96487669e-03 1.97695476e+02] [ 9.88497516e-01 1.43205735e-01 -4.86289972e-02 1.10424930e+02] [ 4.89819521e-02 1.06183347e-03 9.98799099e-01 9.00145325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.3971056809999 meters 0.020983224065195753 Centerline is valid? [True, True] Translation: X:197.71, Y:110.45, Z:9.00 [[ 1.36620909e-01 -9.90606141e-01 -5.84820255e-03 1.97709751e+02] [ 9.89451485e-01 1.36743982e-01 -4.78209309e-02 1.10450208e+02] [ 4.81714143e-02 7.46826368e-04 9.98838804e-01 9.00323553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.42710568099994 meters 0.019710790425016604 Centerline is valid? [True, True] Translation: X:197.72, Y:110.48, Z:9.01 [[ 1.32066739e-01 -9.91224655e-01 -5.66206303e-03 1.97720817e+02] [ 9.90136797e-01 1.32187012e-01 -4.64297020e-02 1.10477383e+02] [ 4.67707165e-02 5.25602385e-04 9.98905513e-01 9.00562712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.4571056809999 meters 0.019307228075743522 Centerline is valid? [True, True] Translation: X:197.73, Y:110.50, Z:9.01 [[ 1.30915881e-01 -9.91378040e-01 -5.53294118e-03 1.97727482e+02] [ 9.90332947e-01 1.31031875e-01 -4.55115521e-02 1.10504006e+02] [ 4.58441450e-02 4.78731014e-04 9.98948490e-01 9.00794508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.48710568099995 meters 0.020044686156420622 Centerline is valid? [True, True] Translation: X:197.73, Y:110.53, Z:9.01 [[ 1.33634126e-01 -9.91015962e-01 -5.41138697e-03 1.97732014e+02] [ 9.90009169e-01 1.33742248e-01 -4.46638191e-02 1.10531311e+02] [ 4.49862887e-02 6.11287690e-04 9.98987417e-01 9.01093561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.5171056809999 meters 0.02095563672535097 Centerline is valid? [True, True] Translation: X:197.73, Y:110.56, Z:9.01 [[ 1.35866200e-01 -9.90712736e-01 -5.35264073e-03 1.97733055e+02] [ 9.89721323e-01 1.35969671e-01 -4.43164787e-02 1.10559475e+02] [ 4.46326966e-02 7.23488877e-04 9.99003203e-01 9.01208901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.54710568099995 meters 0.0229774951005936 Centerline is valid? [True, True] Translation: X:197.73, Y:110.59, Z:9.01 [[ 1.40685245e-01 -9.90041364e-01 -5.07527777e-03 1.97733012e+02] [ 9.89144373e-01 1.40773828e-01 -4.21442649e-02 1.10587468e+02] [ 4.24390318e-02 9.08893790e-04 9.99098645e-01 9.01447158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.5771056809999 meters 0.023598316502929036 Centerline is valid? [True, True] Translation: X:197.74, Y:110.62, Z:9.02 [[ 1.41747881e-01 -9.89890215e-01 -4.98999680e-03 1.97735583e+02] [ 9.89017754e-01 1.41832462e-01 -4.15624204e-02 1.10615198e+02] [ 4.18499768e-02 9.56189572e-04 9.99123448e-01 9.01507922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.60710568099995 meters 0.0234582400980179 Centerline is valid? [True, True] Translation: X:197.74, Y:110.64, Z:9.01 [[ 1.40661623e-01 -9.90045093e-01 -5.00221870e-03 1.97740800e+02] [ 9.89162952e-01 1.40747461e-01 -4.17948121e-02 1.10641877e+02] [ 4.20827982e-02 9.30916689e-04 9.99113693e-01 9.01351657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.6371056809999 meters 0.023029914659814712 Centerline is valid? [True, True] Translation: X:197.75, Y:110.67, Z:9.01 [[ 1.38969395e-01 -9.90283853e-01 -5.03969251e-03 1.97745977e+02] [ 9.89382331e-01 1.39057924e-01 -4.22551424e-02 1.10667389e+02] [ 4.25453944e-02 8.85988853e-04 9.99094142e-01 9.01350940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.66710568099995 meters 0.021797217100007333 Centerline is valid? [True, True] Translation: X:197.75, Y:110.69, Z:9.01 [[ 1.36874987e-01 -9.90575451e-01 -5.05108711e-03 1.97754633e+02] [ 9.89663468e-01 1.36965707e-01 -4.25043027e-02 1.10694028e+02] [ 4.27955446e-02 8.18899493e-04 9.99083515e-01 9.01447487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.6971056809999 meters 0.022039015043027462 Centerline is valid? [True, True] Translation: X:197.76, Y:110.72, Z:9.01 [[ 1.36794731e-01 -9.90585514e-01 -5.24788654e-03 1.97757176e+02] [ 9.89593811e-01 1.36892593e-01 -4.43227623e-02 1.10721208e+02] [ 4.46238831e-02 8.69844296e-04 9.99003480e-01 9.01263659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.72710568099995 meters 0.022284647075797255 Centerline is valid? [True, True] Translation: X:197.76, Y:110.75, Z:9.01 [[ 1.36814926e-01 -9.90582507e-01 -5.28889650e-03 1.97759073e+02] [ 9.89568346e-01 1.36914166e-01 -4.48218761e-02 1.10747732e+02] [ 4.51238913e-02 8.98577079e-04 9.98980994e-01 9.01254488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.7571056809999 meters 0.021636839146079362 Centerline is valid? [True, True] Translation: X:197.76, Y:110.77, Z:9.01 [[ 1.34807598e-01 -9.90859471e-01 -4.94161848e-03 1.97764778e+02] [ 9.89969709e-01 1.34895951e-01 -4.19887728e-02 1.10774029e+02] [ 4.22715775e-02 7.68352970e-04 9.99105862e-01 9.01451647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.78710568099996 meters 0.0211051759598063 Centerline is valid? [True, True] Translation: X:197.77, Y:110.80, Z:9.02 [[ 1.32689803e-01 -9.91146603e-01 -4.67191420e-03 1.97771281e+02] [ 9.90346824e-01 1.32770403e-01 -3.98144191e-02 1.10800934e+02] [ 4.00822182e-02 6.56152030e-04 9.99196170e-01 9.01829387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.81710568099993 meters 0.019452785338813908 Centerline is valid? [True, True] Translation: X:197.78, Y:110.83, Z:9.02 [[ 1.27053885e-01 -9.91886130e-01 -4.38354278e-03 1.97782203e+02] [ 9.91177937e-01 1.27128798e-01 -3.74775380e-02 1.10826016e+02] [ 3.77307246e-02 4.16795912e-04 9.99287856e-01 9.02236005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.84710568099996 meters 0.017929302324984357 Centerline is valid? [True, True] Translation: X:197.79, Y:110.85, Z:9.02 [[ 1.20040708e-01 -9.92759420e-01 -4.35465081e-03 1.97793601e+02] [ 9.92056056e-01 1.20119554e-01 -3.73640713e-02 1.10852123e+02] [ 3.76166125e-02 1.65151871e-04 9.99292231e-01 9.02267670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.87710568099993 meters 0.01760857888017406 Centerline is valid? [True, True] Translation: X:197.80, Y:110.88, Z:9.02 [[ 1.16284157e-01 -9.93207443e-01 -4.11957033e-03 1.97800661e+02] [ 9.92574277e-01 1.16357100e-01 -3.54588442e-02 1.10878978e+02] [ 3.56973292e-02 3.43222580e-05 9.99362647e-01 9.02465253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.90710568099996 meters 0.017947987973620055 Centerline is valid? [True, True] Translation: X:197.81, Y:110.90, Z:9.03 [[ 1.10424652e-01 -9.93876750e-01 -3.92459781e-03 1.97810993e+02] [ 9.93298656e-01 1.10494263e-01 -3.38939240e-02 1.10904528e+02] [ 3.41200285e-02 -1.55572959e-04 9.99417730e-01 9.02723930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.93710568099993 meters 0.018216774569291053 Centerline is valid? [True, True] Translation: X:197.82, Y:110.93, Z:9.03 [[ 1.07470336e-01 -9.94200629e-01 -3.90346113e-03 1.97816974e+02] [ 9.93624717e-01 1.07540929e-01 -3.38359338e-02 1.10930871e+02] [ 3.40594885e-02 -2.42216283e-04 9.99419778e-01 9.02814955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.96710568099996 meters 0.018747679378563982 Centerline is valid? [True, True] Translation: X:197.82, Y:110.96, Z:9.03 [[ 1.04434403e-01 -9.94524313e-01 -3.85297694e-03 1.97824713e+02] [ 9.93959071e-01 1.04504939e-01 -3.35273611e-02 1.10956236e+02] [ 3.37464309e-02 -3.28291438e-04 9.99430373e-01 9.02898344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.99710568099994 meters 0.018881407544367595 Centerline is valid? [True, True] Translation: X:197.83, Y:110.98, Z:9.03 [[ 1.02820115e-01 -9.94692603e-01 -3.82737052e-03 1.97826654e+02] [ 9.94131761e-01 1.02890658e-01 -3.33999276e-02 1.10983615e+02] [ 3.36164616e-02 -3.70726189e-04 9.99434738e-01 9.03006320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.0271056809999 meters 0.018832171503962974 Centerline is valid? [True, True] Translation: X:197.83, Y:111.01, Z:9.03 [[ 1.03683312e-01 -9.94603757e-01 -3.62459243e-03 1.97827271e+02] [ 9.94097143e-01 1.03746178e-01 -3.17427197e-02 1.11010883e+02] [ 3.19474659e-02 -3.12006681e-04 9.99489501e-01 9.03265101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.05710568099994 meters 0.01791222541693807 Centerline is valid? [True, True] Translation: X:197.82, Y:111.04, Z:9.04 [[ 1.09469229e-01 -9.93984284e-01 -3.42494118e-03 1.97823422e+02] [ 9.93528400e-01 1.09522741e-01 -3.01012974e-02 1.11039075e+02] [ 3.02953255e-02 -1.07610512e-04 9.99540985e-01 9.03607094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.0871056809999 meters 0.01776082837052011 Centerline is valid? [True, True] Translation: X:197.82, Y:111.07, Z:9.04 [[ 1.13424252e-01 -9.93540467e-01 -3.50426860e-03 1.97821017e+02] [ 9.93059543e-01 1.13478369e-01 -3.09096234e-02 1.11065588e+02] [ 3.11076204e-02 2.59535501e-05 9.99516041e-01 9.03709791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.11710568099994 meters 0.019402774484187015 Centerline is valid? [True, True] Translation: X:197.81, Y:111.10, Z:9.03 [[ 1.24499131e-01 -9.92212267e-01 -3.84493715e-03 1.97809832e+02] [ 9.91627445e-01 1.24557752e-01 -3.40642991e-02 1.11095088e+02] [ 3.42779322e-02 4.28230421e-04 9.99412247e-01 9.03366097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.1471056809999 meters 0.02364746169761492 Centerline is valid? [True, True] Translation: X:197.80, Y:111.12, Z:9.03 [[ 1.35750392e-01 -9.90734315e-01 -4.16502741e-03 1.97800195e+02] [ 9.90042339e-01 1.35811265e-01 -3.70333306e-02 1.11123418e+02] [ 3.72558491e-02 9.03735669e-04 9.99305351e-01 9.03007465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.17710568099994 meters 0.026082858720692964 Centerline is valid? [True, True] Translation: X:197.80, Y:111.15, Z:9.03 [[ 1.40612678e-01 -9.90055313e-01 -4.30719915e-03 1.97798033e+02] [ 9.89309508e-01 1.40673980e-01 -3.84386390e-02 1.11151613e+02] [ 3.86622896e-02 1.14380688e-03 9.99251680e-01 9.02877412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.2071056809999 meters 0.02923310428092131 Centerline is valid? [True, True] Translation: X:197.80, Y:111.18, Z:9.03 [[ 1.47493002e-01 -9.89052964e-01 -4.47765655e-03 1.97795793e+02] [ 9.88240918e-01 1.47553439e-01 -4.00982645e-02 1.11180119e+02] [ 4.03200010e-02 1.48920998e-03 9.99185708e-01 9.02612609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.23710568099995 meters 0.030682691338895837 Centerline is valid? [True, True] Translation: X:197.80, Y:111.21, Z:9.03 [[ 1.49277048e-01 -9.88785370e-01 -4.45588794e-03 1.97797445e+02] [ 9.87975557e-01 1.49335232e-01 -4.00410778e-02 1.11207023e+02] [ 4.02574530e-02 1.57490552e-03 9.99188099e-01 9.02716201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.2671056809999 meters 0.03298014192418484 Centerline is valid? [True, True] Translation: X:197.80, Y:111.23, Z:9.03 [[ 1.52404290e-01 -9.88309198e-01 -4.22636337e-03 1.97800322e+02] [ 9.87575627e-01 1.52454126e-01 -3.81066882e-02 1.11234406e+02] [ 3.83055169e-02 1.63376928e-03 9.99264739e-01 9.03110384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.29710568099995 meters 0.03621816882692455 Centerline is valid? [True, True] Translation: X:197.80, Y:111.26, Z:9.03 [[ 1.57935883e-01 -9.87440612e-01 -4.15880457e-03 1.97801704e+02] [ 9.86725128e-01 1.57979923e-01 -3.76279941e-02 1.11262360e+02] [ 3.78124171e-02 1.83921348e-03 9.99283162e-01 9.03262322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.3271056809999 meters 0.03621965023837829 Centerline is valid? [True, True] Translation: X:197.81, Y:111.29, Z:9.03 [[ 1.60716214e-01 -9.86991582e-01 -4.23278676e-03 1.97807330e+02] [ 9.86245155e-01 1.60759481e-01 -3.84302450e-02 1.11289319e+02] [ 3.86107889e-02 2.00179803e-03 9.99252320e-01 9.03188557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.35710568099995 meters 0.03905614221354977 Centerline is valid? [True, True] Translation: X:197.81, Y:111.32, Z:9.03 [[ 1.63450107e-01 -9.86542478e-01 -4.24292685e-03 1.97811862e+02] [ 9.85786825e-01 1.63491200e-01 -3.86647579e-02 1.11315801e+02] [ 3.88381073e-02 2.13713743e-03 9.99243231e-01 9.03160494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.3871056809999 meters 0.03934619727607998 Centerline is valid? [True, True] Translation: X:197.82, Y:111.34, Z:9.03 [[ 1.63421468e-01 -9.86547679e-01 -4.13534124e-03 1.97816905e+02] [ 9.85824743e-01 1.63460243e-01 -3.78196490e-02 1.11342138e+02] [ 3.79868508e-02 2.10382083e-03 9.99276024e-01 9.03297650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.41710568099995 meters 0.03611253223878764 Centerline is valid? [True, True] Translation: X:197.83, Y:111.37, Z:9.03 [[ 1.61770233e-01 -9.86820166e-01 -4.04364359e-03 1.97833339e+02] [ 9.86123927e-01 1.61808192e-01 -3.71175171e-02 1.11368821e+02] [ 3.72826091e-02 2.01697569e-03 9.99302726e-01 9.03415898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.4471056809999 meters 0.03452527939872345 Centerline is valid? [True, True] Translation: X:197.84, Y:111.40, Z:9.04 [[ 1.58259278e-01 -9.87389353e-01 -4.03323230e-03 1.97843550e+02] [ 9.86691967e-01 1.58299259e-01 -3.71524935e-02 1.11395317e+02] [ 3.73224342e-02 1.90016889e-03 9.99301469e-01 9.03533404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.47710568099995 meters 0.03146254467459324 Centerline is valid? [True, True] Translation: X:197.86, Y:111.42, Z:9.04 [[ 1.50432221e-01 -9.88612738e-01 -3.87320512e-03 1.97860342e+02] [ 9.87965263e-01 1.50473987e-01 -3.58080681e-02 1.11421568e+02] [ 3.59831288e-02 1.56009508e-03 9.99351180e-01 9.03776327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.5071056809999 meters 0.028908589216342602 Centerline is valid? [True, True] Translation: X:197.88, Y:111.45, Z:9.04 [[ 1.44580300e-01 -9.89485675e-01 -3.82563128e-03 1.97875320e+02] [ 9.88851164e-01 1.44624668e-01 -3.54553444e-02 1.11447349e+02] [ 3.56358360e-02 1.34316439e-03 9.99363939e-01 9.04004742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.53710568099996 meters 0.028107534760080596 Centerline is valid? [True, True] Translation: X:197.88, Y:111.47, Z:9.04 [[ 1.42844520e-01 -9.89737232e-01 -3.95665798e-03 1.97882490e+02] [ 9.89052983e-01 1.42892965e-01 -3.68211572e-02 1.11474966e+02] [ 3.70086488e-02 1.34635616e-03 9.99314038e-01 9.03983372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.56710568099993 meters 0.02818308311276892 Centerline is valid? [True, True] Translation: X:197.89, Y:111.50, Z:9.04 [[ 1.41794418e-01 -9.89888295e-01 -3.93774542e-03 1.97890939e+02] [ 9.89205816e-01 1.41842949e-01 -3.67754051e-02 1.11500179e+02] [ 3.69620845e-02 1.31930649e-03 9.99315798e-01 9.03932985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.59710568099996 meters 0.029333708144096873 Centerline is valid? [True, True] Translation: X:197.89, Y:111.53, Z:9.04 [[ 1.42780789e-01 -9.89746450e-01 -3.95100368e-03 1.97894751e+02] [ 9.89055025e-01 1.42828805e-01 -3.70147218e-02 1.11527192e+02] [ 3.71995067e-02 1.37723116e-03 9.99306910e-01 9.04006013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.62710568099993 meters 0.030942504074049137 Centerline is valid? [True, True] Translation: X:197.90, Y:111.55, Z:9.04 [[ 1.46555265e-01 -9.89193213e-01 -4.28273026e-03 1.97902009e+02] [ 9.88374001e-01 1.46608306e-01 -4.02844730e-02 1.11554090e+02] [ 4.04770111e-02 1.67096238e-03 9.99179073e-01 9.03796514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.65710568099996 meters 0.03209477526330889 Centerline is valid? [True, True] Translation: X:197.91, Y:111.58, Z:9.04 [[ 1.48633701e-01 -9.88881960e-01 -4.52691508e-03 1.97905095e+02] [ 9.87959230e-01 1.48690715e-01 -4.27508012e-02 1.11581592e+02] [ 4.29486063e-02 1.88180227e-03 9.99075511e-01 9.03687670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.68710568099993 meters 0.03449499645044529 Centerline is valid? [True, True] Translation: X:197.91, Y:111.61, Z:9.04 [[ 1.53567668e-01 -9.88127854e-01 -4.50723458e-03 1.97907472e+02] [ 9.87206028e-01 1.53619287e-01 -4.27243903e-02 1.11609181e+02] [ 4.29095583e-02 2.11151584e-03 9.99076729e-01 9.03717801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.71710568099996 meters 0.0363052030710648 Centerline is valid? [True, True] Translation: X:197.91, Y:111.64, Z:9.04 [[ 1.56546799e-01 -9.87661451e-01 -4.23777462e-03 1.97910317e+02] [ 9.86840532e-01 1.56589669e-01 -4.03167345e-02 1.11636208e+02] [ 4.04828762e-02 2.12944797e-03 9.99177963e-01 9.04129319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.74710568099994 meters 0.03719997926199398 Centerline is valid? [True, True] Translation: X:197.91, Y:111.66, Z:9.04 [[ 1.57594965e-01 -9.87494947e-01 -4.19016261e-03 1.97913576e+02] [ 9.86686332e-01 1.57635703e-01 -4.00133321e-02 1.11663692e+02] [ 4.01734825e-02 2.17152348e-03 9.99190360e-01 9.04254435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.7771056809999 meters 0.03887214599600575 Centerline is valid? [True, True] Translation: X:197.92, Y:111.69, Z:9.04 [[ 1.59887541e-01 -9.87124889e-01 -4.51966629e-03 1.97918051e+02] [ 9.86176817e-01 1.59932341e-01 -4.33235775e-02 1.11691690e+02] [ 4.34886225e-02 2.46971017e-03 9.99050870e-01 9.04081711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.80710568099994 meters 0.04026610404946415 Centerline is valid? [True, True] Translation: X:197.92, Y:111.72, Z:9.04 [[ 1.59785719e-01 -9.87140790e-01 -4.64583214e-03 1.97919603e+02] [ 9.86131878e-01 1.59832748e-01 -4.46924085e-02 1.11718241e+02] [ 4.48602555e-02 2.55980546e-03 9.98989992e-01 9.03931006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.8371056809999 meters 0.03902712021374868 Centerline is valid? [True, True] Translation: X:197.93, Y:111.75, Z:9.04 [[ 1.56835505e-01 -9.87613449e-01 -4.72232670e-03 1.97926000e+02] [ 9.86564596e-01 1.56886850e-01 -4.55720722e-02 1.11745992e+02] [ 4.57484623e-02 2.48843863e-03 9.98949892e-01 9.03832928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.86710568099994 meters 0.03761540403300151 Centerline is valid? [True, True] Translation: X:197.93, Y:111.77, Z:9.04 [[ 1.53434288e-01 -9.88148365e-01 -4.55292403e-03 1.97932852e+02] [ 9.87167321e-01 1.53485055e-01 -4.40796800e-02 1.11771444e+02] [ 4.42560695e-02 2.26883649e-03 9.99017644e-01 9.04074352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.8971056809999 meters 0.03191061385632917 Centerline is valid? [True, True] Translation: X:197.95, Y:111.80, Z:9.05 [[ 1.43539861e-01 -9.89635565e-01 -4.21394000e-03 1.97951606e+02] [ 9.88790408e-01 1.43591546e-01 -4.09267312e-02 1.11796679e+02] [ 4.11076349e-02 1.70791386e-03 9.99153264e-01 9.04767817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.92710568099994 meters 0.029616065584549024 Centerline is valid? [True, True] Translation: X:197.96, Y:111.82, Z:9.05 [[ 1.38579526e-01 -9.90343048e-01 -4.04506363e-03 1.97961215e+02] [ 9.89558755e-01 1.38630844e-01 -3.94329844e-02 1.11823454e+02] [ 3.96129526e-02 1.46177616e-03 9.99214030e-01 9.05101530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.9571056809999 meters 0.026515978406534683 Centerline is valid? [True, True] Translation: X:197.97, Y:111.85, Z:9.05 [[ 1.30307028e-01 -9.91466030e-01 -3.89730893e-03 1.97972888e+02] [ 9.90734694e-01 1.30360637e-01 -3.80902853e-02 1.11848658e+02] [ 3.82732797e-02 1.10223271e-03 9.99266702e-01 9.05247845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.98710568099995 meters 0.02397414280597709 Centerline is valid? [True, True] Translation: X:197.98, Y:111.88, Z:9.05 [[ 1.25678414e-01 -9.92063401e-01 -3.89167814e-03 1.97983237e+02] [ 9.91328598e-01 1.25735129e-01 -3.81875383e-02 1.11875235e+02] [ 3.83737798e-02 9.41417427e-04 9.99263012e-01 9.05132042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.0171056809999 meters 0.023790431412373757 Centerline is valid? [True, True] Translation: X:197.99, Y:111.90, Z:9.05 [[ 1.23713098e-01 -9.92309872e-01 -4.02328664e-03 1.97988548e+02] [ 9.91518171e-01 1.23775119e-01 -3.96413490e-02 1.11901604e+02] [ 3.98344848e-02 9.14992272e-04 9.99205873e-01 9.05078729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.04710568099995 meters 0.022161139645366597 Centerline is valid? [True, True] Translation: X:198.00, Y:111.93, Z:9.05 [[ 1.22440704e-01 -9.92467253e-01 -4.12616914e-03 1.97997090e+02] [ 9.91627833e-01 1.22506855e-01 -4.08204823e-02 1.11928102e+02] [ 4.10184759e-02 9.06464401e-04 9.99157977e-01 9.05155130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.0771056809999 meters 0.022888825866510087 Centerline is valid? [True, True] Translation: X:198.00, Y:111.95, Z:9.05 [[ 1.22647270e-01 -9.92441730e-01 -4.13021502e-03 1.97998453e+02] [ 9.91593600e-01 1.22713218e-01 -4.10316694e-02 1.11953873e+02] [ 4.12283730e-02 9.36927471e-04 9.99149310e-01 9.05219478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.10710568099995 meters 0.022888825866510087 Centerline is valid? [True, True] Translation: X:198.00, Y:111.98, Z:9.05 [[ 1.22247275e-01 -9.92491154e-01 -4.11254756e-03 1.98000850e+02] [ 9.91642994e-01 1.22312834e-01 -4.10334405e-02 1.11980489e+02] [ 4.12283441e-02 9.38047304e-04 9.99149310e-01 9.05318104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.1371056809999 meters 0.024180307055839755 Centerline is valid? [True, True] Translation: X:198.00, Y:112.01, Z:9.05 [[ 1.24812762e-01 -9.92170852e-01 -4.33298188e-03 1.98001651e+02] [ 9.91221168e-01 1.24882895e-01 -4.34149511e-02 1.12008540e+02] [ 4.36161643e-02 1.12379659e-03 9.99047730e-01 9.05286849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.16710568099995 meters 0.025111554578883033 Centerline is valid? [True, True] Translation: X:198.00, Y:112.04, Z:9.05 [[ 1.26691427e-01 -9.91932343e-01 -4.41699395e-03 1.98002381e+02] [ 9.90937946e-01 1.26762229e-01 -4.44221064e-02 1.12036132e+02] [ 4.46236320e-02 1.25093314e-03 9.99003086e-01 9.05330763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.1971056809999 meters 0.026712787096752455 Centerline is valid? [True, True] Translation: X:198.00, Y:112.06, Z:9.05 [[ 1.29640748e-01 -9.91551589e-01 -4.32701095e-03 1.98000250e+02] [ 9.90589841e-01 1.29705632e-01 -4.36831215e-02 1.12064102e+02] [ 4.38753062e-02 1.37681946e-03 9.99036066e-01 9.05391022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.22710568099995 meters 0.02695500296367388 Centerline is valid? [True, True] Translation: X:198.00, Y:112.09, Z:9.06 [[ 1.30731277e-01 -9.91408832e-01 -4.22625380e-03 1.98001944e+02] [ 9.90484376e-01 1.30791941e-01 -4.28272006e-02 1.12092477e+02] [ 4.30120249e-02 1.41281625e-03 9.99073556e-01 9.05619081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.2571056809999 meters 0.029019039637198298 Centerline is valid? [True, True] Translation: X:198.00, Y:112.12, Z:9.06 [[ 1.33527963e-01 -9.91036781e-01 -4.04741158e-03 1.98002711e+02] [ 9.90182855e-01 1.33581001e-01 -4.11585865e-02 1.12118868e+02] [ 4.13303303e-02 1.48814466e-03 9.99144429e-01 9.05963574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.28710568099996 meters 0.030968909984101557 Centerline is valid? [True, True] Translation: X:198.00, Y:112.14, Z:9.06 [[ 1.35816294e-01 -9.90726365e-01 -3.89924127e-03 1.98004535e+02] [ 9.89928812e-01 1.35863504e-01 -3.97750679e-02 1.12144816e+02] [ 3.99359730e-02 1.54213105e-03 9.99201051e-01 9.06321811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.31710568099993 meters 0.03253013974350466 Centerline is valid? [True, True] Translation: X:198.01, Y:112.17, Z:9.07 [[ 1.37458461e-01 -9.90501004e-01 -3.59615415e-03 1.98007007e+02] [ 9.89817186e-01 1.37497279e-01 -3.68298284e-02 1.12171759e+02] [ 3.69744434e-02 1.50303634e-03 9.99315081e-01 9.06678017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.34710568099996 meters 0.03318140079736348 Centerline is valid? [True, True] Translation: X:198.01, Y:112.20, Z:9.07 [[ 1.38489060e-01 -9.90357305e-01 -3.63171112e-03 1.98010510e+02] [ 9.89654173e-01 1.38527685e-01 -3.73456726e-02 1.12198270e+02] [ 3.74886522e-02 1.57782904e-03 9.99295808e-01 9.06806741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.37710568099993 meters 0.03571900462526979 Centerline is valid? [True, True] Translation: X:198.01, Y:112.22, Z:9.07 [[ 1.41964037e-01 -9.89864490e-01 -3.80842029e-03 1.98011246e+02] [ 9.89084168e-01 1.42003477e-01 -3.93385473e-02 1.12224757e+02] [ 3.94806400e-02 1.81781079e-03 9.99218682e-01 9.06735107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.40710568099996 meters 0.03778505790801232 Centerline is valid? [True, True] Translation: X:198.01, Y:112.25, Z:9.07 [[ 1.44473774e-01 -9.89501322e-01 -3.80294778e-03 1.98010899e+02] [ 9.88716541e-01 1.44510806e-01 -3.94490658e-02 1.12251497e+02] [ 3.95844698e-02 1.93931806e-03 9.99214346e-01 9.06712339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.43710568099993 meters 0.0415139724018996 Centerline is valid? [True, True] Translation: X:198.01, Y:112.28, Z:9.07 [[ 1.48962065e-01 -9.88835431e-01 -3.84618462e-03 1.98008676e+02] [ 9.88025700e-01 1.48995932e-01 -4.00678022e-02 1.12277622e+02] [ 4.01935283e-02 2.16845332e-03 9.99189561e-01 9.06551730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.46710568099996 meters 0.043393782296633765 Centerline is valid? [True, True] Translation: X:198.01, Y:112.30, Z:9.07 [[ 1.51246777e-01 -9.88488321e-01 -3.90524648e-03 1.98010399e+02] [ 9.87646207e-01 1.51279352e-01 -4.08598580e-02 1.12304788e+02] [ 4.09802757e-02 2.32291995e-03 9.99157255e-01 9.06581407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.49710568099994 meters 0.046239336461994525 Centerline is valid? [True, True] Translation: X:198.01, Y:112.33, Z:9.07 [[ 1.54508697e-01 -9.87982936e-01 -4.09634313e-03 1.98013400e+02] [ 9.87048789e-01 1.54541026e-01 -4.30320726e-02 1.12330759e+02] [ 4.31480065e-02 2.60553895e-03 9.99065294e-01 9.06580486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.5271056809999 meters 0.047485862567084154 Centerline is valid? [True, True] Translation: X:198.02, Y:112.36, Z:9.07 [[ 1.55014288e-01 -9.87904107e-01 -4.00567829e-03 1.98016327e+02] [ 9.87005187e-01 1.55044401e-01 -4.22136672e-02 1.12356713e+02] [ 4.23241132e-02 2.59009630e-03 9.99100576e-01 9.06639215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.55710568099994 meters 0.04793739662613975 Centerline is valid? [True, True] Translation: X:198.02, Y:112.38, Z:9.07 [[ 1.54682103e-01 -9.87956472e-01 -3.93149249e-03 1.98019424e+02] [ 9.87085166e-01 1.54711075e-01 -4.15615002e-02 1.12382839e+02] [ 4.16691986e-02 2.54810234e-03 9.99128213e-01 9.06741080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.5871056809999 meters 0.04824220070481286 Centerline is valid? [True, True] Translation: X:198.03, Y:112.41, Z:9.07 [[ 1.53427253e-01 -9.88151364e-01 -4.11814171e-03 1.98025734e+02] [ 9.87186851e-01 1.53459738e-01 -4.37290640e-02 1.12408794e+02] [ 4.38429032e-02 2.64385482e-03 9.99034939e-01 9.06560629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.61710568099994 meters 0.04755758591576361 Centerline is valid? [True, True] Translation: X:198.03, Y:112.44, Z:9.06 [[ 1.51605826e-01 -9.88432305e-01 -4.15358438e-03 1.98031386e+02] [ 9.87443182e-01 1.51640211e-01 -4.42855479e-02 1.12435711e+02] [ 4.44031166e-02 2.61251850e-03 9.99010279e-01 9.06486549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.6471056809999 meters 0.04398703128478691 Centerline is valid? [True, True] Translation: X:198.04, Y:112.46, Z:9.06 [[ 1.45396594e-01 -9.89363970e-01 -4.33180278e-03 1.98043659e+02] [ 9.88279606e-01 1.45440278e-01 -4.63739884e-02 1.12460425e+02] [ 4.65107719e-02 2.46158761e-03 9.98914755e-01 9.06178357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.67710568099994 meters 0.04208644960804098 Centerline is valid? [True, True] Translation: X:198.05, Y:112.49, Z:9.06 [[ 1.41441250e-01 -9.89936864e-01 -4.40198889e-03 1.98051492e+02] [ 9.88807764e-01 1.41490368e-01 -4.73252821e-02 1.12486626e+02] [ 4.74718804e-02 2.34102627e-03 9.98869831e-01 9.06104340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.7071056809999 meters 0.034046348099030795 Centerline is valid? [True, True] Translation: X:198.07, Y:112.51, Z:9.07 [[ 1.29160250e-01 -9.91615066e-01 -4.14612727e-03 1.98072594e+02] [ 9.90606521e-01 1.29215964e-01 -4.47432118e-02 1.12511389e+02] [ 4.49037888e-02 1.67186370e-03 9.98989917e-01 9.06512864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.73710568099995 meters 0.029353434986437027 Centerline is valid? [True, True] Translation: X:198.09, Y:112.54, Z:9.07 [[ 1.21368519e-01 -9.92599537e-01 -3.98017337e-03 1.98086250e+02] [ 9.91663257e-01 1.21426948e-01 -4.31216964e-02 1.12536361e+02] [ 4.32858762e-02 1.28662473e-03 9.99061899e-01 9.06895552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.7671056809999 meters 0.02002083508092603 Centerline is valid? [True, True] Translation: X:198.11, Y:112.56, Z:9.07 [[ 1.03944273e-01 -9.94575601e-01 -3.86800825e-03 1.98112116e+02] [ 9.93685093e-01 1.04014864e-01 -4.20813972e-02 1.12559161e+02] [ 4.22554613e-02 5.30538087e-04 9.99106698e-01 9.07141909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.79710568099995 meters 0.017261106316915867 Centerline is valid? [True, True] Translation: X:198.13, Y:112.58, Z:9.07 [[ 8.89893593e-02 -9.96025453e-01 -3.76720969e-03 1.98134398e+02] [ 9.95174572e-01 8.90690211e-02 -4.11616315e-02 1.12582449e+02] [ 4.13335743e-02 -8.60840806e-05 9.99145399e-01 9.07359889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.8271056809999 meters 0.01795142714734772 Centerline is valid? [True, True] Translation: X:198.14, Y:112.61, Z:9.08 [[ 8.43557115e-02 -9.96428684e-01 -3.74055429e-03 1.98143014e+02] [ 9.95582737e-01 8.44382000e-02 -4.10512304e-02 1.12607095e+02] [ 4.12204692e-02 -2.61125523e-04 9.99150041e-01 9.07534888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.85710568099995 meters 0.018137267542929675 Centerline is valid? [True, True] Translation: X:198.15, Y:112.64, Z:9.08 [[ 8.04418601e-02 -9.96752276e-01 -3.74259884e-03 1.98146623e+02] [ 9.95897914e-01 8.05278426e-02 -4.12627233e-02 1.12635038e+02] [ 4.14300968e-02 -4.07996160e-04 9.99141322e-01 9.07860745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.8871056809999 meters 0.018068691574310226 Centerline is valid? [True, True] Translation: X:198.15, Y:112.66, Z:9.08 [[ 8.02206811e-02 -9.96769943e-01 -3.78455057e-03 1.98146422e+02] [ 9.95888900e-01 8.03088686e-02 -4.19020798e-02 1.12662652e+02] [ 4.20706667e-02 -4.07578524e-04 9.99114554e-01 9.07940561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.91710568099995 meters 0.017312174274997285 Centerline is valid? [True, True] Translation: X:198.14, Y:112.69, Z:9.08 [[ 8.54579347e-02 -9.96334285e-01 -3.86446959e-03 1.98138143e+02] [ 9.95406068e-01 8.55450937e-02 -4.29976326e-02 1.12689772e+02] [ 4.31706019e-02 -1.72227606e-04 9.99067700e-01 9.07932394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.9471056809999 meters 0.017770193301216375 Centerline is valid? [True, True] Translation: X:198.12, Y:112.72, Z:9.08 [[ 9.57227209e-02 -9.95400003e-01 -3.99944114e-03 1.98124341e+02] [ 9.94394702e-01 9.58057526e-02 -4.47262119e-02 1.12718129e+02] [ 4.49036409e-02 3.04291621e-04 9.98991276e-01 9.07901307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.97710568099995 meters 0.018818479722042626 Centerline is valid? [True, True] Translation: X:198.12, Y:112.75, Z:9.08 [[ 1.00662841e-01 -9.94912431e-01 -4.03075181e-03 1.98118851e+02] [ 9.93881271e-01 1.00741992e-01 -4.52887534e-02 1.12746332e+02] [ 4.54644097e-02 5.52805851e-04 9.98965806e-01 9.08029356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.0071056809999 meters 0.02353523369816248 Centerline is valid? [True, True] Translation: X:198.10, Y:112.78, Z:9.08 [[ 1.13710570e-01 -9.93506017e-01 -3.96228880e-03 1.98104324e+02] [ 9.92499527e-01 1.13773740e-01 -4.47238684e-02 1.12775458e+02] [ 4.48842368e-02 1.15300681e-03 9.98991529e-01 9.08228665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.03710568099996 meters 0.028153391048110914 Centerline is valid? [True, True] Translation: X:198.09, Y:112.80, Z:9.09 [[ 1.24415553e-01 -9.92223252e-01 -3.71337707e-03 1.98093112e+02] [ 9.91331178e-01 1.24461231e-01 -4.20939078e-02 1.12803405e+02] [ 4.22287255e-02 1.55595034e-03 9.99106758e-01 9.08578208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.06710568099993 meters 0.03107535185459745 Centerline is valid? [True, True] Translation: X:198.09, Y:112.83, Z:9.09 [[ 1.27486952e-01 -9.91833630e-01 -3.62317707e-03 1.98087988e+02] [ 9.90976601e-01 1.27527503e-01 -4.12566613e-02 1.12830714e+02] [ 4.13817989e-02 1.66920230e-03 9.99142012e-01 9.08684445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.09710568099996 meters 0.030350414904947758 Centerline is valid? [True, True] Translation: X:198.09, Y:112.86, Z:9.08 [[ 1.29398406e-01 -9.91586062e-01 -3.62416152e-03 1.98087960e+02] [ 9.90720896e-01 1.29437004e-01 -4.14507915e-02 1.12858884e+02] [ 4.15711277e-02 1.77313379e-03 9.99133974e-01 9.08469306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.12710568099993 meters 0.030726975881924145 Centerline is valid? [True, True] Translation: X:198.09, Y:112.89, Z:9.08 [[ 1.28947190e-01 -9.91644261e-01 -3.77904236e-03 1.98088677e+02] [ 9.90695081e-01 1.28989222e-01 -4.34170145e-02 1.12885978e+02] [ 4.35416891e-02 1.85462337e-03 9.99049889e-01 9.08295019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.15710568099996 meters 0.02863599306305783 Centerline is valid? [True, True] Translation: X:198.09, Y:112.91, Z:9.08 [[ 1.26587747e-01 -9.91946875e-01 -4.11566505e-03 1.98093249e+02] [ 9.90809729e-01 1.26639807e-01 -4.75230411e-02 1.12913550e+02] [ 4.76615391e-02 1.93799374e-03 9.98861663e-01 9.08006866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.18710568099993 meters 0.030682535474138815 Centerline is valid? [True, True] Translation: X:198.09, Y:112.94, Z:9.08 [[ 1.25611570e-01 -9.92070779e-01 -4.15957234e-03 1.98091661e+02] [ 9.90898489e-01 1.25665457e-01 -4.82532615e-02 1.12939989e+02] [ 4.83933653e-02 1.93945401e-03 9.98826472e-01 9.07990063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.21710568099996 meters 0.029369109346998382 Centerline is valid? [True, True] Translation: X:198.09, Y:112.97, Z:9.08 [[ 1.23893698e-01 -9.92286857e-01 -4.14053741e-03 1.98094184e+02] [ 9.91113802e-01 1.23948659e-01 -4.82717427e-02 1.12967645e+02] [ 4.84126299e-02 1.87682096e-03 9.98825658e-01 9.08152576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.24710568099994 meters 0.028381224529717343 Centerline is valid? [True, True] Translation: X:198.10, Y:113.00, Z:9.08 [[ 1.22708484e-01 -9.92434738e-01 -3.98987666e-03 1.98096446e+02] [ 9.91336585e-01 1.22760484e-01 -4.67080113e-02 1.12995603e+02] [ 4.68444522e-02 1.77615854e-03 9.98900617e-01 9.08356145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.2771056809999 meters 0.0290143454438027 Centerline is valid? [True, True] Translation: X:198.10, Y:113.02, Z:9.09 [[ 1.19764398e-01 -9.92795613e-01 -3.65525435e-03 1.98095137e+02] [ 9.91866820e-01 1.19810527e-01 -4.29610115e-02 1.13022691e+02] [ 4.30894417e-02 1.51967416e-03 9.99070063e-01 9.08772242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.30710568099994 meters 0.027569706980799163 Centerline is valid? [True, True] Translation: X:198.10, Y:113.05, Z:9.09 [[ 1.18004109e-01 -9.93006897e-01 -3.51183145e-03 1.98099844e+02] [ 9.92142980e-01 1.18047988e-01 -4.14364677e-02 1.13049123e+02] [ 4.15612628e-02 1.40543452e-03 9.99134969e-01 9.09178111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.3371056809999 meters 0.027380465095615477 Centerline is valid? [True, True] Translation: X:198.10, Y:113.08, Z:9.09 [[ 1.17285479e-01 -9.93091987e-01 -3.52453007e-03 1.98102130e+02] [ 9.92213530e-01 1.17330029e-01 -4.17848638e-02 1.13076575e+02] [ 4.19097467e-02 1.40367135e-03 9.99120415e-01 9.09261669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.36710568099994 meters 0.02754875204477606 Centerline is valid? [True, True] Translation: X:198.10, Y:113.10, Z:9.09 [[ 1.16460681e-01 -9.93188132e-01 -3.77425970e-03 1.98100953e+02] [ 9.92170485e-01 1.16512259e-01 -4.49735767e-02 1.13102899e+02] [ 4.51069701e-02 1.49294430e-03 9.98981047e-01 9.08777975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.3971056809999 meters 0.026586511604647936 Centerline is valid? [True, True] Translation: X:198.10, Y:113.13, Z:9.08 [[ 1.17255187e-01 -9.93093541e-01 -4.05469689e-03 1.98102131e+02] [ 9.91906588e-01 1.17313343e-01 -4.85685208e-02 1.13130690e+02] [ 4.87087543e-02 1.67303042e-03 9.98811623e-01 9.08297045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.42710568099994 meters 0.02922849079983203 Centerline is valid? [True, True] Translation: X:198.10, Y:113.16, Z:9.08 [[ 1.16553660e-01 -9.93175679e-01 -4.16104347e-03 1.98099620e+02] [ 9.91913161e-01 1.16615362e-01 -5.00913077e-02 1.13157662e+02] [ 5.02347101e-02 1.71093146e-03 9.98735974e-01 9.08083516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.4571056809999 meters 0.029038439969170656 Centerline is valid? [True, True] Translation: X:198.10, Y:113.18, Z:9.08 [[ 1.15429869e-01 -9.93306143e-01 -4.34191799e-03 1.98102713e+02] [ 9.91916527e-01 1.15498102e-01 -5.25527602e-02 1.13184291e+02] [ 5.27024629e-02 1.75933802e-03 9.98608710e-01 9.07943946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.48710568099995 meters 0.02782932252072348 Centerline is valid? [True, True] Translation: X:198.11, Y:113.21, Z:9.08 [[ 1.14924441e-01 -9.93364672e-01 -4.35897490e-03 1.98106739e+02] [ 9.91949803e-01 1.14993448e-01 -5.30291886e-02 1.13211445e+02] [ 5.31785761e-02 1.77046555e-03 9.98583449e-01 9.08100714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.5171056809999 meters 0.026986274469876833 Centerline is valid? [True, True] Translation: X:198.11, Y:113.24, Z:9.09 [[ 1.14701123e-01 -9.93391450e-01 -4.13271057e-03 1.98109046e+02] [ 9.92107705e-01 1.14763048e-01 -5.05148046e-02 1.13238085e+02] [ 5.06552574e-02 1.69401081e-03 9.98714762e-01 9.08678829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.54710568099995 meters 0.030611960986318108 Centerline is valid? [True, True] Translation: X:198.10, Y:113.27, Z:9.09 [[ 1.18243900e-01 -9.92976584e-01 -3.98536674e-03 1.98103958e+02] [ 9.91771073e-01 1.18296807e-01 -4.89489930e-02 1.13265552e+02] [ 4.90766600e-02 1.83534837e-03 9.98793328e-01 9.08946039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.5771056809999 meters 0.030923579268151095 Centerline is valid? [True, True] Translation: X:198.10, Y:113.29, Z:9.09 [[ 1.20115393e-01 -9.92751987e-01 -3.97301185e-03 1.98104940e+02] [ 9.91542430e-01 1.20165264e-01 -4.90297857e-02 1.13292986e+02] [ 4.91518351e-02 1.94982215e-03 9.98789415e-01 9.09087120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.60710568099995 meters 0.03320836337124974 Centerline is valid? [True, True] Translation: X:198.10, Y:113.32, Z:9.09 [[ 1.24491294e-01 -9.92212728e-01 -3.97739591e-03 1.98103414e+02] [ 9.90988438e-01 1.24535405e-01 -4.93239165e-02 1.13320761e+02] [ 4.94351444e-02 2.19884483e-03 9.98774915e-01 9.09158038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.6371056809999 meters 0.03234646899835285 Centerline is valid? [True, True] Translation: X:198.11, Y:113.35, Z:9.09 [[ 1.27780926e-01 -9.91794534e-01 -3.95434769e-03 1.98107511e+02] [ 9.90572739e-01 1.27819962e-01 -4.92717606e-02 1.13348281e+02] [ 4.93729074e-02 2.37892217e-03 9.98777581e-01 9.09438460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.66710568099995 meters 0.033049727951609466 Centerline is valid? [True, True] Translation: X:198.11, Y:113.38, Z:9.10 [[ 1.28927274e-01 -9.91646423e-01 -3.88967760e-03 1.98109687e+02] [ 9.90453150e-01 1.28963131e-01 -4.86936186e-02 1.13376018e+02] [ 4.87884777e-02 2.42539209e-03 9.98806188e-01 9.09599308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.6971056809999 meters 0.03423296645775988 Centerline is valid? [True, True] Translation: X:198.11, Y:113.40, Z:9.10 [[ 1.28907718e-01 -9.91649461e-01 -3.76123837e-03 1.98111056e+02] [ 9.90523067e-01 1.28940742e-01 -4.73110849e-02 1.13402401e+02] [ 4.74009887e-02 2.37317064e-03 9.98873122e-01 9.09811405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.72710568099995 meters 0.03447067263272938 Centerline is valid? [True, True] Translation: X:198.11, Y:113.43, Z:9.10 [[ 1.28489540e-01 -9.91704253e-01 -3.62127008e-03 1.98113788e+02] [ 9.90649023e-01 1.28520040e-01 -4.57942308e-02 1.13429677e+02] [ 4.58797392e-02 2.29667197e-03 9.98944330e-01 9.10013430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.7571056809999 meters 0.03451769984634778 Centerline is valid? [True, True] Translation: X:198.12, Y:113.46, Z:9.11 [[ 1.27351401e-01 -9.91851398e-01 -3.52501909e-03 1.98120772e+02] [ 9.90841590e-01 1.27380962e-01 -4.47999403e-02 1.13457047e+02] [ 4.48839038e-02 2.21259965e-03 9.98989760e-01 9.10507071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.78710568099996 meters 0.03251564823541591 Centerline is valid? [True, True] Translation: X:198.13, Y:113.48, Z:9.11 [[ 1.26087632e-01 -9.92012908e-01 -3.50711239e-03 1.98128777e+02] [ 9.91004171e-01 1.26117724e-01 -4.47778179e-02 1.13484140e+02] [ 4.48624823e-02 2.17036602e-03 9.98990814e-01 9.10791415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.81710568099993 meters 0.030723004408229348 Centerline is valid? [True, True] Translation: X:198.14, Y:113.51, Z:9.11 [[ 1.23674615e-01 -9.92316332e-01 -3.58979936e-03 1.98136125e+02] [ 9.91249210e-01 1.23708234e-01 -4.60573237e-02 1.13511886e+02] [ 4.61475223e-02 2.13773602e-03 9.98932348e-01 9.10569720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.84710568099996 meters 0.03025369585356149 Centerline is valid? [True, True] Translation: X:198.14, Y:113.54, Z:9.10 [[ 1.21698235e-01 -9.92560608e-01 -3.60263941e-03 1.98139441e+02] [ 9.91475388e-01 1.21733767e-01 -4.64483128e-02 1.13540060e+02] [ 4.65413284e-02 2.08074939e-03 9.98914198e-01 9.10436862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.87710568099993 meters 0.02904165932214586 Centerline is valid? [True, True] Translation: X:198.15, Y:113.57, Z:9.10 [[ 1.17706422e-01 -9.93041407e-01 -3.73663314e-03 1.98147445e+02] [ 9.91863010e-01 1.17748881e-01 -4.84042341e-02 1.13566321e+02] [ 4.85073931e-02 1.99126100e-03 9.98820839e-01 9.10154485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.90710568099996 meters 0.028803150542809915 Centerline is valid? [True, True] Translation: X:198.15, Y:113.59, Z:9.10 [[ 1.13426714e-01 -9.93538970e-01 -3.83339664e-03 1.98154888e+02] [ 9.92289190e-01 1.13476381e-01 -4.98525280e-02 1.13592956e+02] [ 4.99654293e-02 1.85077037e-03 9.98749233e-01 9.10151419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.93710568099993 meters 0.024515673417453726 Centerline is valid? [True, True] Translation: X:198.17, Y:113.62, Z:9.11 [[ 1.06895197e-01 -9.94263462e-01 -3.68582562e-03 1.98166357e+02] [ 9.93098133e-01 1.06948396e-01 -4.81470573e-02 1.13619153e+02] [ 4.82650530e-02 1.48630264e-03 9.98833457e-01 9.10547153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.96710568099996 meters 0.023278987329669928 Centerline is valid? [True, True] Translation: X:198.17, Y:113.65, Z:9.11 [[ 1.02698311e-01 -9.94706374e-01 -3.50513613e-03 1.98171853e+02] [ 9.93641700e-01 1.02750578e-01 -4.60270736e-02 1.13645993e+02] [ 4.61435783e-02 1.24405329e-03 9.98934043e-01 9.10873539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.99710568099994 meters 0.019654960367089348 Centerline is valid? [True, True] Translation: X:198.18, Y:113.67, Z:9.11 [[ 9.24282730e-02 -9.95714163e-01 -3.21248323e-03 1.98183275e+02] [ 9.94812066e-01 9.24812698e-02 -4.23812222e-02 1.13672839e+02] [ 4.24966777e-02 7.21406094e-04 9.99096348e-01 9.11474591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.0271056809999 meters 0.019654960367089348 Centerline is valid? [True, True] Translation: X:198.19, Y:113.70, Z:9.12 [[ 9.20139219e-02 -9.95752593e-01 -3.19550030e-03 1.98185032e+02] [ 9.94850476e-01 9.20665715e-02 -4.23825031e-02 1.13699524e+02] [ 4.24966861e-02 7.20735336e-04 9.99096348e-01 9.11573243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.05710568099994 meters 0.018240340590264907 Centerline is valid? [True, True] Translation: X:198.19, Y:113.73, Z:9.12 [[ 8.62590160e-02 -9.96267930e-01 -3.09729765e-03 1.98191580e+02] [ 9.95411582e-01 8.63132733e-02 -4.13013364e-02 1.13726961e+02] [ 4.14145348e-02 4.79526677e-04 9.99141935e-01 9.11821401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.0871056809999 meters 0.016954182046189547 Centerline is valid? [True, True] Translation: X:198.20, Y:113.75, Z:9.12 [[ 7.74590795e-02 -9.96991311e-01 -2.90133285e-03 1.98200658e+02] [ 9.96233350e-01 7.75133037e-02 -3.88690011e-02 1.13754604e+02] [ 3.89769483e-02 1.20352505e-04 9.99240103e-01 9.12256088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.11710568099994 meters 0.01686027788048269 Centerline is valid? [True, True] Translation: X:198.20, Y:113.78, Z:9.12 [[ 7.47772549e-02 -9.97196099e-01 -2.88128672e-03 1.98203535e+02] [ 9.96441132e-01 7.48327386e-02 -3.87960179e-02 1.13780384e+02] [ 3.89028522e-02 3.00271101e-05 9.99242997e-01 9.12407253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.1471056809999 meters 0.01682783135082382 Centerline is valid? [True, True] Translation: X:198.20, Y:113.81, Z:9.12 [[ 7.42243350e-02 -9.97237297e-01 -2.91930725e-03 1.98201899e+02] [ 9.96452867e-01 7.42817176e-02 -3.95463163e-02 1.13807815e+02] [ 3.96539127e-02 2.63469544e-05 9.99213474e-01 9.12418163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.17710568099994 meters 0.017002952889455216 Centerline is valid? [True, True] Translation: X:198.20, Y:113.83, Z:9.12 [[ 7.52912768e-02 -9.97157309e-01 -2.91964048e-03 1.98199760e+02] [ 9.96363743e-01 7.53478157e-02 -3.97743442e-02 1.13833983e+02] [ 3.98812666e-02 8.56372489e-05 9.99204422e-01 9.12365740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.2071056809999 meters 0.01721987599633071 Centerline is valid? [True, True] Translation: X:198.20, Y:113.86, Z:9.12 [[ 7.84125279e-02 -9.96916528e-01 -2.98531674e-03 1.98195144e+02] [ 9.96078913e-01 7.84689980e-02 -4.08584888e-02 1.13862079e+02] [ 4.09667576e-02 2.30206344e-04 9.99160483e-01 9.12197668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.23710568099995 meters 0.017954777168513028 Centerline is valid? [True, True] Translation: X:198.19, Y:113.89, Z:9.12 [[ 8.17735476e-02 -9.96646120e-01 -3.09812632e-03 1.98189967e+02] [ 9.95733174e-01 8.18312240e-02 -4.26508698e-02 1.13888359e+02] [ 4.27613473e-02 4.02805775e-04 9.99085234e-01 9.12074281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.2671056809999 meters 0.018255359584932664 Centerline is valid? [True, True] Translation: X:198.19, Y:113.92, Z:9.12 [[ 8.33018662e-02 -9.96519229e-01 -3.19784304e-03 1.98188581e+02] [ 9.95535367e-01 8.33616973e-02 -4.42736976e-02 1.13915611e+02] [ 4.43861686e-02 5.04515790e-04 9.99014321e-01 9.11977623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.29710568099995 meters 0.02028395775784814 Centerline is valid? [True, True] Translation: X:198.18, Y:113.94, Z:9.12 [[ 8.72275270e-02 -9.96182416e-01 -3.45718601e-03 1.98181648e+02] [ 9.95018668e-01 8.72927073e-02 -4.81438807e-02 1.13942626e+02] [ 4.82618746e-02 7.59507040e-04 9.98834428e-01 9.11556545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.3271056809999 meters 0.020913889041981392 Centerline is valid? [True, True] Translation: X:198.18, Y:113.97, Z:9.12 [[ 8.97003956e-02 -9.95962747e-01 -3.47070241e-03 1.98180562e+02] [ 9.94778543e-01 8.97629686e-02 -4.85619160e-02 1.13970190e+02] [ 4.86773998e-02 9.03442788e-04 9.98814144e-01 9.11714095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.35710568099995 meters 0.023580776964620017 Centerline is valid? [True, True] Translation: X:198.17, Y:114.00, Z:9.11 [[ 9.59356585e-02 -9.95381046e-01 -3.59492784e-03 1.98172094e+02] [ 9.94095419e-01 9.59944605e-02 -5.05901317e-02 1.13998125e+02] [ 5.07015514e-02 1.27969630e-03 9.98713029e-01 9.11487218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.3871056809999 meters 0.02722349768054434 Centerline is valid? [True, True] Translation: X:198.16, Y:114.02, Z:9.11 [[ 1.02342814e-01 -9.94742404e-01 -3.67402464e-03 1.98162932e+02] [ 9.93384372e-01 1.02395109e-01 -5.19877912e-02 1.14024880e+02] [ 5.20906626e-02 1.67085820e-03 9.98640962e-01 9.11115440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.41710568099995 meters 0.028742387289731088 Centerline is valid? [True, True] Translation: X:198.16, Y:114.05, Z:9.11 [[ 1.05325295e-01 -9.94431317e-01 -3.59692750e-03 1.98161162e+02] [ 9.93117724e-01 1.05371101e-01 -5.11284378e-02 1.14051840e+02] [ 5.12227320e-02 1.81294533e-03 9.98685609e-01 9.11243252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.4471056809999 meters 0.029886216467033943 Centerline is valid? [True, True] Translation: X:198.16, Y:114.08, Z:9.12 [[ 1.11261416e-01 -9.93784941e-01 -3.51963638e-03 1.98162028e+02] [ 9.92516336e-01 1.11297324e-01 -5.02416927e-02 1.14079063e+02] [ 5.03211638e-02 2.09666525e-03 9.98730887e-01 9.11654702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.47710568099995 meters 0.03576971077764536 Centerline is valid? [True, True] Translation: X:198.16, Y:114.11, Z:9.12 [[ 1.15108473e-01 -9.93347003e-01 -3.43102855e-03 1.98156035e+02] [ 9.92130807e-01 1.15137449e-01 -4.91917680e-02 1.14106445e+02] [ 4.92595351e-02 2.25836015e-03 9.98783459e-01 9.11903650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.5071056809999 meters 0.03705274700887243 Centerline is valid? [True, True] Translation: X:198.16, Y:114.13, Z:9.12 [[ 1.16276150e-01 -9.93211330e-01 -3.33327993e-03 1.98155787e+02] [ 9.92050799e-01 1.16301557e-01 -4.80537126e-02 1.14133629e+02] [ 4.81151575e-02 2.28071768e-03 9.98839191e-01 9.12155423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.53710568099996 meters 0.03398730089986222 Centerline is valid? [True, True] Translation: X:198.16, Y:114.16, Z:9.12 [[ 1.17744778e-01 -9.93038495e-01 -3.27329261e-03 1.98163589e+02] [ 9.91907305e-01 1.17767035e-01 -4.74428508e-02 1.14161052e+02] [ 4.74980631e-02 2.33934507e-03 9.98868591e-01 9.12354433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.56710568099993 meters 0.03460639758995021 Centerline is valid? [True, True] Translation: X:198.17, Y:114.19, Z:9.12 [[ 1.17027417e-01 -9.93123201e-01 -3.30020397e-03 1.98165578e+02] [ 9.91960443e-01 1.17050243e-01 -4.81011555e-02 1.14186975e+02] [ 4.81566632e-02 2.35548220e-03 9.98837017e-01 9.12277486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.59710568099996 meters 0.038759419835417724 Centerline is valid? [True, True] Translation: X:198.16, Y:114.21, Z:9.12 [[ 1.14872826e-01 -9.93374737e-01 -3.29620265e-03 1.98163547e+02] [ 9.92200736e-01 1.14897450e-01 -4.83350281e-02 1.14214689e+02] [ 4.83935211e-02 2.28188655e-03 9.98825741e-01 9.12072242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.62710568099993 meters 0.03118701266035613 Centerline is valid? [True, True] Translation: X:198.18, Y:114.24, Z:9.12 [[ 1.13233357e-01 -9.93563037e-01 -3.27097356e-03 1.98177490e+02] [ 9.92394722e-01 1.13258954e-01 -4.82195497e-02 1.14241924e+02] [ 4.82796292e-02 2.21396458e-03 9.98831405e-01 9.12388306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.65710568099996 meters 0.03236635066175099 Centerline is valid? [True, True] Translation: X:198.18, Y:114.27, Z:9.12 [[ 1.11422102e-01 -9.93767696e-01 -3.29868978e-03 1.98180411e+02] [ 9.92566224e-01 1.11449711e-01 -4.89004483e-02 1.14269362e+02] [ 4.89633239e-02 2.17442268e-03 9.98798210e-01 9.12489116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.68710568099993 meters 0.032030068476028864 Centerline is valid? [True, True] Translation: X:198.18, Y:114.30, Z:9.13 [[ 1.11222994e-01 -9.93789927e-01 -3.32075286e-03 1.98184386e+02] [ 9.92558387e-01 1.11250598e-01 -4.95091107e-02 1.14296276e+02] [ 4.95710912e-02 2.21051045e-03 9.98768152e-01 9.12649871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7171056809999 meters 0.03347310428817819 Centerline is valid? [True, True] Translation: X:198.19, Y:114.32, Z:9.13 [[ 1.12447762e-01 -9.93651919e-01 -3.37117182e-03 1.98185638e+02] [ 9.92367215e-01 1.12473933e-01 -5.05660459e-02 1.14323505e+02] [ 5.06242175e-02 2.34059832e-03 9.98715030e-01 9.12650211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.74710568099994 meters 0.03311131896560145 Centerline is valid? [True, True] Translation: X:198.19, Y:114.35, Z:9.13 [[ 1.13604690e-01 -9.93520376e-01 -3.35211210e-03 1.98188936e+02] [ 9.92235790e-01 1.13628405e-01 -5.05640414e-02 1.14351379e+02] [ 5.06173005e-02 2.41822663e-03 9.98715195e-01 9.12767104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7771056809999 meters 0.03280394368494676 Centerline is valid? [True, True] Translation: X:198.19, Y:114.38, Z:9.13 [[ 1.13900314e-01 -9.93486657e-01 -3.31366729e-03 1.98192089e+02] [ 9.92217554e-01 1.13922449e-01 -5.02593409e-02 1.14379245e+02] [ 5.03094857e-02 2.43667584e-03 9.98730704e-01 9.12937790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.80710568099994 meters 0.033335980162183476 Centerline is valid? [True, True] Translation: X:198.20, Y:114.41, Z:9.13 [[ 1.13829532e-01 -9.93495034e-01 -3.23352597e-03 1.98196853e+02] [ 9.92272814e-01 1.13850030e-01 -4.93237616e-02 1.14405961e+02] [ 4.93710492e-02 2.40596077e-03 9.98777608e-01 9.13172382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.8371056809999 meters 0.033483924602232214 Centerline is valid? [True, True] Translation: X:198.20, Y:114.43, Z:9.13 [[ 1.13507956e-01 -9.93531806e-01 -3.23956623e-03 1.98203344e+02] [ 9.92289382e-01 1.13528168e-01 -4.97306562e-02 1.14432815e+02] [ 4.97767707e-02 2.43023797e-03 9.98757412e-01 9.13238911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.86710568099994 meters 0.03386415579998601 Centerline is valid? [True, True] Translation: X:198.21, Y:114.46, Z:9.13 [[ 1.13699238e-01 -9.93509876e-01 -3.25729362e-03 1.98206023e+02] [ 9.92238162e-01 1.13718659e-01 -5.03139864e-02 1.14460600e+02] [ 5.03578574e-02 2.48865089e-03 9.98728138e-01 9.13336908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.8971056809999 meters 0.034342533511315686 Centerline is valid? [True, True] Translation: X:198.21, Y:114.49, Z:9.14 [[ 1.15714717e-01 -9.93277333e-01 -3.20063350e-03 1.98209683e+02] [ 9.92035613e-01 1.15730265e-01 -4.97176820e-02 1.14488357e+02] [ 4.97538568e-02 2.57792510e-03 9.98758183e-01 9.13515143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.92710568099994 meters 0.03577557116171037 Centerline is valid? [True, True] Translation: X:198.21, Y:114.51, Z:9.14 [[ 1.16394627e-01 -9.93197967e-01 -3.17642811e-03 1.98210995e+02] [ 9.91961537e-01 1.16408397e-01 -4.96124303e-02 1.14514830e+02] [ 4.96447279e-02 2.62372583e-03 9.98763494e-01 9.13675851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.9571056809999 meters 0.03768563867978784 Centerline is valid? [True, True] Translation: X:198.21, Y:114.54, Z:9.14 [[ 1.18686458e-01 -9.92926778e-01 -3.15244426e-03 1.98213902e+02] [ 9.91697206e-01 1.18696563e-01 -4.94750183e-02 1.14541383e+02] [ 4.94992548e-02 2.74574453e-03 9.98770386e-01 9.13837617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.98710568099995 meters 0.03809502463326432 Centerline is valid? [True, True] Translation: X:198.22, Y:114.57, Z:9.14 [[ 1.19942462e-01 -9.92775941e-01 -3.12051771e-03 1.98216697e+02] [ 9.91558165e-01 1.19950102e-01 -4.92379847e-02 1.14568996e+02] [ 4.92565930e-02 2.81155029e-03 9.98782200e-01 9.14011926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.0171056809999 meters 0.03981325744572015 Centerline is valid? [True, True] Translation: X:198.22, Y:114.60, Z:9.14 [[ 1.21774211e-01 -9.92553234e-01 -3.01971371e-03 1.98218014e+02] [ 9.91399956e-01 1.21778501e-01 -4.79178863e-02 1.14595739e+02] [ 4.79287893e-02 2.84141874e-03 9.98846714e-01 9.14077595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.04710568099995 meters 0.03848807612095165 Centerline is valid? [True, True] Translation: X:198.22, Y:114.62, Z:9.14 [[ 1.21701340e-01 -9.92562447e-01 -2.92790124e-03 1.98223040e+02] [ 9.91465127e-01 1.21704677e-01 -4.67426395e-02 1.14622679e+02] [ 4.67513280e-02 2.78572989e-03 9.98902674e-01 9.14222913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.0771056809999 meters 0.03986523022618839 Centerline is valid? [True, True] Translation: X:198.22, Y:114.65, Z:9.14 [[ 1.21735795e-01 -9.92558348e-01 -2.88461849e-03 1.98224766e+02] [ 9.91479548e-01 1.21738180e-01 -4.63478283e-02 1.14650086e+02] [ 4.63540921e-02 2.78214951e-03 9.98921197e-01 9.14360197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.10710568099995 meters 0.03878027771201945 Centerline is valid? [True, True] Translation: X:198.23, Y:114.68, Z:9.15 [[ 1.21757113e-01 -9.92555993e-01 -2.79394270e-03 1.98234635e+02] [ 9.91531665e-01 1.21758591e-01 -4.51641813e-02 1.14676744e+02] [ 4.51681654e-02 2.72877766e-03 9.98975671e-01 9.14876060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.1371056809999 meters 0.04018378587023843 Centerline is valid? [True, True] Translation: X:198.24, Y:114.70, Z:9.15 [[ 1.21060128e-01 -9.92641112e-01 -2.84031461e-03 1.98236058e+02] [ 9.91568020e-01 1.21061530e-01 -4.62273491e-02 1.14703286e+02] [ 4.62310200e-02 2.77992367e-03 9.98926907e-01 9.14883204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.16710568099995 meters 0.0409264055355396 Centerline is valid? [True, True] Translation: X:198.24, Y:114.73, Z:9.14 [[ 1.21604170e-01 -9.92573908e-01 -3.07630738e-03 1.98237453e+02] [ 9.91297044e-01 1.21604018e-01 -5.04245264e-02 1.14731813e+02] [ 5.04241606e-02 3.08229826e-03 9.98723137e-01 9.14256093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.1971056809999 meters 0.04019424247416295 Centerline is valid? [True, True] Translation: X:198.24, Y:114.76, Z:9.14 [[ 1.22026243e-01 -9.92521734e-01 -3.19417423e-03 1.98240399e+02] [ 9.91128018e-01 1.22024432e-01 -5.26810200e-02 1.14759308e+02] [ 5.26768247e-02 3.26263136e-03 9.98606282e-01 9.13957805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.22710568099995 meters 0.04062891553676945 Centerline is valid? [True, True] Translation: X:198.24, Y:114.79, Z:9.14 [[ 1.21685296e-01 -9.92563127e-01 -3.33568203e-03 1.98243499e+02] [ 9.91023037e-01 1.21682592e-01 -5.53776851e-02 1.14786541e+02] [ 5.53717428e-02 3.43291227e-03 9.98459907e-01 9.13686227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.2571056809999 meters 0.03990303233394479 Centerline is valid? [True, True] Translation: X:198.25, Y:114.81, Z:9.14 [[ 1.19989466e-01 -9.92769655e-01 -3.30749817e-03 1.98247834e+02] [ 9.91236644e-01 1.19988256e-01 -5.52515531e-02 1.14813976e+02] [ 5.52489263e-02 3.35109097e-03 9.98466988e-01 9.13898629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.28710568099996 meters 0.03915285058069351 Centerline is valid? [True, True] Translation: X:198.25, Y:114.84, Z:9.14 [[ 1.14431147e-01 -9.93425953e-01 -3.22314060e-03 1.98254878e+02] [ 9.91952132e-01 1.14437154e-01 -5.41766126e-02 1.14840149e+02] [ 5.41893001e-02 3.00229071e-03 9.98526167e-01 9.14274761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.31710568099993 meters 0.032322638951932166 Centerline is valid? [True, True] Translation: X:198.27, Y:114.87, Z:9.15 [[ 1.06255399e-01 -9.94334178e-01 -3.05497783e-03 1.98268624e+02] [ 9.92992463e-01 1.06270852e-01 -5.16959746e-02 1.14866740e+02] [ 5.17277295e-02 2.45940645e-03 9.98658196e-01 9.14696255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.34710568099996 meters 0.032085622384143885 Centerline is valid? [True, True] Translation: X:198.27, Y:114.89, Z:9.15 [[ 1.02988154e-01 -9.94677941e-01 -3.03880994e-03 1.98271184e+02] [ 9.93332982e-01 1.03007030e-01 -5.17604018e-02 1.14893339e+02] [ 5.17979487e-02 2.31215810e-03 9.98654909e-01 9.14691615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.37710568099993 meters 0.0288728342763672 Centerline is valid? [True, True] Translation: X:198.28, Y:114.92, Z:9.15 [[ 9.83377312e-02 -9.95148528e-01 -3.01630110e-03 1.98279717e+02] [ 9.93807636e-01 9.83618852e-02 -5.16848302e-02 1.14920368e+02] [ 5.17307717e-02 2.08494587e-03 9.98658891e-01 9.14867494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.40710568099996 meters 0.02828657730768317 Centerline is valid? [True, True] Translation: X:198.28, Y:114.95, Z:9.15 [[ 9.58634119e-02 -9.95390750e-01 -2.73148109e-03 1.98282879e+02] [ 9.94277971e-01 9.58854592e-02 -4.70881533e-02 1.14946743e+02] [ 4.71330215e-02 1.79817955e-03 9.98887003e-01 9.15384077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.43710568099993 meters 0.02831680178913078 Centerline is valid? [True, True] Translation: X:198.28, Y:114.97, Z:9.16 [[ 9.48489718e-02 -9.95488224e-01 -2.62071516e-03 1.98284056e+02] [ 9.94453692e-01 9.48699338e-02 -4.54043048e-02 1.14974820e+02] [ 4.54480778e-02 1.70037176e-03 9.98965255e-01 9.15738770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.4671056809999 meters 0.029774364326214466 Centerline is valid? [True, True] Translation: X:198.28, Y:115.00, Z:9.16 [[ 9.70202289e-02 -9.95279064e-01 -2.58076911e-03 1.98284016e+02] [ 9.94263129e-01 9.70378657e-02 -4.49942606e-02 1.15002402e+02] [ 4.50322778e-02 1.79938988e-03 9.98983912e-01 9.15914297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.49710568099994 meters 0.03118424210511075 Centerline is valid? [True, True] Translation: X:198.28, Y:115.03, Z:9.16 [[ 9.88752177e-02 -9.95096553e-01 -2.55758890e-03 1.98282911e+02] [ 9.94085285e-01 9.88901139e-02 -4.48908820e-02 1.15029872e+02] [ 4.49236822e-02 1.89613424e-03 9.98988622e-01 9.16020095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.5271056809999 meters 0.03422950511144086 Centerline is valid? [True, True] Translation: X:198.28, Y:115.06, Z:9.16 [[ 1.02837518e-01 -9.94695097e-01 -2.47154885e-03 1.98277214e+02] [ 9.93737557e-01 1.02847060e-01 -4.36823830e-02 1.15056733e+02] [ 4.37048438e-02 2.03611691e-03 9.99042412e-01 9.16103944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.55710568099994 meters 0.03532214768858673 Centerline is valid? [True, True] Translation: X:198.28, Y:115.08, Z:9.16 [[ 1.03866533e-01 -9.94588110e-01 -2.49707864e-03 1.98275269e+02] [ 9.93596055e-01 1.03874563e-01 -4.44629584e-02 1.15083803e+02] [ 4.44817127e-02 2.13712586e-03 9.99007913e-01 9.16053917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.5871056809999 meters 0.03642319900194145 Centerline is valid? [True, True] Translation: X:198.27, Y:115.11, Z:9.16 [[ 1.04482769e-01 -9.94523406e-01 -2.55833116e-03 1.98273717e+02] [ 9.93466922e-01 1.04489810e-01 -4.58841420e-02 1.15110505e+02] [ 4.59001727e-02 2.25248484e-03 9.98943492e-01 9.15923386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.61710568099994 meters 0.03683645230323585 Centerline is valid? [True, True] Translation: X:198.27, Y:115.14, Z:9.16 [[ 1.04152826e-01 -9.94558095e-01 -2.52687155e-03 1.98274568e+02] [ 9.93512130e-01 1.04159289e-01 -4.56562249e-02 1.15137367e+02] [ 4.56709652e-02 2.24474733e-03 9.98954015e-01 9.16080011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.6471056809999 meters 0.03706536253247347 Centerline is valid? [True, True] Translation: X:198.27, Y:115.16, Z:9.16 [[ 1.03710629e-01 -9.94604191e-01 -2.57074128e-03 1.98274081e+02] [ 9.93504473e-01 1.03716961e-01 -4.68151039e-02 1.15164337e+02] [ 4.68291280e-02 2.30118093e-03 9.98900264e-01 9.15991805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.67710568099994 meters 0.03822162730169695 Centerline is valid? [True, True] Translation: X:198.27, Y:115.19, Z:9.15 [[ 1.04334005e-01 -9.94538763e-01 -2.65782671e-03 1.98269049e+02] [ 9.93344841e-01 1.04339112e-01 -4.87788506e-02 1.15192406e+02] [ 4.87897730e-02 2.44915440e-03 9.98806067e-01 9.15419517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.7071056809999 meters 0.03936103021763422 Centerline is valid? [True, True] Translation: X:198.27, Y:115.22, Z:9.15 [[ 1.04846053e-01 -9.94484701e-01 -2.73568754e-03 1.98266733e+02] [ 9.93201381e-01 1.04849872e-01 -5.05719335e-02 1.15219085e+02] [ 5.05798507e-02 2.58517896e-03 9.98716674e-01 9.15107813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.73710568099995 meters 0.039280689692937944 Centerline is valid? [True, True] Translation: X:198.27, Y:115.25, Z:9.15 [[ 1.04081156e-01 -9.94565072e-01 -2.72586084e-03 1.98268355e+02] [ 9.93271891e-01 1.04084964e-01 -5.07668261e-02 1.15245504e+02] [ 5.07746332e-02 2.57634898e-03 9.98706813e-01 9.15154945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.7671056809999 meters 0.03866003114549945 Centerline is valid? [True, True] Translation: X:198.27, Y:115.27, Z:9.15 [[ 1.01247614e-01 -9.94857505e-01 -2.73219871e-03 1.98270671e+02] [ 9.93538626e-01 1.01254193e-01 -5.12697427e-02 1.15271911e+02] [ 5.12827349e-02 2.47639416e-03 9.98681105e-01 9.15367493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.79710568099995 meters 0.03624311662315129 Centerline is valid? [True, True] Translation: X:198.27, Y:115.30, Z:9.16 [[ 9.90852485e-02 -9.95075453e-01 -2.63752607e-03 1.98274579e+02] [ 9.93829586e-01 9.90932755e-02 -4.98324814e-02 1.15298750e+02] [ 4.98484401e-02 2.31641237e-03 9.98754108e-01 9.15655349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.8271056809999 meters 0.02972235417980715 Centerline is valid? [True, True] Translation: X:198.28, Y:115.33, Z:9.16 [[ 9.40663183e-02 -9.95562967e-01 -2.43039376e-03 1.98282766e+02] [ 9.94490844e-01 9.40778788e-02 -4.62310908e-02 1.15326051e+02] [ 4.62546082e-02 1.93178416e-03 9.98927815e-01 9.16145983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.85710568099995 meters 0.02928742560941956 Centerline is valid? [True, True] Translation: X:198.28, Y:115.35, Z:9.16 [[ 8.90867920e-02 -9.96021105e-01 -2.34554138e-03 1.98282487e+02] [ 9.95008054e-01 8.91020170e-02 -4.49422145e-02 1.15352183e+02] [ 4.49723866e-02 1.66992515e-03 9.98986835e-01 9.16217551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.8871056809999 meters 0.02729355767049439 Centerline is valid? [True, True] Translation: X:198.29, Y:115.38, Z:9.16 [[ 8.66030973e-02 -9.96240178e-01 -2.32613509e-03 1.98287346e+02] [ 9.95229873e-01 8.66200690e-02 -4.48827730e-02 1.15380163e+02] [ 4.49155118e-02 1.57194803e-03 9.98989552e-01 9.16385884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.91710568099995 meters 0.02729355767049439 Centerline is valid? [True, True] Translation: X:198.29, Y:115.41, Z:9.16 [[ 8.61985671e-02 -9.96275300e-01 -2.30963975e-03 1.98288469e+02] [ 9.95264989e-01 8.62152067e-02 -4.48836224e-02 1.15406897e+02] [ 4.49155704e-02 1.57020035e-03 9.98989553e-01 9.16484614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.9471056809999 meters 0.024227588682142802 Centerline is valid? [True, True] Translation: X:198.29, Y:115.43, Z:9.17 [[ 7.84392231e-02 -9.96916385e-01 -2.23842498e-03 1.98294588e+02] [ 9.95952692e-01 7.84618349e-02 -4.38403554e-02 1.15432782e+02] [ 4.38807996e-02 1.20943803e-03 9.99036042e-01 9.16771167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.97710568099995 meters 0.022347471368039367 Centerline is valid? [True, True] Translation: X:198.30, Y:115.46, Z:9.17 [[ 7.32652313e-02 -9.97310051e-01 -2.20647329e-03 1.98297682e+02] [ 9.96358755e-01 7.32917217e-02 -4.35609399e-02 1.15459813e+02] [ 4.36054794e-02 9.93063359e-04 9.99048335e-01 9.16856277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.0071056809999 meters 0.019038545076333353 Centerline is valid? [True, True] Translation: X:198.30, Y:115.49, Z:9.17 [[ 6.37057457e-02 -9.97966287e-01 -2.20626513e-03 1.98303515e+02] [ 9.97000093e-01 6.37411375e-02 -4.39076551e-02 1.15486588e+02] [ 4.39589894e-02 5.97523375e-04 9.99033158e-01 9.16847070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.03710568099996 meters 0.018315511956958366 Centerline is valid? [True, True] Translation: X:198.31, Y:115.51, Z:9.17 [[ 5.93905751e-02 -9.98232341e-01 -2.22543562e-03 1.98305216e+02] [ 9.97233537e-01 5.94306833e-02 -4.46460234e-02 1.15512490e+02] [ 4.46993636e-02 4.32273979e-04 9.99000390e-01 9.16813430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.06710568099993 meters 0.017539801045552555 Centerline is valid? [True, True] Translation: X:198.31, Y:115.54, Z:9.17 [[ 5.31257384e-02 -9.98585298e-01 -2.24919359e-03 1.98305451e+02] [ 9.97551253e-01 5.31730578e-02 -4.54326326e-02 1.15540028e+02] [ 4.54879555e-02 1.69956272e-04 9.98964873e-01 9.16750518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.09710568099996 meters 0.01742606284841527 Centerline is valid? [True, True] Translation: X:198.30, Y:115.57, Z:9.17 [[ 5.03679179e-02 -9.98728271e-01 -2.21681630e-03 1.98304970e+02] [ 9.97707141e-01 5.04166394e-02 -4.51511075e-02 1.15567717e+02] [ 4.52054519e-02 6.24338212e-05 9.98977709e-01 9.16854291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.12710568099993 meters 0.017391535068014972 Centerline is valid? [True, True] Translation: X:198.30, Y:115.60, Z:9.17 [[ 4.61878451e-02 -9.98930540e-01 -2.11164930e-03 1.98302647e+02] [ 9.97989005e-01 4.62359724e-02 -4.33610606e-02 1.15595330e+02] [ 4.34123219e-02 -1.04648827e-04 9.99057235e-01 9.17175209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.15710568099996 meters 0.01772676260290725 Centerline is valid? [True, True] Translation: X:198.30, Y:115.62, Z:9.17 [[ 4.35382714e-02 -9.99049478e-01 -2.13530123e-03 1.98296233e+02] [ 9.98069699e-01 4.35901188e-02 -4.42354717e-02 1.15621483e+02] [ 4.42865030e-02 -2.05243484e-04 9.99018850e-01 9.17152792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.18710568099993 meters 0.01780336733778401 Centerline is valid? [True, True] Translation: X:198.29, Y:115.65, Z:9.17 [[ 4.28850692e-02 -9.99077756e-01 -2.12341169e-03 1.98291845e+02] [ 9.98090892e-01 4.29370659e-02 -4.43957111e-02 1.15646709e+02] [ 4.44459405e-02 -2.15444721e-04 9.99011768e-01 9.17101781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2171056809999 meters 0.01741478864459125 Centerline is valid? [True, True] Translation: X:198.28, Y:115.67, Z:9.17 [[ 4.64380658e-02 -9.98919052e-01 -2.05747512e-03 1.98280099e+02] [ 9.97975091e-01 4.64836076e-02 -4.34164986e-02 1.15674647e+02] [ 4.34652065e-02 -3.71307060e-05 9.99054941e-01 9.17483720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.24710568099994 meters 0.017532253505339632 Centerline is valid? [True, True] Translation: X:198.27, Y:115.70, Z:9.18 [[ 5.02532503e-02 -9.98734437e-01 -2.03350591e-03 1.98272986e+02] [ 9.97796059e-01 5.02941642e-02 -4.32841857e-02 1.15702302e+02] [ 4.33316803e-02 1.46146829e-04 9.99060731e-01 9.17692570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2771056809999 meters 0.019597587441173302 Centerline is valid? [True, True] Translation: X:198.25, Y:115.73, Z:9.18 [[ 5.95638913e-02 -9.98222507e-01 -1.99224649e-03 1.98252300e+02] [ 9.97306082e-01 5.95945636e-02 -4.27675819e-02 1.15730482e+02] [ 4.28102899e-02 5.60524058e-04 9.99083062e-01 9.17617853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.30710568099994 meters 0.021399134283596227 Centerline is valid? [True, True] Translation: X:198.24, Y:115.76, Z:9.18 [[ 6.45366544e-02 -9.97913412e-01 -1.96042470e-03 1.98243162e+02] [ 9.97014876e-01 6.45617329e-02 -4.23452466e-02 1.15757772e+02] [ 4.23834579e-02 7.78247955e-04 9.99101114e-01 9.17689024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.3371056809999 meters 0.02456620230918994 Centerline is valid? [True, True] Translation: X:198.23, Y:115.79, Z:9.18 [[ 7.37757218e-02 -9.97273058e-01 -1.89493226e-03 1.98229344e+02] [ 9.96418694e-01 7.37909695e-02 -4.12877520e-02 1.15786010e+02] [ 4.13149916e-02 1.15788778e-03 9.99145500e-01 9.17840934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.36710568099994 meters 0.027556216890783185 Centerline is valid? [True, True] Translation: X:198.22, Y:115.81, Z:9.18 [[ 8.14521172e-02 -9.96675515e-01 -1.86296514e-03 1.98216835e+02] [ 9.95835336e-01 8.14599827e-02 -4.09420938e-02 1.15813695e+02] [ 4.09577395e-02 1.47961371e-03 9.99159784e-01 9.17832521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.3971056809999 meters 0.029804107755711233 Centerline is valid? [True, True] Translation: X:198.21, Y:115.84, Z:9.18 [[ 8.39229417e-02 -9.96470543e-01 -1.84330243e-03 1.98210480e+02] [ 9.95633731e-01 8.39280497e-02 -4.08602029e-02 1.15841066e+02] [ 4.08706934e-02 1.59385435e-03 9.99163173e-01 9.17756404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.42710568099994 meters 0.029662274628974146 Centerline is valid? [True, True] Translation: X:198.21, Y:115.87, Z:9.18 [[ 8.56942798e-02 -9.96319655e-01 -1.90660964e-03 1.98207775e+02] [ 9.95412562e-01 8.56976688e-02 -4.25410565e-02 1.15869002e+02] [ 4.25478828e-02 1.74766201e-03 9.99092900e-01 9.17537753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.4571056809999 meters 0.03009283874924281 Centerline is valid? [True, True] Translation: X:198.21, Y:115.90, Z:9.17 [[ 8.33316215e-02 -9.96519977e-01 -1.94306244e-03 1.98205137e+02] [ 9.95560945e-01 8.33367157e-02 -4.37423815e-02 1.15896430e+02] [ 4.37520855e-02 1.71068650e-03 9.99040954e-01 9.17416676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.48710568099995 meters 0.028811111496084094 Centerline is valid? [True, True] Translation: X:198.21, Y:115.92, Z:9.17 [[ 8.10642389e-02 -9.96706959e-01 -1.95647752e-03 1.98205750e+02] [ 9.95718651e-01 8.10710234e-02 -4.44055966e-02 1.15924857e+02] [ 4.44179808e-02 1.65160474e-03 9.99011669e-01 9.17437139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.5171056809999 meters 0.026557533705362547 Centerline is valid? [True, True] Translation: X:198.21, Y:115.95, Z:9.18 [[ 7.75956442e-02 -9.96983075e-01 -1.91444784e-03 1.98207937e+02] [ 9.96021373e-01 7.76049112e-02 -4.38052738e-02 1.15953126e+02] [ 4.38216871e-02 1.49226747e-03 9.99038254e-01 9.17540691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.54710568099995 meters 0.026243532269127255 Centerline is valid? [True, True] Translation: X:198.21, Y:115.98, Z:9.18 [[ 7.60927422e-02 -9.97098954e-01 -1.88972582e-03 1.98209724e+02] [ 9.96147466e-01 7.61027107e-02 -4.35729648e-02 1.15981588e+02] [ 4.35903708e-02 1.43314078e-03 9.99048460e-01 9.17718854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.5771056809999 meters 0.02579114529497543 Centerline is valid? [True, True] Translation: X:198.21, Y:116.01, Z:9.18 [[ 7.37036197e-02 -9.97278350e-01 -1.91570120e-03 1.98212642e+02] [ 9.96288874e-01 7.37158489e-02 -4.44348234e-02 1.16008768e+02] [ 4.44551049e-02 1.36641553e-03 9.99010449e-01 9.17841393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.60710568099995 meters 0.02530943732758198 Centerline is valid? [True, True] Translation: X:198.21, Y:116.04, Z:9.18 [[ 7.22178632e-02 -9.97387110e-01 -1.87938707e-03 1.98214378e+02] [ 9.96418698e-01 7.22305785e-02 -4.39604571e-02 1.16036545e+02] [ 4.39813425e-02 1.30207386e-03 9.99031504e-01 9.18033202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.6371056809999 meters 0.023986973140100596 Centerline is valid? [True, True] Translation: X:198.22, Y:116.06, Z:9.18 [[ 6.85786493e-02 -9.97644030e-01 -1.83246423e-03 1.98216778e+02] [ 9.96707795e-01 6.85936889e-02 -4.32258934e-02 1.16064284e+02] [ 4.32497500e-02 1.13794201e-03 9.99063644e-01 9.17976691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.66710568099995 meters 0.022961665685324057 Centerline is valid? [True, True] Translation: X:198.22, Y:116.09, Z:9.18 [[ 6.65541297e-02 -9.97781143e-01 -1.82717684e-03 1.98220180e+02] [ 9.96834039e-01 6.65705729e-02 -4.34770812e-02 1.16092659e+02] [ 4.35022480e-02 1.07218723e-03 9.99052754e-01 9.17965959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.6971056809999 meters 0.022611928707468486 Centerline is valid? [True, True] Translation: X:198.22, Y:116.12, Z:9.18 [[ 6.38677532e-02 -9.97956564e-01 -1.89888608e-03 1.98223341e+02] [ 9.96915380e-01 6.38878584e-02 -4.55858073e-02 1.16118981e+02] [ 4.56139714e-02 1.01843434e-03 9.98958622e-01 9.17785950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.72710568099995 meters 0.021811133249180825 Centerline is valid? [True, True] Translation: X:198.23, Y:116.15, Z:9.18 [[ 6.28309113e-02 -9.98022309e-01 -1.93594495e-03 1.98230236e+02] [ 9.96921991e-01 6.28525435e-02 -4.68625856e-02 1.16145734e+02] [ 4.68915850e-02 1.01443287e-03 9.98899470e-01 9.17897342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.7571056809999 meters 0.02203437447257164 Centerline is valid? [True, True] Translation: X:198.23, Y:116.17, Z:9.18 [[ 6.26041625e-02 -9.98036568e-01 -1.93071004e-03 1.98232358e+02] [ 9.96920809e-01 6.26254646e-02 -4.71905919e-02 1.16171645e+02] [ 4.72188480e-02 1.02956247e-03 9.98884038e-01 9.18031762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.78710568099996 meters 0.0229919551373045 Centerline is valid? [True, True] Translation: X:198.23, Y:116.20, Z:9.18 [[ 6.46333133e-02 -9.97907442e-01 -1.80892395e-03 1.98232025e+02] [ 9.96912807e-01 6.46496602e-02 -4.45564350e-02 1.16199609e+02] [ 4.45801443e-02 1.07649057e-03 9.99005231e-01 9.18448948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.81710568099993 meters 0.023879952679459807 Centerline is valid? [True, True] Translation: X:198.23, Y:116.23, Z:9.19 [[ 6.63967060e-02 -9.97791755e-01 -1.75789340e-03 1.98231293e+02] [ 9.96835108e-01 6.64100328e-02 -4.36975382e-02 1.16226347e+02] [ 4.37177851e-02 1.14904275e-03 9.99043260e-01 9.18620567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.84710568099996 meters 0.02796876784754814 Centerline is valid? [True, True] Translation: X:198.23, Y:116.25, Z:9.19 [[ 7.15573142e-02 -9.97434970e-01 -1.74084793e-03 1.98227357e+02] [ 9.96476169e-01 7.15648795e-02 -4.37459991e-02 1.16252336e+02] [ 4.37583729e-02 1.39563273e-03 9.99041169e-01 9.18623435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.87710568099993 meters 0.027993963187337486 Centerline is valid? [True, True] Translation: X:198.23, Y:116.28, Z:9.19 [[ 7.49147831e-02 -9.97188516e-01 -1.68499067e-03 1.98229119e+02] [ 9.96270759e-01 7.49181567e-02 -4.28000556e-02 1.16280296e+02] [ 4.28059603e-02 1.52764994e-03 9.99082237e-01 9.18898803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.90710568099996 meters 0.02790743054817025 Centerline is valid? [True, True] Translation: X:198.23, Y:116.31, Z:9.19 [[ 7.62117706e-02 -9.97090330e-01 -1.62452485e-03 1.98230714e+02] [ 9.96221680e-01 7.62132190e-02 -4.16402470e-02 1.16307948e+02] [ 4.16428979e-02 1.55509008e-03 9.99131348e-01 9.19175659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.93710568099993 meters 0.02863830006741758 Centerline is valid? [True, True] Translation: X:198.23, Y:116.33, Z:9.19 [[ 7.65632430e-02 -9.97063436e-01 -1.60476393e-03 1.98231403e+02] [ 9.96199365e-01 7.65637358e-02 -4.15309523e-02 1.16334922e+02] [ 4.15318607e-02 1.58107958e-03 9.99135929e-01 9.19263473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.9671056809999 meters 0.02939069636539992 Centerline is valid? [True, True] Translation: X:198.23, Y:116.36, Z:9.19 [[ 7.67143483e-02 -9.97051715e-01 -1.66929201e-03 1.98231693e+02] [ 9.96097650e-01 7.67140044e-02 -4.36398102e-02 1.16362361e+02] [ 4.36392057e-02 1.68502176e-03 9.99045935e-01 9.19190033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.99710568099994 meters 0.02732421194590385 Centerline is valid? [True, True] Translation: X:198.23, Y:116.39, Z:9.19 [[ 7.50749094e-02 -9.97176536e-01 -1.64752346e-03 1.98234273e+02] [ 9.96233244e-01 7.50755853e-02 -4.33933077e-02 1.16390019e+02] [ 4.33944770e-02 1.61643100e-03 9.99056708e-01 9.19229586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.0271056809999 meters 0.029141534845103987 Centerline is valid? [True, True] Translation: X:198.23, Y:116.42, Z:9.19 [[ 7.38439531e-02 -9.97268461e-01 -1.63913456e-03 1.98232628e+02] [ 9.96314333e-01 7.38450352e-02 -4.36424268e-02 1.16415940e+02] [ 4.36442578e-02 1.58963606e-03 9.99045871e-01 9.19251399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.05710568099994 meters 0.02685737244710407 Centerline is valid? [True, True] Translation: X:198.24, Y:116.44, Z:9.19 [[ 7.19001440e-02 -9.97410540e-01 -1.60732052e-03 1.98237812e+02] [ 9.96471810e-01 7.19022351e-02 -4.32897334e-02 1.16443348e+02] [ 4.32932063e-02 1.51088848e-03 9.99061267e-01 9.19494284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.0871056809999 meters 0.026905759131793626 Centerline is valid? [True, True] Translation: X:198.24, Y:116.47, Z:9.19 [[ 7.12970298e-02 -9.97453824e-01 -1.61308162e-03 1.98236532e+02] [ 9.96488698e-01 7.12990296e-02 -4.38944471e-02 1.16470308e+02] [ 4.38976953e-02 1.52212610e-03 9.99034872e-01 9.19461814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.11710568099994 meters 0.026962296752724938 Centerline is valid? [True, True] Translation: X:198.24, Y:116.50, Z:9.19 [[ 7.07399651e-02 -9.97493463e-01 -1.62769707e-03 1.98235691e+02] [ 9.96487845e-01 7.07417629e-02 -4.48059916e-02 1.16497777e+02] [ 4.48088298e-02 1.54759394e-03 9.98994381e-01 9.19389578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.1471056809999 meters 0.025985861045828704 Centerline is valid? [True, True] Translation: X:198.24, Y:116.53, Z:9.19 [[ 6.77698370e-02 -9.97699655e-01 -1.62708342e-03 1.98237921e+02] [ 9.96671821e-01 6.77738951e-02 -4.52987982e-02 1.16525394e+02] [ 4.53048691e-02 1.44822397e-03 9.98972158e-01 9.19281989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.17710568099994 meters 0.024529491876051364 Centerline is valid? [True, True] Translation: X:198.24, Y:116.55, Z:9.20 [[ 6.37603446e-02 -9.97963906e-01 -1.63093255e-03 1.98242999e+02] [ 9.96909674e-01 6.37679651e-02 -4.58775363e-02 1.16553308e+02] [ 4.58881265e-02 1.29927509e-03 9.98945740e-01 9.19558933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.2071056809999 meters 0.02297696370591557 Centerline is valid? [True, True] Translation: X:198.25, Y:116.58, Z:9.20 [[ 6.02719570e-02 -9.98180677e-01 -1.62062351e-03 1.98246749e+02] [ 9.97117950e-01 6.02825745e-02 -4.60630526e-02 1.16581293e+02] [ 4.60769444e-02 1.16035754e-03 9.98937220e-01 9.19747245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.23710568099995 meters 0.02025186837045151 Centerline is valid? [True, True] Translation: X:198.25, Y:116.61, Z:9.20 [[ 5.26807613e-02 -9.98610201e-01 -1.55057560e-03 1.98252240e+02] [ 9.97617397e-01 5.26975227e-02 -4.45252846e-02 1.16609214e+02] [ 4.45451149e-02 7.98744689e-04 9.99007054e-01 9.20012598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.2671056809999 meters 0.019684503126487445 Centerline is valid? [True, True] Translation: X:198.25, Y:116.64, Z:9.20 [[ 4.82888141e-02 -9.98832265e-01 -1.51548854e-03 1.98253524e+02] [ 9.97863293e-01 4.83087131e-02 -4.39899551e-02 1.16636355e+02] [ 4.40117978e-02 6.11972374e-04 9.99030824e-01 9.20074150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.29710568099995 meters 0.018067005886858774 Centerline is valid? [True, True] Translation: X:198.26, Y:116.66, Z:9.20 [[ 4.15294828e-02 -9.99136140e-01 -1.50857604e-03 1.98258542e+02] [ 9.98154869e-01 4.15555410e-02 -4.42718226e-02 1.16663222e+02] [ 4.42962676e-02 3.32793376e-04 9.99018383e-01 9.20278888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.3271056809999 meters 0.017669624527316883 Centerline is valid? [True, True] Translation: X:198.26, Y:116.69, Z:9.20 [[ 3.84139527e-02 -9.99260806e-01 -1.48632199e-03 1.98260510e+02] [ 9.98284768e-01 3.84421096e-02 -4.41557025e-02 1.16690743e+02] [ 4.41802002e-02 2.12422456e-04 9.99023556e-01 9.20403670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.35710568099995 meters 0.01756092219490461 Centerline is valid? [True, True] Translation: X:198.26, Y:116.72, Z:9.20 [[ 3.36293849e-02 -9.99433203e-01 -1.52889537e-03 1.98261089e+02] [ 9.98374603e-01 3.36641151e-02 -4.59878144e-02 1.16717336e+02] [ 4.60132175e-02 2.01316062e-05 9.98940831e-01 9.20301915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.3871056809999 meters 0.01759339785021946 Centerline is valid? [True, True] Translation: X:198.26, Y:116.74, Z:9.20 [[ 3.19963213e-02 -9.99486770e-01 -1.55957384e-03 1.98260762e+02] [ 9.98361401e-01 3.20342826e-02 -4.74164269e-02 1.16744371e+02] [ 4.74420512e-02 -3.98670916e-05 9.98873991e-01 9.20245347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.41710568099995 meters 0.01803591126910575 Centerline is valid? [True, True] Translation: X:198.26, Y:116.77, Z:9.20 [[ 2.90269224e-02 -9.99577363e-01 -1.59167309e-03 1.98259051e+02] [ 9.98373725e-01 2.90700570e-02 -4.90391349e-02 1.16770673e+02] [ 4.90646792e-02 -1.65629430e-04 9.98795590e-01 9.20130011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.4471056809999 meters 0.01836636548059718 Centerline is valid? [True, True] Translation: X:198.26, Y:116.80, Z:9.21 [[ 2.43003334e-02 -9.99703632e-01 -1.46366646e-03 1.98257527e+02] [ 9.98659809e-01 2.43418311e-02 -4.56734147e-02 1.16796653e+02] [ 4.56955069e-02 -3.51825666e-04 9.98955353e-01 9.20731247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.47710568099995 meters 0.018633779710776396 Centerline is valid? [True, True] Translation: X:198.26, Y:116.82, Z:9.21 [[ 2.17416394e-02 -9.99762654e-01 -1.39194067e-03 1.98256092e+02] [ 9.98793743e-01 2.17818383e-02 -4.40069432e-02 1.16823738e+02] [ 4.40268174e-02 -4.33478539e-04 9.99030256e-01 9.21107956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.5071056809999 meters 0.019641046633156134 Centerline is valid? [True, True] Translation: X:198.25, Y:116.85, Z:9.21 [[ 1.63138956e-02 -9.99866049e-01 -1.31943068e-03 1.98252396e+02] [ 9.98973069e-01 1.63550831e-02 -4.22530420e-02 1.16851709e+02] [ 4.22689616e-02 -6.28764000e-04 9.99106070e-01 9.21324925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.53710568099996 meters 0.021700842862360733 Centerline is valid? [True, True] Translation: X:198.25, Y:116.88, Z:9.22 [[ 1.13434819e-02 -9.99934871e-01 -1.25668381e-03 1.98250144e+02] [ 9.99105247e-01 1.13852608e-02 -4.07318314e-02 1.16878089e+02] [ 4.07434863e-02 -7.93518599e-04 9.99169324e-01 9.21543166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.56710568099993 meters 0.022109347028676354 Centerline is valid? [True, True] Translation: X:198.25, Y:116.91, Z:9.22 [[ 9.36208862e-03 -9.99955450e-01 -1.20417061e-03 1.98247928e+02] [ 9.99172952e-01 9.40240179e-03 -3.95601620e-02 1.16905682e+02] [ 3.95697216e-02 -8.32808966e-04 9.99216465e-01 9.21875893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.59710568099996 meters 0.023358630374100953 Centerline is valid? [True, True] Translation: X:198.24, Y:116.93, Z:9.22 [[ 6.06472379e-03 -9.99980944e-01 -1.15372903e-03 1.98243276e+02] [ 9.99242858e-01 6.10457977e-03 -3.84245425e-02 1.16931776e+02] [ 3.84308533e-02 -9.19821254e-04 9.99260839e-01 9.22333155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.62710568099993 meters 0.023598338596615687 Centerline is valid? [True, True] Translation: X:198.24, Y:116.96, Z:9.22 [[ 4.40431331e-03 -9.99989640e-01 -1.15000954e-03 1.98239535e+02] [ 9.99234077e-01 4.44569602e-03 -3.88779509e-02 1.16958768e+02] [ 3.88826607e-02 -9.77898046e-04 9.99243305e-01 9.22463756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.65710568099996 meters 0.026333731559924474 Centerline is valid? [True, True] Translation: X:198.23, Y:116.98, Z:9.22 [[-1.86703460e-04 -9.99999303e-01 -1.16594215e-03 1.98233360e+02] [ 9.99199148e-01 -1.39901158e-04 -4.00130295e-02 1.16984961e+02] [ 4.00128385e-02 -1.17247898e-03 9.99198478e-01 9.22303798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.68710568099993 meters 0.028451191848480422 Centerline is valid? [True, True] Translation: X:198.22, Y:117.01, Z:9.22 [[-4.95594341e-03 -9.99986947e-01 -1.24289497e-03 1.98224237e+02] [ 9.99047213e-01 -4.89738496e-03 -4.33668329e-02 1.17012026e+02] [ 4.33601798e-02 -1.45663432e-03 9.99058443e-01 9.21838653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7171056809999 meters 0.029348671164381505 Centerline is valid? [True, True] Translation: X:198.22, Y:117.04, Z:9.22 [[-6.94848102e-03 -9.99975091e-01 -1.23898093e-03 1.98220096e+02] [ 9.99011734e-01 -6.88738154e-03 -4.39103500e-02 1.17038943e+02] [ 4.39007230e-02 -1.54286672e-03 9.99034707e-01 9.21945092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.74710568099994 meters 0.029951860152730644 Centerline is valid? [True, True] Translation: X:198.21, Y:117.06, Z:9.22 [[-8.00728927e-03 -9.99967232e-01 -1.19101179e-03 1.98209691e+02] [ 9.99050033e-01 -7.94891205e-03 -4.28467873e-02 1.17064322e+02] [ 4.28359161e-02 -1.53296698e-03 9.99080945e-01 9.22440577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7771056809999 meters 0.028947081664433966 Centerline is valid? [True, True] Translation: X:198.20, Y:117.09, Z:9.23 [[-6.56862127e-03 -9.99977765e-01 -1.14973452e-03 1.98201760e+02] [ 9.99093553e-01 -6.51444611e-03 -4.20670152e-02 1.17091563e+02] [ 4.20585900e-02 -1.42501463e-03 9.99114130e-01 9.22755922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.80710568099994 meters 0.024475768436516866 Centerline is valid? [True, True] Translation: X:198.18, Y:117.12, Z:9.23 [[-1.49578089e-03 -9.99998292e-01 -1.08548526e-03 1.98180437e+02] [ 9.99186668e-01 -1.45082435e-03 -4.02976029e-02 1.17120270e+02] [ 4.02959593e-02 -1.14487878e-03 9.99187132e-01 9.22960582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.8371056809999 meters 0.024475768436516866 Centerline is valid? [True, True] Translation: X:198.18, Y:117.15, Z:9.23 [[-1.93198227e-03 -9.99997562e-01 -1.06950373e-03 1.98180855e+02] [ 9.99185922e-01 -1.88731520e-03 -4.02980273e-02 1.17146957e+02] [ 4.02959106e-02 -1.14648814e-03 9.99187132e-01 9.23059258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.86710568099994 meters 0.02361165919171509 Centerline is valid? [True, True] Translation: X:198.17, Y:117.17, Z:9.23 [[ 1.83084521e-03 -9.99997775e-01 -1.04808806e-03 1.98172210e+02] [ 9.99192164e-01 1.87144449e-03 -4.01437067e-02 1.17174527e+02] [ 4.01455788e-02 -9.73744467e-04 9.99193367e-01 9.23061930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.8971056809999 meters 0.019355491646953656 Centerline is valid? [True, True] Translation: X:198.15, Y:117.20, Z:9.23 [[ 1.11522452e-02 -9.99937259e-01 -1.05149706e-03 1.98151613e+02] [ 9.99100759e-01 1.11859214e-02 -4.08968085e-02 1.17202747e+02] [ 4.09060046e-02 -5.94460269e-04 9.99162822e-01 9.23028701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.92710568099994 meters 0.017847902508972543 Centerline is valid? [True, True] Translation: X:198.14, Y:117.23, Z:9.23 [[ 1.62847191e-02 -9.99866846e-01 -1.04774027e-03 1.98143179e+02] [ 9.99008201e-01 1.63141483e-02 -4.14302063e-02 1.17230584e+02] [ 4.14417827e-02 -3.72021857e-04 9.99140851e-01 9.22952350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.9571056809999 meters 0.017070790295317696 Centerline is valid? [True, True] Translation: X:198.12, Y:117.26, Z:9.23 [[ 2.79833049e-02 -9.99607764e-01 -1.11961982e-03 1.98124444e+02] [ 9.98593224e-01 2.80053345e-02 -4.50252677e-02 1.17256938e+02] [ 4.50389625e-02 1.41911028e-04 9.98985221e-01 9.22510401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.98710568099995 meters 0.019787257288922055 Centerline is valid? [True, True] Translation: X:198.10, Y:117.29, Z:9.22 [[ 4.01832598e-02 -9.99191602e-01 -1.20337724e-03 1.98104972e+02] [ 9.97974248e-01 4.01936943e-02 -4.93139669e-02 1.17285638e+02] [ 4.93224698e-02 7.80656451e-04 9.98782601e-01 9.21971182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.0171056809999 meters 0.022283218843678624 Centerline is valid? [True, True] Translation: X:198.10, Y:117.31, Z:9.22 [[ 4.48268165e-02 -9.98994063e-01 -1.19091513e-03 1.98096631e+02] [ 9.97766065e-01 4.48307576e-02 -4.95286149e-02 1.17312740e+02] [ 4.95321819e-02 1.03195543e-03 9.98771995e-01 9.21886201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.04710568099995 meters 0.024370558894692654 Centerline is valid? [True, True] Translation: X:198.09, Y:117.34, Z:9.22 [[ 5.04539911e-02 -9.98725715e-01 -1.15788838e-03 1.98090513e+02] [ 9.97535916e-01 5.04504069e-02 -4.87529833e-02 1.17340571e+02] [ 4.87492740e-02 1.30474734e-03 9.98810195e-01 9.22170739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.0771056809999 meters 0.028209522188946252 Centerline is valid? [True, True] Translation: X:198.08, Y:117.37, Z:9.22 [[ 5.22334126e-02 -9.98634250e-01 -1.14235742e-03 1.98084097e+02] [ 9.97438430e-01 5.22267766e-02 -4.88768014e-02 1.17368023e+02] [ 4.88697095e-02 1.41357094e-03 9.98804162e-01 9.22098466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.10710568099995 meters 0.02618761877879892 Centerline is valid? [True, True] Translation: X:198.09, Y:117.40, Z:9.22 [[ 5.35378090e-02 -9.98565175e-01 -1.13796297e-03 1.98086098e+02] [ 9.97337390e-01 5.35284215e-02 -4.95261407e-02 1.17395356e+02] [ 4.95159927e-02 1.51658804e-03 9.98772179e-01 9.22459927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.1371056809999 meters 0.02603966314901598 Centerline is valid? [True, True] Translation: X:198.09, Y:117.42, Z:9.23 [[ 5.31484817e-02 -9.98586002e-01 -1.11159557e-03 1.98085364e+02] [ 9.97372660e-01 5.31387097e-02 -4.92346995e-02 1.17422741e+02] [ 4.92241505e-02 1.50807449e-03 9.98786618e-01 9.22640457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.16710568099995 meters 0.025745126861325178 Centerline is valid? [True, True] Translation: X:198.08, Y:117.45, Z:9.23 [[ 5.10344767e-02 -9.98696301e-01 -1.08655875e-03 1.98084835e+02] [ 9.97494110e-01 5.10263632e-02 -4.90082804e-02 1.17449831e+02] [ 4.89998315e-02 1.41727599e-03 9.98797781e-01 9.22772384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.1971056809999 meters 0.025037487556458064 Centerline is valid? [True, True] Translation: X:198.09, Y:117.48, Z:9.23 [[ 4.96847482e-02 -9.98764390e-01 -1.05744127e-03 1.98087273e+02] [ 9.97587335e-01 4.96775370e-02 -4.84938224e-02 1.17477866e+02] [ 4.84864341e-02 1.35451334e-03 9.98822923e-01 9.22984019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.22710568099995 meters 0.02263326765072501 Centerline is valid? [True, True] Translation: X:198.10, Y:117.51, Z:9.23 [[ 4.41914538e-02 -9.99022568e-01 -1.01194009e-03 1.98095316e+02] [ 9.97908501e-01 4.41899626e-02 -4.71791314e-02 1.17506088e+02] [ 4.71777346e-02 1.07509079e-03 9.98885932e-01 9.23247730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.2571056809999 meters 0.019885423233638087 Centerline is valid? [True, True] Translation: X:198.10, Y:117.53, Z:9.24 [[ 3.66309270e-02 -9.99328400e-01 -9.61706277e-04 1.98104907e+02] [ 9.98288022e-01 3.66366685e-02 -4.55936328e-02 1.17532514e+02] [ 4.55982458e-02 7.10077174e-04 9.98959607e-01 9.23516640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.28710568099996 meters 0.01851027115128785 Centerline is valid? [True, True] Translation: X:198.11, Y:117.56, Z:9.24 [[ 3.20494712e-02 -9.99485861e-01 -9.19346335e-04 1.98110248e+02] [ 9.98497896e-01 3.20586605e-02 -4.44318940e-02 1.17559362e+02] [ 4.44385228e-02 5.06053324e-04 9.99011993e-01 9.23747900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.31710568099993 meters 0.01682941076174975 Centerline is valid? [True, True] Translation: X:198.12, Y:117.59, Z:9.24 [[ 2.31074524e-02 -9.99732617e-01 -8.60904901e-04 1.98121967e+02] [ 9.98834550e-01 2.31231775e-02 -4.23657827e-02 1.17587464e+02] [ 4.23743617e-02 1.19063748e-04 9.99101796e-01 9.24221984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.34710568099996 meters 0.016892937599103545 Centerline is valid? [True, True] Translation: X:198.13, Y:117.61, Z:9.24 [[ 1.88703270e-02 -9.99821581e-01 -8.47303137e-04 1.98126663e+02] [ 9.98930833e-01 1.88892734e-02 -4.21946327e-02 1.17613135e+02] [ 4.22031093e-02 -5.01707098e-05 9.99109051e-01 9.24380854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.37710568099993 meters 0.017526514531392864 Centerline is valid? [True, True] Translation: X:198.13, Y:117.64, Z:9.25 [[ 1.26175196e-02 -9.99920038e-01 -8.45981574e-04 1.98133483e+02] [ 9.99001627e-01 1.26421818e-02 -4.28476826e-02 1.17640148e+02] [ 4.28549515e-02 -3.04505494e-04 9.99081258e-01 9.24526411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.40710568099996 meters 0.017771744938929742 Centerline is valid? [True, True] Translation: X:198.14, Y:117.67, Z:9.25 [[ 1.11422490e-02 -9.99937572e-01 -8.37705015e-04 1.98136018e+02] [ 9.98997765e-01 1.11680889e-02 -4.33444300e-02 1.17667319e+02] [ 4.33510797e-02 -3.53911005e-04 9.99059837e-01 9.24664938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.43710568099993 meters 0.01721699010532412 Centerline is valid? [True, True] Translation: X:198.14, Y:117.69, Z:9.25 [[ 1.31897759e-02 -9.99912682e-01 -8.11432402e-04 1.98136182e+02] [ 9.98991868e-01 1.32124455e-02 -4.29031417e-02 1.17694586e+02] [ 4.29101165e-02 -2.44731547e-04 9.99078907e-01 9.25129050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.4671056809999 meters 0.016986267351340754 Centerline is valid? [True, True] Translation: X:198.13, Y:117.72, Z:9.26 [[ 1.96627401e-02 -9.99806380e-01 -7.60721813e-04 1.98127228e+02] [ 9.98960406e-01 1.96773902e-02 -4.11206525e-02 1.17721043e+02] [ 4.11276597e-02 4.86137318e-05 9.99153899e-01 9.25618303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.49710568099994 meters 0.017563700899259592 Centerline is valid? [True, True] Translation: X:198.12, Y:117.75, Z:9.26 [[ 2.45600925e-02 -9.99698088e-01 -7.31745587e-04 1.98120138e+02] [ 9.98876870e-01 2.45695717e-02 -4.05133959e-02 1.17748535e+02] [ 4.05191431e-02 2.64089010e-04 9.99178727e-01 9.25848832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.5271056809999 meters 0.020186256864650847 Centerline is valid? [True, True] Translation: X:198.11, Y:117.78, Z:9.26 [[ 3.36262794e-02 -9.99434250e-01 -6.73473389e-04 1.98109051e+02] [ 9.98707906e-01 3.36275160e-02 -3.81012942e-02 1.17776139e+02] [ 3.81023856e-02 6.08601564e-04 9.99273655e-01 9.26199812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.55710568099994 meters 0.02415851416140579 Centerline is valid? [True, True] Translation: X:198.10, Y:117.80, Z:9.27 [[ 4.19245642e-02 -9.99120586e-01 -6.21579471e-04 1.98101374e+02] [ 9.98473925e-01 4.19197961e-02 -3.59520834e-02 1.17802054e+02] [ 3.59465231e-02 8.86644533e-04 9.99353322e-01 9.26638147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.5871056809999 meters 0.026683100624535733 Centerline is valid? [True, True] Translation: X:198.10, Y:117.83, Z:9.27 [[ 4.61072204e-02 -9.98936297e-01 -6.31891813e-04 1.98096917e+02] [ 9.98240133e-01 4.60986849e-02 -3.73034606e-02 1.17829447e+02] [ 3.72929102e-02 1.08917911e-03 9.99303784e-01 9.26600816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.61710568099994 meters 0.031360938789004804 Centerline is valid? [True, True] Translation: X:198.09, Y:117.86, Z:9.26 [[ 5.31726959e-02 -9.98585070e-01 -7.23351855e-04 1.98086699e+02] [ 9.97621893e-01 5.31531929e-02 -4.38782136e-02 1.17856664e+02] [ 4.38545775e-02 1.61149126e-03 9.99036626e-01 9.25710793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.6471056809999 meters 0.03303872220530864 Centerline is valid? [True, True] Translation: X:198.08, Y:117.88, Z:9.25 [[ 5.49694088e-02 -9.98487742e-01 -7.69581981e-04 1.98082932e+02] [ 9.97340127e-01 5.49431444e-02 -4.78949074e-02 1.17884053e+02] [ 4.78647612e-02 1.86521975e-03 9.98852084e-01 9.25200190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.67710568099994 meters 0.03521048110134246 Centerline is valid? [True, True] Translation: X:198.08, Y:117.91, Z:9.25 [[ 5.64535944e-02 -9.98404885e-01 -8.23127290e-04 1.98081190e+02] [ 9.97020246e-01 5.64186736e-02 -5.26076233e-02 1.17910623e+02] [ 5.25701479e-02 2.14921486e-03 9.98614921e-01 9.24560870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.7071056809999 meters 0.035094108705487854 Centerline is valid? [True, True] Translation: X:198.08, Y:117.94, Z:9.25 [[ 5.57480897e-02 -9.98444543e-01 -8.03355987e-04 1.98083156e+02] [ 9.97053092e-01 5.57128309e-02 -5.27371940e-02 1.17936406e+02] [ 5.26999208e-02 2.13900925e-03 9.98608103e-01 9.24661061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.73710568099995 meters 0.03458221515967265 Centerline is valid? [True, True] Translation: X:198.09, Y:117.96, Z:9.25 [[ 5.41666632e-02 -9.98531616e-01 -7.64313342e-04 1.98087474e+02] [ 9.97203391e-01 5.41340516e-02 -5.15257294e-02 1.17963944e+02] [ 5.14914452e-02 2.02880097e-03 9.98671375e-01 9.25004810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.7671056809999 meters 0.03421127230267572 Centerline is valid? [True, True] Translation: X:198.09, Y:117.99, Z:9.25 [[ 5.28503428e-02 -9.98602173e-01 -7.35961780e-04 1.98090131e+02] [ 9.97308637e-01 5.28193584e-02 -5.08487817e-02 1.17991027e+02] [ 5.08165769e-02 1.95339451e-03 9.98706093e-01 9.25251049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.79710568099995 meters 0.03329668141482072 Centerline is valid? [True, True] Translation: X:198.10, Y:118.02, Z:9.26 [[ 5.07509286e-02 -9.98711089e-01 -7.09413910e-04 1.98095634e+02] [ 9.97444840e-01 5.07223186e-02 -5.03094226e-02 1.18018224e+02] [ 5.02805613e-02 1.84564867e-03 9.98733427e-01 9.25593089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.8271056809999 meters 0.03250042769999005 Centerline is valid? [True, True] Translation: X:198.10, Y:118.04, Z:9.26 [[ 4.86269858e-02 -9.98816794e-01 -6.54183036e-04 1.98098855e+02] [ 9.97682890e-01 4.86029639e-02 -4.76088436e-02 1.18044401e+02] [ 4.75843078e-02 1.66240734e-03 9.98865842e-01 9.26030809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.85710568099995 meters 0.031323928457640086 Centerline is valid? [True, True] Translation: X:198.10, Y:118.07, Z:9.26 [[ 4.67186642e-02 -9.98907895e-01 -6.19847518e-04 1.98102581e+02] [ 9.97831799e-01 4.66971152e-02 -4.63797427e-02 1.18071321e+02] [ 4.63580362e-02 1.54829606e-03 9.98923688e-01 9.26278241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.8871056809999 meters 0.02664174379135923 Centerline is valid? [True, True] Translation: X:198.12, Y:118.10, Z:9.27 [[ 4.22648999e-02 -9.99106260e-01 -6.00166506e-04 1.98116657e+02] [ 9.98038800e-01 4.22474912e-02 -4.61920272e-02 1.18097918e+02] [ 4.61760990e-02 1.35331195e-03 9.98932398e-01 9.26548059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91710568099995 meters 0.02504688884875163 Centerline is valid? [True, True] Translation: X:198.12, Y:118.13, Z:9.27 [[ 3.86626063e-02 -9.99252148e-01 -5.88866502e-04 1.98122556e+02] [ 9.98159184e-01 3.86478618e-02 -4.67395503e-02 1.18125544e+02] [ 4.67273545e-02 1.21929033e-03 9.98906936e-01 9.26572633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.9471056809999 meters 0.023292700917119873 Centerline is valid? [True, True] Translation: X:198.13, Y:118.15, Z:9.27 [[ 3.08448181e-02 -9.99524026e-01 -5.65090684e-04 1.98129840e+02] [ 9.98454470e-01 3.08379517e-02 -4.62351843e-02 1.18151257e+02] [ 4.62306038e-02 8.61898531e-04 9.98930422e-01 9.26502012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97710568099995 meters 0.01856941202409891 Centerline is valid? [True, True] Translation: X:198.14, Y:118.18, Z:9.27 [[ 2.31702661e-02 -9.99731389e-01 -5.36431157e-04 1.98143798e+02] [ 9.98700560e-01 2.31707306e-02 -4.53906202e-02 1.18178185e+02] [ 4.53908573e-02 5.15978651e-04 9.98969171e-01 9.27013452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.0071056809999 meters 0.018015772467559994 Centerline is valid? [True, True] Translation: X:198.15, Y:118.20, Z:9.27 [[ 1.90512879e-02 -9.99818373e-01 -5.19739764e-04 1.98147770e+02] [ 9.98779063e-01 1.90551767e-02 -4.55772352e-02 1.18204343e+02] [ 4.55788608e-02 3.49199833e-04 9.98960683e-01 9.27132388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.03710568099996 meters 0.017405211965697418 Centerline is valid? [True, True] Translation: X:198.15, Y:118.23, Z:9.27 [[ 1.51483670e-02 -9.99885124e-01 -5.16374186e-04 1.98153119e+02] [ 9.98775740e-01 1.51558777e-02 -4.70884314e-02 1.18231087e+02] [ 4.70908481e-02 1.97570828e-04 9.98890591e-01 9.27262730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.06710568099993 meters 0.017519109027171763 Centerline is valid? [True, True] Translation: X:198.15, Y:118.26, Z:9.28 [[ 1.59811302e-02 -9.99872175e-01 -4.87637140e-04 1.98151133e+02] [ 9.98805055e-01 1.59865978e-02 -4.61832237e-02 1.18258572e+02] [ 4.61851160e-02 2.51005670e-04 9.98932867e-01 9.27518852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.09710568099996 meters 0.01905645758017415 Centerline is valid? [True, True] Translation: X:198.14, Y:118.29, Z:9.28 [[ 2.25880744e-02 -9.99744759e-01 -4.43486202e-04 1.98141880e+02] [ 9.98793436e-01 2.25859243e-02 -4.36067513e-02 1.18285088e+02] [ 4.36056376e-02 5.42041435e-04 9.99048675e-01 9.28110232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.12710568099993 meters 0.022409667989923384 Centerline is valid? [True, True] Translation: X:198.13, Y:118.31, Z:9.29 [[ 3.11323629e-02 -9.99515199e-01 -3.78512826e-04 1.98130981e+02] [ 9.98767101e-01 3.11237069e-02 -3.86728848e-02 1.18311247e+02] [ 3.86659168e-02 8.25932126e-04 9.99251852e-01 9.28818518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.15710568099996 meters 0.023576269091266547 Centerline is valid? [True, True] Translation: X:198.13, Y:118.34, Z:9.29 [[ 3.43247508e-02 -9.99410669e-01 -3.55554469e-04 1.98128504e+02] [ 9.98707143e-01 3.43139310e-02 -3.75046095e-02 1.18339512e+02] [ 3.74947074e-02 9.32241587e-04 9.99296391e-01 9.29088354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.18710568099993 meters 0.025795699925755207 Centerline is valid? [True, True] Translation: X:198.12, Y:118.37, Z:9.29 [[ 3.64935521e-02 -9.99333832e-01 -3.37385675e-04 1.98124611e+02] [ 9.98649129e-01 3.64810401e-02 -3.70006926e-02 1.18366420e+02] [ 3.69883521e-02 1.01335679e-03 9.99315183e-01 9.29301690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2171056809999 meters 0.02842886412962641 Centerline is valid? [True, True] Translation: X:198.12, Y:118.39, Z:9.29 [[ 4.04731001e-02 -9.99180574e-01 -3.28269523e-04 1.98119732e+02] [ 9.98472981e-01 4.04567964e-02 -3.76158614e-02 1.18393091e+02] [ 3.75983187e-02 1.19466227e-03 9.99292219e-01 9.29210520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.24710568099994 meters 0.029365308755431342 Centerline is valid? [True, True] Translation: X:198.12, Y:118.42, Z:9.29 [[ 4.43731838e-02 -9.99014969e-01 -3.33691320e-04 1.98115742e+02] [ 9.98227002e-01 4.43514441e-02 -3.96963815e-02 1.18421358e+02] [ 3.96720790e-02 1.42835515e-03 9.99211732e-01 9.28969284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2771056809999 meters 0.031084211454444663 Centerline is valid? [True, True] Translation: X:198.11, Y:118.45, Z:9.29 [[ 4.56913061e-02 -9.98955556e-01 -3.18120503e-04 1.98112572e+02] [ 9.98173059e-01 4.56681133e-02 -3.95596797e-02 1.18448170e+02] [ 3.95328898e-02 1.48999412e-03 9.99217159e-01 9.28990639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.30710568099994 meters 0.030859955527619807 Centerline is valid? [True, True] Translation: X:198.11, Y:118.48, Z:9.29 [[ 4.74796014e-02 -9.98872164e-01 -2.96853189e-04 1.98114069e+02] [ 9.98123180e-01 4.74555025e-02 -3.87052155e-02 1.18476414e+02] [ 3.86756496e-02 1.54141215e-03 9.99250628e-01 9.29229412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.3371056809999 meters 0.03399602795279465 Centerline is valid? [True, True] Translation: X:198.11, Y:118.50, Z:9.29 [[ 4.61987001e-02 -9.98932230e-01 -2.83307472e-04 1.98111958e+02] [ 9.98178685e-01 4.61748606e-02 -3.88226218e-02 1.18502299e+02] [ 3.87942499e-02 1.51076318e-03 9.99246078e-01 9.29382501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.36710568099994 meters 0.029748693400900153 Centerline is valid? [True, True] Translation: X:198.12, Y:118.53, Z:9.29 [[ 4.39303730e-02 -9.99034559e-01 -2.69436425e-04 1.98120215e+02] [ 9.98264233e-01 4.39070857e-02 -3.92516105e-02 1.18529861e+02] [ 3.92255455e-02 1.45536914e-03 9.99229322e-01 9.29496012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.3971056809999 meters 0.026498004903154213 Centerline is valid? [True, True] Translation: X:198.13, Y:118.56, Z:9.30 [[ 3.88636460e-02 -9.99244492e-01 -2.51367613e-04 1.98129300e+02] [ 9.98497983e-01 3.88443317e-02 -3.86380054e-02 1.18557156e+02] [ 3.86185782e-02 1.25062371e-03 9.99253242e-01 9.29617958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.42710568099994 meters 0.026086696503127085 Centerline is valid? [True, True] Translation: X:198.13, Y:118.58, Z:9.30 [[ 3.65580527e-02 -9.99331502e-01 -2.41645711e-04 1.98131337e+02] [ 9.98547233e-01 3.65389383e-02 -3.96021394e-02 1.18584470e+02] [ 3.95844949e-02 1.20648245e-03 9.99215498e-01 9.29571418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.4571056809999 meters 0.024524667016541855 Centerline is valid? [True, True] Translation: X:198.13, Y:118.61, Z:9.29 [[ 3.27544896e-02 -9.99463400e-01 -2.35508146e-04 1.98134506e+02] [ 9.98616125e-01 3.27364214e-02 -4.11602006e-02 1.18612859e+02] [ 4.11458237e-02 1.11299913e-03 9.99152532e-01 9.29330999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.48710568099995 meters 0.02380165235657679 Centerline is valid? [True, True] Translation: X:198.14, Y:118.64, Z:9.29 [[ 3.10184770e-02 -9.99518786e-01 -2.24786702e-04 1.98135924e+02] [ 9.98632138e-01 3.10004305e-02 -4.21049399e-02 1.18640120e+02] [ 4.20916469e-02 1.08155189e-03 9.99113169e-01 9.29212002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.5171056809999 meters 0.02201843166462993 Centerline is valid? [True, True] Translation: X:198.14, Y:118.67, Z:9.29 [[ 2.63451132e-02 -9.99652887e-01 -2.00782554e-04 1.98143719e+02] [ 9.98825668e-01 2.63314808e-02 -4.06686303e-02 1.18667991e+02] [ 4.06598006e-02 8.70872900e-04 9.99172669e-01 9.29292320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.54710568099995 meters 0.01957001879608866 Centerline is valid? [True, True] Translation: X:198.15, Y:118.69, Z:9.29 [[ 1.87150539e-02 -9.99824840e-01 -1.90049355e-04 1.98153587e+02] [ 9.98955037e-01 1.87066991e-02 -4.17000535e-02 1.18694823e+02] [ 4.16963045e-02 5.90567989e-04 9.99130156e-01 9.29352998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.5771056809999 meters 0.018447120433526507 Centerline is valid? [True, True] Translation: X:198.16, Y:118.72, Z:9.29 [[ 1.40230605e-02 -9.99901656e-01 -1.76547306e-04 1.98156873e+02] [ 9.99022362e-01 1.40181316e-02 -4.19262822e-02 1.18722110e+02] [ 4.19246339e-02 4.11560086e-04 9.99120691e-01 9.29364884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.60710568099995 meters 0.01719470151035157 Centerline is valid? [True, True] Translation: X:198.16, Y:118.75, Z:9.29 [[ 5.57532762e-03 -9.99984445e-01 -1.59304664e-04 1.98161321e+02] [ 9.99106345e-01 5.57710643e-03 -4.18975875e-02 1.18748446e+02] [ 4.18978242e-02 7.44304762e-05 9.99121898e-01 9.29315952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.6371056809999 meters 0.017223768381368545 Centerline is valid? [True, True] Translation: X:198.16, Y:118.77, Z:9.29 [[ 1.61769199e-03 -9.99998681e-01 -1.46177223e-04 1.98164909e+02] [ 9.99049237e-01 1.62252443e-03 -4.35659150e-02 1.18773433e+02] [ 4.35660947e-02 -7.55620118e-05 9.99050544e-01 9.29300314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.66710568099995 meters 0.0182766789501581 Centerline is valid? [True, True] Translation: X:198.17, Y:118.80, Z:9.30 [[-7.31859903e-03 -9.99973211e-01 -1.24936035e-04 1.98173857e+02] [ 9.99041789e-01 -7.30639072e-03 -4.31523006e-02 1.18799947e+02] [ 4.31502318e-02 -4.40630705e-04 9.99068498e-01 9.29682745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.6971056809999 meters 0.020205783338775932 Centerline is valid? [True, True] Translation: X:198.18, Y:118.83, Z:9.30 [[-1.26297573e-02 -9.99920236e-01 -1.04538011e-04 1.98177964e+02] [ 9.99013586e-01 -1.26138544e-02 -4.25763499e-02 1.18825943e+02] [ 4.25716352e-02 -6.42163859e-04 9.99093211e-01 9.29903893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.72710568099995 meters 0.020205783338775932 Centerline is valid? [True, True] Translation: X:198.18, Y:118.85, Z:9.30 [[-1.30720370e-02 -9.99914554e-01 -8.56940713e-05 1.98177655e+02] [ 9.99007897e-01 -1.30565353e-02 -4.25763883e-02 1.18851787e+02] [ 4.25716315e-02 -6.42169179e-04 9.99093211e-01 9.29999435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.7571056809999 meters 0.023845429203428966 Centerline is valid? [True, True] Translation: X:198.18, Y:118.88, Z:9.31 [[-2.46370752e-02 -9.99696459e-01 -6.17377273e-05 1.98181440e+02] [ 9.98969784e-01 -2.46168122e-02 -3.81232656e-02 1.18878702e+02] [ 3.81101739e-02 -1.00091988e-03 9.99273042e-01 9.30759272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.78710568099996 meters 0.026341605466821624 Centerline is valid? [True, True] Translation: X:198.18, Y:118.91, Z:9.31 [[-3.06852181e-02 -9.99529097e-01 -4.82836317e-05 1.98183977e+02] [ 9.98891445e-01 -3.06639171e-02 -3.57156242e-02 1.18906819e+02] [ 3.56973250e-02 -1.14417182e-03 9.99361992e-01 9.31178982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.81710568099993 meters 0.029968129860459148 Centerline is valid? [True, True] Translation: X:198.19, Y:118.93, Z:9.32 [[-3.92697193e-02 -9.99228647e-01 -3.18448581e-05 1.98185172e+02] [ 9.98759641e-01 -3.92503109e-02 -3.06364746e-02 1.18934198e+02] [ 3.06115931e-02 -1.23489112e-03 9.99530593e-01 9.31945676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.84710568099996 meters 0.03175710053090825 Centerline is valid? [True, True] Translation: X:198.18, Y:118.96, Z:9.32 [[-4.12875477e-02 -9.99147305e-01 -1.90199624e-05 1.98178818e+02] [ 9.98718575e-01 -4.12692737e-02 -2.92925701e-02 1.18960248e+02] [ 2.92668076e-02 -1.22841398e-03 9.99570880e-01 9.32227733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.87710568099993 meters 0.031162854717151717 Centerline is valid? [True, True] Translation: X:198.17, Y:118.99, Z:9.32 [[-4.02342609e-02 -9.99190274e-01 -5.46045821e-06 1.98171673e+02] [ 9.98745196e-01 -4.02161759e-02 -2.98444683e-02 1.18987664e+02] [ 2.98200829e-02 -1.20622373e-03 9.99554555e-01 9.32218824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.90710568099996 meters 0.028451621682055644 Centerline is valid? [True, True] Translation: X:198.15, Y:119.01, Z:9.32 [[-3.46421655e-02 -9.99399780e-01 5.98955137e-06 1.98154659e+02] [ 9.98983487e-01 -3.46279085e-02 -2.88600089e-02 1.19013545e+02] [ 2.88428940e-02 -9.93789743e-04 9.99583463e-01 9.32356538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.93710568099993 meters 0.025446714377615243 Centerline is valid? [True, True] Translation: X:198.14, Y:119.04, Z:9.32 [[-3.01397293e-02 -9.99545695e-01 1.73330038e-05 1.98143707e+02] [ 9.99161471e-01 -3.01286244e-02 -2.77240256e-02 1.19041194e+02] [ 2.77119527e-02 -8.18276159e-04 9.99615615e-01 9.32495251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.9671056809999 meters 0.0216079817193926 Centerline is valid? [True, True] Translation: X:198.12, Y:119.07, Z:9.32 [[-2.08847087e-02 -9.99781890e-01 2.94304079e-05 1.98123955e+02] [ 9.99372837e-01 -2.08770058e-02 -2.86021445e-02 1.19067432e+02] [ 2.85965205e-02 -5.67935504e-04 9.99590875e-01 9.32328061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.99710568099994 meters 0.01881342873208958 Centerline is valid? [True, True] Translation: X:198.11, Y:119.10, Z:9.32 [[-1.22903404e-02 -9.99924470e-01 4.75298790e-05 1.98105236e+02] [ 9.99426173e-01 -1.22857161e-02 -3.15655730e-02 1.19095203e+02] [ 3.15637728e-02 -3.40449032e-04 9.99501682e-01 9.32066883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.0271056809999 meters 0.017946799696705085 Centerline is valid? [True, True] Translation: X:198.10, Y:119.12, Z:9.32 [[-8.34026222e-03 -9.99965218e-01 6.03827800e-05 1.98096429e+02] [ 9.99462862e-01 -8.33798610e-03 -3.16933015e-02 1.19122808e+02] [ 3.16927026e-02 -2.03980099e-04 9.99497639e-01 9.32135790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.05710568099994 meters 0.0176691797063217 Centerline is valid? [True, True] Translation: X:198.09, Y:119.15, Z:9.32 [[-4.25042128e-03 -9.99990965e-01 6.95769235e-05 1.98087710e+02] [ 9.99514393e-01 -4.25054343e-03 -3.08692560e-02 1.19149877e+02] [ 3.08692728e-02 -6.16642061e-05 9.99523429e-01 9.32311515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.0871056809999 meters 0.018274093417378946 Centerline is valid? [True, True] Translation: X:198.07, Y:119.18, Z:9.32 [[ 3.81051496e-03 -9.99992737e-01 7.66005214e-05 1.98071520e+02] [ 9.99571510e-01 3.80668670e-03 -2.90225127e-02 1.19178058e+02] [ 2.90220103e-02 1.87158418e-04 9.99578755e-01 9.32455845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11710568099994 meters 0.020035921773985946 Centerline is valid? [True, True] Translation: X:198.06, Y:119.20, Z:9.33 [[ 1.01881150e-02 -9.99948096e-01 8.33912672e-05 1.98058487e+02] [ 9.99563147e-01 1.01818790e-02 -2.77460726e-02 1.19204575e+02] [ 2.77437834e-02 3.66035015e-04 9.99615000e-01 9.32626607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.1471056809999 meters 0.02119847664565559 Centerline is valid? [True, True] Translation: X:198.05, Y:119.23, Z:9.33 [[ 1.27683073e-02 -9.99918477e-01 9.44284801e-05 1.98050734e+02] [ 9.99539182e-01 1.27608630e-02 -2.75424160e-02 1.19231331e+02] [ 2.75389657e-02 4.46054998e-04 9.99620631e-01 9.32639084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17710568099994 meters 0.02113455051588142 Centerline is valid? [True, True] Translation: X:198.05, Y:119.26, Z:9.33 [[ 1.24783523e-02 -9.99922136e-01 1.10416404e-04 1.98049571e+02] [ 9.99508738e-01 1.24700183e-02 -2.87537916e-02 1.19258191e+02] [ 2.87501759e-02 4.69162103e-04 9.99586518e-01 9.32533924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.2071056809999 meters 0.02028416229631638 Centerline is valid? [True, True] Translation: X:198.05, Y:119.29, Z:9.32 [[ 1.09599822e-02 -9.99939928e-01 1.35617353e-04 1.98048919e+02] [ 9.99444461e-01 1.09502823e-02 -3.14779254e-02 1.19286056e+02] [ 3.14745494e-02 4.80539513e-04 9.99504438e-01 9.32101594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23710568099995 meters 0.020176787601853725 Centerline is valid? [True, True] Translation: X:198.05, Y:119.31, Z:9.32 [[ 9.60584537e-03 -9.99953851e-01 1.52829498e-04 1.98047652e+02] [ 9.99424935e-01 9.59579381e-03 -3.25226091e-02 1.19311921e+02] [ 3.25196417e-02 4.65148766e-04 9.99470988e-01 9.32113288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.2671056809999 meters 0.019861843935188077 Centerline is valid? [True, True] Translation: X:198.05, Y:119.34, Z:9.32 [[ 7.83089986e-03 -9.99969324e-01 1.66933263e-04 1.98047033e+02] [ 9.99445230e-01 7.82139118e-03 -3.23737385e-02 1.19339281e+02] [ 3.23714398e-02 4.20356158e-04 9.99475819e-01 9.32201282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29710568099995 meters 0.020090467402787502 Centerline is valid? [True, True] Translation: X:198.05, Y:119.37, Z:9.32 [[ 7.84201820e-03 -9.99969234e-01 1.84356445e-04 1.98045242e+02] [ 9.99425189e-01 7.83167063e-03 -3.29841935e-02 1.19365070e+02] [ 3.29817349e-02 4.42913121e-04 9.99455856e-01 9.32275869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.3271056809999 meters 0.02087578956352781 Centerline is valid? [True, True] Translation: X:198.04, Y:119.39, Z:9.32 [[ 1.05178342e-02 -9.99944665e-01 2.04870509e-04 1.98041256e+02] [ 9.99371649e-01 1.05048714e-02 -3.38519513e-02 1.19392978e+02] [ 3.38479259e-02 5.60790991e-04 9.99426837e-01 9.32291276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35710568099995 meters 0.02335664515400488 Centerline is valid? [True, True] Translation: X:198.04, Y:119.42, Z:9.32 [[ 1.74778534e-02 -9.99847225e-01 2.25272961e-04 1.98035329e+02] [ 9.99236530e-01 1.74593035e-02 -3.49503958e-02 1.19421227e+02] [ 3.49411232e-02 8.35958865e-04 9.99389023e-01 9.32250924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.3871056809999 meters 0.026792119710969266 Centerline is valid? [True, True] Translation: X:198.03, Y:119.45, Z:9.32 [[ 2.23575716e-02 -9.99750009e-01 2.42457236e-04 1.98029076e+02] [ 9.99121551e-01 2.23349181e-02 -3.54581171e-02 1.19448137e+02] [ 3.54438376e-02 1.03500164e-03 9.99371134e-01 9.32325085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41710568099995 meters 0.03041967920748967 Centerline is valid? [True, True] Translation: X:198.02, Y:119.48, Z:9.32 [[ 3.36852468e-02 -9.99432451e-01 2.81307488e-04 1.98023358e+02] [ 9.98685865e-01 3.36492032e-02 -3.86558521e-02 1.19475589e+02] [ 3.86244473e-02 1.58306973e-03 9.99252544e-01 9.32105699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.4471056809999 meters 0.03429395419275129 Centerline is valid? [True, True] Translation: X:198.02, Y:119.50, Z:9.32 [[ 3.83936113e-02 -9.99262644e-01 3.16132156e-04 1.98018600e+02] [ 9.98422171e-01 3.83483416e-02 -4.10191865e-02 1.19502286e+02] [ 4.09768176e-02 1.89050805e-03 9.99158309e-01 9.31939875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47710568099995 meters 0.03717602473292469 Centerline is valid? [True, True] Translation: X:198.02, Y:119.53, Z:9.32 [[ 4.19606018e-02 -9.99119212e-01 3.29932943e-04 1.98020276e+02] [ 9.98293665e-01 4.19125045e-02 -4.06583480e-02 1.19528981e+02] [ 4.06087083e-02 2.03541872e-03 9.99173053e-01 9.32011345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.5071056809999 meters 0.03702482748085941 Centerline is valid? [True, True] Translation: X:198.02, Y:119.56, Z:9.32 [[ 4.03374186e-02 -9.99186059e-01 3.34163241e-04 1.98023672e+02] [ 9.98414586e-01 4.02931295e-02 -3.93036612e-02 1.19556092e+02] [ 3.92582059e-02 1.91904169e-03 9.99227257e-01 9.32232705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.53710568099996 meters 0.034696571279709015 Centerline is valid? [True, True] Translation: X:198.03, Y:119.58, Z:9.33 [[ 3.38980938e-02 -9.99425242e-01 3.24602826e-04 1.98033949e+02] [ 9.98750962e-01 3.38632912e-02 -3.67395258e-02 1.19582545e+02] [ 3.67074174e-02 1.56959728e-03 9.99324823e-01 9.32654984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.56710568099993 meters 0.03295209246604027 Centerline is valid? [True, True] Translation: X:198.04, Y:119.61, Z:9.33 [[ 3.06115323e-02 -9.99531301e-01 3.36440289e-04 1.98039752e+02] [ 9.98869538e-01 3.05790148e-02 -3.63946417e-02 1.19609599e+02] [ 3.63672956e-02 1.45015571e-03 9.99337439e-01 9.32773325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.59710568099996 meters 0.030273579243488318 Centerline is valid? [True, True] Translation: X:198.05, Y:119.64, Z:9.33 [[ 2.75280610e-02 -9.99620968e-01 3.55234711e-04 1.98050562e+02] [ 9.98943300e-01 2.74963118e-02 -3.68271066e-02 1.19637393e+02] [ 3.68033803e-02 1.36863817e-03 9.99321589e-01 9.32853080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.62710568099993 meters 0.029910391910191472 Centerline is valid? [True, True] Translation: X:198.06, Y:119.66, Z:9.33 [[ 2.53923287e-02 -9.99677496e-01 3.65827083e-04 1.98058218e+02] [ 9.99010206e-01 2.53620066e-02 -3.65428118e-02 1.19664820e+02] [ 3.65217485e-02 1.29337208e-03 9.99332021e-01 9.33023601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.65710568099996 meters 0.02950338968902914 Centerline is valid? [True, True] Translation: X:198.06, Y:119.69, Z:9.33 [[ 2.37383373e-02 -9.99718134e-01 3.79361787e-04 1.98061959e+02] [ 9.99049451e-01 2.37085784e-02 -3.65800114e-02 1.19692447e+02] [ 3.65607066e-02 1.24734983e-03 9.99330655e-01 9.33113065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.68710568099993 meters 0.027592674943346236 Centerline is valid? [True, True] Translation: X:198.07, Y:119.72, Z:9.33 [[ 1.91211815e-02 -9.99817100e-01 3.83639459e-04 1.98070221e+02] [ 9.99179075e-01 1.90952700e-02 -3.57287874e-02 1.19718471e+02] [ 3.57149269e-02 1.06650115e-03 9.99361449e-01 9.33248550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7171056809999 meters 0.025692574885849213 Centerline is valid? [True, True] Translation: X:198.08, Y:119.75, Z:9.33 [[ 1.49398747e-02 -9.99888316e-01 3.94374541e-04 1.98075011e+02] [ 9.99262115e-01 1.49165583e-02 -3.53938208e-02 1.19745744e+02] [ 3.53839852e-02 9.22862785e-04 9.99373365e-01 9.33362441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.74710568099994 meters 0.021840705263628673 Centerline is valid? [True, True] Translation: X:198.09, Y:119.77, Z:9.33 [[ 6.57859367e-03 -9.99978270e-01 4.25161384e-04 1.98087297e+02] [ 9.99300802e-01 6.55848672e-03 -3.68088854e-02 1.19773403e+02] [ 3.68052972e-02 6.67014812e-04 9.99322233e-01 9.33395608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7771056809999 meters 0.02114098715017652 Centerline is valid? [True, True] Translation: X:198.09, Y:119.80, Z:9.33 [[ 4.37913664e-03 -9.99990308e-01 4.54577816e-04 1.98090427e+02] [ 9.99255674e-01 4.35849592e-03 -3.83288709e-02 1.19800351e+02] [ 3.83265182e-02 6.22086825e-04 9.99265075e-01 9.33303618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.80710568099994 meters 0.022577184302011655 Centerline is valid? [True, True] Translation: X:198.09, Y:119.83, Z:9.33 [[ 6.58667999e-03 -9.99978180e-01 5.04839804e-04 1.98089773e+02] [ 9.99134993e-01 6.56039503e-03 -4.10636833e-02 1.19826397e+02] [ 4.10594754e-02 7.74876456e-04 9.99156404e-01 9.33053670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.8371056809999 meters 0.0264102407071731 Centerline is valid? [True, True] Translation: X:198.09, Y:119.85, Z:9.33 [[ 1.29252776e-02 -9.99916315e-01 5.48510896e-04 1.98085209e+02] [ 9.98983893e-01 1.28895347e-02 -4.31861312e-02 1.19852416e+02] [ 4.31754471e-02 1.10614628e-03 9.99066893e-01 9.32827662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.86710568099994 meters 0.02728591357793719 Centerline is valid? [True, True] Translation: X:198.09, Y:119.88, Z:9.33 [[ 1.64705449e-02 -9.99864181e-01 5.83680322e-04 1.98086352e+02] [ 9.98860005e-01 1.64278393e-02 -4.48198267e-02 1.19879402e+02] [ 4.48041507e-02 1.32122190e-03 9.98994916e-01 9.32810977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.8971056809999 meters 0.028567237398649147 Centerline is valid? [True, True] Translation: X:198.09, Y:119.91, Z:9.33 [[ 1.71900537e-02 -9.99852058e-01 6.03176476e-04 1.98085449e+02] [ 9.98842471e-01 1.71455845e-02 -4.49415895e-02 1.19905525e+02] [ 4.49245990e-02 1.37502662e-03 9.98989434e-01 9.32874966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.92710568099994 meters 0.02762928490675473 Centerline is valid? [True, True] Translation: X:198.09, Y:119.93, Z:9.33 [[ 1.64586381e-02 -9.99864335e-01 6.51630698e-04 1.98089518e+02] [ 9.98756975e-01 1.64097361e-02 -4.70661897e-02 1.19933293e+02] [ 4.70491113e-02 1.42546609e-03 9.98891560e-01 9.32754975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.9571056809999 meters 0.02746255022029245 Centerline is valid? [True, True] Translation: X:198.09, Y:119.96, Z:9.33 [[ 1.53712735e-02 -9.99881615e-01 6.93291864e-04 1.98089628e+02] [ 9.98698192e-01 1.53193450e-02 -4.86542849e-02 1.19960312e+02] [ 4.86379042e-02 1.44026765e-03 9.98815438e-01 9.32621574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.98710568099995 meters 0.027931678681341943 Centerline is valid? [True, True] Translation: X:198.09, Y:119.99, Z:9.32 [[ 1.50180504e-02 -9.99886947e-01 7.42182672e-04 1.98091282e+02] [ 9.98605776e-01 1.49612320e-02 -5.06227688e-02 1.19986290e+02] [ 5.06059418e-02 1.50140320e-03 9.98717570e-01 9.32471584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.0171056809999 meters 0.02839140744636341 Centerline is valid? [True, True] Translation: X:198.09, Y:120.01, Z:9.33 [[ 1.48863585e-02 -9.99888904e-01 7.58620089e-04 1.98091959e+02] [ 9.98624218e-01 1.48293695e-02 -5.02967203e-02 1.20011135e+02] [ 5.02798827e-02 1.50631140e-03 9.98734031e-01 9.32607917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.04710568099995 meters 0.02958621199951301 Centerline is valid? [True, True] Translation: X:198.09, Y:120.04, Z:9.33 [[ 1.66187631e-02 -9.99861618e-01 7.49021415e-04 1.98091325e+02] [ 9.98695153e-01 1.65631866e-02 -4.83078909e-02 1.20038026e+02] [ 4.82887998e-02 1.55086145e-03 9.98832211e-01 9.33104081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.0771056809999 meters 0.031046526741536514 Centerline is valid? [True, True] Translation: X:198.09, Y:120.06, Z:9.33 [[ 1.72641108e-02 -9.99850681e-01 7.51876833e-04 1.98087655e+02] [ 9.98731106e-01 1.72091886e-02 -4.73288675e-02 1.20064131e+02] [ 4.73088612e-02 1.56801359e-03 9.98879078e-01 9.33248513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.10710568099995 meters 0.035081812421261245 Centerline is valid? [True, True] Translation: X:198.08, Y:120.09, Z:9.33 [[ 1.86681637e-02 -9.99825435e-01 7.73851755e-04 1.98079597e+02] [ 9.98697013e-01 1.86103164e-02 -4.75177011e-02 1.20090033e+02] [ 4.74950046e-02 1.65991166e-03 9.98870096e-01 9.33075170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.1371056809999 meters 0.03228033255500782 Centerline is valid? [True, True] Translation: X:198.09, Y:120.12, Z:9.33 [[ 1.66530247e-02 -9.99861030e-01 7.72616549e-04 1.98086756e+02] [ 9.98787057e-01 1.65993169e-02 -4.63559879e-02 1.20116936e+02] [ 4.63367210e-02 1.54364682e-03 9.98924685e-01 9.33389555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.16710568099995 meters 0.027244651899667877 Centerline is valid? [True, True] Translation: X:198.10, Y:120.14, Z:9.34 [[ 1.40697904e-02 -9.99900725e-01 7.62645675e-04 1.98096210e+02] [ 9.98898121e-01 1.40215220e-02 -4.47877373e-02 1.20144398e+02] [ 4.47725975e-02 1.39195941e-03 9.98996235e-01 9.33919621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.1971056809999 meters 0.02648660760350993 Centerline is valid? [True, True] Translation: X:198.10, Y:120.17, Z:9.34 [[ 7.10271409e-03 -9.99974515e-01 7.21081968e-04 1.98098175e+02] [ 9.99116695e-01 7.06675071e-03 -4.14233163e-02 1.20170613e+02] [ 4.14171650e-02 1.01466301e-03 9.99141426e-01 9.34375114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.22710568099995 meters 0.022078372408956173 Centerline is valid? [True, True] Translation: X:198.11, Y:120.20, Z:9.35 [[ 3.99285487e-03 -9.99991765e-01 7.25983041e-04 1.98106500e+02] [ 9.99160518e-01 3.95993380e-03 -4.07747214e-02 1.20198617e+02] [ 4.07715108e-02 8.88181136e-04 9.99168101e-01 9.34677441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.2571056809999 meters 0.020801417722592575 Centerline is valid? [True, True] Translation: X:198.11, Y:120.23, Z:9.34 [[ 5.73563727e-04 -9.99999529e-01 7.83419046e-04 1.98110521e+02] [ 9.99070566e-01 5.39264587e-04 -4.31012051e-02 1.20227242e+02] [ 4.31007624e-02 8.07412198e-04 9.99070404e-01 9.34488542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.28710568099996 meters 0.02117467020297259 Centerline is valid? [True, True] Translation: X:198.11, Y:120.25, Z:9.34 [[ 7.80320621e-04 -9.99999363e-01 8.15551079e-04 1.98108968e+02] [ 9.99018397e-01 7.43433576e-04 -4.42909756e-02 1.20253364e+02] [ 4.42903411e-02 8.49311693e-04 9.99018340e-01 9.34419517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.31710568099993 meters 0.02209348896236502 Centerline is valid? [True, True] Translation: X:198.11, Y:120.28, Z:9.34 [[ 2.75256606e-03 -9.99995857e-01 8.42012862e-04 1.98105689e+02] [ 9.98988239e-01 2.71199410e-03 -4.48903591e-02 1.20281350e+02] [ 4.48878896e-02 9.64724625e-04 9.98991565e-01 9.34425546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.34710568099996 meters 0.025778292188743505 Centerline is valid? [True, True] Translation: X:198.10, Y:120.31, Z:9.35 [[ 1.03592445e-02 -9.99945970e-01 8.62125176e-04 1.98096976e+02] [ 9.98931503e-01 1.03098935e-02 -4.50506239e-02 1.20308430e+02] [ 4.50393014e-02 1.32789443e-03 9.98984333e-01 9.34525093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.37710568099993 meters 0.03079459806409331 Centerline is valid? [True, True] Translation: X:198.09, Y:120.34, Z:9.34 [[ 2.00257007e-02 -9.99799063e-01 8.96681077e-04 1.98088162e+02] [ 9.98747595e-01 1.99634948e-02 -4.58770126e-02 1.20335863e+02] [ 4.58498934e-02 1.81427740e-03 9.98946693e-01 9.34427457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.40710568099996 meters 0.03346154201453672 Centerline is valid? [True, True] Translation: X:198.08, Y:120.36, Z:9.35 [[ 2.39996794e-02 -9.99711546e-01 9.16789613e-04 1.98083723e+02] [ 9.98656887e-01 2.39322193e-02 -4.59529257e-02 1.20362861e+02] [ 4.59177296e-02 2.01841375e-03 9.98943186e-01 9.34503741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.43710568099993 meters 0.037001646600227776 Centerline is valid? [True, True] Translation: X:198.08, Y:120.39, Z:9.34 [[ 3.11577236e-02 -9.99514024e-01 9.54883559e-04 1.98078021e+02] [ 9.98415392e-01 3.10786580e-02 -4.69129144e-02 1.20390617e+02] [ 4.68604393e-02 2.41507006e-03 9.98898527e-01 9.34408845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.4671056809999 meters 0.0389827778736185 Centerline is valid? [True, True] Translation: X:198.07, Y:120.42, Z:9.34 [[ 3.28822524e-02 -9.99458752e-01 9.79668440e-04 1.98074056e+02] [ 9.98344491e-01 3.27992795e-02 -4.72491831e-02 1.20417062e+02] [ 4.71914772e-02 2.53170615e-03 9.98882653e-01 9.34363871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.49710568099994 meters 0.039820620470886164 Centerline is valid? [True, True] Translation: X:198.07, Y:120.45, Z:9.34 [[ 3.39530664e-02 -9.99422931e-01 9.97493055e-04 1.98072631e+02] [ 9.98301785e-01 3.38676721e-02 -4.73975339e-02 1.20445216e+02] [ 4.73363994e-02 2.60509071e-03 9.98875607e-01 9.34366906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.5271056809999 meters 0.04193841016504485 Centerline is valid? [True, True] Translation: X:198.07, Y:120.47, Z:9.34 [[ 3.57114682e-02 -9.99361637e-01 1.00520332e-03 1.98071712e+02] [ 9.98259518e-01 3.56248122e-02 -4.69979506e-02 1.20471867e+02] [ 4.69321387e-02 2.68181960e-03 9.98894480e-01 9.34443236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55710568099994 meters 0.04233445902844519 Centerline is valid? [True, True] Translation: X:198.07, Y:120.50, Z:9.35 [[ 3.62668166e-02 -9.99341641e-01 1.00103418e-03 1.98072748e+02] [ 9.98278618e-01 3.61820014e-02 -4.61591228e-02 1.20499823e+02] [ 4.60925141e-02 2.67335546e-03 9.98933598e-01 9.34680291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.5871056809999 meters 0.04187347121536136 Centerline is valid? [True, True] Translation: X:198.08, Y:120.53, Z:9.35 [[ 3.62839125e-02 -9.99341078e-01 9.42615434e-04 1.98077119e+02] [ 9.98427496e-01 3.62103773e-02 -4.27942127e-02 1.20527099e+02] [ 4.27318821e-02 2.49387464e-03 9.99083463e-01 9.35144410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61710568099994 meters 0.04300858900429906 Centerline is valid? [True, True] Translation: X:198.08, Y:120.55, Z:9.35 [[ 3.53370292e-02 -9.99375012e-01 9.37738024e-04 1.98076464e+02] [ 9.98502059e-01 3.52669107e-02 -4.18315958e-02 1.20553742e+02] [ 4.17723804e-02 2.41453767e-03 9.99124236e-01 9.35292299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.6471056809999 meters 0.04300858900429906 Centerline is valid? [True, True] Translation: X:198.08, Y:120.58, Z:9.35 [[ 3.49443216e-02 -9.99388806e-01 9.52950106e-04 1.98075575e+02] [ 9.98515877e-01 3.48739115e-02 -4.18312496e-02 1.20580417e+02] [ 4.17724495e-02 2.41330045e-03 9.99124236e-01 9.35391090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67710568099994 meters 0.04306736125782094 Centerline is valid? [True, True] Translation: X:198.08, Y:120.61, Z:9.35 [[ 3.17995727e-02 -9.99493776e-01 9.89894791e-04 1.98080125e+02] [ 9.98583922e-01 3.17283332e-02 -4.27020441e-02 1.20606884e+02] [ 4.26490196e-02 2.34639978e-03 9.99087361e-01 9.35216813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.7071056809999 meters 0.03556644080143031 Centerline is valid? [True, True] Translation: X:198.09, Y:120.64, Z:9.35 [[ 2.91422441e-02 -9.99574752e-01 1.02225171e-03 1.98094840e+02] [ 9.98636724e-01 2.90705584e-02 -4.33543178e-02 1.20635017e+02] [ 4.33061641e-02 2.28430021e-03 9.99059237e-01 9.35354788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73710568099995 meters 0.034523469593980165 Centerline is valid? [True, True] Translation: X:198.11, Y:120.66, Z:9.35 [[ 2.39821553e-02 -9.99711795e-01 1.08738227e-03 1.98105278e+02] [ 9.98685684e-01 2.39082287e-02 -4.53354312e-02 1.20661920e+02] [ 4.52963679e-02 2.17319446e-03 9.98971229e-01 9.35243819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.7671056809999 meters 0.038648848414997355 Centerline is valid? [True, True] Translation: X:198.10, Y:120.69, Z:9.35 [[ 2.19960458e-02 -9.99757429e-01 1.12155402e-03 1.98101961e+02] [ 9.98702382e-01 2.19212658e-02 -4.59674876e-02 1.20688798e+02] [ 4.59317514e-02 2.13120164e-03 9.98942307e-01 9.35136500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79710568099995 meters 0.03606443565201873 Centerline is valid? [True, True] Translation: X:198.11, Y:120.72, Z:9.35 [[ 2.32879543e-02 -9.99728148e-01 1.14047928e-03 1.98109810e+02] [ 9.98669405e-01 2.32107573e-02 -4.60508367e-02 1.20716379e+02] [ 4.60118463e-02 2.21139154e-03 9.98938446e-01 9.35161531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.8271056809999 meters 0.037407207317387295 Centerline is valid? [True, True] Translation: X:198.11, Y:120.74, Z:9.35 [[ 2.79066712e-02 -9.99609822e-01 1.19238225e-03 1.98113255e+02] [ 9.98490394e-01 2.78189254e-02 -4.73607405e-02 1.20744231e+02] [ 4.73090906e-02 2.51226284e-03 9.98877139e-01 9.34992756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85710568099995 meters 0.04113332196351067 Centerline is valid? [True, True] Translation: X:198.11, Y:120.77, Z:9.35 [[ 3.08945709e-02 -9.99521852e-01 1.26194981e-03 1.98110939e+02] [ 9.98308038e-01 3.07947800e-02 -4.93228389e-02 1.20771348e+02] [ 4.92603938e-02 2.78362258e-03 9.98782091e-01 9.34846384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.8871056809999 meters 0.04535321312135912 Centerline is valid? [True, True] Translation: X:198.11, Y:120.80, Z:9.35 [[ 3.76228652e-02 -9.99291087e-01 1.35741122e-03 1.98110761e+02] [ 9.97927867e-01 3.75005185e-02 -5.22846307e-02 1.20799068e+02] [ 5.21966618e-02 3.32169609e-03 9.98631301e-01 9.34721168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91710568099995 meters 0.047004494244458336 Centerline is valid? [True, True] Translation: X:198.11, Y:120.83, Z:9.35 [[ 4.25640263e-02 -9.99092817e-01 1.35869844e-03 1.98111339e+02] [ 9.97760489e-01 4.24369542e-02 -5.17021483e-02 1.20826111e+02] [ 5.15975860e-02 3.55630722e-03 9.98661625e-01 9.34937344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.9471056809999 meters 0.05184049436269347 Centerline is valid? [True, True] Translation: X:198.11, Y:120.85, Z:9.35 [[ 4.36135605e-02 -9.99047563e-01 1.35037060e-03 1.98105648e+02] [ 9.97769356e-01 4.34893044e-02 -5.06457556e-02 1.20852866e+02] [ 5.05387920e-02 3.55620013e-03 9.98715767e-01 9.35022480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.97710568099995 meters 0.04263255737681651 Centerline is valid? [True, True] Translation: X:198.12, Y:120.88, Z:9.35 [[ 4.17716328e-02 -9.99126270e-01 1.35149202e-03 1.98122445e+02] [ 9.97880916e-01 4.16519494e-02 -4.99879263e-02 1.20881263e+02] [ 4.98879581e-02 3.43670540e-03 9.98748908e-01 9.35360598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.0071056809999 meters 0.04895967310341144 Centerline is valid? [True, True] Translation: X:198.12, Y:120.91, Z:9.35 [[ 3.94750850e-02 -9.99219586e-01 1.39169663e-03 1.98116396e+02] [ 9.97934800e-01 3.93536190e-02 -5.07683647e-02 1.20908329e+02] [ 5.06739760e-02 3.39290801e-03 9.98709485e-01 9.35141129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.03710568099996 meters 0.041017802154885055 Centerline is valid? [True, True] Translation: X:198.14, Y:120.94, Z:9.35 [[ 3.31058859e-02 -9.99450934e-01 1.35346147e-03 1.98135068e+02] [ 9.98265291e-01 3.30005839e-02 -4.87582922e-02 1.20936494e+02] [ 4.86868556e-02 2.96530006e-03 9.98809690e-01 9.35486253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.06710568099993 meters 0.03512296385265009 Centerline is valid? [True, True] Translation: X:198.15, Y:120.96, Z:9.36 [[ 2.29186062e-02 -9.99736524e-01 1.27255401e-03 1.98150468e+02] [ 9.98714431e-01 2.28375717e-02 -4.52540650e-02 1.20963967e+02] [ 4.52130796e-02 2.30807815e-03 9.98974699e-01 9.36063383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.09710568099996 meters 0.031849525664010454 Centerline is valid? [True, True] Translation: X:198.16, Y:120.99, Z:9.36 [[ 1.72348664e-02 -9.99850661e-01 1.27064784e-03 1.98158597e+02] [ 9.98859055e-01 1.71611381e-02 -4.45654869e-02 1.20991891e+02] [ 4.45370258e-02 2.03727831e-03 9.99005657e-01 9.36289936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.12710568099993 meters 0.031222232042127863 Centerline is valid? [True, True] Translation: X:198.16, Y:121.02, Z:9.36 [[ 1.21967750e-02 -9.99924755e-01 1.31250849e-03 1.98163144e+02] [ 9.98895623e-01 1.21246388e-02 -4.53930370e-02 1.21018236e+02] [ 4.53737077e-02 1.86470765e-03 9.98968343e-01 9.36277774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.15710568099996 meters 0.026783145565688848 Centerline is valid? [True, True] Translation: X:198.17, Y:121.05, Z:9.36 [[ 4.66963564e-03 -9.99988141e-01 1.38277710e-03 1.98174420e+02] [ 9.98875564e-01 4.59919270e-03 -4.71853239e-02 1.21045703e+02] [ 4.71784047e-02 1.60156053e-03 9.98885195e-01 9.36248785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.18710568099993 meters 0.02615511653125636 Centerline is valid? [True, True] Translation: X:198.17, Y:121.07, Z:9.36 [[ 1.37866663e-03 -9.99998046e-01 1.41703162e-03 1.98174768e+02] [ 9.98861429e-01 1.30952430e-03 -4.76878459e-02 1.21072459e+02] [ 4.76858970e-02 1.48116387e-03 9.98861282e-01 9.36069761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2171056809999 meters 0.02553293125949349 Centerline is valid? [True, True] Translation: X:198.18, Y:121.10, Z:9.36 [[ 1.13343239e-04 -9.99998973e-01 1.42854326e-03 1.98176406e+02] [ 9.98871009e-01 4.53526723e-05 -4.75047914e-02 1.21100148e+02] [ 4.75046778e-02 1.43231480e-03 9.98869989e-01 9.36219786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.24710568099994 meters 0.0247212756190299 Centerline is valid? [True, True] Translation: X:198.18, Y:121.13, Z:9.37 [[-2.66290489e-03 -9.99995405e-01 1.44878183e-03 1.98181784e+02] [ 9.98864653e-01 -2.72879826e-03 -4.75600601e-02 1.21127553e+02] [ 4.75637949e-02 1.32048905e-03 9.98867329e-01 9.36572828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2771056809999 meters 0.02424594691153771 Centerline is valid? [True, True] Translation: X:198.18, Y:121.15, Z:9.37 [[-4.73740102e-03 -9.99987702e-01 1.46711977e-03 1.98181922e+02] [ 9.98858675e-01 -4.80177283e-03 -4.75214632e-02 1.21154071e+02] [ 4.75279236e-02 1.24031709e-03 9.98869140e-01 9.36727527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.30710568099994 meters 0.02173566662968162 Centerline is valid? [True, True] Translation: X:198.18, Y:121.18, Z:9.37 [[-8.54548535e-03 -9.99962455e-01 1.43635448e-03 1.98182663e+02] [ 9.98907989e-01 -8.60243680e-03 -4.59219775e-02 1.21182083e+02] [ 4.59326095e-02 1.04236038e-03 9.98943997e-01 9.37026466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.3371056809999 meters 0.02253646475208603 Centerline is valid? [True, True] Translation: X:198.18, Y:121.21, Z:9.37 [[-9.37151853e-03 -9.99955010e-01 1.46697103e-03 1.98179145e+02] [ 9.98882428e-01 -9.42941061e-03 -4.63139319e-02 1.21208317e+02] [ 4.63256810e-02 1.03129971e-03 9.98925857e-01 9.36990326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.36710568099994 meters 0.0224428962586996 Centerline is valid? [True, True] Translation: X:198.18, Y:121.24, Z:9.37 [[-8.52761397e-03 -9.99962483e-01 1.52055647e-03 1.98179088e+02] [ 9.98841247e-01 -8.59005884e-03 -4.73537137e-02 1.21236111e+02] [ 4.73649988e-02 1.11498033e-03 9.98877026e-01 9.37069888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.3971056809999 meters 0.0256276485943676 Centerline is valid? [True, True] Translation: X:198.17, Y:121.26, Z:9.37 [[-3.83983669e-03 -9.99991418e-01 1.55572353e-03 1.98171995e+02] [ 9.98845770e-01 -3.90991561e-03 -4.78731691e-02 1.21262352e+02] [ 4.78788410e-02 1.37010271e-03 9.98852211e-01 9.36958976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.42710568099994 meters 0.027112750668518214 Centerline is valid? [True, True] Translation: X:198.17, Y:121.29, Z:9.37 [[-1.51334548e-03 -9.99997671e-01 1.53873477e-03 1.98168647e+02] [ 9.98905805e-01 -1.58361470e-03 -4.67406235e-02 1.21289002e+02] [ 4.67429514e-02 1.46631638e-03 9.98905875e-01 9.37167215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.4571056809999 meters 0.029381878668983754 Centerline is valid? [True, True] Translation: X:198.16, Y:121.32, Z:9.38 [[ 4.17122203e-03 -9.99990147e-01 1.51859946e-03 1.98164742e+02] [ 9.98952008e-01 4.09766392e-03 -4.55861318e-02 1.21315652e+02] [ 4.55794600e-02 1.70715785e-03 9.98959258e-01 9.37550356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.48710568099995 meters 0.03274185182239542 Centerline is valid? [True, True] Translation: X:198.16, Y:121.34, Z:9.37 [[ 9.80497055e-03 -9.99950755e-01 1.53296146e-03 1.98157952e+02] [ 9.98914507e-01 9.72497259e-03 -4.55547245e-02 1.21342313e+02] [ 4.55375731e-02 1.97796018e-03 9.98960668e-01 9.37490338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.5171056809999 meters 0.034418850078356905 Centerline is valid? [True, True] Translation: X:198.15, Y:121.37, Z:9.37 [[ 1.16350124e-02 -9.99931076e-01 1.57124110e-03 1.98154728e+02] [ 9.98869626e-01 1.15502078e-02 -4.61092562e-02 1.21368185e+02] [ 4.60879300e-02 2.10594678e-03 9.98935167e-01 9.37492485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.54710568099995 meters 0.03744345568743619 Centerline is valid? [True, True] Translation: X:198.15, Y:121.39, Z:9.37 [[ 1.47074068e-02 -9.99890472e-01 1.65386475e-03 1.98151370e+02] [ 9.98744034e-01 1.46112727e-02 -4.79256267e-02 1.21394349e+02] [ 4.78962125e-02 2.35664924e-03 9.98849538e-01 9.37409219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.5771056809999 meters 0.04337380642040962 Centerline is valid? [True, True] Translation: X:198.14, Y:121.42, Z:9.37 [[ 1.61550433e-02 -9.99868132e-01 1.65320629e-03 1.98143052e+02] [ 9.98749560e-01 1.60586909e-02 -4.73438045e-02 1.21420387e+02] [ 4.73110131e-02 2.41598027e-03 9.98877285e-01 9.37448654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.60710568099995 meters 0.04052578645717847 Centerline is valid? [True, True] Translation: X:198.15, Y:121.45, Z:9.38 [[ 1.86121599e-02 -9.99825450e-01 1.63006214e-03 1.98145805e+02] [ 9.98761452e-01 1.85170621e-02 -4.61809618e-02 1.21447194e+02] [ 4.61427170e-02 2.48757067e-03 9.98931760e-01 9.37820684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.6371056809999 meters 0.0403431155488198 Centerline is valid? [True, True] Translation: X:198.14, Y:121.47, Z:9.38 [[ 1.86549152e-02 -9.99824622e-01 1.64919807e-03 1.98144112e+02] [ 9.98754954e-01 1.85585781e-02 -4.63046647e-02 1.21474610e+02] [ 4.62659371e-02 2.51095434e-03 9.98926002e-01 9.37849743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.66710568099995 meters 0.0371250760852248 Centerline is valid? [True, True] Translation: X:198.15, Y:121.50, Z:9.38 [[ 1.92407835e-02 -9.99813525e-01 1.64574639e-03 1.98147359e+02] [ 9.98770812e-01 1.91454596e-02 -4.57199779e-02 1.21502468e+02] [ 4.56799436e-02 2.52341165e-03 9.98952939e-01 9.38162313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.6971056809999 meters 0.03751308141230393 Centerline is valid? [True, True] Translation: X:198.15, Y:121.53, Z:9.39 [[ 1.96175040e-02 -9.99806275e-01 1.60202347e-03 1.98148656e+02] [ 9.98837634e-01 1.95278853e-02 -4.40686150e-02 1.21530152e+02] [ 4.40287936e-02 2.46467756e-03 9.99027222e-01 9.38535616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.72710568099995 meters 0.04023215335128564 Centerline is valid? [True, True] Translation: X:198.14, Y:121.56, Z:9.39 [[ 1.98563177e-02 -9.99801534e-01 1.61812437e-03 1.98144577e+02] [ 9.98833227e-01 1.97657742e-02 -4.40624426e-02 1.21557134e+02] [ 4.40217142e-02 2.49115425e-03 9.99027469e-01 9.38559759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.7571056809999 meters 0.04038767133548834 Centerline is valid? [True, True] Translation: X:198.14, Y:121.59, Z:9.38 [[ 2.14577854e-02 -9.99768289e-01 1.71232143e-03 1.98144491e+02] [ 9.98707143e-01 2.13560029e-02 -4.61298556e-02 1.21585431e+02] [ 4.60825984e-02 2.69995219e-03 9.98933984e-01 9.38372859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.78710568099996 meters 0.04246986134425564 Centerline is valid? [True, True] Translation: X:198.14, Y:121.61, Z:9.38 [[ 2.16928346e-02 -9.99763066e-01 1.79820325e-03 1.98141455e+02] [ 9.98615238e-01 2.15816353e-02 -4.79774902e-02 1.21611857e+02] [ 4.79273145e-02 2.83648093e-03 9.98846799e-01 9.38201230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.81710568099993 meters 0.04208760935485658 Centerline is valid? [True, True] Translation: X:198.14, Y:121.64, Z:9.38 [[ 2.22703256e-02 -9.99750044e-01 1.97049533e-03 1.98143289e+02] [ 9.98397538e-01 2.21375491e-02 -5.20796056e-02 1.21639280e+02] [ 5.20229660e-02 3.12716746e-03 9.98640992e-01 9.37868938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.84710568099996 meters 0.042109937607620614 Centerline is valid? [True, True] Translation: X:198.15, Y:121.67, Z:9.38 [[ 2.08810664e-02 -9.99780107e-01 1.92828558e-03 1.98145972e+02] [ 9.98511489e-01 2.07572912e-02 -5.04375026e-02 1.21665533e+02] [ 5.03863857e-02 2.97860415e-03 9.98725358e-01 9.38030478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.87710568099993 meters 0.04145852788833492 Centerline is valid? [True, True] Translation: X:198.15, Y:121.69, Z:9.38 [[ 1.95817613e-02 -9.99806378e-01 1.93954814e-03 1.98147727e+02] [ 9.98549833e-01 1.94597766e-02 -5.01950935e-02 1.21692575e+02] [ 5.01476315e-02 2.91964381e-03 9.98737548e-01 9.38284008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.90710568099996 meters 0.040545880503408974 Centerline is valid? [True, True] Translation: X:198.15, Y:121.72, Z:9.38 [[ 1.62304709e-02 -9.99866267e-01 2.00494885e-03 1.98151497e+02] [ 9.98550543e-01 1.61061339e-02 -5.13556856e-02 1.21719193e+02] [ 5.13165256e-02 2.83556973e-03 9.98678414e-01 9.38239260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.93710568099993 meters 0.04020864202824194 Centerline is valid? [True, True] Translation: X:198.15, Y:121.75, Z:9.38 [[ 1.35294356e-02 -9.99906495e-01 1.98864951e-03 1.98152842e+02] [ 9.98637334e-01 1.34119579e-02 -5.04340587e-02 1.21745698e+02] [ 5.04026712e-02 2.66828399e-03 9.98725413e-01 9.38286355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.9671056809999 meters 0.03885884306305673 Centerline is valid? [True, True] Translation: X:198.15, Y:121.77, Z:9.39 [[ 1.24041037e-02 -9.99921173e-01 1.94574804e-03 1.98154970e+02] [ 9.98729599e-01 1.22942307e-02 -4.88675756e-02 1.21772747e+02] [ 4.88398020e-02 2.54943464e-03 9.98803371e-01 9.38573556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.99710568099994 meters 0.03511007616560129 Centerline is valid? [True, True] Translation: X:198.16, Y:121.80, Z:9.39 [[ 9.47593883e-03 -9.99953251e-01 1.92435001e-03 1.98164298e+02] [ 9.98809484e-01 9.37297259e-03 -4.78723551e-02 1.21800783e+02] [ 4.78520802e-02 2.37569455e-03 9.98851608e-01 9.39102438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.0271056809999 meters 0.03825201151297648 Centerline is valid? [True, True] Translation: X:198.16, Y:121.83, Z:9.39 [[ 7.66658118e-03 -9.99968716e-01 1.94681512e-03 1.98161085e+02] [ 9.98820490e-01 7.56440075e-03 -4.79625725e-02 1.21826796e+02] [ 4.79463456e-02 2.31222779e-03 9.98847236e-01 9.39219894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05710568099994 meters 0.0366052194712998 Centerline is valid? [True, True] Translation: X:198.16, Y:121.85, Z:9.40 [[ 3.61457495e-03 -9.99991711e-01 1.87424772e-03 1.98164369e+02] [ 9.98948167e-01 3.52511542e-03 -4.57179778e-02 1.21852935e+02] [ 4.57109919e-02 2.03752738e-03 9.98952628e-01 9.39632778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.0871056809999 meters 0.035018662625875774 Centerline is valid? [True, True] Translation: X:198.17, Y:121.88, Z:9.40 [[ 1.34030823e-03 -9.99997349e-01 1.87244952e-03 1.98165263e+02] [ 9.98975745e-01 1.25424504e-03 -4.52315005e-02 1.21880032e+02] [ 4.52290321e-02 1.93115581e-03 9.98974777e-01 9.39835528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11710568099994 meters 0.03201816655077224 Centerline is valid? [True, True] Translation: X:198.17, Y:121.91, Z:9.40 [[-5.68091235e-03 -9.99982185e-01 1.83246901e-03 1.98168578e+02] [ 9.99020526e-01 -5.75584691e-03 -4.38732202e-02 1.21905469e+02] [ 4.38829859e-02 1.58143423e-03 9.99035426e-01 9.39996027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.1471056809999 meters 0.027509177770169455 Centerline is valid? [True, True] Translation: X:198.17, Y:121.93, Z:9.40 [[-1.05843842e-02 -9.99942250e-01 1.86233678e-03 1.98174939e+02] [ 9.98966783e-01 -1.06563404e-02 -4.41792819e-02 1.21933403e+02] [ 4.41965762e-02 1.39280208e-03 9.99021883e-01 9.40180315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17710568099994 meters 0.021472036554892115 Centerline is valid? [True, True] Translation: X:198.19, Y:121.96, Z:9.40 [[-2.42003077e-02 -9.99705298e-01 1.91361005e-03 1.98186611e+02] [ 9.98689538e-01 -2.42619748e-02 -4.50617673e-02 1.21959708e+02] [ 4.50949155e-02 8.20593707e-04 9.98982370e-01 9.40291904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.2071056809999 meters 0.017333911492054342 Centerline is valid? [True, True] Translation: X:198.20, Y:121.99, Z:9.41 [[-4.01141916e-02 -9.99193373e-01 1.85890039e-03 1.98201171e+02] [ 9.98252212e-01 -4.01570708e-02 -4.33581769e-02 1.21987676e+02] [ 4.33978510e-02 1.16373216e-04 9.99057863e-01 9.40904984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23710568099995 meters 0.017513971272988035 Centerline is valid? [True, True] Translation: X:198.20, Y:122.01, Z:9.41 [[-4.79661666e-02 -9.98847227e-01 1.86137672e-03 1.98203669e+02] [ 9.97921337e-01 -4.80018318e-02 -4.29980153e-02 1.22013675e+02] [ 4.30377978e-02 -2.04942422e-04 9.99073424e-01 9.41067782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.2671056809999 meters 0.019750558439665753 Centerline is valid? [True, True] Translation: X:198.21, Y:122.04, Z:9.41 [[-5.92716691e-02 -9.98240084e-01 1.89864499e-03 1.98205778e+02] [ 9.97296275e-01 -5.92981825e-02 -4.34035170e-02 1.22040142e+02] [ 4.34397167e-02 -6.79087319e-04 9.99055819e-01 9.40867875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29710568099995 meters 0.021607627239466447 Centerline is valid? [True, True] Translation: X:198.21, Y:122.07, Z:9.41 [[-6.46790430e-02 -9.97904201e-01 1.95609249e-03 1.98206549e+02] [ 9.96922404e-01 -6.47021753e-02 -4.42645245e-02 1.22067817e+02] [ 4.42983184e-02 -9.12914653e-04 9.99017931e-01 9.40830131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.3271056809999 meters 0.026824345760488793 Centerline is valid? [True, True] Translation: X:198.21, Y:122.09, Z:9.41 [[-7.41769586e-02 -9.97243046e-01 2.02121751e-03 1.98209776e+02] [ 9.96214749e-01 -7.41922768e-02 -4.52954768e-02 1.22094228e+02] [ 4.53205580e-02 -1.34631401e-03 9.98971588e-01 9.40801158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35710568099995 meters 0.027174225803578336 Centerline is valid? [True, True] Translation: X:198.21, Y:122.12, Z:9.41 [[-7.82706244e-02 -9.96930100e-01 2.02112473e-03 1.98205781e+02] [ 9.95921599e-01 -7.82823835e-02 -4.48557286e-02 1.22121417e+02] [ 4.48762445e-02 -1.49800412e-03 9.98991431e-01 9.41134965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.3871056809999 meters 0.031218495269481606 Centerline is valid? [True, True] Translation: X:198.20, Y:122.15, Z:9.41 [[-8.58085981e-02 -9.96309606e-01 2.01321060e-03 1.98200737e+02] [ 9.95327634e-01 -8.58134591e-02 -4.42600463e-02 1.22147472e+02] [ 4.42694698e-02 -1.79408838e-03 9.99018015e-01 9.41376642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41710568099995 meters 0.03127684096099216 Centerline is valid? [True, True] Translation: X:198.19, Y:122.17, Z:9.41 [[-8.88349308e-02 -9.96044105e-01 2.12018213e-03 1.98186280e+02] [ 9.94976837e-01 -8.88379575e-02 -4.61401339e-02 1.22173537e+02] [ 4.61459610e-02 -1.98932349e-03 9.98932727e-01 9.41351998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.4471056809999 meters 0.03200672798274168 Centerline is valid? [True, True] Translation: X:198.18, Y:122.20, Z:9.41 [[-8.99183610e-02 -9.95946745e-01 2.18372048e-03 1.98178343e+02] [ 9.94836620e-01 -8.99213092e-02 -4.70558936e-02 1.22199547e+02] [ 4.70615271e-02 -2.05874372e-03 9.98889871e-01 9.41434203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47710568099995 meters 0.031119312893583405 Centerline is valid? [True, True] Translation: X:198.16, Y:122.22, Z:9.42 [[-8.68796916e-02 -9.96216349e-01 2.21473929e-03 1.98158512e+02] [ 9.95096995e-01 -8.68871178e-02 -4.72503902e-02 1.22224945e+02] [ 4.72640435e-02 -1.90121892e-03 9.98880621e-01 9.41556368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.5071056809999 meters 0.029690283805628808 Centerline is valid? [True, True] Translation: X:198.15, Y:122.25, Z:9.42 [[-8.36153906e-02 -9.96495594e-01 2.23552075e-03 1.98146138e+02] [ 9.95376416e-01 -8.36274731e-02 -4.72465431e-02 1.22251061e+02] [ 4.72679230e-02 -1.72535353e-03 9.98880757e-01 9.41754498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.53710568099996 meters 0.029690283805628808 Centerline is valid? [True, True] Translation: X:198.14, Y:122.28, Z:9.42 [[-8.40819545e-02 -9.96456289e-01 2.25606905e-03 1.98144549e+02] [ 9.95337116e-01 -8.40944860e-02 -4.72455629e-02 1.22276914e+02] [ 4.72678612e-02 -1.72695001e-03 9.98880757e-01 9.41850126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.56710568099993 meters 0.024738499205577195 Centerline is valid? [True, True] Translation: X:198.12, Y:122.30, Z:9.42 [[-7.67881130e-02 -9.97044957e-01 2.22230094e-03 1.98116906e+02] [ 9.95979379e-01 -7.68088051e-02 -4.61029660e-02 1.22303359e+02] [ 4.61374220e-02 -1.32679385e-03 9.98934221e-01 9.42091521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.59710568099996 meters 0.023256730885928546 Centerline is valid? [True, True] Translation: X:198.10, Y:122.33, Z:9.42 [[-7.31486152e-02 -9.97318502e-01 2.25502580e-03 1.98103115e+02] [ 9.96240476e-01 -7.31743997e-02 -4.63726320e-02 1.22329345e+02] [ 4.64132941e-02 -1.14554584e-03 9.98921666e-01 9.42189700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.62710568099993 meters 0.02092951279089295 Centerline is valid? [True, True] Translation: X:198.08, Y:122.35, Z:9.42 [[-6.66288896e-02 -9.97774945e-01 2.39777744e-03 1.98078652e+02] [ 9.96578634e-01 -6.66664029e-02 -4.88530182e-02 1.22354727e+02] [ 4.89041688e-02 -8.65448593e-04 9.98803100e-01 9.41817695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.65710568099996 meters 0.0197658804093736 Centerline is valid? [True, True] Translation: X:198.07, Y:122.38, Z:9.42 [[-6.47165360e-02 -9.97900550e-01 2.50238893e-03 1.98067060e+02] [ 9.96621155e-01 -6.47602533e-02 -5.05211175e-02 1.22381286e+02] [ 5.05771063e-02 -7.75617977e-04 9.98719858e-01 9.41674636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.68710568099993 meters 0.019489909370802486 Centerline is valid? [True, True] Translation: X:198.05, Y:122.41, Z:9.41 [[-6.39519450e-02 -9.97949371e-01 2.68374071e-03 1.98050156e+02] [ 9.96503862e-01 -6.40037221e-02 -5.36989430e-02 1.22408130e+02] [ 5.37605957e-02 -7.59793865e-04 9.98553564e-01 9.41290027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7171056809999 meters 0.02067828877392232 Centerline is valid? [True, True] Translation: X:198.04, Y:122.43, Z:9.41 [[-6.59793139e-02 -9.97816673e-01 2.93547710e-03 1.98036821e+02] [ 9.96118363e-01 -6.60382319e-02 -5.81993064e-02 1.22434271e+02] [ 5.82660920e-02 -9.15867663e-04 9.98300668e-01 9.40669899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.74710568099994 meters 0.021638952954490115 Centerline is valid? [True, True] Translation: X:198.03, Y:122.46, Z:9.41 [[-6.87037463e-02 -9.97632660e-01 2.97834138e-03 1.98031159e+02] [ 9.95912130e-01 -6.87601304e-02 -5.85753666e-02 1.22460729e+02] [ 5.86414899e-02 -1.05818082e-03 9.98278546e-01 9.40695621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7771056809999 meters 0.022671485246238857 Centerline is valid? [True, True] Translation: X:198.03, Y:122.49, Z:9.41 [[-7.18739369e-02 -9.97409205e-01 3.00251233e-03 1.98025727e+02] [ 9.95685217e-01 -7.19262022e-02 -5.86308027e-02 1.22487394e+02] [ 5.86948616e-02 -1.22446948e-03 9.98275220e-01 9.40832658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.80710568099994 meters 0.024837296711005923 Centerline is valid? [True, True] Translation: X:198.02, Y:122.51, Z:9.41 [[-7.64307254e-02 -9.97070794e-01 2.85926793e-03 1.98017689e+02] [ 9.95529957e-01 -7.64715597e-02 -5.54274762e-02 1.22513461e+02] [ 5.54837704e-02 -1.38987534e-03 9.98458622e-01 9.41260434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.8371056809999 meters 0.024768221299826657 Centerline is valid? [True, True] Translation: X:198.01, Y:122.54, Z:9.41 [[-7.68262358e-02 -9.97040330e-01 2.88267499e-03 1.98010731e+02] [ 9.95496287e-01 -7.68676785e-02 -5.54842575e-02 1.22538925e+02] [ 5.55416270e-02 -1.39295440e-03 9.98455401e-01 9.41445538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.86710568099994 meters 0.02244998718936524 Centerline is valid? [True, True] Translation: X:197.99, Y:122.56, Z:9.42 [[-7.15300744e-02 -9.97434471e-01 2.81489394e-03 1.97992205e+02] [ 9.95986740e-01 -7.15778878e-02 -5.37309862e-02 1.22563681e+02] [ 5.37946220e-02 -1.03978440e-03 9.98551480e-01 9.41773944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.8971056809999 meters 0.01857938457827957 Centerline is valid? [True, True] Translation: X:197.97, Y:122.59, Z:9.42 [[-5.82711557e-02 -9.98297266e-01 2.65367389e-03 1.97965108e+02] [ 9.97030815e-01 -5.83308598e-02 -5.02699212e-02 1.22588203e+02] [ 5.03391159e-02 -2.83491762e-04 9.98732143e-01 9.42252890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.92710568099994 meters 0.01846347124918075 Centerline is valid? [True, True] Translation: X:197.95, Y:122.61, Z:9.42 [[-4.94463000e-02 -9.98773201e-01 2.67532114e-03 1.97949579e+02] [ 9.97506809e-01 -4.95182858e-02 -5.02802706e-02 1.22614396e+02] [ 5.03510641e-02 1.82477707e-04 9.98731564e-01 9.42483176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.9571056809999 meters 0.024319031795114337 Centerline is valid? [True, True] Translation: X:197.92, Y:122.64, Z:9.42 [[-3.06566880e-02 -9.99526237e-01 2.73302376e-03 1.97923017e+02] [ 9.98226500e-01 -3.07561910e-02 -5.09697013e-02 1.22640992e+02] [ 5.10296112e-02 1.16561451e-03 9.98696460e-01 9.42466809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.98710568099995 meters 0.027763521592394716 Centerline is valid? [True, True] Translation: X:197.91, Y:122.67, Z:9.42 [[-2.40587914e-02 -9.99706583e-01 2.81482418e-03 1.97912221e+02] [ 9.98348615e-01 -2.41728414e-02 -5.21125431e-02 1.22667709e+02] [ 5.21652947e-02 1.55641102e-03 9.98637251e-01 9.42382078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.0171056809999 meters 0.03181825877810604 Centerline is valid? [True, True] Translation: X:197.90, Y:122.69, Z:9.42 [[-1.74232380e-02 -9.99844087e-01 2.86912826e-03 1.97899585e+02] [ 9.98453467e-01 -1.75503778e-02 -5.27509090e-02 1.22693616e+02] [ 5.27930387e-02 1.94559942e-03 9.98603580e-01 9.42259188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.04710568099995 meters 0.031382932389167874 Centerline is valid? [True, True] Translation: X:197.90, Y:122.72, Z:9.43 [[-1.72416803e-02 -9.99847296e-01 2.84769944e-03 1.97895984e+02] [ 9.98494247e-01 -1.73665506e-02 -5.20350055e-02 1.22720864e+02] [ 5.20765143e-02 1.94624058e-03 9.98641201e-01 9.42544347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.0771056809999 meters 0.03058982169165979 Centerline is valid? [True, True] Translation: X:197.89, Y:122.75, Z:9.43 [[-2.01770824e-02 -9.99792797e-01 2.69222552e-03 1.97893214e+02] [ 9.98599797e-01 -2.02845667e-02 -4.88567478e-02 1.22747606e+02] [ 4.89012351e-02 1.70266924e-03 9.98802168e-01 9.43087327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.10710568099995 meters 0.028760491699837378 Centerline is valid? [True, True] Translation: X:197.90, Y:122.77, Z:9.44 [[-2.44413402e-02 -9.99698015e-01 2.54938445e-03 1.97896616e+02] [ 9.98640656e-01 -2.45327680e-02 -4.59889516e-02 1.22774549e+02] [ 4.60376071e-02 1.42188735e-03 9.98938695e-01 9.43560512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.1371056809999 meters 0.03075340750942834 Centerline is valid? [True, True] Translation: X:197.89, Y:122.80, Z:9.44 [[-2.63071009e-02 -9.99650771e-01 2.50460859e-03 1.97892329e+02] [ 9.98644066e-01 -2.63930326e-02 -4.48713480e-02 1.22800537e+02] [ 4.49217818e-02 1.32077743e-03 9.98989634e-01 9.43694521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.16710568099995 meters 0.026232841913195797 Centerline is valid? [True, True] Translation: X:197.90, Y:122.83, Z:9.44 [[-2.81424703e-02 -9.99600947e-01 2.43895204e-03 1.97899590e+02] [ 9.98656912e-01 -2.82219068e-02 -4.34499378e-02 1.22828892e+02] [ 4.35014308e-02 1.21288773e-03 9.99052628e-01 9.44074901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.1971056809999 meters 0.026452154912632874 Centerline is valid? [True, True] Translation: X:197.90, Y:122.85, Z:9.44 [[-2.89141934e-02 -9.99578875e-01 2.45786806e-03 1.97898302e+02] [ 9.98633229e-01 -2.89937673e-02 -4.34860438e-02 1.22854550e+02] [ 4.35389936e-02 1.19714483e-03 9.99051011e-01 9.44148997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.22710568099995 meters 0.026643678301328324 Centerline is valid? [True, True] Translation: X:197.90, Y:122.88, Z:9.44 [[-2.81713330e-02 -9.99600071e-01 2.46461183e-03 1.97896564e+02] [ 9.98663826e-01 -2.82516369e-02 -4.32713170e-02 1.22882037e+02] [ 4.33236408e-02 1.24230800e-03 9.99060318e-01 9.44136405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.2571056809999 meters 0.028035865305552323 Centerline is valid? [True, True] Translation: X:197.89, Y:122.91, Z:9.44 [[-2.71631660e-02 -9.99627832e-01 2.52170058e-03 1.97892696e+02] [ 9.98661656e-01 -2.72478063e-02 -4.39596941e-02 1.22909088e+02] [ 4.40120446e-02 1.32424120e-03 9.99030123e-01 9.44059801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.28710568099996 meters 0.028418200244118202 Centerline is valid? [True, True] Translation: X:197.89, Y:122.94, Z:9.44 [[-2.58380415e-02 -9.99662314e-01 2.76641611e-03 1.97892460e+02] [ 9.98516419e-01 -2.59409112e-02 -4.78751422e-02 1.22937261e+02] [ 4.79307388e-02 1.52531199e-03 9.98849497e-01 9.43645318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.31710568099993 meters 0.02816619430598337 Centerline is valid? [True, True] Translation: X:197.90, Y:122.97, Z:9.43 [[-2.78932708e-02 -9.99606205e-01 3.06585157e-03 1.97895567e+02] [ 9.98218536e-01 -2.80161120e-02 -5.26768637e-02 1.22965105e+02] [ 5.27420131e-02 1.59105984e-03 9.98606904e-01 9.43126125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.34710568099996 meters 0.027289809547044637 Centerline is valid? [True, True] Translation: X:197.90, Y:122.99, Z:9.43 [[-3.05924943e-02 -9.99526965e-01 3.15381447e-03 1.97897375e+02] [ 9.98078365e-01 -3.07179578e-02 -5.38143440e-02 1.22993769e+02] [ 5.38857666e-02 1.50143898e-03 9.98545978e-01 9.43145036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.37710568099993 meters 0.02493809026608682 Centerline is valid? [True, True] Translation: X:197.90, Y:123.02, Z:9.43 [[-3.72703452e-02 -9.99299854e-01 3.27460118e-03 1.97904057e+02] [ 9.97756609e-01 -3.73947477e-02 -5.55282128e-02 1.23021890e+02] [ 5.56117878e-02 1.19769931e-03 9.98451749e-01 9.43168605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.40710568099996 meters 0.023219719388145443 Centerline is valid? [True, True] Translation: X:197.91, Y:123.05, Z:9.43 [[-4.15857267e-02 -9.99129559e-01 3.27885162e-03 1.97908048e+02] [ 9.97601408e-01 -4.17034273e-02 -5.52472175e-02 1.23050276e+02] [ 5.53358674e-02 9.73491305e-04 9.98467322e-01 9.43340698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.43710568099993 meters 0.020692744362092584 Centerline is valid? [True, True] Translation: X:197.92, Y:123.08, Z:9.44 [[-5.09703113e-02 -9.98694953e-01 3.22772656e-03 1.97919121e+02] [ 9.97232232e-01 -5.10702942e-02 -5.40342486e-02 1.23078098e+02] [ 5.41285723e-02 4.64650488e-04 9.98533866e-01 9.43673406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.4671056809999 meters 0.019632742432870394 Centerline is valid? [True, True] Translation: X:197.93, Y:123.10, Z:9.44 [[-6.08772649e-02 -9.98140064e-01 3.22032480e-03 1.97927601e+02] [ 9.96703806e-01 -6.09623612e-02 -5.35267550e-02 1.23104694e+02] [ 5.36235173e-02 -4.88524607e-05 9.98561223e-01 9.43894511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.49710568099994 meters 0.019607997176119014 Centerline is valid? [True, True] Translation: X:197.93, Y:123.13, Z:9.44 [[-6.63601524e-02 -9.97790596e-01 3.20261405e-03 1.97930547e+02] [ 9.96390072e-01 -6.64366367e-02 -5.28488201e-02 1.23131844e+02] [ 5.29448266e-02 -3.16002907e-04 9.98597389e-01 9.44231891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.5271056809999 meters 0.021894229040672265 Centerline is valid? [True, True] Translation: X:197.94, Y:123.16, Z:9.45 [[-7.82671048e-02 -9.96927811e-01 3.03300501e-03 1.97941001e+02] [ 9.95688166e-01 -7.83210119e-02 -4.97080933e-02 1.23158379e+02] [ 4.97929287e-02 -8.70581348e-04 9.98759183e-01 9.44710263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55710568099994 meters 0.02354853764672723 Centerline is valid? [True, True] Translation: X:197.94, Y:123.19, Z:9.45 [[-8.39441891e-02 -9.96466248e-01 2.89659785e-03 1.97944938e+02] [ 9.95351019e-01 -8.39872795e-02 -4.71432424e-02 1.23185418e+02] [ 4.72199272e-02 -1.07426963e-03 9.98883939e-01 9.45137013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.5871056809999 meters 0.02807861951006866 Centerline is valid? [True, True] Translation: X:197.95, Y:123.21, Z:9.46 [[-9.54843370e-02 -9.95427336e-01 2.67568444e-03 1.97952604e+02] [ 9.94487586e-01 -9.55104987e-02 -4.32687572e-02 1.23212603e+02] [ 4.33264597e-02 -1.47055364e-03 9.99059886e-01 9.45810413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61710568099994 meters 0.03313564656592993 Centerline is valid? [True, True] Translation: X:197.96, Y:123.24, Z:9.46 [[-1.04214066e-01 -9.94551224e-01 2.70018426e-03 1.97955001e+02] [ 9.93607344e-01 -1.04232879e-01 -4.33584260e-02 1.23238433e+02] [ 4.34036237e-02 -1.83563497e-03 9.99055932e-01 9.45846787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.6471056809999 meters 0.034138587399659984 Centerline is valid? [True, True] Translation: X:197.95, Y:123.27, Z:9.46 [[-1.07267828e-01 -9.94226439e-01 2.72058326e-03 1.97951306e+02] [ 9.93281682e-01 -1.07284592e-01 -4.33764402e-02 1.23265038e+02] [ 4.34178804e-02 -1.95059101e-03 9.99055095e-01 9.45855835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67710568099994 meters 0.03427124994603015 Centerline is valid? [True, True] Translation: X:197.95, Y:123.29, Z:9.46 [[-1.09894540e-01 -9.93939473e-01 2.74103468e-03 1.97945764e+02] [ 9.92993501e-01 -1.09909642e-01 -4.34024993e-02 1.23292187e+02] [ 4.34407234e-02 -2.04786808e-03 9.99053907e-01 9.46004371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.7071056809999 meters 0.03426363634871005 Centerline is valid? [True, True] Translation: X:197.94, Y:123.32, Z:9.46 [[-1.12299849e-01 -9.93670911e-01 2.62011764e-03 1.97938468e+02] [ 9.92817058e-01 -1.12312079e-01 -4.12345338e-02 1.23319211e+02] [ 4.12678276e-02 -2.02933445e-03 9.99146059e-01 9.46298454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73710568099995 meters 0.037540025732749324 Centerline is valid? [True, True] Translation: X:197.94, Y:123.35, Z:9.46 [[-1.16522632e-01 -9.93184386e-01 2.69283410e-03 1.97935505e+02] [ 9.92290861e-01 -1.16532164e-01 -4.21794096e-02 1.23346027e+02] [ 4.22057328e-02 -2.24278117e-03 9.99106424e-01 9.46126813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.7671056809999 meters 0.03791854001172385 Centerline is valid? [True, True] Translation: X:197.93, Y:123.37, Z:9.46 [[-1.19781647e-01 -9.92796407e-01 2.76605481e-03 1.97930128e+02] [ 9.91865621e-01 -1.19789283e-01 -4.30478496e-02 1.23373311e+02] [ 4.30690941e-02 -2.41278764e-03 9.99069183e-01 9.46069711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79710568099995 meters 0.03981020425978503 Centerline is valid? [True, True] Translation: X:197.92, Y:123.40, Z:9.46 [[-1.23220821e-01 -9.92375110e-01 2.87581706e-03 1.97922427e+02] [ 9.91381678e-01 -1.23226341e-01 -4.44706407e-02 1.23400833e+02] [ 4.44859334e-02 -2.62867654e-03 9.99006552e-01 9.45906869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.8271056809999 meters 0.03958011321146129 Centerline is valid? [True, True] Translation: X:197.92, Y:123.43, Z:9.46 [[-1.24873091e-01 -9.92168604e-01 2.85870866e-03 1.97916072e+02] [ 9.91198271e-01 -1.24877597e-01 -4.39496771e-02 1.23428360e+02] [ 4.39624784e-02 -2.65458495e-03 9.99029656e-01 9.46017223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85710568099995 meters 0.041526266873635156 Centerline is valid? [True, True] Translation: X:197.91, Y:123.45, Z:9.46 [[-1.27390708e-01 -9.91848418e-01 2.88515377e-03 1.97908130e+02] [ 9.90871267e-01 -1.27393494e-01 -4.41025012e-02 1.23454529e+02] [ 4.41105458e-02 -2.75943290e-03 9.99022845e-01 9.46205060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.8871056809999 meters 0.04355560352634745 Centerline is valid? [True, True] Translation: X:197.90, Y:123.48, Z:9.46 [[-1.29424708e-01 -9.91584760e-01 2.98475030e-03 1.97899037e+02] [ 9.90550542e-01 -1.29426286e-01 -4.53702581e-02 1.23479942e+02] [ 4.53747616e-02 -2.91548636e-03 9.98965781e-01 9.46104227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91710568099995 meters 0.043610315515548594 Centerline is valid? [True, True] Translation: X:197.89, Y:123.51, Z:9.46 [[-1.29689106e-01 -9.91549977e-01 3.06250003e-03 1.97891269e+02] [ 9.90475479e-01 -1.29691396e-01 -4.62435587e-02 1.23506685e+02] [ 4.62499795e-02 -2.96395463e-03 9.98925500e-01 9.46118459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.9471056809999 meters 0.04362985242708116 Centerline is valid? [True, True] Translation: X:197.88, Y:123.53, Z:9.46 [[-1.28551644e-01 -9.91698217e-01 3.02031329e-03 1.97877840e+02] [ 9.90665706e-01 -1.28555860e-01 -4.53304435e-02 1.23532490e+02] [ 4.53423990e-02 -2.83518222e-03 9.98967481e-01 9.46196518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97710568099995 meters 0.043250224490937815 Centerline is valid? [True, True] Translation: X:197.87, Y:123.56, Z:9.46 [[-1.28071455e-01 -9.91759985e-01 3.13597213e-03 1.97868959e+02] [ 9.90660568e-01 -1.28077383e-01 -4.67741785e-02 1.23558829e+02] [ 4.67904057e-02 -2.88375319e-03 9.98900567e-01 9.46149042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.0071056809999 meters 0.04316447154227751 Centerline is valid? [True, True] Translation: X:197.85, Y:123.58, Z:9.46 [[-1.27373916e-01 -9.91848708e-01 3.46786197e-03 1.97851765e+02] [ 9.90521355e-01 -1.27383136e-01 -5.13904801e-02 1.23584431e+02] [ 5.14133284e-02 -3.11081536e-03 9.98672615e-01 9.45623540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.03710568099996 meters 0.04276635615918395 Centerline is valid? [True, True] Translation: X:197.84, Y:123.61, Z:9.45 [[-1.27569419e-01 -9.91823172e-01 3.58310684e-03 1.97841097e+02] [ 9.90423570e-01 -1.27580034e-01 -5.27682475e-02 1.23610761e+02] [ 5.27939036e-02 -3.18282123e-03 9.98600357e-01 9.45486940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.06710568099993 meters 0.04443475341169252 Centerline is valid? [True, True] Translation: X:197.83, Y:123.64, Z:9.45 [[-1.28880554e-01 -9.91653255e-01 3.69102451e-03 1.97826697e+02] [ 9.90185728e-01 -1.28890935e-01 -5.40310109e-02 1.23636136e+02] [ 5.40557675e-02 -3.30874683e-03 9.98532436e-01 9.45409604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.09710568099996 meters 0.046159254641513485 Centerline is valid? [True, True] Translation: X:197.82, Y:123.66, Z:9.46 [[-1.31831433e-01 -9.91265288e-01 3.68807655e-03 1.97819650e+02] [ 9.89817267e-01 -1.31838536e-01 -5.36691584e-02 1.23663069e+02] [ 5.36866044e-02 -3.42476019e-03 9.98551961e-01 9.45635668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.12710568099993 meters 0.05150756817519784 Centerline is valid? [True, True] Translation: X:197.81, Y:123.69, Z:9.46 [[-1.39892470e-01 -9.90160313e-01 3.55682634e-03 1.97809330e+02] [ 9.88827250e-01 -1.39889109e-01 -5.14947169e-02 1.23688310e+02] [ 5.14855863e-02 -3.68663633e-03 9.98666933e-01 9.45980032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.15710568099996 meters 0.055170767496908205 Centerline is valid? [True, True] Translation: X:197.81, Y:123.71, Z:9.46 [[-1.44433254e-01 -9.89508410e-01 3.48456390e-03 1.97805718e+02] [ 9.88240751e-01 -1.44425056e-01 -5.02157477e-02 1.23714324e+02] [ 5.01921630e-02 -3.80923579e-03 9.98732315e-01 9.46189432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.18710568099993 meters 0.06114596938739061 Centerline is valid? [True, True] Translation: X:197.80, Y:123.74, Z:9.47 [[-1.52478918e-01 -9.88300936e-01 3.38226932e-03 1.97797922e+02] [ 9.87119982e-01 -1.52462593e-01 -4.84695734e-02 1.23739754e+02] [ 4.84181943e-02 -4.05188246e-03 9.98818933e-01 9.46587274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2171056809999 meters 0.05491557929369866 Centerline is valid? [True, True] Translation: X:197.78, Y:123.77, Z:9.47 [[-1.55744240e-01 -9.87791792e-01 3.33280142e-03 1.97779406e+02] [ 9.86658234e-01 -1.55725734e-01 -4.74871040e-02 1.23765869e+02] [ 4.74263745e-02 -4.10750698e-03 9.98866291e-01 9.46841501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.24710568099994 meters 0.053089734318471166 Centerline is valid? [True, True] Translation: X:197.76, Y:123.79, Z:9.47 [[-1.56378078e-01 -9.87692005e-01 3.22484231e-03 1.97758823e+02] [ 9.86642074e-01 -1.56361063e-01 -4.57016017e-02 1.23790969e+02] [ 4.56433463e-02 -3.96496353e-03 9.98949931e-01 9.47262217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2771056809999 meters 0.06355112920847002 Centerline is valid? [True, True] Translation: X:197.76, Y:123.82, Z:9.47 [[-1.54176411e-01 -9.88038252e-01 3.16968372e-03 1.97761550e+02] [ 9.87035191e-01 -1.54163188e-01 -4.46681345e-02 1.23818008e+02] [ 4.46224741e-02 -3.75818329e-03 9.98996852e-01 9.47299083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.30710568099994 meters 0.04969105503181782 Centerline is valid? [True, True] Translation: X:197.72, Y:123.84, Z:9.48 [[-1.47251881e-01 -9.89094406e-01 3.02315456e-03 1.97722761e+02] [ 9.88191665e-01 -1.47247000e-01 -4.23739817e-02 1.23842462e+02] [ 4.23570187e-02 -3.25219236e-03 9.99097246e-01 9.47797353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.3371056809999 meters 0.04391404203348413 Centerline is valid? [True, True] Translation: X:197.70, Y:123.87, Z:9.48 [[-1.40274956e-01 -9.90108782e-01 2.74533267e-03 1.97697516e+02] [ 9.89371540e-01 -1.40276686e-01 -3.82937005e-02 1.23868504e+02] [ 3.83000353e-02 -2.65549315e-03 9.99262756e-01 9.48185074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.36710568099994 meters 0.04543365527619388 Centerline is valid? [True, True] Translation: X:197.69, Y:123.89, Z:9.48 [[-1.37266157e-01 -9.90530624e-01 2.66169342e-03 1.97691048e+02] [ 9.89844633e-01 -1.37270352e-01 -3.69385071e-02 1.23894877e+02] [ 3.69540941e-02 -2.43574397e-03 9.99313996e-01 9.48429911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.3971056809999 meters 0.04037104650734365 Centerline is valid? [True, True] Translation: X:197.67, Y:123.92, Z:9.48 [[-1.30443672e-01 -9.91451749e-01 2.80685176e-03 1.97667753e+02] [ 9.90697670e-01 -1.30454100e-01 -3.87279508e-02 1.23920725e+02] [ 3.87630598e-02 -2.27107462e-03 9.99245849e-01 9.48280291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.42710568099994 meters 0.038234041522332944 Centerline is valid? [True, True] Translation: X:197.66, Y:123.95, Z:9.48 [[-1.25799237e-01 -9.92051338e-01 2.94868271e-03 1.97656004e+02] [ 9.91228412e-01 -1.25815135e-01 -4.04572318e-02 1.23947564e+02] [ 4.05066398e-02 -2.16667080e-03 9.99176920e-01 9.48129963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.4571056809999 meters 0.038234041522332944 Centerline is valid? [True, True] Translation: X:197.65, Y:123.97, Z:9.48 [[-1.26185969e-01 -9.92002175e-01 2.96398420e-03 1.97653809e+02] [ 9.91179255e-01 -1.26202169e-01 -4.04561110e-02 1.23974068e+02] [ 4.05066113e-02 -2.16715391e-03 9.99176920e-01 9.48228712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.48710568099995 meters 0.0378619020855265 Centerline is valid? [True, True] Translation: X:197.64, Y:124.00, Z:9.48 [[-1.14197558e-01 -9.93453168e-01 3.11785384e-03 1.97640651e+02] [ 9.92552871e-01 -1.14226888e-01 -4.23204123e-02 1.23999398e+02] [ 4.23994904e-02 -1.73825298e-03 9.99099225e-01 9.47786079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.5171056809999 meters 0.0257996781354925 Centerline is valid? [True, True] Translation: X:197.61, Y:124.02, Z:9.48 [[-1.00775482e-01 -9.94904300e-01 3.12021825e-03 1.97606235e+02] [ 9.94012633e-01 -1.00817286e-01 -4.21279159e-02 1.24024120e+02] [ 4.22278166e-02 -1.14392470e-03 9.99107353e-01 9.47979125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.54710568099995 meters 0.023340723326491345 Centerline is valid? [True, True] Translation: X:197.59, Y:124.05, Z:9.48 [[-9.45363659e-02 -9.95516701e-01 3.06148521e-03 1.97591712e+02] [ 9.94667295e-01 -9.45821721e-02 -4.11240112e-02 1.24049614e+02] [ 4.12292019e-02 -8.42555357e-04 9.99149360e-01 9.48144923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.5771056809999 meters 0.021495057312943138 Centerline is valid? [True, True] Translation: X:197.58, Y:124.08, Z:9.48 [[-8.91092061e-02 -9.96017158e-01 3.06105424e-03 1.97578406e+02] [ 9.95176618e-01 -8.91597506e-02 -4.09149990e-02 1.24076767e+02] [ 4.10249638e-02 -5.99613465e-04 9.99157942e-01 9.48169645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.60710568099995 meters 0.020175121355736875 Centerline is valid? [True, True] Translation: X:197.56, Y:124.10, Z:9.48 [[-8.06630885e-02 -9.96736649e-01 3.08536117e-03 1.97559975e+02] [ 9.95891013e-01 -8.07217221e-02 -4.10498943e-02 1.24102043e+02] [ 4.11649897e-02 -2.38527791e-04 9.99152334e-01 9.47940628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.6371056809999 meters 0.020398871137676917 Centerline is valid? [True, True] Translation: X:197.55, Y:124.13, Z:9.48 [[-7.65422765e-02 -9.97061225e-01 3.19280575e-03 1.97546940e+02] [ 9.96164058e-01 -7.66088177e-02 -4.22878107e-02 1.24128180e+02] [ 4.24081334e-02 -5.62469643e-05 9.99100369e-01 9.47685086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.66710568099995 meters 0.02026535212688582 Centerline is valid? [True, True] Translation: X:197.54, Y:124.15, Z:9.48 [[-7.68773496e-02 -9.97035306e-01 3.23614296e-03 1.97542643e+02] [ 9.96122927e-01 -7.69454125e-02 -4.26440836e-02 1.24154480e+02] [ 4.27666633e-02 -5.47679304e-05 9.99085086e-01 9.47689772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.6971056809999 meters 0.02045835970736914 Centerline is valid? [True, True] Translation: X:197.54, Y:124.18, Z:9.48 [[-8.13460643e-02 -9.96680571e-01 3.26456047e-03 1.97541980e+02] [ 9.95761543e-01 -8.14112186e-02 -4.27920805e-02 1.24182599e+02] [ 4.29158070e-02 -2.30243553e-04 9.99078666e-01 9.47872845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.72710568099995 meters 0.020575424816871704 Centerline is valid? [True, True] Translation: X:197.54, Y:124.21, Z:9.48 [[-8.42192474e-02 -9.96441771e-01 3.30389939e-03 1.97542471e+02] [ 9.95509225e-01 -8.42833387e-02 -4.31010552e-02 1.24209121e+02] [ 4.32261554e-02 -3.40876106e-04 9.99065255e-01 9.48011684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.7571056809999 meters 0.021567080343858715 Centerline is valid? [True, True] Translation: X:197.54, Y:124.24, Z:9.48 [[-8.88300637e-02 -9.96041026e-01 3.39036421e-03 1.97542415e+02] [ 9.95065820e-01 -8.88930939e-02 -4.40684782e-02 1.24237252e+02] [ 4.41953922e-02 -5.40970182e-04 9.99022760e-01 9.48191367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.78710568099996 meters 0.022510524156853836 Centerline is valid? [True, True] Translation: X:197.54, Y:124.26, Z:9.48 [[-9.13458392e-02 -9.95813581e-01 3.35396414e-03 1.97544397e+02] [ 9.94868110e-01 -9.14052451e-02 -4.33880665e-02 1.24264409e+02] [ 4.35129958e-02 -6.26567381e-04 9.99052665e-01 9.48325039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.81710568099993 meters 0.024091137160877265 Centerline is valid? [True, True] Translation: X:197.55, Y:124.29, Z:9.49 [[-9.57225722e-02 -9.95402878e-01 3.20942571e-03 1.97548113e+02] [ 9.94545134e-01 -9.57733176e-02 -4.13212877e-02 1.24290348e+02] [ 4.14387060e-02 -7.63461216e-04 9.99140756e-01 9.48504974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.84710568099996 meters 0.024474261601416296 Centerline is valid? [True, True] Translation: X:197.55, Y:124.32, Z:9.48 [[-1.00798630e-01 -9.94901476e-01 3.26953751e-03 1.97548678e+02] [ 9.94019318e-01 -1.00846945e-01 -4.18985614e-02 1.24318227e+02] [ 4.20146635e-02 -9.73334130e-04 9.99116520e-01 9.48468342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.87710568099993 meters 0.02568359426985685 Centerline is valid? [True, True] Translation: X:197.55, Y:124.35, Z:9.48 [[-1.07593178e-01 -9.94188927e-01 3.47647602e-03 1.97551891e+02] [ 9.93200627e-01 -1.07641263e-01 -4.43381700e-02 1.24346964e+02] [ 4.44547299e-02 -1.31764643e-03 9.99010531e-01 9.48266967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.90710568099996 meters 0.0288076295694898 Centerline is valid? [True, True] Translation: X:197.56, Y:124.37, Z:9.48 [[-1.11144678e-01 -9.93797768e-01 3.58559534e-03 1.97556711e+02] [ 9.92756088e-01 -1.11192394e-01 -4.55148412e-02 1.24374516e+02] [ 4.56312385e-02 -1.49911076e-03 9.98957228e-01 9.48172465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.93710568099993 meters 0.03453472892898595 Centerline is valid? [True, True] Translation: X:197.57, Y:124.40, Z:9.48 [[-1.14655348e-01 -9.93398395e-01 3.71215716e-03 1.97565243e+02] [ 9.92291635e-01 -1.14702904e-01 -4.69100723e-02 1.24401990e+02] [ 4.70261857e-02 -1.69494816e-03 9.98892219e-01 9.48214527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.9671056809999 meters 0.030662720245263855 Centerline is valid? [True, True] Translation: X:197.56, Y:124.43, Z:9.49 [[-1.14709412e-01 -9.93391770e-01 3.81342728e-03 1.97556321e+02] [ 9.92232224e-01 -1.14759834e-01 -4.80145156e-02 1.24428365e+02] [ 4.81348530e-02 -1.72391140e-03 9.98839358e-01 9.48533433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.99710568099994 meters 0.027812387276672134 Centerline is valid? [True, True] Translation: X:197.55, Y:124.46, Z:9.49 [[-1.13313564e-01 -9.93551445e-01 3.94493095e-03 1.97547421e+02] [ 9.92322587e-01 -1.13369672e-01 -4.94287341e-02 1.24455768e+02] [ 4.95572257e-02 -1.68630193e-03 9.98769862e-01 9.48814757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.0271056809999 meters 0.02474666555679181 Centerline is valid? [True, True] Translation: X:197.54, Y:124.48, Z:9.49 [[-1.04688189e-01 -9.94497317e-01 3.93316638e-03 1.97535654e+02] [ 9.93287396e-01 -1.04754840e-01 -4.90568393e-02 1.24481363e+02] [ 4.91989133e-02 -1.22890706e-03 9.98788244e-01 9.49176664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05710568099994 meters 0.02168491886965141 Centerline is valid? [True, True] Translation: X:197.52, Y:124.51, Z:9.50 [[-9.42442109e-02 -9.95542123e-01 3.72949772e-03 1.97524023e+02] [ 9.94464368e-01 -9.43156927e-02 -4.63159879e-02 1.24508648e+02] [ 4.64612671e-02 -6.56161143e-04 9.98919877e-01 9.49548582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.0871056809999 meters 0.020835622795302936 Centerline is valid? [True, True] Translation: X:197.52, Y:124.54, Z:9.50 [[-8.92672016e-02 -9.96000995e-01 3.65843542e-03 1.97518045e+02] [ 9.94971122e-01 -8.93412311e-02 -4.52836714e-02 1.24536026e+02] [ 4.54294309e-02 -4.02309029e-04 9.98967469e-01 9.49676359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11710568099994 meters 0.02035204876571467 Centerline is valid? [True, True] Translation: X:197.51, Y:124.56, Z:9.50 [[-7.81872066e-02 -9.96931901e-01 3.68034411e-03 1.97505308e+02] [ 9.95899804e-01 -7.82736864e-02 -4.53520621e-02 1.24562278e+02] [ 4.55009916e-02 1.19302927e-04 9.98964286e-01 9.49910636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.1471056809999 meters 0.021203187480296745 Centerline is valid? [True, True] Translation: X:197.50, Y:124.59, Z:9.50 [[-7.19941221e-02 -9.97398113e-01 3.72156800e-03 1.97495598e+02] [ 9.96353198e-01 -7.20890128e-02 -4.56451521e-02 1.24587959e+02] [ 4.57946727e-02 4.21813525e-04 9.98950785e-01 9.50120109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17710568099994 meters 0.024871018263389087 Centerline is valid? [True, True] Translation: X:197.48, Y:124.61, Z:9.50 [[-6.08920318e-02 -9.98137717e-01 3.64113449e-03 1.97480328e+02] [ 9.97147596e-01 -6.09938049e-02 -4.44570206e-02 1.24612838e+02] [ 4.45963157e-02 9.23670187e-04 9.99004662e-01 9.50458083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.2071056809999 meters 0.026183363134238694 Centerline is valid? [True, True] Translation: X:197.48, Y:124.64, Z:9.51 [[-5.58081245e-02 -9.98435059e-01 3.58972288e-03 1.97475708e+02] [ 9.97481447e-01 -5.59117307e-02 -4.36421939e-02 1.24640367e+02] [ 4.37746040e-02 1.14509299e-03 9.99040776e-01 9.50651231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23710568099995 meters 0.03106337940270763 Centerline is valid? [True, True] Translation: X:197.47, Y:124.67, Z:9.51 [[-4.77320667e-02 -9.98853984e-01 3.51678332e-03 1.97467135e+02] [ 9.97947424e-01 -4.78386346e-02 -4.25723390e-02 1.24666142e+02] [ 4.26917886e-02 1.47749912e-03 9.99087197e-01 9.50813648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.2671056809999 meters 0.03136125755542946 Centerline is valid? [True, True] Translation: X:197.47, Y:124.69, Z:9.51 [[-4.27836203e-02 -9.99078498e-01 3.42287643e-03 1.97469746e+02] [ 9.98226768e-01 -4.28885671e-02 -4.12781966e-02 1.24694244e+02] [ 4.13869610e-02 1.65077619e-03 9.99141829e-01 9.51101370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.29710568099995 meters 0.03240810791656189 Centerline is valid? [True, True] Translation: X:197.47, Y:124.72, Z:9.51 [[-4.10487231e-02 -9.99151379e-01 3.39479719e-03 1.97468946e+02] [ 9.98321190e-01 -4.11530990e-02 -4.07581126e-02 1.24721437e+02] [ 4.08632308e-02 1.71602950e-03 9.99163276e-01 9.51208981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.3271056809999 meters 0.03378634586373586 Centerline is valid? [True, True] Translation: X:197.47, Y:124.75, Z:9.51 [[-3.98103512e-02 -9.99201234e-01 3.46837159e-03 1.97472118e+02] [ 9.98340870e-01 -3.99201099e-02 -4.14956968e-02 1.24748693e+02] [ 4.16010092e-02 1.81065885e-03 9.99132663e-01 9.51266847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35710568099995 meters 0.032055943224038326 Centerline is valid? [True, True] Translation: X:197.48, Y:124.78, Z:9.51 [[-4.45533428e-02 -9.99000289e-01 3.66373728e-03 1.97482152e+02] [ 9.98049027e-01 -4.46708884e-02 -4.36194032e-02 1.24776517e+02] [ 4.37394588e-02 1.71319921e-03 9.99041503e-01 9.51174710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.3871056809999 meters 0.029534442452217705 Centerline is valid? [True, True] Translation: X:197.49, Y:124.80, Z:9.51 [[-4.98087638e-02 -9.98751940e-01 3.69464034e-03 1.97489238e+02] [ 9.97792967e-01 -4.99229013e-02 -4.37823975e-02 1.24804948e+02] [ 4.39122016e-02 1.50573905e-03 9.99034259e-01 9.51230754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41710568099995 meters 0.02474879970474188 Centerline is valid? [True, True] Translation: X:197.51, Y:124.83, Z:9.51 [[-5.94497415e-02 -9.98224385e-01 3.71569671e-03 1.97506287e+02] [ 9.97262021e-01 -5.95555983e-02 -4.38359703e-02 1.24833889e+02] [ 4.39794250e-02 1.09948611e-03 9.99031832e-01 9.51396731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.4471056809999 meters 0.022661490751400462 Centerline is valid? [True, True] Translation: X:197.51, Y:124.86, Z:9.51 [[-6.40427242e-02 -9.97940185e-01 3.73043967e-03 1.97513319e+02] [ 9.96978354e-01 -6.41447791e-02 -4.38133438e-02 1.24861295e+02] [ 4.39623846e-02 9.13241713e-04 9.99032770e-01 9.51456592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47710568099995 meters 0.019940687861393 Centerline is valid? [True, True] Translation: X:197.53, Y:124.89, Z:9.51 [[-7.19823847e-02 -9.97398747e-01 3.77846525e-03 1.97527431e+02] [ 9.96419122e-01 -7.20791242e-02 -4.41987876e-02 1.24890112e+02] [ 4.43561639e-02 5.83400892e-04 9.99015611e-01 9.51395591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.5071056809999 meters 0.01881126092781488 Centerline is valid? [True, True] Translation: X:197.53, Y:124.92, Z:9.52 [[-7.59341419e-02 -9.97105376e-01 3.85682963e-03 1.97531189e+02] [ 9.96093254e-01 -7.60308047e-02 -4.49171127e-02 1.24917678e+02] [ 4.50803324e-02 4.31019569e-04 9.98983272e-01 9.51504222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.53710568099996 meters 0.0179563616868055 Centerline is valid? [True, True] Translation: X:197.53, Y:124.94, Z:9.51 [[-7.97371656e-02 -9.96807898e-01 3.99975911e-03 1.97534381e+02] [ 9.95729055e-01 -7.98369090e-02 -4.63650442e-02 1.24944979e+02] [ 4.65363707e-02 2.85659148e-04 9.98916555e-01 9.51463691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.56710568099993 meters 0.017322046008382993 Centerline is valid? [True, True] Translation: X:197.54, Y:124.97, Z:9.51 [[-8.60489774e-02 -9.96281285e-01 4.37882150e-03 1.97543538e+02] [ 9.95000002e-01 -8.61603185e-02 -5.05113425e-02 1.24972251e+02] [ 5.07007859e-02 1.04780341e-05 9.98713888e-01 9.50951422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.59710568099996 meters 0.01731254389757937 Centerline is valid? [True, True] Translation: X:197.55, Y:125.00, Z:9.51 [[-8.87241086e-02 -9.96046336e-01 4.44185208e-03 1.97548702e+02] [ 9.94739826e-01 -8.88351629e-02 -5.09999349e-02 1.24999795e+02] [ 5.11928909e-02 -1.06436604e-04 9.98688779e-01 9.51180165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.62710568099993 meters 0.01664669595081754 Centerline is valid? [True, True] Translation: X:197.55, Y:125.03, Z:9.52 [[-8.79363204e-02 -9.96116407e-01 4.39390258e-03 1.97546764e+02] [ 9.94849291e-01 -8.80460150e-02 -5.02273598e-02 1.25026214e+02] [ 5.04191628e-02 -4.55383443e-05 9.98728144e-01 9.51771820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.65710568099996 meters 0.017586740175523783 Centerline is valid? [True, True] Translation: X:197.54, Y:125.05, Z:9.52 [[-8.13583510e-02 -9.96675817e-01 4.25840501e-03 1.97541558e+02] [ 9.95497182e-01 -8.14691795e-02 -4.84575435e-02 1.25051927e+02] [ 4.86433905e-02 2.96804356e-04 9.98816166e-01 9.52098910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.68710568099993 meters 0.01844550715196802 Centerline is valid? [True, True] Translation: X:197.54, Y:125.08, Z:9.52 [[-7.70818620e-02 -9.97016192e-01 4.13503661e-03 1.97538285e+02] [ 9.95914860e-01 -7.71910309e-02 -4.68522849e-02 1.25079048e+02] [ 4.70316744e-02 5.06683051e-04 9.98893270e-01 9.52477041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7171056809999 meters 0.02185199860735104 Centerline is valid? [True, True] Translation: X:197.53, Y:125.11, Z:9.53 [[-6.87415709e-02 -9.97626573e-01 3.97708211e-03 1.97529826e+02] [ 9.96614458e-01 -6.88509669e-02 -4.49351304e-02 1.25105078e+02] [ 4.51023061e-02 8.74706077e-04 9.98981990e-01 9.53106752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.74710568099994 meters 0.02612041824791974 Centerline is valid? [True, True] Translation: X:197.52, Y:125.13, Z:9.53 [[-6.41763910e-02 -9.97931418e-01 3.77833987e-03 1.97521766e+02] [ 9.97023676e-01 -6.42791818e-02 -4.25673141e-02 1.25130034e+02] [ 4.27221287e-02 1.03527771e-03 9.99086457e-01 9.53421308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7771056809999 meters 0.02288426944213777 Centerline is valid? [True, True] Translation: X:197.53, Y:125.16, Z:9.54 [[-6.30239607e-02 -9.98005391e-01 3.63599026e-03 1.97527020e+02] [ 9.97170750e-01 -6.31199750e-02 -4.08211153e-02 1.25157925e+02] [ 4.09691968e-02 1.05299477e-03 9.99159855e-01 9.53741360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.80710568099994 meters 0.023517198416190214 Centerline is valid? [True, True] Translation: X:197.53, Y:125.19, Z:9.54 [[-6.22509433e-02 -9.98054182e-01 3.55934468e-03 1.97528774e+02] [ 9.97259552e-01 -6.23434368e-02 -3.98331749e-02 1.25185196e+02] [ 3.99775686e-02 1.06993776e-03 9.99200005e-01 9.53826978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.8371056809999 meters 0.025672692483658725 Centerline is valid? [True, True] Translation: X:197.52, Y:125.21, Z:9.54 [[-6.34871367e-02 -9.97976305e-01 3.56054209e-03 1.97524914e+02] [ 9.97188225e-01 -6.35785222e-02 -3.96663130e-02 1.25210859e+02] [ 3.98124145e-02 1.03223002e-03 9.99206638e-01 9.53927725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.86710568099994 meters 0.02129397717550461 Centerline is valid? [True, True] Translation: X:197.54, Y:125.24, Z:9.54 [[-6.82123133e-02 -9.97664335e-01 3.59917891e-03 1.97535753e+02] [ 9.96866521e-01 -6.83017088e-02 -3.99000620e-02 1.25239948e+02] [ 4.00526989e-02 8.66225437e-04 9.99197193e-01 9.54102087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.8971056809999 meters 0.020099671281874867 Centerline is valid? [True, True] Translation: X:197.54, Y:125.27, Z:9.54 [[-7.19116139e-02 -9.97404224e-01 3.67869187e-03 1.97538388e+02] [ 9.96577526e-01 -7.20017816e-02 -4.06076065e-02 1.25268365e+02] [ 4.07670707e-02 7.45943118e-04 9.99168399e-01 9.54102515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.92710568099994 meters 0.017787208279883098 Centerline is valid? [True, True] Translation: X:197.55, Y:125.30, Z:9.54 [[-8.01694201e-02 -9.96773925e-01 3.82179433e-03 1.97547279e+02] [ 9.95888423e-01 -8.02592669e-02 -4.20083104e-02 1.25297414e+02] [ 4.21795229e-02 4.38298850e-04 9.99109952e-01 9.54064976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.9571056809999 meters 0.01703424800172618 Centerline is valid? [True, True] Translation: X:197.55, Y:125.32, Z:9.54 [[-8.41100714e-02 -9.96448563e-01 3.96955537e-03 1.97550639e+02] [ 9.95501094e-01 -8.42031645e-02 -4.34442137e-02 1.25324379e+02] [ 4.36241734e-02 2.97600792e-04 9.99047968e-01 9.54023359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.98710568099995 meters 0.016593083365723696 Centerline is valid? [True, True] Translation: X:197.56, Y:125.35, Z:9.54 [[-8.74300169e-02 -9.96161903e-01 4.17801952e-03 1.97557141e+02] [ 9.95121667e-01 -8.75296056e-02 -4.55130288e-02 1.25351724e+02] [ 4.57040458e-02 1.78432873e-04 9.98955008e-01 9.53756136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.0171056809999 meters 0.01715705258453293 Centerline is valid? [True, True] Translation: X:197.56, Y:125.38, Z:9.54 [[-8.48590643e-02 -9.96383749e-01 4.28537981e-03 1.97556010e+02] [ 9.95297445e-01 -8.49666062e-02 -4.65152895e-02 1.25380060e+02] [ 4.67111927e-02 3.17983634e-04 9.98908386e-01 9.53686702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.04710568099995 meters 0.01793025430137539 Centerline is valid? [True, True] Translation: X:197.55, Y:125.41, Z:9.54 [[-8.21040741e-02 -9.96614243e-01 4.35570642e-03 1.97552584e+02] [ 9.95501101e-01 -8.22181892e-02 -4.70927425e-02 1.25408058e+02] [ 4.72914162e-02 4.69604522e-04 9.98881025e-01 9.53765536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.0771056809999 meters 0.020975292828940874 Centerline is valid? [True, True] Translation: X:197.55, Y:125.44, Z:9.54 [[-7.26315190e-02 -9.97349303e-01 4.36245149e-03 1.97546878e+02] [ 9.96242779e-01 -7.27564160e-02 -4.69769037e-02 1.25435440e+02] [ 4.71697785e-02 9.34056930e-04 9.98886450e-01 9.53894922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.10710568099995 meters 0.024836200433797022 Centerline is valid? [True, True] Translation: X:197.54, Y:125.46, Z:9.54 [[-6.69601105e-02 -9.97746054e-01 4.37671789e-03 1.97539594e+02] [ 9.96641592e-01 -6.70919353e-02 -4.69490021e-02 1.25461569e+02] [ 4.71368240e-02 1.21830872e-03 9.98887699e-01 9.53934049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.1371056809999 meters 0.029226740965087913 Centerline is valid? [True, True] Translation: X:197.53, Y:125.49, Z:9.54 [[-5.66653735e-02 -9.98384342e-01 4.21203609e-03 1.97532838e+02] [ 9.97369197e-01 -5.67977784e-02 -4.50410598e-02 1.25488033e+02] [ 4.52075232e-02 1.64868658e-03 9.98976257e-01 9.54440475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.16710568099995 meters 0.031039102198744273 Centerline is valid? [True, True] Translation: X:197.53, Y:125.52, Z:9.55 [[-5.39004078e-02 -9.98537762e-01 4.13321053e-03 1.97529616e+02] [ 9.97569008e-01 -5.40302805e-02 -4.40091194e-02 1.25515855e+02] [ 4.41680861e-02 1.75105324e-03 9.99022579e-01 9.54681930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.1971056809999 meters 0.032851548221433054 Centerline is valid? [True, True] Translation: X:197.53, Y:125.54, Z:9.55 [[-5.20929241e-02 -9.98633545e-01 4.16783456e-03 1.97527958e+02] [ 9.97656681e-01 -5.22264328e-02 -4.41989432e-02 1.25543669e+02] [ 4.43562185e-02 1.85561580e-03 9.99014055e-01 9.54711668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.22710568099995 meters 0.0335370516358215 Centerline is valid? [True, True] Translation: X:197.53, Y:125.57, Z:9.55 [[-5.21815412e-02 -9.98628438e-01 4.28127228e-03 1.97534576e+02] [ 9.97606213e-01 -5.23219637e-02 -4.52134590e-02 1.25571335e+02] [ 4.53754505e-02 1.91171585e-03 9.98968175e-01 9.54582356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.2571056809999 meters 0.03152582795700434 Centerline is valid? [True, True] Translation: X:197.54, Y:125.60, Z:9.55 [[-5.63700540e-02 -9.98401514e-01 4.10290616e-03 1.97544865e+02] [ 9.97470214e-01 -5.64947769e-02 -4.31452531e-02 1.25598771e+02] [ 4.33080788e-02 1.66042644e-03 9.99060385e-01 9.54823918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.28710568099996 meters 0.02873111388079802 Centerline is valid? [True, True] Translation: X:197.56, Y:125.63, Z:9.55 [[-6.23179455e-02 -9.98049337e-01 3.74098112e-03 1.97556101e+02] [ 9.97280755e-01 -6.24168214e-02 -3.91820857e-02 1.25626138e+02] [ 3.93391548e-02 1.28906139e-03 9.99225084e-01 9.55490065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.31710568099993 meters 0.026761706134244286 Centerline is valid? [True, True] Translation: X:197.56, Y:125.65, Z:9.56 [[-6.65325954e-02 -9.97777443e-01 3.68631087e-03 1.97560575e+02] [ 9.97037079e-01 -6.66252690e-02 -3.84465372e-02 1.25653483e+02] [ 3.86066890e-02 1.11744072e-03 9.99253859e-01 9.55755345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.34710568099996 meters 0.026761706134244286 Centerline is valid? [True, True] Translation: X:197.56, Y:125.68, Z:9.56 [[-6.69309660e-02 -9.97750742e-01 3.70165197e-03 1.97557716e+02] [ 9.97010416e-01 -6.70239346e-02 -3.84450602e-02 1.25679922e+02] [ 3.86066866e-02 1.11742055e-03 9.99253859e-01 9.55854003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.37710568099993 meters 0.019680777170394348 Centerline is valid? [True, True] Translation: X:197.58, Y:125.71, Z:9.56 [[-7.90872771e-02 -9.96860846e-01 3.69536795e-03 1.97575642e+02] [ 9.96128032e-01 -7.91708276e-02 -3.82220329e-02 1.25709345e+02] [ 3.83946134e-02 6.58183095e-04 9.99262438e-01 9.56090031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.40710568099996 meters 0.017819335696379855 Centerline is valid? [True, True] Translation: X:197.58, Y:125.74, Z:9.56 [[-8.53135205e-02 -9.96347197e-01 3.72368429e-03 1.97581675e+02] [ 9.95607317e-01 -8.53936534e-02 -3.83926277e-02 1.25738130e+02] [ 3.85703660e-02 4.31917096e-04 9.99255793e-01 9.56207563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.43710568099993 meters 0.016740503973003865 Centerline is valid? [True, True] Translation: X:197.59, Y:125.77, Z:9.56 [[-9.07788538e-02 -9.95864162e-01 3.71084783e-03 1.97586596e+02] [ 9.95134654e-01 -9.08543691e-02 -3.81117189e-02 1.25766613e+02] [ 3.82912417e-02 2.33055121e-04 9.99266594e-01 9.56308518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.4671056809999 meters 0.01625789720249646 Centerline is valid? [True, True] Translation: X:197.60, Y:125.79, Z:9.57 [[-1.01828403e-01 -9.94795715e-01 3.52999968e-03 1.97597599e+02] [ 9.94139704e-01 -1.01889430e-01 -3.61219079e-02 1.25794221e+02] [ 3.62935889e-02 -1.68923358e-04 9.99341156e-01 9.56725916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.49710568099994 meters 0.01903449618470625 Centerline is valid? [True, True] Translation: X:197.61, Y:125.82, Z:9.57 [[-1.14235282e-01 -9.93447767e-01 3.44008887e-03 1.97606284e+02] [ 9.92829558e-01 -1.14285554e-01 -3.50468426e-02 1.25823244e+02] [ 3.52103600e-02 -5.88164033e-04 9.99379750e-01 9.57016576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.5271056809999 meters 0.023583744065438828 Centerline is valid? [True, True] Translation: X:197.61, Y:125.85, Z:9.57 [[-1.25562328e-01 -9.92078930e-01 3.67413165e-03 1.97614256e+02] [ 9.91378875e-01 -1.25611781e-01 -3.72774243e-02 1.25850607e+02] [ 3.74436615e-02 -1.03818368e-03 9.99298201e-01 9.56810521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55710568099994 meters 0.02514814583465194 Centerline is valid? [True, True] Translation: X:197.61, Y:125.88, Z:9.57 [[-1.30393006e-01 -9.91455731e-01 3.63270862e-03 1.97614566e+02] [ 9.90776691e-01 -1.30438197e-01 -3.67072911e-02 1.25878966e+02] [ 3.68674981e-02 -1.18717101e-03 9.99319458e-01 9.56958710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.5871056809999 meters 0.03015961474698842 Centerline is valid? [True, True] Translation: X:197.62, Y:125.91, Z:9.57 [[-1.38213209e-01 -9.90396097e-01 3.56100344e-03 1.97619806e+02] [ 9.89748137e-01 -1.38251677e-01 -3.58482785e-02 1.25906445e+02] [ 3.59963098e-02 -1.43020908e-03 9.99350899e-01 9.57030915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61710568099994 meters 0.03168283780533445 Centerline is valid? [True, True] Translation: X:197.62, Y:125.93, Z:9.57 [[-1.41296329e-01 -9.89960210e-01 3.75909607e-03 1.97618282e+02] [ 9.89244175e-01 -1.41337207e-01 -3.76796572e-02 1.25933868e+02] [ 3.78326615e-02 -1.60533333e-03 9.99282799e-01 9.56857693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.6471056809999 meters 0.03373537156800861 Centerline is valid? [True, True] Translation: X:197.61, Y:125.96, Z:9.56 [[-1.47006430e-01 -9.89126622e-01 4.19949809e-03 1.97614330e+02] [ 9.88240499e-01 -1.47052657e-01 -4.19074290e-02 1.25961678e+02] [ 4.20693010e-02 -2.01054746e-03 9.99112672e-01 9.56353745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67710568099994 meters 0.03733825541444238 Centerline is valid? [True, True] Translation: X:197.61, Y:125.99, Z:9.56 [[-1.50104201e-01 -9.88661133e-01 4.22999739e-03 1.97613881e+02] [ 9.87768796e-01 -1.50148632e-01 -4.20498923e-02 1.25988143e+02] [ 4.22082225e-02 -2.13360604e-03 9.99106558e-01 9.56266939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.7071056809999 meters 0.03701485327241928 Centerline is valid? [True, True] Translation: X:197.61, Y:126.02, Z:9.56 [[-1.53969788e-01 -9.88066955e-01 4.12274554e-03 1.97605712e+02] [ 9.87226044e-01 -1.54009056e-01 -4.08160283e-02 1.26015292e+02] [ 4.09639089e-02 -2.21435346e-03 9.99158173e-01 9.56498975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.73710568099995 meters 0.03820624176697822 Centerline is valid? [True, True] Translation: X:197.60, Y:126.04, Z:9.57 [[-1.54919514e-01 -9.87918286e-01 4.17173706e-03 1.97601459e+02] [ 9.87063736e-01 -1.54959249e-01 -4.11437916e-02 1.26040659e+02] [ 4.12931533e-02 -2.25620583e-03 9.99144527e-01 9.56580364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.7671056809999 meters 0.03873443060773193 Centerline is valid? [True, True] Translation: X:197.59, Y:126.07, Z:9.56 [[-1.54915463e-01 -9.87917459e-01 4.50491689e-03 1.97590802e+02] [ 9.86929864e-01 -1.54962279e-01 -4.42282282e-02 1.26066105e+02] [ 4.43919310e-02 -2.40559942e-03 9.99011296e-01 9.56300166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79710568099995 meters 0.032777559532829265 Centerline is valid? [True, True] Translation: X:197.57, Y:126.09, Z:9.56 [[-1.48498815e-01 -9.88900442e-01 4.90082875e-03 1.97570729e+02] [ 9.87742153e-01 -1.48562279e-01 -4.79029047e-02 1.26091383e+02] [ 4.80992819e-02 -2.27276943e-03 9.98839974e-01 9.56013802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.8271056809999 meters 0.029212669262146433 Centerline is valid? [True, True] Translation: X:197.56, Y:126.12, Z:9.56 [[-1.41486115e-01 -9.89927609e-01 5.00077335e-03 1.97557062e+02] [ 9.88731683e-01 -1.41561120e-01 -4.86837570e-02 1.26117077e+02] [ 4.89013102e-02 -1.94365260e-03 9.98801724e-01 9.56070435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85710568099995 meters 0.021021390308765417 Centerline is valid? [True, True] Translation: X:197.52, Y:126.14, Z:9.56 [[-1.22137650e-01 -9.92501058e-01 4.90357717e-03 1.97524682e+02] [ 9.91361073e-01 -1.22232366e-01 -4.75654494e-02 1.26140126e+02] [ 4.78081346e-02 -9.48316679e-04 9.98856087e-01 9.56416893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.8871056809999 meters 0.018184822817394464 Centerline is valid? [True, True] Translation: X:197.50, Y:126.17, Z:9.57 [[-1.11912539e-01 -9.93706022e-01 4.89137795e-03 1.97504798e+02] [ 9.92579423e-01 -1.12018521e-01 -4.73068642e-02 1.26166201e+02] [ 4.75570407e-02 -4.39150182e-04 9.98868427e-01 9.56627979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91710568099995 meters 0.018552344043213306 Centerline is valid? [True, True] Translation: X:197.48, Y:126.19, Z:9.56 [[-9.59744189e-02 -9.95371844e-01 4.87876135e-03 1.97476633e+02] [ 9.94261024e-01 -9.60977454e-02 -4.70131858e-02 1.26190106e+02] [ 4.72644394e-02 3.38699070e-04 9.98882354e-01 9.56464442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.9471056809999 meters 0.01992153963799805 Centerline is valid? [True, True] Translation: X:197.47, Y:126.22, Z:9.57 [[-9.14208969e-02 -9.95800983e-01 4.75619389e-03 1.97465446e+02] [ 9.94753949e-01 -9.15428379e-02 -4.56562033e-02 1.26216599e+02] [ 4.58998877e-02 5.57311597e-04 9.98945889e-01 9.56576327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97710568099995 meters 0.021837570739930257 Centerline is valid? [True, True] Translation: X:197.45, Y:126.24, Z:9.57 [[-8.62787383e-02 -9.96261519e-01 4.35479430e-03 1.97452405e+02] [ 9.95389992e-01 -8.63854038e-02 -4.16692555e-02 1.26242860e+02] [ 4.18896665e-02 7.39547867e-04 9.99121969e-01 9.56926837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.0071056809999 meters 0.022463240782274352 Centerline is valid? [True, True] Translation: X:197.44, Y:126.27, Z:9.57 [[-8.55841361e-02 -9.96320575e-01 4.54613910e-03 1.97444735e+02] [ 9.95377756e-01 -8.57009114e-02 -4.33413966e-02 1.26268039e+02] [ 4.35715335e-02 8.15789751e-04 9.99049977e-01 9.56833502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.03710568099996 meters 0.021425283083123317 Centerline is valid? [True, True] Translation: X:197.44, Y:126.29, Z:9.57 [[-8.76779740e-02 -9.96137694e-01 4.71877861e-03 1.97443304e+02] [ 9.95130032e-01 -8.78015066e-02 -4.48008399e-02 1.26294724e+02] [ 4.50421212e-02 7.67751426e-04 9.98984794e-01 9.56776397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.06710568099993 meters 0.02057331186487054 Centerline is valid? [True, True] Translation: X:197.44, Y:126.32, Z:9.57 [[-9.21199554e-02 -9.95736499e-01 4.76847606e-03 1.97444187e+02] [ 9.94714928e-01 -9.22414098e-02 -4.50969389e-02 1.26321804e+02] [ 4.53445191e-02 5.88946323e-04 9.98971235e-01 9.56708220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.09710568099996 meters 0.01896896269285133 Centerline is valid? [True, True] Translation: X:197.45, Y:126.35, Z:9.57 [[-9.57562434e-02 -9.95394073e-01 4.62407232e-03 1.97446838e+02] [ 9.94439467e-01 -9.58668856e-02 -4.35853884e-02 1.26349696e+02] [ 4.38279327e-02 4.24786958e-04 9.99039004e-01 9.57154167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.12710568099993 meters 0.017724361453658313 Centerline is valid? [True, True] Translation: X:197.45, Y:126.38, Z:9.58 [[-1.00920505e-01 -9.94885848e-01 4.14749405e-03 1.97453190e+02] [ 9.94122302e-01 -1.01005514e-01 -3.89709410e-02 1.26376083e+02] [ 3.91905574e-02 1.90149283e-04 9.99231737e-01 9.57865333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.15710568099996 meters 0.017371774462749692 Centerline is valid? [True, True] Translation: X:197.45, Y:126.40, Z:9.58 [[-1.03478857e-01 -9.94623464e-01 4.03618430e-03 1.97454654e+02] [ 9.93905770e-01 -1.03557492e-01 -3.77778524e-02 1.26403650e+02] [ 3.79927155e-02 1.02377871e-04 9.99278011e-01 9.58132523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.18710568099993 meters 0.01700176441893887 Centerline is valid? [True, True] Translation: X:197.46, Y:126.43, Z:9.58 [[-1.05346978e-01 -9.94427208e-01 4.06727003e-03 1.97456835e+02] [ 9.93703715e-01 -1.05425454e-01 -3.79262492e-02 1.26429621e+02] [ 3.81436879e-02 4.62456056e-05 9.99272264e-01 9.58217127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2171056809999 meters 0.017121922947077414 Centerline is valid? [True, True] Translation: X:197.45, Y:126.46, Z:9.58 [[-1.06429503e-01 -9.94311711e-01 4.12089851e-03 1.97454755e+02] [ 9.93574705e-01 -1.06509250e-01 -3.82764196e-02 1.26456179e+02] [ 3.84976061e-02 2.06802155e-05 9.99258692e-01 9.58267041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.24710568099994 meters 0.01703956260333976 Centerline is valid? [True, True] Translation: X:197.45, Y:126.48, Z:9.58 [[-1.07079612e-01 -9.94240121e-01 4.53201874e-03 1.97452717e+02] [ 9.93355617e-01 -1.07175475e-01 -4.19289305e-02 1.26483297e+02] [ 4.21731462e-02 1.21726459e-05 9.99110317e-01 9.57770898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2771056809999 meters 0.018037853600610543 Centerline is valid? [True, True] Translation: X:197.45, Y:126.51, Z:9.57 [[-1.02046365e-01 -9.94766608e-01 5.09260371e-03 1.97447148e+02] [ 9.93659018e-01 -1.02172998e-01 -4.69301038e-02 1.26509867e+02] [ 4.72048267e-02 2.71265111e-04 9.98885194e-01 9.57139839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.30710568099994 meters 0.01874116137176982 Centerline is valid? [True, True] Translation: X:197.44, Y:126.54, Z:9.57 [[-9.89226801e-02 -9.95081031e-01 5.29584650e-03 1.97442478e+02] [ 9.93892345e-01 -9.90632987e-02 -4.86258064e-02 1.26537361e+02] [ 4.89112416e-02 4.53306206e-04 9.98803026e-01 9.57079301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.3371056809999 meters 0.02090505961020346 Centerline is valid? [True, True] Translation: X:197.43, Y:126.56, Z:9.57 [[-9.29439178e-02 -9.95655673e-01 5.58644790e-03 1.97434951e+02] [ 9.94343071e-01 -9.31081832e-02 -5.11148144e-02 1.26564273e+02] [ 5.14128990e-02 8.04034649e-04 9.98677159e-01 9.57083598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.36710568099994 meters 0.022290309134002723 Centerline is valid? [True, True] Translation: X:197.43, Y:126.59, Z:9.57 [[-9.04734605e-02 -9.95883078e-01 5.60780006e-03 1.97429793e+02] [ 9.94569104e-01 -9.06421131e-02 -5.11498345e-02 1.26590620e+02] [ 5.14475575e-02 9.49642146e-04 9.98675246e-01 9.57127361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.3971056809999 meters 0.023740336815891355 Centerline is valid? [True, True] Translation: X:197.43, Y:126.62, Z:9.58 [[-8.44194754e-02 -9.96416731e-01 5.20099914e-03 1.97426375e+02] [ 9.95293413e-01 -8.45712753e-02 -4.73151300e-02 1.26617544e+02] [ 4.75854423e-02 1.18220173e-03 9.98866472e-01 9.57752991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.42710568099994 meters 0.03130791979578139 Centerline is valid? [True, True] Translation: X:197.42, Y:126.64, Z:9.58 [[-7.85302167e-02 -9.96900386e-01 4.75667650e-03 1.97415988e+02] [ 9.95968054e-01 -7.86625464e-02 -4.31258629e-02 1.26642940e+02] [ 4.33663617e-02 1.35081447e-03 9.99058324e-01 9.58237977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.4571056809999 meters 0.028027599036938623 Centerline is valid? [True, True] Translation: X:197.42, Y:126.67, Z:9.59 [[-7.68152000e-02 -9.97034276e-01 4.69870884e-03 1.97420681e+02] [ 9.96130618e-01 -7.69456961e-02 -4.24635311e-02 1.26671228e+02] [ 4.26991414e-02 1.41868310e-03 9.99086969e-01 9.58560307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.48710568099995 meters 0.028714985147798584 Centerline is valid? [True, True] Translation: X:197.42, Y:126.70, Z:9.59 [[-7.45165836e-02 -9.97208794e-01 4.67963573e-03 1.97419062e+02] [ 9.96318948e-01 -7.46478677e-02 -4.21455670e-02 1.26699436e+02] [ 4.23772548e-02 1.52186609e-03 9.99100522e-01 9.58689558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.5171056809999 meters 0.035265623746622864 Centerline is valid? [True, True] Translation: X:197.41, Y:126.73, Z:9.59 [[-6.92042675e-02 -9.97590834e-01 4.82675038e-03 1.97411687e+02] [ 9.96651779e-01 -6.93486885e-02 -4.33127016e-02 1.26725385e+02] [ 4.35430830e-02 1.81316556e-03 9.99049905e-01 9.58503956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.54710568099995 meters 0.03551286121513658 Centerline is valid? [True, True] Translation: X:197.41, Y:126.75, Z:9.58 [[-6.56099732e-02 -9.97832335e-01 5.09532492e-03 1.97414930e+02] [ 9.96794479e-01 -6.57743112e-02 -4.55467463e-02 1.26753104e+02] [ 4.57831577e-02 2.09067094e-03 9.98949214e-01 9.58251369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.5771056809999 meters 0.03457226339368639 Centerline is valid? [True, True] Translation: X:197.42, Y:126.78, Z:9.58 [[-6.63528671e-02 -9.97782768e-01 5.18122218e-03 1.97417394e+02] [ 9.96717440e-01 -6.65216331e-02 -4.61434397e-02 1.26780612e+02] [ 4.63857924e-02 2.10246498e-03 9.98921387e-01 9.58354058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.60710568099995 meters 0.030372277528075968 Centerline is valid? [True, True] Translation: X:197.43, Y:126.81, Z:9.59 [[-7.29323279e-02 -9.97323740e-01 5.12192706e-03 1.97429733e+02] [ 9.96289008e-01 -7.30900959e-02 -4.54538292e-02 1.26809208e+02] [ 4.57065451e-02 1.78786605e-03 9.98953310e-01 9.58611195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.6371056809999 meters 0.028030904921400847 Centerline is valid? [True, True] Translation: X:197.44, Y:126.84, Z:9.59 [[-7.90057216e-02 -9.96860889e-01 5.14439868e-03 1.97435084e+02] [ 9.95822188e-01 -7.91583138e-02 -4.55206612e-02 1.26836357e+02] [ 4.57849887e-02 1.52651366e-03 9.98950151e-01 9.58572174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.66710568099995 meters 0.02117950391424591 Centerline is valid? [True, True] Translation: X:197.45, Y:126.87, Z:9.59 [[-9.31027256e-02 -9.95643117e-01 5.16382505e-03 1.97454296e+02] [ 9.94602412e-01 -9.32414948e-02 -4.55199594e-02 1.26865912e+02] [ 4.58031170e-02 8.97920558e-04 9.98950083e-01 9.58698322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.6971056809999 meters 0.016826661656553634 Centerline is valid? [True, True] Translation: X:197.47, Y:126.89, Z:9.59 [[-1.06675889e-01 -9.94282365e-01 4.77841893e-03 1.97470525e+02] [ 9.93395922e-01 -1.06782518e-01 -4.19766166e-02 1.26894695e+02] [ 4.22468612e-02 2.68969004e-04 9.99107167e-01 9.59274908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.72710568099995 meters 0.016196061053333523 Centerline is valid? [True, True] Translation: X:197.47, Y:126.92, Z:9.59 [[-1.11561301e-01 -9.93745906e-01 4.81141485e-03 1.97474121e+02] [ 9.92853372e-01 -1.11664978e-01 -4.21083704e-02 1.26922142e+02] [ 4.23822873e-02 7.93648688e-05 9.99101464e-01 9.59374123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.7571056809999 meters 0.016317275648152312 Centerline is valid? [True, True] Translation: X:197.48, Y:126.95, Z:9.59 [[-1.16970151e-01 -9.93121757e-01 5.21143382e-03 1.97484296e+02] [ 9.92082216e-01 -1.17086100e-01 -4.54282028e-02 1.26949942e+02] [ 4.57259231e-02 -1.43572947e-04 9.98954013e-01 9.58923092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.78710568099996 meters 0.016431038758183955 Centerline is valid? [True, True] Translation: X:197.49, Y:126.98, Z:9.59 [[-1.17766517e-01 -9.93026699e-01 5.38719082e-03 1.97485228e+02] [ 9.91924366e-01 -1.17889555e-01 -4.67771753e-02 1.26977323e+02] [ 4.70860775e-02 -1.65099187e-04 9.98890822e-01 9.58841064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.81710568099993 meters 0.016473670178267775 Centerline is valid? [True, True] Translation: X:197.48, Y:127.00, Z:9.59 [[-1.15998506e-01 -9.93232923e-01 5.71904396e-03 1.97484325e+02] [ 9.92000352e-01 -1.16139385e-01 -4.94666120e-02 1.27003996e+02] [ 4.97960739e-02 -6.47594683e-05 9.98759404e-01 9.58655176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.84710568099996 meters 0.016413539736932794 Centerline is valid? [True, True] Translation: X:197.48, Y:127.03, Z:9.59 [[-1.14697279e-01 -9.93383596e-01 5.79349704e-03 1.97479823e+02] [ 9.92128597e-01 -1.14843502e-01 -4.99180977e-02 1.27029418e+02] [ 5.02531649e-02 2.24241085e-05 9.98736511e-01 9.58674103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.87710568099993 meters 0.016557239663286608 Centerline is valid? [True, True] Translation: X:197.48, Y:127.06, Z:9.59 [[-1.12535144e-01 -9.93631605e-01 5.66354636e-03 1.97475343e+02] [ 9.92441430e-01 -1.12677469e-01 -4.86188876e-02 1.27055762e+02] [ 4.89474174e-02 1.49404522e-04 9.98801346e-01 9.59006883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.90710568099996 meters 0.016335591461311194 Centerline is valid? [True, True] Translation: X:197.47, Y:127.08, Z:9.59 [[-1.14089781e-01 -9.93454458e-01 5.63581146e-03 1.97474364e+02] [ 9.92284364e-01 -1.14228857e-01 -4.82027965e-02 1.27083022e+02] [ 4.85310554e-02 9.28811035e-05 9.98821670e-01 9.59295742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.93710568099993 meters 0.016640123689634453 Centerline is valid? [True, True] Translation: X:197.48, Y:127.11, Z:9.60 [[-1.21771088e-01 -9.92543883e-01 5.33315586e-03 1.97480935e+02] [ 9.91502621e-01 -1.21887569e-01 -4.54529685e-02 1.27109959e+02] [ 4.57641113e-02 -2.47019438e-04 9.98952244e-01 9.59767058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.9671056809999 meters 0.01895571170128036 Centerline is valid? [True, True] Translation: X:197.49, Y:127.14, Z:9.60 [[-1.32146125e-01 -9.91218663e-01 4.79214600e-03 1.97489715e+02] [ 9.90382906e-01 -1.32231476e-01 -4.07005749e-02 1.27137545e+02] [ 4.09768419e-02 -6.32363782e-04 9.99159896e-01 9.60449530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.99710568099994 meters 0.02005189396998456 Centerline is valid? [True, True] Translation: X:197.49, Y:127.16, Z:9.61 [[-1.36989176e-01 -9.90561805e-01 4.61251962e-03 1.97488818e+02] [ 9.89792824e-01 -1.37064580e-01 -3.90315988e-02 1.27164945e+02] [ 3.92954240e-02 -7.81467755e-04 9.99227331e-01 9.60765605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0271056809999 meters 0.02498366342905346 Centerline is valid? [True, True] Translation: X:197.49, Y:127.19, Z:9.61 [[-1.46393736e-01 -9.89215969e-01 4.54316917e-03 1.97492158e+02] [ 9.88474422e-01 -1.46459950e-01 -3.83118753e-02 1.27191812e+02] [ 3.85641112e-02 -1.11781206e-03 9.99255503e-01 9.60968049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05710568099994 meters 0.027656195095826255 Centerline is valid? [True, True] Translation: X:197.49, Y:127.22, Z:9.61 [[-1.54552332e-01 -9.87973273e-01 4.73170444e-03 1.97491382e+02] [ 9.87174001e-01 -1.54617721e-01 -3.97599205e-02 1.27219560e+02] [ 4.00133441e-02 -1.47397281e-03 9.99198058e-01 9.61027338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0871056809999 meters 0.028439729932524874 Centerline is valid? [True, True] Translation: X:197.49, Y:127.25, Z:9.61 [[-1.57615184e-01 -9.87489374e-01 4.71058543e-03 1.97487144e+02] [ 9.86702456e-01 -1.57677750e-01 -3.94460556e-02 1.27247144e+02] [ 3.96953153e-02 -1.56935110e-03 9.99210598e-01 9.61144247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11710568099994 meters 0.03128549601593777 Centerline is valid? [True, True] Translation: X:197.48, Y:127.27, Z:9.62 [[-1.63725381e-01 -9.86495755e-01 4.48604310e-03 1.97481916e+02] [ 9.85786115e-01 -1.63777908e-01 -3.74504053e-02 1.27274546e+02] [ 3.76793807e-02 -1.70930288e-03 9.99288418e-01 9.61581731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.1471056809999 meters 0.033958448487687344 Centerline is valid? [True, True] Translation: X:197.48, Y:127.30, Z:9.62 [[-1.67091657e-01 -9.85930954e-01 4.53120725e-03 1.97478109e+02] [ 9.85211497e-01 -1.67143004e-01 -3.77030878e-02 1.27301482e+02] [ 3.79300009e-02 -1.83567392e-03 9.99278713e-01 9.61737247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17710568099994 meters 0.035504751047394444 Centerline is valid? [True, True] Translation: X:197.47, Y:127.33, Z:9.62 [[-1.71874525e-01 -9.85107974e-01 4.62900945e-03 1.97467225e+02] [ 9.84360477e-01 -1.71924658e-01 -3.84234702e-02 1.27328022e+02] [ 3.86471078e-02 -2.04740174e-03 9.99250824e-01 9.61765241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.2071056809999 meters 0.03931775925548422 Centerline is valid? [True, True] Translation: X:197.47, Y:127.36, Z:9.62 [[-1.73286832e-01 -9.84860685e-01 4.59411708e-03 1.97465385e+02] [ 9.84129271e-01 -1.73335425e-01 -3.80053822e-02 1.27355059e+02] [ 3.82263300e-02 -2.06462720e-03 9.99266974e-01 9.61854819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23710568099995 meters 0.03749155487446195 Centerline is valid? [True, True] Translation: X:197.45, Y:127.38, Z:9.62 [[-1.74376931e-01 -9.84669361e-01 4.35140937e-03 1.97451058e+02] [ 9.84015964e-01 -1.74419957e-01 -3.59202129e-02 1.27380374e+02] [ 3.61285058e-02 -1.98180022e-03 9.99345187e-01 9.61996061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.2671056809999 meters 0.03749155487446195 Centerline is valid? [True, True] Translation: X:197.45, Y:127.41, Z:9.62 [[-1.74781325e-01 -9.84597595e-01 4.36623994e-03 1.97447577e+02] [ 9.83944216e-01 -1.74824622e-01 -3.59184101e-02 1.27406804e+02] [ 3.61285064e-02 -1.98173079e-03 9.99345187e-01 9.62094824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29710568099995 meters 0.03692103525654874 Centerline is valid? [True, True] Translation: X:197.43, Y:127.43, Z:9.62 [[-1.74388108e-01 -9.84667642e-01 4.29207923e-03 1.97430405e+02] [ 9.84040507e-01 -1.74430428e-01 -3.51895670e-02 1.27433084e+02] [ 3.53986972e-02 -1.91306218e-03 9.99371439e-01 9.62264707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.3271056809999 meters 0.036868548538289206 Centerline is valid? [True, True] Translation: X:197.42, Y:127.46, Z:9.62 [[-1.74661698e-01 -9.84618526e-01 4.43276280e-03 1.97420813e+02] [ 9.83953719e-01 -1.74706874e-01 -3.62296305e-02 1.27458866e+02] [ 3.64467995e-02 -1.96629536e-03 9.99333660e-01 9.62251471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35710568099995 meters 0.03514741558916144 Centerline is valid? [True, True] Translation: X:197.40, Y:127.49, Z:9.62 [[-1.73151869e-01 -9.84882849e-01 4.91976241e-03 1.97404860e+02] [ 9.84069948e-01 -1.73209073e-01 -4.00618861e-02 1.27485232e+02] [ 4.03084120e-02 -2.09540011e-03 9.99185089e-01 9.61815519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.3871056809999 meters 0.03575793600526229 Centerline is valid? [True, True] Translation: X:197.40, Y:127.51, Z:9.62 [[-1.71088604e-01 -9.85242368e-01 5.11531040e-03 1.97397108e+02] [ 9.84369148e-01 -1.71152554e-01 -4.15233000e-02 1.27511807e+02] [ 4.17860129e-02 -2.06880969e-03 9.99124441e-01 9.61710123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41710568099995 meters 0.030050856341712544 Centerline is valid? [True, True] Translation: X:197.37, Y:127.54, Z:9.62 [[-1.62800496e-01 -9.86644415e-01 5.36632419e-03 1.97370841e+02] [ 9.85690107e-01 -1.62879197e-01 -4.34209685e-02 1.27536403e+02] [ 4.37151186e-02 -1.77942256e-03 9.99042453e-01 9.61653059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.4471056809999 meters 0.023903026021740877 Centerline is valid? [True, True] Translation: X:197.34, Y:127.56, Z:9.62 [[-1.49132031e-01 -9.88801664e-01 5.55946575e-03 1.97344755e+02] [ 9.87785611e-01 -1.49230843e-01 -4.48301588e-02 1.27559847e+02] [ 4.51577793e-02 -1.19405234e-03 9.98979154e-01 9.61587736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47710568099995 meters 0.020832843769943984 Centerline is valid? [True, True] Translation: X:197.33, Y:127.59, Z:9.62 [[-1.42226636e-01 -9.89817457e-01 5.74341237e-03 1.97329406e+02] [ 9.88741041e-01 -1.42339796e-01 -4.61577230e-02 1.27586367e+02] [ 4.65052361e-02 -8.86110147e-04 9.98917653e-01 9.61520975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.5071056809999 meters 0.01809902728604947 Centerline is valid? [True, True] Translation: X:197.31, Y:127.61, Z:9.61 [[-1.32055689e-01 -9.91223849e-01 6.04783682e-03 1.97306632e+02] [ 9.90038873e-01 -1.32193466e-01 -4.84553138e-02 1.27611289e+02] [ 4.88295472e-02 -4.11206319e-04 9.98807042e-01 9.61391715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.53710568099996 meters 0.01785591341825097 Centerline is valid? [True, True] Translation: X:197.30, Y:127.64, Z:9.61 [[-1.29790273e-01 -9.91522511e-01 6.13144170e-03 1.97295539e+02] [ 9.90312575e-01 -1.29934711e-01 -4.89691300e-02 1.27637277e+02] [ 4.93506818e-02 -2.83672934e-04 9.98781472e-01 9.61397163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.56710568099993 meters 0.01785986137056866 Centerline is valid? [True, True] Translation: X:197.28, Y:127.66, Z:9.62 [[-1.28679261e-01 -9.91668641e-01 5.91218855e-03 1.97281740e+02] [ 9.90551305e-01 -1.28814853e-01 -4.70621545e-02 1.27662480e+02] [ 4.74316405e-02 -1.99597170e-04 9.98874466e-01 9.61527537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.59710568099996 meters 0.017895638543248042 Centerline is valid? [True, True] Translation: X:197.27, Y:127.69, Z:9.62 [[-1.29881723e-01 -9.91512896e-01 5.73721339e-03 1.97272897e+02] [ 9.90467484e-01 -1.30008172e-01 -4.55196471e-02 1.27688757e+02] [ 4.58792017e-02 -2.29646866e-04 9.98946969e-01 9.61693539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.62710568099993 meters 0.01828397444265922 Centerline is valid? [True, True] Translation: X:197.27, Y:127.71, Z:9.62 [[-1.31460454e-01 -9.91304067e-01 5.86472350e-03 1.97268920e+02] [ 9.90218565e-01 -1.31590889e-01 -4.63792065e-02 1.27714082e+02] [ 4.67476402e-02 -2.89673430e-04 9.98906689e-01 9.61645711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.6571056809999 meters 0.019806245137411266 Centerline is valid? [True, True] Translation: X:197.27, Y:127.74, Z:9.62 [[-1.38299574e-01 -9.90372414e-01 5.97568751e-03 1.97269163e+02] [ 9.89250583e-01 -1.38427284e-01 -4.71293060e-02 1.27740868e+02] [ 4.75027628e-02 -6.06510589e-04 9.98870922e-01 9.61638146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.68710568099993 meters 0.020504323260720842 Centerline is valid? [True, True] Translation: X:197.27, Y:127.77, Z:9.62 [[-1.42605592e-01 -9.89762007e-01 5.90042767e-03 1.97266184e+02] [ 9.88673051e-01 -1.42725441e-01 -4.64224838e-02 1.27768183e+02] [ 4.67893519e-02 -7.86511972e-04 9.98904469e-01 9.61930028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7171056809999 meters 0.022201542160961932 Centerline is valid? [True, True] Translation: X:197.26, Y:127.80, Z:9.62 [[-1.48342048e-01 -9.88920246e-01 5.60218529e-03 1.97264353e+02] [ 9.87943567e-01 -1.48444525e-01 -4.39514612e-02 1.27795392e+02] [ 4.42961036e-02 -9.85206829e-04 9.99017960e-01 9.62244410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.74710568099994 meters 0.022831753534974797 Centerline is valid? [True, True] Translation: X:197.26, Y:127.82, Z:9.62 [[-1.49809582e-01 -9.88698472e-01 5.69388460e-03 1.97261575e+02] [ 9.87695785e-01 -1.49914092e-01 -4.45286543e-02 1.27821844e+02] [ 4.48790060e-02 -1.04699327e-03 9.98991881e-01 9.62263197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7771056809999 meters 0.022877259192922945 Centerline is valid? [True, True] Translation: X:197.26, Y:127.85, Z:9.62 [[-1.50677005e-01 -9.88565600e-01 5.87322159e-03 1.97256846e+02] [ 9.87505467e-01 -1.50787425e-01 -4.57832359e-02 1.27849077e+02] [ 4.61453400e-02 -1.09864243e-03 9.98934132e-01 9.62098605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.80710568099994 meters 0.02341303292667122 Centerline is valid? [True, True] Translation: X:197.25, Y:127.88, Z:9.62 [[-1.52071765e-01 -9.88351762e-01 5.91373774e-03 1.97252010e+02] [ 9.87283632e-01 -1.52182367e-01 -4.59516747e-02 1.27876554e+02] [ 4.63163853e-02 -1.14941580e-03 9.98926159e-01 9.62136904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8371056809999 meters 0.0230557728043185 Centerline is valid? [True, True] Translation: X:197.24, Y:127.90, Z:9.62 [[-1.51225741e-01 -9.88480147e-01 6.14608344e-03 1.97243522e+02] [ 9.87333458e-01 -1.51346350e-01 -4.76122392e-02 1.27902363e+02] [ 4.79939405e-02 -1.13196232e-03 9.98846985e-01 9.62075083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.86710568099994 meters 0.022192195409873595 Centerline is valid? [True, True] Translation: X:197.24, Y:127.93, Z:9.62 [[-1.48681342e-01 -9.88865577e-01 6.22330865e-03 1.97235763e+02] [ 9.87697562e-01 -1.48808177e-01 -4.80588343e-02 1.27929378e+02] [ 4.84498061e-02 -9.98705189e-04 9.98825119e-01 9.62032241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8971056809999 meters 0.021587047356688965 Centerline is valid? [True, True] Translation: X:197.23, Y:127.96, Z:9.62 [[-1.45459884e-01 -9.89343890e-01 6.33167041e-03 1.97228192e+02] [ 9.88142188e-01 -1.45595227e-01 -4.87549635e-02 1.27956164e+02] [ 4.91572862e-02 -8.35300689e-04 9.98790701e-01 9.61882448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.92710568099994 meters 0.019502661693194482 Centerline is valid? [True, True] Translation: X:197.21, Y:127.98, Z:9.62 [[-1.38860545e-01 -9.90289275e-01 6.70074893e-03 1.97212881e+02] [ 9.88952199e-01 -1.39021163e-01 -5.14457443e-02 1.27982712e+02] [ 5.18777148e-02 -5.17063708e-04 9.98653311e-01 9.61692506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.9571056809999 meters 0.019374373957705145 Centerline is valid? [True, True] Translation: X:197.20, Y:128.01, Z:9.62 [[-1.31972335e-01 -9.91229516e-01 6.88112123e-03 1.97195790e+02] [ 9.89828923e-01 -1.32151532e-01 -5.26751988e-02 1.28008208e+02] [ 5.31225625e-02 -1.40536175e-04 9.98587990e-01 9.61578900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.98710568099995 meters 0.019123416059404746 Centerline is valid? [True, True] Translation: X:197.19, Y:128.04, Z:9.62 [[-1.29333400e-01 -9.91577315e-01 6.87756888e-03 1.97188603e+02] [ 9.90187446e-01 -1.29516133e-01 -5.24823132e-02 1.28035034e+02] [ 5.29310273e-02 2.23663731e-05 9.98598170e-01 9.61673557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.0171056809999 meters 0.019325910907706804 Centerline is valid? [True, True] Translation: X:197.18, Y:128.06, Z:9.62 [[-1.25716005e-01 -9.92044200e-01 6.61751542e-03 1.97183463e+02] [ 9.90766305e-01 -1.25889847e-01 -5.03376181e-02 1.28060674e+02] [ 5.07702201e-02 2.28167024e-04 9.98710335e-01 9.61811764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.04710568099995 meters 0.01899652835843258 Centerline is valid? [True, True] Translation: X:197.18, Y:128.09, Z:9.62 [[-1.25716082e-01 -9.92045366e-01 6.43879781e-03 1.97179059e+02] [ 9.90842956e-01 -1.25880631e-01 -4.88293306e-02 1.28086433e+02] [ 4.92514311e-02 2.41205336e-04 9.98786383e-01 9.62215284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.0771056809999 meters 0.019487155621761183 Centerline is valid? [True, True] Translation: X:197.17, Y:128.11, Z:9.63 [[-1.23743345e-01 -9.92295066e-01 6.17145331e-03 1.97171373e+02] [ 9.91196157e-01 -1.23896678e-01 -4.66882318e-02 1.28111322e+02] [ 4.70931246e-02 3.39762827e-04 9.98890446e-01 9.62833543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.10710568099995 meters 0.02023531285931691 Centerline is valid? [True, True] Translation: X:197.16, Y:128.14, Z:9.63 [[-1.17519838e-01 -9.93052027e-01 6.06294738e-03 1.97164651e+02] [ 9.91998803e-01 -1.17674388e-01 -4.57286906e-02 1.28138534e+02] [ 4.61244225e-02 6.40408244e-04 9.98935497e-01 9.63260830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.1371056809999 meters 0.022429799850146197 Centerline is valid? [True, True] Translation: X:197.16, Y:128.16, Z:9.63 [[-1.12745941e-01 -9.93605974e-01 5.95998293e-03 1.97157656e+02] [ 9.92594786e-01 -1.12900068e-01 -4.48237050e-02 1.28164643e+02] [ 4.52099835e-02 8.62157175e-04 9.98977134e-01 9.63310479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.16710568099995 meters 0.02491236553416401 Centerline is valid? [True, True] Translation: X:197.15, Y:128.19, Z:9.63 [[-1.05373177e-01 -9.94414656e-01 5.99879802e-03 1.97153827e+02] [ 9.93397636e-01 -1.05536746e-01 -4.49792386e-02 1.28192165e+02] [ 4.53611077e-02 1.21958648e-03 9.98969911e-01 9.63208339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.1971056809999 meters 0.025642907946331263 Centerline is valid? [True, True] Translation: X:197.15, Y:128.22, Z:9.63 [[-1.03748811e-01 -9.94585330e-01 6.01712281e-03 1.97151240e+02] [ 9.93568392e-01 -1.03914878e-01 -4.49838634e-02 1.28219578e+02] [ 4.53655592e-02 1.31140069e-03 9.98969592e-01 9.63208525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.22710568099995 meters 0.02652974770772223 Centerline is valid? [True, True] Translation: X:197.15, Y:128.25, Z:9.63 [[-1.02489037e-01 -9.94716352e-01 5.94779759e-03 1.97150696e+02] [ 9.93728686e-01 -1.02652384e-01 -4.43372019e-02 1.28247912e+02] [ 4.47134954e-02 1.36641993e-03 9.98998917e-01 9.63334094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.2571056809999 meters 0.026016679396752156 Centerline is valid? [True, True] Translation: X:197.15, Y:128.28, Z:9.64 [[-1.03320143e-01 -9.94631133e-01 5.81864577e-03 1.97150914e+02] [ 9.93691265e-01 -1.03475521e-01 -4.32491140e-02 1.28275252e+02] [ 4.36190027e-02 1.31343283e-03 9.99047375e-01 9.63576992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.28710568099996 meters 0.024394075061696673 Centerline is valid? [True, True] Translation: X:197.16, Y:128.30, Z:9.64 [[-1.07669487e-01 -9.94171414e-01 5.52098415e-03 1.97157298e+02] [ 9.93329908e-01 -1.07805541e-01 -4.09103817e-02 1.28303476e+02] [ 4.12671247e-02 1.07935889e-03 9.99147566e-01 9.64054556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.31710568099993 meters 0.021260912051220132 Centerline is valid? [True, True] Translation: X:197.17, Y:128.33, Z:9.64 [[-1.15453028e-01 -9.93299227e-01 5.21964124e-03 1.97167223e+02] [ 9.92550334e-01 -1.15568668e-01 -3.85709467e-02 1.28332632e+02] [ 3.89157185e-02 7.27624047e-04 9.99242232e-01 9.64472806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.34710568099996 meters 0.02036412891874829 Centerline is valid? [True, True] Translation: X:197.17, Y:128.36, Z:9.65 [[-1.19590369e-01 -9.92809699e-01 5.20050882e-03 1.97170964e+02] [ 9.92070103e-01 -1.19702001e-01 -3.83189568e-02 1.28360500e+02] [ 3.86659433e-02 5.76691128e-04 9.99252026e-01 9.64508732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.37710568099993 meters 0.018037680052484923 Centerline is valid? [True, True] Translation: X:197.18, Y:128.39, Z:9.64 [[-1.28009594e-01 -9.91758149e-01 5.41453668e-03 1.97184762e+02] [ 9.90959950e-01 -1.28123764e-01 -3.97828818e-02 1.28390638e+02] [ 4.01487280e-02 2.72998446e-04 9.99193677e-01 9.64222435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.4071056809999 meters 0.017273250008371765 Centerline is valid? [True, True] Translation: X:197.19, Y:128.42, Z:9.64 [[-1.33282195e-01 -9.91062758e-01 5.51970497e-03 1.97188647e+02] [ 9.90237234e-01 -1.33396421e-01 -4.04427440e-02 1.28418180e+02] [ 4.08176062e-02 7.55196828e-05 9.99166611e-01 9.64263533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.43710568099993 meters 0.017442041871007233 Centerline is valid? [True, True] Translation: X:197.20, Y:128.45, Z:9.64 [[-1.41778603e-01 -9.89883525e-01 5.42537208e-03 1.97197001e+02] [ 9.89089789e-01 -1.41882145e-01 -3.96339023e-02 1.28446301e+02] [ 4.00027103e-02 -2.53059179e-04 9.99199539e-01 9.64460472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.4671056809999 meters 0.017864088536878903 Centerline is valid? [True, True] Translation: X:197.20, Y:128.47, Z:9.65 [[-1.44837529e-01 -9.89441621e-01 5.23160226e-03 1.97199621e+02] [ 9.88707623e-01 -1.44931567e-01 -3.81061340e-02 1.28473605e+02] [ 3.84620193e-02 -3.46673239e-04 9.99260003e-01 9.64687671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.49710568099994 meters 0.01783317515237409 Centerline is valid? [True, True] Translation: X:197.20, Y:128.50, Z:9.65 [[-1.43855174e-01 -9.89587817e-01 4.65209222e-03 1.97204987e+02] [ 9.89010610e-01 -1.43930140e-01 -3.37953905e-02 1.28500093e+02] [ 3.41130830e-02 -2.60673218e-04 9.99417945e-01 9.65284042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5271056809999 meters 0.017132058240761337 Centerline is valid? [True, True] Translation: X:197.20, Y:128.53, Z:9.66 [[-1.41742718e-01 -9.89892556e-01 4.66155795e-03 1.97201568e+02] [ 9.89316858e-01 -1.41819246e-01 -3.37558295e-02 1.28527402e+02] [ 3.40757430e-02 -1.72885176e-04 9.99419238e-01 9.65535379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55710568099994 meters 0.017156093889860117 Centerline is valid? [True, True] Translation: X:197.19, Y:128.55, Z:9.65 [[-1.33693657e-01 -9.91006781e-01 5.61840389e-03 1.97193321e+02] [ 9.90176902e-01 -1.33811585e-01 -4.05482725e-02 1.28553127e+02] [ 4.09354205e-02 1.42166906e-04 9.99161784e-01 9.64937476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5871056809999 meters 0.019450709624904642 Centerline is valid? [True, True] Translation: X:197.19, Y:128.58, Z:9.64 [[-1.24739885e-01 -9.92169888e-01 6.23500757e-03 1.97187220e+02] [ 9.91155941e-01 -1.24894241e-01 -4.48478481e-02 1.28579781e+02] [ 4.52754009e-02 5.85549367e-04 9.98974372e-01 9.64498777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61710568099994 meters 0.020842182788768766 Centerline is valid? [True, True] Translation: X:197.18, Y:128.61, Z:9.65 [[-1.21778746e-01 -9.92537608e-01 6.24766825e-03 1.97183616e+02] [ 9.91526042e-01 -1.21936669e-01 -4.48057598e-02 1.28605958e+02] [ 4.52332215e-02 7.38336541e-04 9.98976181e-01 9.64584043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.6471056809999 meters 0.0220679944440603 Centerline is valid? [True, True] Translation: X:197.19, Y:128.63, Z:9.65 [[-1.18873745e-01 -9.92890745e-01 6.08282957e-03 1.97186044e+02] [ 9.91938032e-01 -1.19026142e-01 -4.34938814e-02 1.28633708e+02] [ 4.39086880e-02 8.63509435e-04 9.99035175e-01 9.64903295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67710568099994 meters 0.023766344878611824 Centerline is valid? [True, True] Translation: X:197.19, Y:128.66, Z:9.65 [[-1.16088191e-01 -9.93222160e-01 5.76828916e-03 1.97188528e+02] [ 9.92370592e-01 -1.16227534e-01 -4.11311235e-02 1.28659888e+02] [ 4.15227773e-02 9.49442820e-04 9.99137106e-01 9.65382014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.7071056809999 meters 0.024536423405647937 Centerline is valid? [True, True] Translation: X:197.19, Y:128.69, Z:9.66 [[-1.15013797e-01 -9.93346967e-01 5.79917547e-03 1.97185959e+02] [ 9.92491569e-01 -1.15155443e-01 -4.12275261e-02 1.28687283e+02] [ 4.16210447e-02 1.01389843e-03 9.99132954e-01 9.65536859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73710568099995 meters 0.025255212332150095 Centerline is valid? [True, True] Translation: X:197.19, Y:128.72, Z:9.65 [[-1.10950630e-01 -9.93808122e-01 5.94764683e-03 1.97188882e+02] [ 9.92914158e-01 -1.11103148e-01 -4.21611760e-02 1.28715488e+02] [ 4.25609214e-02 1.22769372e-03 9.99093119e-01 9.65464162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.7671056809999 meters 0.026078866310634326 Centerline is valid? [True, True] Translation: X:197.19, Y:128.74, Z:9.65 [[-1.09616437e-01 -9.93955010e-01 6.13792334e-03 1.97189286e+02] [ 9.93008680e-01 -1.09779977e-01 -4.33833855e-02 1.28744133e+02] [ 4.37949545e-02 1.33947899e-03 9.99039643e-01 9.65430055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.79710568099995 meters 0.025209005293756272 Centerline is valid? [True, True] Translation: X:197.20, Y:128.77, Z:9.66 [[-1.11344679e-01 -9.93762780e-01 6.15625930e-03 1.97196026e+02] [ 9.92815667e-01 -1.11507391e-01 -4.33953188e-02 1.28773551e+02] [ 4.38111211e-02 1.28019283e-03 9.99039012e-01 9.65640292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.8271056809999 meters 0.023144302107008137 Centerline is valid? [True, True] Translation: X:197.20, Y:128.80, Z:9.66 [[-1.14324953e-01 -9.93424415e-01 6.14303338e-03 1.97197989e+02] [ 9.92485933e-01 -1.14484004e-01 -4.31866403e-02 1.28802534e+02] [ 4.36059419e-02 1.15956360e-03 9.99048136e-01 9.65872123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85710568099995 meters 0.021760716119183923 Centerline is valid? [True, True] Translation: X:197.20, Y:128.83, Z:9.66 [[-1.22667760e-01 -9.92430155e-01 5.91668329e-03 1.97200909e+02] [ 9.91562772e-01 -1.22807909e-01 -4.14908124e-02 1.28829269e+02] [ 4.19033489e-02 7.77177851e-04 9.99121367e-01 9.66172705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.8871056809999 meters 0.01851770332619583 Centerline is valid? [True, True] Translation: X:197.21, Y:128.86, Z:9.66 [[-1.27901191e-01 -9.91769441e-01 5.88743842e-03 1.97206289e+02] [ 9.90914390e-01 -1.28035365e-01 -4.11778595e-02 1.28857728e+02] [ 4.15927430e-02 5.67250185e-04 9.99134486e-01 9.66364720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91710568099995 meters 0.015419386077748294 Centerline is valid? [True, True] Translation: X:197.22, Y:128.89, Z:9.67 [[-1.40447947e-01 -9.90072472e-01 5.55654785e-03 1.97221124e+02] [ 9.89313557e-01 -1.40557811e-01 -3.87580623e-02 1.28886800e+02] [ 3.91543067e-02 5.36778325e-05 9.99233175e-01 9.66676272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.9471056809999 meters 0.016603061320140496 Centerline is valid? [True, True] Translation: X:197.23, Y:128.92, Z:9.67 [[-1.52911918e-01 -9.88226410e-01 5.14868334e-03 1.97233573e+02] [ 9.87577348e-01 -1.52998073e-01 -3.58130026e-02 1.28916356e+02] [ 3.61790936e-02 -3.91511874e-04 9.99345246e-01 9.67094035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97710568099995 meters 0.01790015437871195 Centerline is valid? [True, True] Translation: X:197.23, Y:128.94, Z:9.67 [[-1.57787960e-01 -9.87459173e-01 5.22881847e-03 1.97234490e+02] [ 9.86792982e-01 -1.57873568e-01 -3.62704746e-02 1.28943964e+02] [ 3.66411051e-02 -5.63282818e-04 9.99328330e-01 9.67226980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.0071056809999 meters 0.020832336475273164 Centerline is valid? [True, True] Translation: X:197.24, Y:128.97, Z:9.67 [[-1.65073152e-01 -9.86266448e-01 5.41746917e-03 1.97238130e+02] [ 9.85555059e-01 -1.65159864e-01 -3.74625823e-02 1.28970809e+02] [ 3.78428364e-02 -8.44852391e-04 9.99283346e-01 9.67080557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.03710568099996 meters 0.02208445611256214 Centerline is valid? [True, True] Translation: X:197.24, Y:129.00, Z:9.67 [[-1.67350646e-01 -9.85881825e-01 5.54871946e-03 1.97237656e+02] [ 9.85140049e-01 -1.67439999e-01 -3.82482806e-02 1.28997218e+02] [ 3.86373623e-02 -9.34608704e-04 9.99252861e-01 9.67048830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.06710568099993 meters 0.022639016815163584 Centerline is valid? [True, True] Translation: X:197.24, Y:129.02, Z:9.67 [[-1.69354158e-01 -9.85537663e-01 5.88936120e-03 1.97237844e+02] [ 9.84706987e-01 -1.69453249e-01 -4.04690751e-02 1.29024288e+02] [ 4.08817691e-02 -1.05431100e-03 9.99163435e-01 9.66982645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.09710568099996 meters 0.020314457482853775 Centerline is valid? [True, True] Translation: X:197.23, Y:129.05, Z:9.67 [[-1.66150529e-01 -9.86082292e-01 5.97621391e-03 1.97230501e+02] [ 9.85231203e-01 -1.66255430e-01 -4.09708147e-02 1.29051614e+02] [ 4.13941729e-02 -9.19370113e-04 9.99142471e-01 9.67133505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.12710568099993 meters 0.018671495079285935 Centerline is valid? [True, True] Translation: X:197.22, Y:129.08, Z:9.67 [[-1.62264154e-01 -9.86730295e-01 5.80257537e-03 1.97222419e+02] [ 9.85932505e-01 -1.62366287e-01 -3.96772562e-02 1.29077630e+02] [ 4.00928933e-02 -7.17248748e-04 9.99195699e-01 9.67437028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.1571056809999 meters 0.018671495079285935 Centerline is valid? [True, True] Translation: X:197.22, Y:129.10, Z:9.68 [[-1.62681562e-01 -9.86661464e-01 5.81937835e-03 1.97218274e+02] [ 9.85863717e-01 -1.62784033e-01 -3.96747919e-02 1.29103934e+02] [ 4.00928901e-02 -7.17243158e-04 9.99195699e-01 9.67535659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.18710568099993 meters 0.015365004455865703 Centerline is valid? [True, True] Translation: X:197.20, Y:129.13, Z:9.68 [[-1.50920112e-01 -9.88528789e-01 5.82699350e-03 1.97200721e+02] [ 9.87734909e-01 -1.51032396e-01 -3.96101725e-02 1.29128218e+02] [ 4.00358606e-02 -2.22446794e-04 9.99198219e-01 9.67880210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2171056809999 meters 0.016415213237694633 Centerline is valid? [True, True] Translation: X:197.18, Y:129.15, Z:9.68 [[-1.36656479e-01 -9.90601214e-01 5.85161163e-03 1.97179626e+02] [ 9.89806978e-01 -1.36781199e-01 -3.96616954e-02 1.29151968e+02] [ 4.00893141e-02 3.71938376e-04 9.99196031e-01 9.68066273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.24710568099994 meters 0.018691085488174188 Centerline is valid? [True, True] Translation: X:197.17, Y:129.18, Z:9.68 [[-1.30322104e-01 -9.91455190e-01 5.72316338e-03 1.97167488e+02] [ 9.90700660e-01 -1.30446194e-01 -3.86780766e-02 1.29177376e+02] [ 3.90941447e-02 6.29333397e-04 9.99235334e-01 9.68229525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2771056809999 meters 0.023848839623924152 Centerline is valid? [True, True] Translation: X:197.15, Y:129.20, Z:9.68 [[-1.20509876e-01 -9.92695601e-01 5.72831005e-03 1.97150082e+02] [ 9.91945315e-01 -1.20641545e-01 -3.86019431e-02 1.29201382e+02] [ 3.90110513e-02 1.03025492e-03 9.99238248e-01 9.68247084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.30710568099994 meters 0.024617675760950666 Centerline is valid? [True, True] Translation: X:197.14, Y:129.23, Z:9.68 [[-1.17766564e-01 -9.93024424e-01 5.79045438e-03 1.97142689e+02] [ 9.92262746e-01 -1.17903087e-01 -3.89037866e-02 1.29228003e+02] [ 3.93151227e-02 1.16408690e-03 9.99226184e-01 9.68219099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.3371056809999 meters 0.027950092688885052 Centerline is valid? [True, True] Translation: X:197.13, Y:129.25, Z:9.68 [[-1.12646704e-01 -9.93615949e-01 6.16974428e-03 1.97130409e+02] [ 9.92756984e-01 -1.12805973e-01 -4.13325820e-02 1.29254085e+02] [ 4.17646967e-02 1.46907761e-03 9.99126394e-01 9.67932936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.36710568099994 meters 0.029039283944127848 Centerline is valid? [True, True] Translation: X:197.12, Y:129.28, Z:9.68 [[-1.11067340e-01 -9.93792175e-01 6.41547209e-03 1.97123411e+02] [ 9.92868979e-01 -1.11240824e-01 -4.28563862e-02 1.29280807e+02] [ 4.33040037e-02 1.60977838e-03 9.99060645e-01 9.67798267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.3971056809999 meters 0.030323997370036188 Centerline is valid? [True, True] Translation: X:197.12, Y:129.31, Z:9.67 [[-1.11198187e-01 -9.93775039e-01 6.79231619e-03 1.97119222e+02] [ 9.92746367e-01 -1.11392274e-01 -4.52372924e-02 1.29306874e+02] [ 4.57123035e-02 1.71274234e-03 9.98953178e-01 9.67488926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.42710568099994 meters 0.027396878540389195 Centerline is valid? [True, True] Translation: X:197.12, Y:129.34, Z:9.68 [[-1.13272088e-01 -9.93540699e-01 6.80545243e-03 1.97121303e+02] [ 9.92513659e-01 -1.13464557e-01 -4.51932515e-02 1.29335564e+02] [ 4.56735124e-02 1.63537051e-03 9.98955082e-01 9.67669296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.4571056809999 meters 0.025825640925791128 Centerline is valid? [True, True] Translation: X:197.12, Y:129.36, Z:9.68 [[-1.17333497e-01 -9.93071846e-01 6.41561713e-03 1.97124407e+02] [ 9.92163016e-01 -1.17500674e-01 -4.24987260e-02 1.29363465e+02] [ 4.29581276e-02 1.37881391e-03 9.99075922e-01 9.68050850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.48710568099995 meters 0.025856159374372602 Centerline is valid? [True, True] Translation: X:197.13, Y:129.39, Z:9.68 [[-1.22737080e-01 -9.92420772e-01 6.05154544e-03 1.97125318e+02] [ 9.91615416e-01 -1.22881316e-01 -3.99881099e-02 1.29389798e+02] [ 4.04286527e-02 1.09278189e-03 9.99181830e-01 9.68482246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.5171056809999 meters 0.0218819414882688 Centerline is valid? [True, True] Translation: X:197.13, Y:129.42, Z:9.69 [[-1.26394021e-01 -9.91961588e-01 6.06303029e-03 1.97130096e+02] [ 9.91156304e-01 -1.26535738e-01 -3.99735854e-02 1.29417845e+02] [ 4.04194512e-02 9.56988499e-04 9.99182342e-01 9.68561281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.54710568099995 meters 0.017736547599426066 Centerline is valid? [True, True] Translation: X:197.14, Y:129.45, Z:9.68 [[-1.36323903e-01 -9.90646088e-01 6.01007540e-03 1.97139824e+02] [ 9.89857900e-01 -1.36455162e-01 -3.95136301e-02 1.29447200e+02] [ 3.99641289e-02 5.62468324e-04 9.99200957e-01 9.68443912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.5771056809999 meters 0.016172775044359967 Centerline is valid? [True, True] Translation: X:197.14, Y:129.48, Z:9.68 [[-1.41943720e-01 -9.89856093e-01 6.07423272e-03 1.97142704e+02] [ 9.89054657e-01 -1.42073186e-01 -3.98258243e-02 1.29475300e+02] [ 4.02848205e-02 3.54722496e-04 9.99188174e-01 9.68427863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.60710568099995 meters 0.01507400525695857 Centerline is valid? [True, True] Translation: X:197.15, Y:129.50, Z:9.68 [[-1.51956380e-01 -9.88366599e-01 6.38164227e-03 1.97152363e+02] [ 9.87485843e-01 -1.52090319e-01 -4.17162471e-02 1.29503189e+02] [ 4.22015312e-02 -3.72684801e-05 9.99109118e-01 9.68213535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.6371056809999 meters 0.015288344950550982 Centerline is valid? [True, True] Translation: X:197.15, Y:129.53, Z:9.68 [[-1.55228057e-01 -9.87856822e-01 6.56885822e-03 1.97152713e+02] [ 9.86928828e-01 -1.55366899e-01 -4.28090583e-02 1.29529586e+02] [ 4.33098034e-02 -1.62171379e-04 9.99061677e-01 9.68205904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.66710568099995 meters 0.015271692146073733 Centerline is valid? [True, True] Translation: X:197.15, Y:129.56, Z:9.68 [[-1.54642631e-01 -9.87946429e-01 6.89280674e-03 1.97150016e+02] [ 9.86931125e-01 -1.54796121e-01 -4.47785064e-02 1.29555308e+02] [ 4.53057453e-02 -1.21940510e-04 9.98973160e-01 9.68272021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.6971056809999 meters 0.015356219079527611 Centerline is valid? [True, True] Translation: X:197.14, Y:129.58, Z:9.68 [[-1.51184561e-01 -9.88480610e-01 7.02229494e-03 1.97142069e+02] [ 9.87433771e-01 -1.51347550e-01 -4.54804095e-02 1.29580721e+02] [ 4.60193101e-02 5.81154070e-05 9.98940549e-01 9.68350020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.72710568099995 meters 0.017052010364757262 Centerline is valid? [True, True] Translation: X:197.13, Y:129.61, Z:9.69 [[-1.41865979e-01 -9.89861116e-01 7.00113702e-03 1.97129459e+02] [ 9.88828305e-01 -1.42037715e-01 -4.52091804e-02 1.29606026e+02] [ 4.57452353e-02 5.09277820e-04 9.98953009e-01 9.68709522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.7571056809999 meters 0.019715599039476464 Centerline is valid? [True, True] Translation: X:197.12, Y:129.63, Z:9.69 [[-1.34465892e-01 -9.90896980e-01 6.48830376e-03 1.97119019e+02] [ 9.90015810e-01 -1.34619935e-01 -4.17871970e-02 1.29631946e+02] [ 4.22802624e-02 8.04570560e-04 9.99105466e-01 9.69267341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.78710568099996 meters 0.022398097612664012 Centerline is valid? [True, True] Translation: X:197.11, Y:129.66, Z:9.70 [[-1.29523003e-01 -9.91557804e-01 6.07558554e-03 1.97108503e+02] [ 9.90790011e-01 -1.29661829e-01 -3.90251729e-02 1.29656752e+02] [ 3.94834863e-02 9.64971869e-04 9.99219757e-01 9.69722911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.81710568099993 meters 0.02389464184374123 Centerline is valid? [True, True] Translation: X:197.10, Y:129.68, Z:9.70 [[-1.27189837e-01 -9.91859522e-01 6.11827016e-03 1.97100362e+02] [ 9.91085801e-01 -1.27332328e-01 -3.91843634e-02 1.29682724e+02] [ 3.96444375e-02 1.07987791e-03 9.99213267e-01 9.69885481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.84710568099996 meters 0.027708629735569767 Centerline is valid? [True, True] Translation: X:197.09, Y:129.71, Z:9.70 [[-1.20866023e-01 -9.92651264e-01 5.90533598e-03 1.97088210e+02] [ 9.91935151e-01 -1.21003232e-01 -3.77209930e-02 1.29708072e+02] [ 3.81583561e-02 1.29852395e-03 9.99270861e-01 9.70075639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.87710568099993 meters 0.029881604918229644 Centerline is valid? [True, True] Translation: X:197.08, Y:129.73, Z:9.70 [[-1.18088363e-01 -9.92985466e-01 5.91630842e-03 1.97080329e+02] [ 9.92271180e-01 -1.18227942e-01 -3.76836781e-02 1.29733662e+02] [ 3.81188176e-02 1.42057847e-03 9.99272204e-01 9.70100832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.9071056809999 meters 0.03271902353040893 Centerline is valid? [True, True] Translation: X:197.07, Y:129.76, Z:9.70 [[-1.14133516e-01 -9.93444735e-01 6.41081815e-03 1.97071125e+02] [ 9.92611685e-01 -1.14300526e-01 -4.07115863e-02 1.29759998e+02] [ 4.11774710e-02 1.71689652e-03 9.99150373e-01 9.69800260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.93710568099993 meters 0.033631364104033015 Centerline is valid? [True, True] Translation: X:197.07, Y:129.79, Z:9.70 [[-1.13791754e-01 -9.93482226e-01 6.67110914e-03 1.97065367e+02] [ 9.92585158e-01 -1.13972698e-01 -4.22484136e-02 1.29785438e+02] [ 4.27333723e-02 1.81412282e-03 9.99084865e-01 9.69698142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.9671056809999 meters 0.030890327446997913 Centerline is valid? [True, True] Translation: X:197.07, Y:129.81, Z:9.70 [[-1.14640033e-01 -9.93382465e-01 6.99575128e-03 1.97065712e+02] [ 9.92401407e-01 -1.14837932e-01 -4.41780084e-02 1.29812759e+02] [ 4.46890365e-02 1.87802509e-03 9.98999181e-01 9.69615338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99710568099994 meters 0.030760938866043516 Centerline is valid? [True, True] Translation: X:197.07, Y:129.84, Z:9.70 [[-1.14370092e-01 -9.93413252e-01 7.04225093e-03 1.97065278e+02] [ 9.92424586e-01 -1.14570670e-01 -4.43509044e-02 1.29840580e+02] [ 4.48656116e-02 1.91648594e-03 9.98991193e-01 9.69723282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0271056809999 meters 0.031563431443779225 Centerline is valid? [True, True] Translation: X:197.06, Y:129.87, Z:9.70 [[-1.14830748e-01 -9.93361040e-01 6.90970676e-03 1.97061886e+02] [ 9.92413956e-01 -1.15023203e-01 -4.34073953e-02 1.29866440e+02] [ 4.39139919e-02 1.87278577e-03 9.99033560e-01 9.69901400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05710568099994 meters 0.03035939938293633 Centerline is valid? [True, True] Translation: X:197.06, Y:129.89, Z:9.71 [[-1.17496814e-01 -9.93054321e-01 6.13307767e-03 1.97063770e+02] [ 9.92311694e-01 -1.17646289e-01 -3.84298359e-02 1.29894945e+02] [ 3.88844484e-02 1.57054141e-03 9.99242480e-01 9.70538628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0871056809999 meters 0.028359424582086203 Centerline is valid? [True, True] Translation: X:197.07, Y:129.92, Z:9.71 [[-1.21036435e-01 -9.92630797e-01 5.85506434e-03 1.97065144e+02] [ 9.91956672e-01 -1.21170137e-01 -3.66027084e-02 1.29923294e+02] [ 3.70424346e-02 1.37770882e-03 9.99312744e-01 9.70826505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11710568099994 meters 0.024279243479270976 Centerline is valid? [True, True] Translation: X:197.07, Y:129.95, Z:9.71 [[-1.30091506e-01 -9.91486436e-01 5.55405363e-03 1.97074550e+02] [ 9.90881595e-01 -1.30206196e-01 -3.46411770e-02 1.29952028e+02] [ 3.50694293e-02 9.96886649e-04 9.99384381e-01 9.71109393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.1471056809999 meters 0.02060563870923571 Centerline is valid? [True, True] Translation: X:197.08, Y:129.98, Z:9.71 [[-1.36471047e-01 -9.90628817e-01 5.49542368e-03 1.97079549e+02] [ 9.90039202e-01 -1.36579443e-01 -3.41823591e-02 1.29981574e+02] [ 3.46125919e-02 7.75782559e-04 9.99400504e-01 9.71245783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17710568099994 meters 0.01567405927453419 Centerline is valid? [True, True] Translation: X:197.09, Y:130.01, Z:9.71 [[-1.52306102e-01 -9.88317526e-01 5.59636656e-03 1.97093555e+02] [ 9.87707280e-01 -1.52408698e-01 -3.47263327e-02 1.30011238e+02] [ 3.51735782e-02 2.38539613e-04 9.99381190e-01 9.71150488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.2071056809999 meters 0.015731621843547174 Centerline is valid? [True, True] Translation: X:197.11, Y:130.04, Z:9.71 [[-1.67126264e-01 -9.85915514e-01 6.27784222e-03 1.97106412e+02] [ 9.85150432e-01 -1.67243851e-01 -3.88345300e-02 1.30039999e+02] [ 3.93374961e-02 -3.05650924e-04 9.99225934e-01 9.70694829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23710568099995 meters 0.01697621204397276 Centerline is valid? [True, True] Translation: X:197.11, Y:130.07, Z:9.71 [[-1.72703190e-01 -9.84952420e-01 6.50681324e-03 1.97107991e+02] [ 9.84134650e-01 -1.72824919e-01 -4.01315227e-02 1.30067869e+02] [ 4.06521799e-02 -5.27261640e-04 9.99173219e-01 9.70620623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.2671056809999 meters 0.018770304442483544 Centerline is valid? [True, True] Translation: X:197.11, Y:130.10, Z:9.71 [[-1.78277856e-01 -9.83957355e-01 6.70288011e-03 1.97109991e+02] [ 9.83093567e-01 -1.78402199e-01 -4.12273364e-02 1.30095834e+02] [ 4.17617494e-02 -7.60362825e-04 9.99127308e-01 9.70641796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29710568099995 meters 0.019049674713190218 Centerline is valid? [True, True] Translation: X:197.11, Y:130.12, Z:9.71 [[-1.78844817e-01 -9.83855168e-01 6.59853765e-03 1.97106528e+02] [ 9.83022323e-01 -1.78964918e-01 -4.04804948e-02 1.30120839e+02] [ 4.10078507e-02 -7.53216873e-04 9.99158540e-01 9.70918585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.3271056809999 meters 0.016294708517293546 Centerline is valid? [True, True] Translation: X:197.09, Y:130.15, Z:9.72 [[-1.71380143e-01 -9.85185065e-01 6.26377017e-03 1.97092427e+02] [ 9.84438789e-01 -1.71494095e-01 -3.83411687e-02 1.30145671e+02] [ 3.88473464e-02 -4.04616663e-04 9.99245075e-01 9.71552141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35710568099995 meters 0.015838213499444143 Centerline is valid? [True, True] Translation: X:197.07, Y:130.17, Z:9.72 [[-1.53614626e-01 -9.88113245e-01 5.89598538e-03 1.97065440e+02] [ 9.87457232e-01 -1.53727456e-01 -3.60011667e-02 1.30168216e+02] [ 3.64796045e-02 2.91727659e-04 9.99334355e-01 9.72008912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.3871056809999 meters 0.019024020177215283 Centerline is valid? [True, True] Translation: X:197.05, Y:130.19, Z:9.72 [[-1.44317149e-01 -9.89514970e-01 5.71698831e-03 1.97049670e+02] [ 9.88902493e-01 -1.44428971e-01 -3.48156715e-02 1.30193107e+02] [ 3.52763269e-02 6.29045562e-04 9.99377399e-01 9.72288827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41710568099995 meters 0.025732070054342006 Centerline is valid? [True, True] Translation: X:197.03, Y:130.22, Z:9.73 [[-1.30909401e-01 -9.91380858e-01 5.16946389e-03 1.97030712e+02] [ 9.90883623e-01 -1.31007534e-01 -3.14113171e-02 1.30216825e+02] [ 3.18178173e-02 1.01030039e-03 9.99493174e-01 9.72700074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.4471056809999 meters 0.02760936295979343 Centerline is valid? [True, True] Translation: X:197.02, Y:130.24, Z:9.73 [[-1.27924375e-01 -9.91770288e-01 5.20104188e-03 1.97022681e+02] [ 9.91270060e-01 -1.28025127e-01 -3.15156318e-02 1.30242414e+02] [ 3.19221312e-02 1.12401961e-03 9.99489727e-01 9.72737278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47710568099995 meters 0.028315054566584574 Centerline is valid? [True, True] Translation: X:197.02, Y:130.27, Z:9.73 [[-1.27338626e-01 -9.91843537e-01 5.59214925e-03 1.97016022e+02] [ 9.91268739e-01 -1.27455315e-01 -3.37850383e-02 1.30268395e+02] [ 3.42222211e-02 1.24118237e-03 9.99413478e-01 9.72551712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.5071056809999 meters 0.028619909780972324 Centerline is valid? [True, True] Translation: X:197.01, Y:130.29, Z:9.72 [[-1.27098279e-01 -9.91872160e-01 5.97041868e-03 1.97010904e+02] [ 9.91220791e-01 -1.27231303e-01 -3.59657964e-02 1.30294932e+02] [ 3.64330963e-02 1.34681230e-03 9.99335187e-01 9.72408990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.53710568099996 meters 0.0284190512263586 Centerline is valid? [True, True] Translation: X:197.01, Y:130.32, Z:9.72 [[-1.25745582e-01 -9.92043093e-01 6.20884901e-03 1.97007283e+02] [ 9.91342600e-01 -1.25890256e-01 -3.73027231e-02 1.30322657e+02] [ 3.77875424e-02 1.46444391e-03 9.99284723e-01 9.72314738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.56710568099993 meters 0.031856348876867877 Centerline is valid? [True, True] Translation: X:197.00, Y:130.35, Z:9.72 [[-1.23367113e-01 -9.92338405e-01 6.71154679e-03 1.97003301e+02] [ 9.91524300e-01 -1.23537951e-01 -4.02235842e-02 1.30349691e+02] [ 4.07445381e-02 1.69239427e-03 9.99168163e-01 9.71996461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.59710568099996 meters 0.03156882345949675 Centerline is valid? [True, True] Translation: X:197.00, Y:130.38, Z:9.72 [[-1.23468288e-01 -9.92326110e-01 6.66879319e-03 1.97002222e+02] [ 9.91525183e-01 -1.23636756e-01 -3.98969140e-02 1.30376675e+02] [ 4.04152575e-02 1.68627270e-03 9.99181547e-01 9.72159300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.62710568099993 meters 0.03178231424178854 Centerline is valid? [True, True] Translation: X:197.00, Y:130.40, Z:9.73 [[-1.24018448e-01 -9.92261576e-01 6.03237808e-03 1.97000263e+02] [ 9.91609209e-01 -1.24155814e-01 -3.60070767e-02 1.30403828e+02] [ 3.64773935e-02 1.51621989e-03 9.99333328e-01 9.72713154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.6571056809999 meters 0.029219770469558305 Centerline is valid? [True, True] Translation: X:197.00, Y:130.43, Z:9.73 [[-1.24411167e-01 -9.92213485e-01 5.85327725e-03 1.96999434e+02] [ 9.91602238e-01 -1.24540132e-01 -3.48533541e-02 1.30431208e+02] [ 3.53109358e-02 1.46797636e-03 9.99375296e-01 9.72889489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.68710568099993 meters 0.02921714799906482 Centerline is valid? [True, True] Translation: X:197.00, Y:130.46, Z:9.73 [[-1.26207171e-01 -9.91985901e-01 5.97680919e-03 1.96997464e+02] [ 9.91351824e-01 -1.26340342e-01 -3.54919540e-02 1.30458583e+02] [ 3.59626301e-02 1.44578157e-03 9.99352090e-01 9.72933405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7171056809999 meters 0.02679358457485744 Centerline is valid? [True, True] Translation: X:197.00, Y:130.49, Z:9.73 [[-1.29971342e-01 -9.91498632e-01 6.15732387e-03 1.97002022e+02] [ 9.90828350e-01 -1.30110004e-01 -3.64769454e-02 1.30487381e+02] [ 3.69679709e-02 1.35989350e-03 9.99315526e-01 9.72776319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.74710568099994 meters 0.026673678351823164 Centerline is valid? [True, True] Translation: X:197.00, Y:130.51, Z:9.73 [[-1.32887322e-01 -9.91110913e-01 6.33379341e-03 1.97000913e+02] [ 9.90404722e-01 -1.33031838e-01 -3.74301723e-02 1.30514691e+02] [ 3.79400484e-02 1.29902354e-03 9.99279173e-01 9.72712122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7771056809999 meters 0.02387310385824956 Centerline is valid? [True, True] Translation: X:197.01, Y:130.54, Z:9.72 [[-1.39939218e-01 -9.90136917e-01 6.77499253e-03 1.97006274e+02] [ 9.89331599e-01 -1.40098700e-01 -3.99417293e-02 1.30542659e+02] [ 4.04969484e-02 1.11329982e-03 9.99179042e-01 9.72462857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.80710568099994 meters 0.021778848672330525 Centerline is valid? [True, True] Translation: X:197.01, Y:130.57, Z:9.72 [[-1.43831551e-01 -9.89577331e-01 7.01359746e-03 1.97007373e+02] [ 9.88718104e-01 -1.43998959e-01 -4.12408737e-02 1.30570021e+02] [ 4.18209845e-02 1.00273194e-03 9.99124617e-01 9.72433238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8371056809999 meters 0.019563042034311365 Centerline is valid? [True, True] Translation: X:197.01, Y:130.60, Z:9.72 [[-1.49938608e-01 -9.88666674e-01 7.52468404e-03 1.97011669e+02] [ 9.87681551e-01 -1.50125091e-01 -4.41317471e-02 1.30597300e+02] [ 4.47612315e-02 8.14938881e-04 9.98997381e-01 9.72233199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.86710568099994 meters 0.018524946943571027 Centerline is valid? [True, True] Translation: X:197.01, Y:130.62, Z:9.72 [[-1.52989770e-01 -9.88196244e-01 7.89395333e-03 1.97014050e+02] [ 9.87116153e-01 -1.53191576e-01 -4.61956843e-02 1.30624192e+02] [ 4.68596889e-02 7.24781710e-04 9.98901218e-01 9.72239821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8971056809999 meters 0.01849807157069416 Centerline is valid? [True, True] Translation: X:197.01, Y:130.65, Z:9.72 [[-1.53058415e-01 -9.88184660e-01 8.01239431e-03 1.97011468e+02] [ 9.87077997e-01 -1.53266147e-01 -4.67601882e-02 1.30651107e+02] [ 4.74357295e-02 7.51817820e-04 9.98874009e-01 9.72319989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.92710568099994 meters 0.020366968598067952 Centerline is valid? [True, True] Translation: X:197.01, Y:130.68, Z:9.73 [[-1.49809871e-01 -9.88684019e-01 7.80463543e-03 1.97005762e+02] [ 9.87639926e-01 -1.50010322e-01 -4.54343404e-02 1.30676111e+02] [ 4.60909822e-02 9.01656894e-04 9.98936839e-01 9.72787136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.9571056809999 meters 0.02163052958774373 Centerline is valid? [True, True] Translation: X:197.00, Y:130.70, Z:9.73 [[-1.47152678e-01 -9.89085766e-01 7.44559914e-03 1.96999382e+02] [ 9.88140823e-01 -1.47337563e-01 -4.32360445e-02 1.30702566e+02] [ 4.38611726e-02 9.95000727e-04 9.99037140e-01 9.73157517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.98710568099995 meters 0.024256259217028658 Centerline is valid? [True, True] Translation: X:196.99, Y:130.73, Z:9.74 [[-1.41398362e-01 -9.89927324e-01 7.09901054e-03 1.96992998e+02] [ 9.89073398e-01 -1.41571316e-01 -4.11263466e-02 1.30728668e+02] [ 4.17171105e-02 1.20624444e-03 9.99128734e-01 9.73622991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.0171056809999 meters 0.02599061631065261 Centerline is valid? [True, True] Translation: X:196.99, Y:130.75, Z:9.74 [[-1.39065110e-01 -9.90258184e-01 7.04436901e-03 1.96986413e+02] [ 9.89421948e-01 -1.39237263e-01 -4.07086443e-02 1.30753783e+02] [ 4.12929069e-02 1.30870119e-03 9.99146227e-01 9.73840704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.04710568099995 meters 0.02869111136672499 Centerline is valid? [True, True] Translation: X:196.98, Y:130.78, Z:9.74 [[-1.35350673e-01 -9.90773138e-01 6.98459919e-03 1.96980121e+02] [ 9.89955907e-01 -1.35522848e-01 -4.02599044e-02 1.30779628e+02] [ 4.08350046e-02 1.46524006e-03 9.99164829e-01 9.74022148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.0771056809999 meters 0.02869111136672499 Centerline is valid? [True, True] Translation: X:196.98, Y:130.81, Z:9.74 [[-1.35799715e-01 -9.90711567e-01 7.00201686e-03 1.96975358e+02] [ 9.89894407e-01 -1.35972227e-01 -4.02568753e-02 1.30805015e+02] [ 4.08350318e-02 1.46438513e-03 9.99164829e-01 9.74117742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.10710568099995 meters 0.030825683682504063 Centerline is valid? [True, True] Translation: X:196.97, Y:130.83, Z:9.75 [[-1.33245023e-01 -9.91061765e-01 6.50708890e-03 1.96974617e+02] [ 9.90359999e-01 -1.33395697e-01 -3.73183786e-02 1.30830987e+02] [ 3.78528358e-02 1.47187235e-03 9.99282241e-01 9.74685943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.1371056809999 meters 0.03173378329236735 Centerline is valid? [True, True] Translation: X:196.97, Y:130.86, Z:9.75 [[-1.32431729e-01 -9.91172108e-01 6.30002761e-03 1.96971900e+02] [ 9.90517642e-01 -1.32573379e-01 -3.60430291e-02 1.30857956e+02] [ 3.65600611e-02 1.46704783e-03 9.99330381e-01 9.75047279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.16710568099995 meters 0.0334284498515589 Centerline is valid? [True, True] Translation: X:196.97, Y:130.88, Z:9.75 [[-1.30310291e-01 -9.91452317e-01 6.44441153e-03 1.96968121e+02] [ 9.90771100e-01 -1.30459833e-01 -3.67812410e-02 1.30884999e+02] [ 3.73075835e-02 1.59196249e-03 9.99302562e-01 9.75095284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.1971056809999 meters 0.03536075246755489 Centerline is valid? [True, True] Translation: X:196.96, Y:130.91, Z:9.75 [[-1.27888570e-01 -9.91765566e-01 6.75096449e-03 1.96962591e+02] [ 9.91022019e-01 -1.28054334e-01 -3.84375574e-02 1.30911825e+02] [ 3.89855361e-02 1.77463022e-03 9.99238199e-01 9.74878087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.22710568099995 meters 0.03983371927920807 Centerline is valid? [True, True] Translation: X:196.96, Y:130.94, Z:9.74 [[-1.21910774e-01 -9.92513184e-01 7.43928796e-03 1.96958461e+02] [ 9.91616021e-01 -1.22117254e-01 -4.22497734e-02 1.30937712e+02] [ 4.28419225e-02 2.22621456e-03 9.99079383e-01 9.74451956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.2571056809999 meters 0.04288443822465602 Centerline is valid? [True, True] Translation: X:196.96, Y:130.96, Z:9.75 [[-1.18533099e-01 -9.92921986e-01 7.47219977e-03 1.96956798e+02] [ 9.92022077e-01 -1.18744238e-01 -4.23320741e-02 1.30964499e+02] [ 4.29197278e-02 2.39483520e-03 9.99075654e-01 9.74520014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.28710568099996 meters 0.04364663369173757 Centerline is valid? [True, True] Translation: X:196.95, Y:130.99, Z:9.75 [[-1.18325782e-01 -9.92946242e-01 7.53456143e-03 1.96954238e+02] [ 9.92035632e-01 -1.18540406e-01 -4.25849331e-02 1.30991145e+02] [ 4.31776992e-02 2.43565789e-03 9.99064439e-01 9.74582188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.31710568099993 meters 0.04433449518941199 Centerline is valid? [True, True] Translation: X:196.95, Y:131.02, Z:9.75 [[-1.18056553e-01 -9.92976518e-01 7.76437685e-03 1.96952699e+02] [ 9.92014140e-01 -1.18284467e-01 -4.37804869e-02 1.31018629e+02] [ 4.43914006e-02 2.53379824e-03 9.99011003e-01 9.74567823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.34710568099996 meters 0.04412935548588189 Centerline is valid? [True, True] Translation: X:196.96, Y:131.05, Z:9.74 [[-1.19100888e-01 -9.92847563e-01 8.28824148e-03 1.96957039e+02] [ 9.91755777e-01 -1.19359140e-01 -4.66248326e-02 1.31045929e+02] [ 4.72806288e-02 2.66685242e-03 9.98878086e-01 9.74311566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.37710568099993 meters 0.044044907194719124 Centerline is valid? [True, True] Translation: X:196.96, Y:131.07, Z:9.74 [[-1.21326872e-01 -9.92578072e-01 8.28011893e-03 1.96960279e+02] [ 9.91493017e-01 -1.21581893e-01 -4.64697909e-02 1.31073693e+02] [ 4.71316080e-02 2.57164575e-03 9.98885378e-01 9.74286410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.4071056809999 meters 0.043579259986114414 Centerline is valid? [True, True] Translation: X:196.96, Y:131.10, Z:9.74 [[-1.23542392e-01 -9.92305198e-01 8.22623472e-03 1.96961197e+02] [ 9.91238357e-01 -1.23791469e-01 -4.60672538e-02 1.31100125e+02] [ 4.67311131e-02 2.46290063e-03 9.98904468e-01 9.74364746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.43710568099993 meters 0.04097697209750639 Centerline is valid? [True, True] Translation: X:196.97, Y:131.13, Z:9.74 [[-1.28323483e-01 -9.91696329e-01 8.45430075e-03 1.96971788e+02] [ 9.90573345e-01 -1.28580878e-01 -4.72377707e-02 1.31129308e+02] [ 4.79325852e-02 2.31288969e-03 9.98847895e-01 9.74329633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.4671056809999 meters 0.03972958031858548 Centerline is valid? [True, True] Translation: X:196.97, Y:131.16, Z:9.74 [[-1.31145014e-01 -9.91325699e-01 8.62224895e-03 1.96974282e+02] [ 9.90161457e-01 -1.31409199e-01 -4.80823353e-02 1.31156693e+02] [ 4.87982975e-02 2.23166004e-03 9.98806160e-01 9.74367306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49710568099994 meters 0.029950126252564487 Centerline is valid? [True, True] Translation: X:196.99, Y:131.19, Z:9.75 [[-1.36774305e-01 -9.90562401e-01 8.88362952e-03 1.96992613e+02] [ 9.89330681e-01 -1.37047486e-01 -4.94245982e-02 1.31187721e+02] [ 5.01756277e-02 2.02883216e-03 9.98738349e-01 9.74599028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5271056809999 meters 0.029444849844134043 Centerline is valid? [True, True] Translation: X:196.99, Y:131.21, Z:9.75 [[-1.39446771e-01 -9.90189809e-01 8.87358409e-03 1.96992474e+02] [ 9.88965866e-01 -1.39715800e-01 -4.92545452e-02 1.31214518e+02] [ 5.00111286e-02 1.90728448e-03 9.98746839e-01 9.74624467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.55710568099994 meters 0.027330598577963716 Centerline is valid? [True, True] Translation: X:197.00, Y:131.24, Z:9.75 [[-1.44461682e-01 -9.89469612e-01 8.98382675e-03 1.96996299e+02] [ 9.88219808e-01 -1.44730870e-01 -4.97452145e-02 1.31243187e+02] [ 5.05216151e-02 1.69171818e-03 9.98721535e-01 9.74656881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5871056809999 meters 0.027467127610935043 Centerline is valid? [True, True] Translation: X:196.99, Y:131.27, Z:9.75 [[-1.45610591e-01 -9.89301575e-01 8.94140889e-03 1.96994526e+02] [ 9.88069072e-01 -1.45875617e-01 -4.93944643e-02 1.31268314e+02] [ 5.01703548e-02 1.64237247e-03 9.98739324e-01 9.74896784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.61710568099994 meters 0.02970681949703974 Centerline is valid? [True, True] Translation: X:196.99, Y:131.29, Z:9.75 [[-1.42762508e-01 -9.89718545e-01 8.72169776e-03 1.96992583e+02] [ 9.88552654e-01 -1.43017833e-01 -4.80577816e-02 1.31294460e+02] [ 4.88110360e-02 1.76100802e-03 9.98806479e-01 9.75426204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.6471056809999 meters 0.031423920905027554 Centerline is valid? [True, True] Translation: X:196.99, Y:131.32, Z:9.76 [[-1.35087926e-01 -9.90798238e-01 8.37277157e-03 1.96988930e+02] [ 9.89730388e-01 -1.35331349e-01 -4.60345984e-02 1.31321174e+02] [ 4.67440975e-02 2.06806805e-03 9.98904756e-01 9.76090356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.67710568099994 meters 0.036398521318255786 Centerline is valid? [True, True] Translation: X:196.98, Y:131.35, Z:9.76 [[-1.27362067e-01 -9.91823860e-01 8.02090047e-03 1.96977350e+02] [ 9.90849390e-01 -1.27592903e-01 -4.40174773e-02 1.31345792e+02] [ 4.46809942e-02 2.34134745e-03 9.98998562e-01 9.76447903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.7071056809999 meters 0.038392451929731876 Centerline is valid? [True, True] Translation: X:196.97, Y:131.37, Z:9.77 [[-1.24378285e-01 -9.92203970e-01 7.83097384e-03 1.96969251e+02] [ 9.91280286e-01 -1.24600865e-01 -4.28721253e-02 1.31371468e+02] [ 4.35136390e-02 2.43032856e-03 9.99049877e-01 9.76621217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.73710568099995 meters 0.041462971354422895 Centerline is valid? [True, True] Translation: X:196.96, Y:131.40, Z:9.77 [[-1.22369748e-01 -9.92457325e-01 7.35542917e-03 1.96963436e+02] [ 9.91646587e-01 -1.22567553e-01 -4.01776187e-02 1.31397214e+02] [ 4.07761090e-02 2.37746117e-03 9.99165480e-01 9.76909652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.7671056809999 meters 0.04057788531291189 Centerline is valid? [True, True] Translation: X:196.96, Y:131.43, Z:9.77 [[-1.23941986e-01 -9.92261724e-01 7.41984979e-03 1.96963072e+02] [ 9.91440310e-01 -1.24141741e-01 -4.04343964e-02 1.31425156e+02] [ 4.10426170e-02 2.34481876e-03 9.99154645e-01 9.77027302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79710568099995 meters 0.03875553358024997 Centerline is valid? [True, True] Translation: X:196.97, Y:131.45, Z:9.77 [[-1.27863215e-01 -9.91762593e-01 7.61298884e-03 1.96966050e+02] [ 9.90900773e-01 -1.28069882e-01 -4.13976301e-02 1.31453067e+02] [ 4.20316155e-02 2.25048244e-03 9.99113747e-01 9.77026635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.8271056809999 meters 0.03762011337878789 Centerline is valid? [True, True] Translation: X:196.96, Y:131.48, Z:9.77 [[-1.28407084e-01 -9.91690255e-01 7.87773921e-03 1.96964235e+02] [ 9.90771735e-01 -1.28627629e-01 -4.27352624e-02 1.31479271e+02] [ 4.33934382e-02 2.31753093e-03 9.99055373e-01 9.76889285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85710568099995 meters 0.03807818683834445 Centerline is valid? [True, True] Translation: X:196.96, Y:131.51, Z:9.76 [[-1.25478114e-01 -9.92058761e-01 8.64052164e-03 1.96960941e+02] [ 9.90960255e-01 -1.25746356e-01 -4.67506941e-02 1.31506367e+02] [ 4.74659498e-02 2.69622460e-03 9.98869218e-01 9.76493059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.8871056809999 meters 0.04166614310230082 Centerline is valid? [True, True] Translation: X:196.95, Y:131.53, Z:9.76 [[-1.20697187e-01 -9.92644776e-01 9.40943238e-03 1.96953730e+02] [ 9.91349844e-01 -1.21021156e-01 -5.07874611e-02 1.31532725e+02] [ 5.15526484e-02 3.19813564e-03 9.98665157e-01 9.76001546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.91710568099995 meters 0.04179624515430167 Centerline is valid? [True, True] Translation: X:196.95, Y:131.56, Z:9.76 [[-1.18192508e-01 -9.92940215e-01 1.00130422e-02 1.96954316e+02] [ 9.91481595e-01 -1.18562606e-01 -5.39180438e-02 1.31560672e+02] [ 5.47245663e-02 3.55503828e-03 9.98495160e-01 9.75855021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.9471056809999 meters 0.04293117096596625 Centerline is valid? [True, True] Translation: X:196.95, Y:131.59, Z:9.76 [[-1.17930315e-01 -9.92967975e-01 1.03461064e-02 1.96951085e+02] [ 9.91417964e-01 -1.18325373e-01 -5.55835170e-02 1.31588013e+02] [ 5.64168592e-02 3.70233405e-03 9.98400436e-01 9.75794735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.97710568099995 meters 0.0431742428459385 Centerline is valid? [True, True] Translation: X:196.95, Y:131.61, Z:9.75 [[-1.19988956e-01 -9.92714327e-01 1.09961315e-02 1.96952077e+02] [ 9.90971006e-01 -1.20431008e-01 -5.89307868e-02 1.31614719e+02] [ 5.98257116e-02 3.82580394e-03 9.98201506e-01 9.75393072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.0071056809999 meters 0.04156167601524545 Centerline is valid? [True, True] Translation: X:196.95, Y:131.64, Z:9.75 [[-1.22796183e-01 -9.92370534e-01 1.10372510e-02 1.96951135e+02] [ 9.90621298e-01 -1.23236060e-01 -5.90111571e-02 1.31642709e+02] [ 5.99211208e-02 3.68739111e-03 9.98196305e-01 9.75367616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.03710568099996 meters 0.03944301607565146 Centerline is valid? [True, True] Translation: X:196.95, Y:131.67, Z:9.75 [[-1.25427998e-01 -9.92041941e-01 1.09820183e-02 1.96951589e+02] [ 9.90316666e-01 -1.25858441e-01 -5.85880069e-02 1.31670565e+02] [ 5.95039398e-02 3.52709932e-03 9.98221839e-01 9.75493811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.06710568099993 meters 0.040720518417755126 Centerline is valid? [True, True] Translation: X:196.95, Y:131.70, Z:9.76 [[-1.31546789e-01 -9.91254652e-01 1.04717197e-02 1.96952179e+02] [ 9.89690126e-01 -1.31928148e-01 -5.57531882e-02 1.31697597e+02] [ 5.66471218e-02 3.02960470e-03 9.98389666e-01 9.75795316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.09710568099996 meters 0.03329690754616219 Centerline is valid? [True, True] Translation: X:196.96, Y:131.73, Z:9.77 [[-1.37820547e-01 -9.90408196e-01 9.85405991e-03 1.96962141e+02] [ 9.89025938e-01 -1.38149241e-01 -5.23687048e-02 1.31726708e+02] [ 5.32277253e-02 2.52843728e-03 9.98579199e-01 9.76627032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.12710568099993 meters 0.0314642066633946 Centerline is valid? [True, True] Translation: X:196.96, Y:131.75, Z:9.77 [[-1.42378773e-01 -9.89762621e-01 9.91153058e-03 1.96961568e+02] [ 9.88369062e-01 -1.42704592e-01 -5.25546933e-02 1.31754733e+02] [ 5.34310919e-02 2.31357747e-03 9.98568859e-01 9.76653488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.1571056809999 meters 0.027852166693197167 Centerline is valid? [True, True] Translation: X:196.97, Y:131.78, Z:9.77 [[-1.51400104e-01 -9.88421367e-01 1.00603222e-02 1.96967434e+02] [ 9.86989257e-01 -1.51722438e-01 -5.32213085e-02 1.31782858e+02] [ 5.41314551e-02 1.87171827e-03 9.98532064e-01 9.76718775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.18710568099993 meters 0.02343285905638975 Centerline is valid? [True, True] Translation: X:196.97, Y:131.81, Z:9.77 [[-1.61496089e-01 -9.86825386e-01 9.72984895e-03 1.96971675e+02] [ 9.85489067e-01 -1.61783743e-01 -5.13548332e-02 1.31810706e+02] [ 5.22523845e-02 1.29505507e-03 9.98633071e-01 9.76938929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2171056809999 meters 0.02190527541977251 Centerline is valid? [True, True] Translation: X:196.97, Y:131.84, Z:9.77 [[-1.66050131e-01 -9.86071822e-01 9.47186930e-03 1.96968937e+02] [ 9.84809752e-01 -1.66316779e-01 -4.98846725e-02 1.31838281e+02] [ 5.07652007e-02 1.04463287e-03 9.98710070e-01 9.77206807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.24710568099994 meters 0.020950201682203844 Centerline is valid? [True, True] Translation: X:196.97, Y:131.86, Z:9.77 [[-1.69289200e-01 -9.85523062e-01 9.24456170e-03 1.96965449e+02] [ 9.84325047e-01 -1.69539171e-01 -4.85867455e-02 1.31864912e+02] [ 4.94506735e-02 8.74442341e-04 9.98776184e-01 9.77433149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2771056809999 meters 0.02093460359667769 Centerline is valid? [True, True] Translation: X:196.96, Y:131.89, Z:9.78 [[-1.71006329e-01 -9.85223994e-01 9.51402834e-03 1.96962172e+02] [ 9.83960537e-01 -1.71268770e-01 -4.98865787e-02 1.31889903e+02] [ 5.07789103e-02 8.30507744e-04 9.98709574e-01 9.77543904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.30710568099994 meters 0.021142674313482757 Centerline is valid? [True, True] Translation: X:196.96, Y:131.92, Z:9.78 [[-1.70853005e-01 -9.85251129e-01 9.45847730e-03 1.96956783e+02] [ 9.84008635e-01 -1.71112483e-01 -4.94724714e-02 1.31915766e+02] [ 5.03612719e-02 8.54702904e-04 9.98730700e-01 9.77736452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.3371056809999 meters 0.02294582843407846 Centerline is valid? [True, True] Translation: X:196.95, Y:131.94, Z:9.78 [[-1.67846327e-01 -9.85771603e-01 9.05305928e-03 1.96945434e+02] [ 9.84639337e-01 -1.68087414e-01 -4.72440166e-02 1.31939765e+02] [ 4.80935153e-02 9.84263612e-04 9.98842352e-01 9.78102515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.36710568099994 meters 0.025468855885106615 Centerline is valid? [True, True] Translation: X:196.93, Y:131.96, Z:9.78 [[-1.63052666e-01 -9.86577305e-01 8.89097893e-03 1.96931298e+02] [ 9.85491211e-01 -1.63290384e-01 -4.62960398e-02 1.31963758e+02] [ 4.71264335e-02 1.21328887e-03 9.98888196e-01 9.78278255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.3971056809999 meters 0.02677028994964426 Centerline is valid? [True, True] Translation: X:196.92, Y:131.99, Z:9.78 [[-1.60822198e-01 -9.86943484e-01 8.87584487e-03 1.96921679e+02] [ 9.85866306e-01 -1.61061421e-01 -4.61177254e-02 1.31989864e+02] [ 4.69451448e-02 1.33364244e-03 9.98896579e-01 9.78263182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.42710568099994 meters 0.02839299721005128 Centerline is valid? [True, True] Translation: X:196.91, Y:132.02, Z:9.78 [[-1.57494818e-01 -9.87480461e-01 8.81594090e-03 1.96910710e+02] [ 9.86422968e-01 -1.57734265e-01 -4.57124687e-02 1.32015467e+02] [ 4.65307456e-02 1.49676964e-03 9.98915737e-01 9.78286123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.4571056809999 meters 0.03115423507139593 Centerline is valid? [True, True] Translation: X:196.90, Y:132.04, Z:9.78 [[-1.54111155e-01 -9.88011124e-01 9.15267865e-03 1.96899203e+02] [ 9.86877142e-01 -1.54372960e-01 -4.73550057e-02 1.32040062e+02] [ 4.82001985e-02 1.73463471e-03 9.98836189e-01 9.78109425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.48710568099995 meters 0.031156862923660118 Centerline is valid? [True, True] Translation: X:196.89, Y:132.07, Z:9.78 [[-1.52885424e-01 -9.88199334e-01 9.38740085e-03 1.96892038e+02] [ 9.87012045e-01 -1.53162105e-01 -4.84622834e-02 1.32066218e+02] [ 4.93281902e-02 1.85630096e-03 9.98780899e-01 9.78079422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.5171056809999 meters 0.03163596386553135 Centerline is valid? [True, True] Translation: X:196.88, Y:132.09, Z:9.78 [[-1.50430050e-01 -9.88575092e-01 9.49145666e-03 1.96882358e+02] [ 9.87367189e-01 -1.50715702e-01 -4.88959152e-02 1.32092376e+02] [ 4.97677954e-02 2.01613791e-03 9.98758781e-01 9.78067045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.54710568099995 meters 0.033275532786609045 Centerline is valid? [True, True] Translation: X:196.87, Y:132.12, Z:9.78 [[-1.49199474e-01 -9.88760477e-01 9.60399395e-03 1.96872735e+02] [ 9.87529561e-01 -1.49493248e-01 -4.93673518e-02 1.32117590e+02] [ 5.02482185e-02 2.11864500e-03 9.98734513e-01 9.77956080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.5771056809999 meters 0.03238254191067389 Centerline is valid? [True, True] Translation: X:196.87, Y:132.14, Z:9.78 [[-1.47661187e-01 -9.88988734e-01 9.87209753e-03 1.96865018e+02] [ 9.87694541e-01 -1.47973345e-01 -5.06298711e-02 1.32144155e+02] [ 5.15331794e-02 2.27454998e-03 9.98668693e-01 9.77844546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.60710568099995 meters 0.034822569773046284 Centerline is valid? [True, True] Translation: X:196.85, Y:132.17, Z:9.78 [[-1.47504224e-01 -9.89013522e-01 9.73434024e-03 1.96853635e+02] [ 9.87760854e-01 -1.47807686e-01 -4.98134910e-02 1.32168720e+02] [ 5.07050264e-02 2.26749988e-03 9.98711099e-01 9.77739094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.6371056809999 meters 0.03342085791361275 Centerline is valid? [True, True] Translation: X:196.85, Y:132.20, Z:9.78 [[-1.47089459e-01 -9.89073081e-01 9.95648124e-03 1.96850567e+02] [ 9.87768724e-01 -1.47407199e-01 -5.08336977e-02 1.32195719e+02] [ 5.17458990e-02 2.35759968e-03 9.98657501e-01 9.77750348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.66710568099995 meters 0.03680368753593115 Centerline is valid? [True, True] Translation: X:196.84, Y:132.22, Z:9.77 [[-1.44908135e-01 -9.89390030e-01 1.04403506e-02 1.96841932e+02] [ 9.87962496e-01 -1.45260368e-01 -5.31933493e-02 1.32220898e+02] [ 5.41455386e-02 2.60652586e-03 9.98529652e-01 9.77467914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.6971056809999 meters 0.037436005175159735 Centerline is valid? [True, True] Translation: X:196.84, Y:132.25, Z:9.78 [[-1.43405429e-01 -9.89612840e-01 1.00652883e-02 1.96835367e+02] [ 9.88291292e-01 -1.43734600e-01 -5.11926493e-02 1.32246962e+02] [ 5.21076332e-02 2.60613287e-03 9.98638074e-01 9.77523012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.72710568099995 meters 0.035215720055237765 Centerline is valid? [True, True] Translation: X:196.83, Y:132.27, Z:9.78 [[-1.43625050e-01 -9.89580080e-01 1.01543208e-02 1.96833483e+02] [ 9.88240739e-01 -1.43959480e-01 -5.15355300e-02 1.32274622e+02] [ 5.24603447e-02 2.63312045e-03 9.98619537e-01 9.77539756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.7571056809999 meters 0.038125913374493225 Centerline is valid? [True, True] Translation: X:196.82, Y:132.30, Z:9.77 [[-1.44101074e-01 -9.89510556e-01 1.01853044e-02 1.96824864e+02] [ 9.88168876e-01 -1.44436599e-01 -5.15785018e-02 1.32299887e+02] [ 5.25086027e-02 2.63228327e-03 9.98617003e-01 9.77361034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.78710568099996 meters 0.03895301858679065 Centerline is valid? [True, True] Translation: X:196.82, Y:132.33, Z:9.77 [[-1.44171811e-01 -9.89497786e-01 1.04221410e-02 1.96821264e+02] [ 9.88099220e-01 -1.44522697e-01 -5.26604398e-02 1.32326887e+02] [ 5.36136245e-02 2.70595843e-03 9.98558089e-01 9.77224491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.81710568099993 meters 0.03970504280997317 Centerline is valid? [True, True] Translation: X:196.82, Y:132.35, Z:9.77 [[-1.44253007e-01 -9.89484767e-01 1.05340289e-02 1.96816750e+02] [ 9.88061889e-01 -1.44611047e-01 -5.31163675e-02 1.32352590e+02] [ 5.40811735e-02 2.74607677e-03 9.98532766e-01 9.77308955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.84710568099996 meters 0.03819702650399837 Centerline is valid? [True, True] Translation: X:196.82, Y:132.38, Z:9.77 [[-1.44470279e-01 -9.89451418e-01 1.06878806e-02 1.96817288e+02] [ 9.87993022e-01 -1.44838200e-01 -5.37743826e-02 1.32379853e+02] [ 5.47551525e-02 2.79075139e-03 9.98495911e-01 9.77472030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.87710568099993 meters 0.0359159970843815 Centerline is valid? [True, True] Translation: X:196.82, Y:132.41, Z:9.78 [[-1.45316452e-01 -9.89335307e-01 9.93875478e-03 1.96817948e+02] [ 9.88079372e-01 -1.45633276e-01 -4.99009303e-02 1.32407963e+02] [ 5.08161657e-02 2.56885244e-03 9.98704720e-01 9.78073526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.9071056809999 meters 0.0352752173406796 Centerline is valid? [True, True] Translation: X:196.81, Y:132.43, Z:9.78 [[-1.46483829e-01 -9.89167131e-01 9.53279072e-03 1.96814183e+02] [ 9.88016019e-01 -1.46773716e-01 -4.77684283e-02 1.32434810e+02] [ 4.86501223e-02 2.42124767e-03 9.98812947e-01 9.78424371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.93710568099993 meters 0.03523617180738997 Centerline is valid? [True, True] Translation: X:196.81, Y:132.46, Z:9.79 [[-1.48702172e-01 -9.88840520e-01 9.06039553e-03 1.96808889e+02] [ 9.87804415e-01 -1.48961513e-01 -4.53089977e-02 1.32460784e+02] [ 4.61530231e-02 2.21235234e-03 9.98931932e-01 9.78621279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.9671056809999 meters 0.03523617180738997 Centerline is valid? [True, True] Translation: X:196.80, Y:132.49, Z:9.79 [[-1.49145040e-01 -9.88773648e-01 9.07910171e-03 1.96803494e+02] [ 9.87737642e-01 -1.49404771e-01 -4.53052498e-02 1.32486130e+02] [ 4.61530983e-02 2.21071723e-03 9.98931932e-01 9.78716953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99710568099994 meters 0.03520379707756925 Centerline is valid? [True, True] Translation: X:196.80, Y:132.51, Z:9.79 [[-1.50020617e-01 -9.88642561e-01 8.92756058e-03 1.96799702e+02] [ 9.87645263e-01 -1.50270648e-01 -4.44473562e-02 1.32512407e+02] [ 4.52840984e-02 2.14924313e-03 9.98971837e-01 9.78888164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0271056809999 meters 0.036094458965178815 Centerline is valid? [True, True] Translation: X:196.80, Y:132.54, Z:9.79 [[-1.50224271e-01 -9.88613065e-01 8.76791726e-03 1.96798658e+02] [ 9.87655498e-01 -1.50465034e-01 -4.35532987e-02 1.32537805e+02] [ 4.43766251e-02 2.11691916e-03 9.99012629e-01 9.79143326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.05710568099994 meters 0.03371068146224379 Centerline is valid? [True, True] Translation: X:196.80, Y:132.57, Z:9.79 [[-1.50185234e-01 -9.88617931e-01 8.88712762e-03 1.96798361e+02] [ 9.87638815e-01 -1.50432402e-01 -4.40416032e-02 1.32565873e+02] [ 4.48772306e-02 2.16287370e-03 9.98990168e-01 9.79316989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0871056809999 meters 0.03721897403478721 Centerline is valid? [True, True] Translation: X:196.79, Y:132.59, Z:9.79 [[-1.49703517e-01 -9.88687172e-01 9.30226018e-03 1.96787595e+02] [ 9.87619268e-01 -1.49974598e-01 -4.59978450e-02 1.32590123e+02] [ 4.68725821e-02 2.30105222e-03 9.98898226e-01 9.78941317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.11710568099994 meters 0.03877780067553368 Centerline is valid? [True, True] Translation: X:196.78, Y:132.61, Z:9.79 [[-1.48543575e-01 -9.88863032e-01 9.20376550e-03 1.96778189e+02] [ 9.87822333e-01 -1.48809953e-01 -4.54162558e-02 1.32614875e+02] [ 4.62800683e-02 2.34539211e-03 9.98925750e-01 9.78832841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.1471056809999 meters 0.03727461629652397 Centerline is valid? [True, True] Translation: X:196.78, Y:132.64, Z:9.79 [[-1.47593336e-01 -9.89005809e-01 9.14968972e-03 1.96775291e+02] [ 9.87981818e-01 -1.47857362e-01 -4.50569317e-02 1.32642290e+02] [ 4.59144162e-02 2.38962421e-03 9.98942519e-01 9.79107049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.17710568099994 meters 0.03738012492146283 Centerline is valid? [True, True] Translation: X:196.77, Y:132.67, Z:9.79 [[-1.44369367e-01 -9.89479239e-01 9.39794651e-03 1.96770911e+02] [ 9.88404416e-01 -1.44651173e-01 -4.61816902e-02 1.32668490e+02] [ 4.70552477e-02 2.62175045e-03 9.98888848e-01 9.79223040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.2071056809999 meters 0.042358571917739535 Centerline is valid? [True, True] Translation: X:196.76, Y:132.69, Z:9.79 [[-1.42160500e-01 -9.89801355e-01 9.14708847e-03 1.96759230e+02] [ 9.88788041e-01 -1.42429491e-01 -4.48558784e-02 1.32692412e+02] [ 4.57012244e-02 2.66779759e-03 9.98951591e-01 9.79267792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.23710568099995 meters 0.043947657001768795 Centerline is valid? [True, True] Translation: X:196.75, Y:132.72, Z:9.79 [[-1.41865455e-01 -9.89844526e-01 9.05578430e-03 1.96752900e+02] [ 9.88854990e-01 -1.42129191e-01 -4.43294786e-02 1.32717606e+02] [ 4.51663830e-02 2.66603583e-03 9.98975921e-01 9.79335356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.2671056809999 meters 0.03927197401605818 Centerline is valid? [True, True] Translation: X:196.76, Y:132.75, Z:9.79 [[-1.41433371e-01 -9.89907601e-01 8.91867157e-03 1.96756943e+02] [ 9.88951881e-01 -1.41689366e-01 -4.35695028e-02 1.32745996e+02] [ 4.43934629e-02 2.65795536e-03 9.99010588e-01 9.79445762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.29710568099995 meters 0.039553399442339834 Centerline is valid? [True, True] Translation: X:196.75, Y:132.77, Z:9.79 [[-1.42026955e-01 -9.89824315e-01 8.72756071e-03 1.96754694e+02] [ 9.88912766e-01 -1.42271326e-01 -4.25489365e-02 1.32772953e+02] [ 4.33576535e-02 2.58770029e-03 9.99056264e-01 9.79499883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.3271056809999 meters 0.03977312196398218 Centerline is valid? [True, True] Translation: X:196.75, Y:132.80, Z:9.80 [[-1.42327714e-01 -9.89782586e-01 8.55889713e-03 1.96750676e+02] [ 9.88909325e-01 -1.42562260e-01 -4.16455088e-02 1.32800377e+02] [ 4.24401751e-02 2.53666314e-03 9.99095790e-01 9.79666562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.35710568099995 meters 0.040658280345339665 Centerline is valid? [True, True] Translation: X:196.75, Y:132.83, Z:9.80 [[-1.42066956e-01 -9.89821167e-01 8.42833987e-03 1.96749026e+02] [ 9.88976976e-01 -1.42294473e-01 -4.09490400e-02 1.32828012e+02] [ 4.17315328e-02 2.51792861e-03 9.99125687e-01 9.79816510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.3871056809999 meters 0.04213419950823079 Centerline is valid? [True, True] Translation: X:196.74, Y:132.85, Z:9.80 [[-1.41066523e-01 -9.89962080e-01 8.67847735e-03 1.96744655e+02] [ 9.89071033e-01 -1.41308413e-01 -4.20764006e-02 1.32853500e+02] [ 4.28803829e-02 2.64805905e-03 9.99076704e-01 9.79864856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.41710568099995 meters 0.04217757881264341 Centerline is valid? [True, True] Translation: X:196.74, Y:132.88, Z:9.80 [[-1.39569228e-01 -9.90169080e-01 9.25333176e-03 1.96743532e+02] [ 9.89160896e-01 -1.39845464e-01 -4.47657128e-02 1.32880960e+02] [ 4.56196611e-02 2.90511796e-03 9.98954657e-01 9.79572315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.4471056809999 meters 0.04286750485136929 Centerline is valid? [True, True] Translation: X:196.74, Y:132.91, Z:9.80 [[-1.40100159e-01 -9.90094483e-01 9.21193378e-03 1.96738561e+02] [ 9.89099296e-01 -1.40373132e-01 -4.44743264e-02 1.32906821e+02] [ 4.53268932e-02 2.88065701e-03 9.98968055e-01 9.79531758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.47710568099995 meters 0.0430510074501916 Centerline is valid? [True, True] Translation: X:196.74, Y:132.93, Z:9.80 [[-1.40446199e-01 -9.90048801e-01 8.84516132e-03 1.96737093e+02] [ 9.89135202e-01 -1.40697300e-01 -4.26124703e-02 1.32933731e+02] [ 4.34329155e-02 2.76430095e-03 9.99052521e-01 9.79798089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.5071056809999 meters 0.043620414390698345 Centerline is valid? [True, True] Translation: X:196.73, Y:132.96, Z:9.80 [[-1.41054909e-01 -9.89963365e-01 8.72062115e-03 1.96733948e+02] [ 9.89079114e-01 -1.41298196e-01 -4.19204636e-02 1.32959370e+02] [ 4.27319312e-02 2.71229706e-03 9.99082892e-01 9.79970203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.53710568099996 meters 0.04069261077219955 Centerline is valid? [True, True] Translation: X:196.74, Y:132.99, Z:9.80 [[-1.43261472e-01 -9.89648178e-01 8.52258696e-03 1.96740002e+02] [ 9.88806914e-01 -1.43491722e-01 -4.08780204e-02 1.32988277e+02] [ 4.16777791e-02 2.57094752e-03 9.99127796e-01 9.80414179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.56710568099993 meters 0.03752566610148733 Centerline is valid? [True, True] Translation: X:196.74, Y:133.02, Z:9.81 [[-1.48415503e-01 -9.88890971e-01 8.21495711e-03 1.96744597e+02] [ 9.88111338e-01 -1.48625185e-01 -3.93260615e-02 1.33016964e+02] [ 4.01101367e-02 2.28069505e-03 9.99192662e-01 9.80586372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.59710568099996 meters 0.03721203336460355 Centerline is valid? [True, True] Translation: X:196.74, Y:133.04, Z:9.81 [[-1.51372210e-01 -9.88442560e-01 8.23162797e-03 1.96740717e+02] [ 9.87662278e-01 -1.51580231e-01 -3.93275779e-02 1.33042712e+02] [ 4.01208038e-02 2.17696605e-03 9.99192465e-01 9.80550217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.62710568099993 meters 0.03257900720778956 Centerline is valid? [True, True] Translation: X:196.74, Y:133.07, Z:9.80 [[-1.58411176e-01 -9.87340937e-01 7.98581559e-03 1.96744862e+02] [ 9.86608181e-01 -1.58601583e-01 -3.80766949e-02 1.33071026e+02] [ 3.88612427e-02 1.84709697e-03 9.99242909e-01 9.80479717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.6571056809999 meters 0.03161545136600849 Centerline is valid? [True, True] Translation: X:196.74, Y:133.10, Z:9.81 [[-1.62842485e-01 -9.86620732e-01 7.86481486e-03 1.96744439e+02] [ 9.85912066e-01 -1.63023850e-01 -3.74248968e-02 1.33098391e+02] [ 3.82063315e-02 1.65965267e-03 9.99268493e-01 9.80707888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.68710568099993 meters 0.02884592598735307 Centerline is valid? [True, True] Translation: X:196.75, Y:133.13, Z:9.81 [[-1.68617967e-01 -9.85650706e-01 7.78895604e-03 1.96746282e+02] [ 9.84957409e-01 -1.68791673e-01 -3.69901811e-02 1.33126534e+02] [ 3.77741090e-02 1.43458080e-03 9.99285274e-01 9.80925811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7171056809999 meters 0.02403970950031366 Centerline is valid? [True, True] Translation: X:196.75, Y:133.15, Z:9.81 [[-1.80562126e-01 -9.83529714e-01 8.16207620e-03 1.96752702e+02] [ 9.82768590e-01 -1.80743554e-01 -3.86996875e-02 1.33154312e+02] [ 3.95375352e-02 1.03373428e-03 9.99217551e-01 9.81008543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.74710568099994 meters 0.020375054396575457 Centerline is valid? [True, True] Translation: X:196.76, Y:133.18, Z:9.81 [[-1.90352459e-01 -9.81683184e-01 8.00419519e-03 1.96757096e+02] [ 9.80952589e-01 -1.90519586e-01 -3.78722240e-02 1.33182749e+02] [ 3.87034814e-02 6.42665033e-04 9.99250533e-01 9.81162599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7771056809999 meters 0.01951306946167544 Centerline is valid? [True, True] Translation: X:196.75, Y:133.21, Z:9.81 [[-1.94757109e-01 -9.80819488e-01 7.92465520e-03 1.96754806e+02] [ 9.80105639e-01 -1.94917679e-01 -3.74170357e-02 1.33208765e+02] [ 3.82440132e-02 4.79765548e-04 9.99268315e-01 9.81322295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.80710568099994 meters 0.01870425679615751 Centerline is valid? [True, True] Translation: X:196.75, Y:133.24, Z:9.81 [[-1.98852836e-01 -9.79996909e-01 7.97547378e-03 1.96752690e+02] [ 9.79276266e-01 -1.99012423e-01 -3.75772567e-02 1.33235591e+02] [ 3.84128138e-02 3.37848129e-04 9.99261898e-01 9.81441626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.8371056809999 meters 0.018952380434659893 Centerline is valid? [True, True] Translation: X:196.75, Y:133.26, Z:9.81 [[-1.97975366e-01 -9.80171790e-01 8.30763989e-03 1.96745920e+02] [ 9.79393167e-01 -1.98149186e-01 -3.90630892e-02 1.33260995e+02] [ 3.99346902e-02 4.02916378e-04 9.99202211e-01 9.81353362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.86710568099994 meters 0.01939352996283747 Centerline is valid? [True, True] Translation: X:196.74, Y:133.29, Z:9.81 [[-1.96830258e-01 -9.80399363e-01 8.65669013e-03 1.96738103e+02] [ 9.79557845e-01 -1.97019931e-01 -4.06149521e-02 1.33286222e+02] [ 4.15244137e-02 4.85477208e-04 9.99137372e-01 9.81258174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.8971056809999 meters 0.02156232284401821 Centerline is valid? [True, True] Translation: X:196.73, Y:133.31, Z:9.81 [[-1.90939494e-01 -9.81558241e-01 9.24821732e-03 1.96726197e+02] [ 9.80603311e-01 -1.91161649e-01 -4.32939891e-02 1.33310698e+02] [ 4.42634762e-02 8.02300181e-04 9.99019570e-01 9.81128750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.92710568099994 meters 0.022229716289646075 Centerline is valid? [True, True] Translation: X:196.72, Y:133.34, Z:9.81 [[-1.88310539e-01 -9.82063521e-01 9.50689917e-03 1.96719416e+02] [ 9.81059136e-01 -1.88547905e-01 -4.44146202e-02 1.33336845e+02] [ 4.54104842e-02 9.63089242e-04 9.98967948e-01 9.81251543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.9571056809999 meters 0.0242104132084752 Centerline is valid? [True, True] Translation: X:196.71, Y:133.36, Z:9.82 [[-1.83139109e-01 -9.83042003e-01 9.40673295e-03 1.96710456e+02] [ 9.82063738e-01 -1.83376572e-01 -4.38616945e-02 1.33362226e+02] [ 4.48428625e-02 1.20521968e-03 9.98993326e-01 9.81533257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.98710568099995 meters 0.026717659348494488 Centerline is valid? [True, True] Translation: X:196.70, Y:133.39, Z:9.82 [[-1.78720716e-01 -9.83857009e-01 9.18104260e-03 1.96700246e+02] [ 9.82929960e-01 -1.78950990e-01 -4.27227833e-02 1.33386770e+02] [ 4.36760664e-02 1.38887542e-03 9.99044780e-01 9.81815715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.0171056809999 meters 0.030720707447216198 Centerline is valid? [True, True] Translation: X:196.69, Y:133.41, Z:9.82 [[-1.72088270e-01 -9.85036924e-01 9.37472938e-03 1.96688284e+02] [ 9.84076020e-01 -1.72334709e-01 -4.35331574e-02 1.33410330e+02] [ 4.44973587e-02 1.73390062e-03 9.99007997e-01 9.81728601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.04710568099995 meters 0.03262945915805566 Centerline is valid? [True, True] Translation: X:196.68, Y:133.44, Z:9.82 [[-1.68252427e-01 -9.85698914e-01 9.42183833e-03 1.96679296e+02] [ 9.84733226e-01 -1.68504955e-01 -4.36641028e-02 1.33435587e+02] [ 4.46272852e-02 1.93140599e-03 9.99001839e-01 9.81740387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.0771056809999 meters 0.037938820376839676 Centerline is valid? [True, True] Translation: X:196.67, Y:133.46, Z:9.82 [[-1.61695936e-01 -9.86796765e-01 9.30427517e-03 1.96665695e+02] [ 9.85859492e-01 -1.61948319e-01 -4.30558349e-02 1.33458643e+02] [ 4.39941703e-02 2.21075445e-03 9.99029342e-01 9.81795420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.10710568099995 meters 0.03978181184780355 Centerline is valid? [True, True] Translation: X:196.66, Y:133.48, Z:9.82 [[-1.58772113e-01 -9.87271289e-01 9.31764438e-03 1.96657917e+02] [ 9.86335131e-01 -1.59027841e-01 -4.30482961e-02 1.33484566e+02] [ 4.39821117e-02 2.35545106e-03 9.99029542e-01 9.81954090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.1371056809999 meters 0.04133950897848167 Centerline is valid? [True, True] Translation: X:196.65, Y:133.51, Z:9.82 [[-1.54620608e-01 -9.87924930e-01 9.83870518e-03 1.96651939e+02] [ 9.86886561e-01 -1.54909866e-01 -4.53635284e-02 1.33511145e+02] [ 4.63398731e-02 2.69554958e-03 9.98922094e-01 9.81828829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.16710568099995 meters 0.043559088026343416 Centerline is valid? [True, True] Translation: X:196.64, Y:133.54, Z:9.82 [[-1.53793965e-01 -9.88051411e-01 1.00908700e-02 1.96643546e+02] [ 9.86963511e-01 -1.54098904e-01 -4.64387336e-02 1.33536118e+02] [ 4.74388483e-02 2.81732351e-03 9.98870171e-01 9.81656258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.1971056809999 meters 0.04240849989229762 Centerline is valid? [True, True] Translation: X:196.64, Y:133.56, Z:9.81 [[-1.54569990e-01 -9.87927051e-01 1.04048441e-02 1.96640067e+02] [ 9.86773867e-01 -1.54893063e-01 -4.78066372e-02 1.33562153e+02] [ 4.88411083e-02 2.87775678e-03 9.98802415e-01 9.81462183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.22710568099995 meters 0.04090278870311583 Centerline is valid? [True, True] Translation: X:196.64, Y:133.59, Z:9.82 [[-1.55963918e-01 -9.87708353e-01 1.03665966e-02 1.96637272e+02] [ 9.86567773e-01 -1.56282741e-01 -4.75366651e-02 1.33589369e+02] [ 4.85724813e-02 2.81334558e-03 9.98815698e-01 9.81598069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.2571056809999 meters 0.039082824497819656 Centerline is valid? [True, True] Translation: X:196.64, Y:133.62, Z:9.82 [[-1.61517948e-01 -9.86812567e-01 1.06259060e-02 1.96640101e+02] [ 9.85616983e-01 -1.61845923e-01 -4.86318823e-02 1.33616422e+02] [ 4.97103122e-02 2.61815154e-03 9.98760247e-01 9.81598854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.28710568099996 meters 0.036022668375097634 Centerline is valid? [True, True] Translation: X:196.64, Y:133.64, Z:9.82 [[-1.63685973e-01 -9.86450950e-01 1.10193764e-02 1.96640374e+02] [ 9.85169585e-01 -1.64035585e-01 -5.03310521e-02 1.33644216e+02] [ 5.14566840e-02 2.61746727e-03 9.98671797e-01 9.81538203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.31710568099993 meters 0.03746163142240072 Centerline is valid? [True, True] Translation: X:196.64, Y:133.67, Z:9.81 [[-1.64775137e-01 -9.86265448e-01 1.13850878e-02 1.96635011e+02] [ 9.84902302e-01 -1.65146562e-01 -5.19044211e-02 1.33670275e+02] [ 5.30717453e-02 2.66064106e-03 9.98587157e-01 9.81380275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.34710568099996 meters 0.03798973436246682 Centerline is valid? [True, True] Translation: X:196.63, Y:133.70, Z:9.81 [[-1.66119087e-01 -9.86033775e-01 1.19098058e-02 1.96633409e+02] [ 9.84547326e-01 -1.66523200e-01 -5.41902810e-02 1.33696044e+02] [ 5.54167063e-02 2.72372741e-03 9.98459599e-01 9.81176549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.37710568099993 meters 0.03851415627582707 Centerline is valid? [True, True] Translation: X:196.63, Y:133.72, Z:9.81 [[-1.66766619e-01 -9.85930081e-01 1.14354820e-02 1.96629340e+02] [ 9.84564731e-01 -1.67138044e-01 -5.19342271e-02 1.33722314e+02] [ 5.31148208e-02 2.59807678e-03 9.98585032e-01 9.81434600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.4071056809999 meters 0.032381895465227684 Centerline is valid? [True, True] Translation: X:196.63, Y:133.75, Z:9.82 [[-1.66967953e-01 -9.85899408e-01 1.11381909e-02 1.96633804e+02] [ 9.84609075e-01 -1.67319817e-01 -5.04881016e-02 1.33750427e+02] [ 5.16398295e-02 2.53686885e-03 9.98662552e-01 9.81973049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.43710568099993 meters 0.030694754909100733 Centerline is valid? [True, True] Translation: X:196.63, Y:133.78, Z:9.82 [[-1.68181765e-01 -9.85694602e-01 1.10020345e-02 1.96632468e+02] [ 9.84440214e-01 -1.68523291e-01 -4.97731307e-02 1.33778887e+02] [ 5.09152053e-02 2.45991219e-03 9.98699950e-01 9.82280525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.4671056809999 meters 0.029313003936214915 Centerline is valid? [True, True] Translation: X:196.64, Y:133.81, Z:9.83 [[-1.71638525e-01 -9.85108829e-01 1.00405186e-02 1.96635126e+02] [ 9.84066578e-01 -1.71919167e-01 -4.53516278e-02 1.33807185e+02] [ 4.64024465e-02 2.09645235e-03 9.98920626e-01 9.83066808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49710568099994 meters 0.02834894673172038 Centerline is valid? [True, True] Translation: X:196.63, Y:133.84, Z:9.83 [[-1.74889365e-01 -9.84541564e-01 9.57174823e-03 1.96633796e+02] [ 9.83596922e-01 -1.75141153e-01 -4.31586756e-02 1.33835679e+02] [ 4.41679170e-02 1.86674874e-03 9.99022377e-01 9.83477533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5271056809999 meters 0.02838169964121962 Centerline is valid? [True, True] Translation: X:196.63, Y:133.86, Z:9.83 [[-1.75944222e-01 -9.84353089e-01 9.62433747e-03 1.96627952e+02] [ 9.83400950e-01 -1.76197628e-01 -4.33239839e-02 1.33862826e+02] [ 4.43418828e-02 1.84197798e-03 9.99014717e-01 9.83474770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.55710568099994 meters 0.028256006328243016 Centerline is valid? [True, True] Translation: X:196.62, Y:133.89, Z:9.83 [[-1.77149265e-01 -9.84136143e-01 9.70515102e-03 1.96624813e+02] [ 9.83170909e-01 -1.77405624e-01 -4.36143192e-02 1.33889107e+02] [ 4.46441763e-02 1.81557757e-03 9.99001302e-01 9.83492588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5871056809999 meters 0.02921038852373738 Centerline is valid? [True, True] Translation: X:196.62, Y:133.91, Z:9.84 [[-1.78125522e-01 -9.83958626e-01 9.83469806e-03 1.96619175e+02] [ 9.82970190e-01 -1.78387666e-01 -4.41298701e-02 1.33914829e+02] [ 4.51763552e-02 1.80655886e-03 9.98977394e-01 9.83514417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.61710568099994 meters 0.027224474196186885 Centerline is valid? [True, True] Translation: X:196.62, Y:133.94, Z:9.84 [[-1.81187787e-01 -9.83398893e-01 9.87943038e-03 1.96618757e+02] [ 9.82404332e-01 -1.81449076e-01 -4.42488651e-02 1.33943060e+02] [ 4.53068984e-02 1.68824127e-03 9.98971689e-01 9.83699219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.6471056809999 meters 0.02723319791640823 Centerline is valid? [True, True] Translation: X:196.61, Y:133.97, Z:9.84 [[-1.83388119e-01 -9.82990356e-01 9.93770403e-03 1.96614512e+02] [ 9.81986861e-01 -1.83650124e-01 -4.44346350e-02 1.33969414e+02] [ 4.55038783e-02 1.60991066e-03 9.98962865e-01 9.83814595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.67710568099994 meters 0.02441056225381248 Centerline is valid? [True, True] Translation: X:196.62, Y:134.00, Z:9.84 [[-1.89095539e-01 -9.81902260e-01 1.05275587e-02 1.96616795e+02] [ 9.80778483e-01 -1.89382887e-01 -4.69860490e-02 1.33997553e+02] [ 4.81294471e-02 1.44035078e-03 9.98840068e-01 9.83793935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.7071056809999 meters 0.02352550955724926 Centerline is valid? [True, True] Translation: X:196.61, Y:134.02, Z:9.84 [[-1.92916644e-01 -9.81157016e-01 1.06807609e-02 1.96612902e+02] [ 9.80003312e-01 -1.93207797e-01 -4.75842026e-02 1.34023660e+02] [ 4.87511805e-02 1.28739640e-03 9.98810125e-01 9.83711003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.73710568099995 meters 0.020697980724319928 Centerline is valid? [True, True] Translation: X:196.61, Y:134.05, Z:9.84 [[-2.00662404e-01 -9.79606797e-01 1.02529148e-02 1.96614521e+02] [ 9.78545320e-01 -2.00922232e-01 -4.55994870e-02 1.34051932e+02] [ 4.67296060e-02 8.82839112e-04 9.98907185e-01 9.83899791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.7671056809999 meters 0.018255542007940846 Centerline is valid? [True, True] Translation: X:196.62, Y:134.08, Z:9.84 [[-2.08184465e-01 -9.78038476e-01 9.99841133e-03 1.96618474e+02] [ 9.77030612e-01 -2.08423756e-01 -4.43928001e-02 1.34080523e+02] [ 4.55017730e-02 5.26862620e-04 9.98964119e-01 9.84306958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.79710568099995 meters 0.01758030363754034 Centerline is valid? [True, True] Translation: X:196.62, Y:134.11, Z:9.84 [[-2.12298300e-01 -9.77152692e-01 1.01018808e-02 1.96616822e+02] [ 9.76126714e-01 -2.12538206e-01 -4.47677211e-02 1.34105857e+02] [ 4.58919349e-02 3.56604589e-04 9.98946346e-01 9.84459302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.8271056809999 meters 0.01662499685060491 Centerline is valid? [True, True] Translation: X:196.62, Y:134.13, Z:9.85 [[-2.21243485e-01 -9.75166089e-01 1.01202775e-02 1.96620068e+02] [ 9.74138439e-01 -2.21474824e-01 -4.47571663e-02 1.34134939e+02] [ 4.58870575e-02 -4.36801095e-05 9.98946633e-01 9.84799357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.85710568099995 meters 0.01688245853170972 Centerline is valid? [True, True] Translation: X:196.62, Y:134.16, Z:9.85 [[-2.25946223e-01 -9.74088934e-01 9.95248275e-03 1.96617620e+02] [ 9.73097734e-01 -2.26165182e-01 -4.39330186e-02 1.34161358e+02] [ 4.50455723e-02 -2.41761214e-04 9.98984904e-01 9.85012924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.8871056809999 meters 0.01688245853170972 Centerline is valid? [True, True] Translation: X:196.61, Y:134.19, Z:9.85 [[-2.26355535e-01 -9.73993704e-01 9.97178299e-03 1.96611441e+02] [ 9.73002604e-01 -2.26574947e-01 -4.39286382e-02 1.34187426e+02] [ 4.50455733e-02 -2.40919574e-04 9.98984904e-01 9.85111513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.91710568099995 meters 0.01840892148196613 Centerline is valid? [True, True] Translation: X:196.61, Y:134.21, Z:9.85 [[-2.32028203e-01 -9.72658066e-01 9.95989200e-03 1.96610079e+02] [ 9.71671931e-01 -2.32241369e-01 -4.37904585e-02 1.34214007e+02] [ 4.49062416e-02 -4.82873897e-04 9.98991089e-01 9.85046950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.9471056809999 meters 0.01760186314468697 Centerline is valid? [True, True] Translation: X:196.60, Y:134.24, Z:9.85 [[-2.32428836e-01 -9.72564113e-01 9.79197427e-03 1.96600996e+02] [ 9.71614653e-01 -2.32634527e-01 -4.29667586e-02 1.34239941e+02] [ 4.40658788e-02 -4.72688009e-04 9.99028516e-01 9.85457429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.97710568099995 meters 0.01705714953390337 Centerline is valid? [True, True] Translation: X:196.59, Y:134.26, Z:9.86 [[-2.27251385e-01 -9.73791798e-01 9.29206158e-03 1.96590555e+02] [ 9.72941013e-01 -2.27441182e-01 -4.06976014e-02 1.34264834e+02] [ 4.17443879e-02 -2.07958487e-04 9.99128301e-01 9.85963383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.0071056809999 meters 0.01722492224705024 Centerline is valid? [True, True] Translation: X:196.57, Y:134.29, Z:9.86 [[-2.16813268e-01 -9.76168561e-01 9.32459132e-03 1.96571143e+02] [ 9.75317193e-01 -2.17013537e-01 -4.07614868e-02 1.34288383e+02] [ 4.18136444e-02 2.56803076e-04 9.99125394e-01 9.86225970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.03710568099996 meters 0.020847239121281867 Centerline is valid? [True, True] Translation: X:196.55, Y:134.31, Z:9.86 [[-2.04713706e-01 -9.78777568e-01 9.31510998e-03 1.96548641e+02] [ 9.77933796e-01 -2.04924008e-01 -4.06403983e-02 1.34310223e+02] [ 4.16867998e-02 7.89914307e-04 9.99130415e-01 9.86059039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.06710568099993 meters 0.021947819058545797 Centerline is valid? [True, True] Translation: X:196.54, Y:134.34, Z:9.86 [[-2.00396390e-01 -9.79672392e-01 9.12642700e-03 1.96538755e+02] [ 9.78866583e-01 -2.00601754e-01 -3.97385032e-02 1.34335721e+02] [ 4.07614917e-02 9.70101843e-04 9.99168434e-01 9.86163181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.09710568099996 meters 0.02389498779161526 Centerline is valid? [True, True] Translation: X:196.53, Y:134.36, Z:9.86 [[-1.95489843e-01 -9.80659972e-01 9.47316778e-03 1.96527552e+02] [ 9.79796174e-01 -1.95715350e-01 -4.11698786e-02 1.34360199e+02] [ 4.22276963e-02 1.23348043e-03 9.99107252e-01 9.86051844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.12710568099993 meters 0.023214251387122704 Centerline is valid? [True, True] Translation: X:196.52, Y:134.39, Z:9.86 [[-1.94779335e-01 -9.80798086e-01 9.80440142e-03 1.96522815e+02] [ 9.79875781e-01 -1.95021467e-01 -4.25450394e-02 1.34387689e+02] [ 4.36401620e-02 1.32020103e-03 9.99046442e-01 9.86046037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.1571056809999 meters 0.026015274840092976 Centerline is valid? [True, True] Translation: X:196.51, Y:134.41, Z:9.86 [[-1.95603243e-01 -9.80628505e-01 1.03492723e-02 1.96514013e+02] [ 9.79604067e-01 -1.95872057e-01 -4.48331154e-02 1.34413220e+02] [ 4.59917642e-02 1.36868650e-03 9.98940881e-01 9.85798493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.18710568099993 meters 0.024334528500487316 Centerline is valid? [True, True] Translation: X:196.51, Y:134.44, Z:9.86 [[-1.96769320e-01 -9.80392517e-01 1.05993888e-02 1.96511136e+02] [ 9.79321645e-01 -1.97049884e-01 -4.58307535e-02 1.34440232e+02] [ 4.70207362e-02 1.36212470e-03 9.98892985e-01 9.85842750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2171056809999 meters 0.023905422584419 Centerline is valid? [True, True] Translation: X:196.51, Y:134.47, Z:9.86 [[-1.99954087e-01 -9.79745222e-01 1.08472390e-02 1.96505719e+02] [ 9.78626742e-01 -2.00244170e-01 -4.68185060e-02 1.34465752e+02] [ 4.80423040e-02 1.25384655e-03 9.98844515e-01 9.85686269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.24710568099994 meters 0.022453189880032136 Centerline is valid? [True, True] Translation: X:196.50, Y:134.49, Z:9.86 [[-2.02756101e-01 -9.79166337e-01 1.11016870e-02 1.96502112e+02] [ 9.77997530e-01 -2.03056507e-01 -4.78423122e-02 1.34493055e+02] [ 4.90998514e-02 1.15710174e-03 9.98793205e-01 9.85690793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2771056809999 meters 0.021129631874392794 Centerline is valid? [True, True] Translation: X:196.50, Y:134.52, Z:9.86 [[-2.07597781e-01 -9.78147380e-01 1.14395883e-02 1.96500867e+02] [ 9.76909369e-01 -2.07910511e-01 -4.92067399e-02 1.34520856e+02] [ 5.05098544e-02 9.60230946e-04 9.98723101e-01 9.85723728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.30710568099994 meters 0.019336699523761044 Centerline is valid? [True, True] Translation: X:196.50, Y:134.55, Z:9.86 [[-2.14135054e-01 -9.76742743e-01 1.09449630e-02 1.96499884e+02] [ 9.75611645e-01 -2.14413703e-01 -4.69966180e-02 1.34548015e+02] [ 4.82503556e-02 6.14410025e-04 9.98835084e-01 9.86020329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3371056809999 meters 0.01826833100088008 Centerline is valid? [True, True] Translation: X:196.50, Y:134.57, Z:9.86 [[-2.17970109e-01 -9.75896147e-01 1.07583814e-02 1.96495798e+02] [ 9.74806153e-01 -2.18235013e-01 -4.61133681e-02 1.34574669e+02] [ 4.73497137e-02 4.36000477e-04 9.98878278e-01 9.86206412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.36710568099994 meters 0.01767470565089884 Centerline is valid? [True, True] Translation: X:196.49, Y:134.60, Z:9.86 [[-2.23720341e-01 -9.74593071e-01 1.08422776e-02 1.96492105e+02] [ 9.73488563e-01 -2.23982844e-01 -4.63864588e-02 1.34600055e+02] [ 4.76364055e-02 1.77238879e-04 9.98864726e-01 9.86117613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3971056809999 meters 0.01763489579591004 Centerline is valid? [True, True] Translation: X:196.49, Y:134.63, Z:9.86 [[-2.25637279e-01 -9.74149408e-01 1.09886276e-02 1.96485635e+02] [ 9.73019028e-01 -2.25904671e-01 -4.69153614e-02 1.34625921e+02] [ 4.81849538e-02 1.06289247e-04 9.98838425e-01 9.86122685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.42710568099994 meters 0.01795502618661082 Centerline is valid? [True, True] Translation: X:196.48, Y:134.65, Z:9.86 [[-2.25369759e-01 -9.74213455e-01 1.07988476e-02 1.96476408e+02] [ 9.73126170e-01 -2.25628288e-01 -4.60144789e-02 1.34650236e+02] [ 4.72644500e-02 1.38369180e-04 9.98882402e-01 9.86425760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.4571056809999 meters 0.01805062008542654 Centerline is valid? [True, True] Translation: X:196.47, Y:134.68, Z:9.87 [[-2.24276036e-01 -9.74466140e-01 1.07704161e-02 1.96467468e+02] [ 9.73389231e-01 -2.24534401e-01 -4.58007310e-02 1.34675048e+02] [ 4.70495905e-02 2.11800719e-04 9.98892532e-01 9.86769757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.48710568099995 meters 0.019038387689156902 Centerline is valid? [True, True] Translation: X:196.45, Y:134.70, Z:9.87 [[-2.19553524e-01 -9.75536854e-01 1.11398654e-02 1.96449910e+02] [ 9.74390659e-01 -2.19835442e-01 -4.72781380e-02 1.34698145e+02] [ 4.85705033e-02 4.74498982e-04 9.98819644e-01 9.86764368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.5171056809999 meters 0.019685899010748832 Centerline is valid? [True, True] Translation: X:196.44, Y:134.72, Z:9.87 [[-2.16912346e-01 -9.76127818e-01 1.11138180e-02 1.96436687e+02] [ 9.74991913e-01 -2.17195981e-01 -4.70815802e-02 1.34722891e+02] [ 4.83715168e-02 6.23306678e-04 9.98829219e-01 9.86835839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.54710568099995 meters 0.022430132106937326 Centerline is valid? [True, True] Translation: X:196.42, Y:134.75, Z:9.87 [[-2.08694018e-01 -9.77921149e-01 1.08181793e-02 1.96415712e+02] [ 9.76850912e-01 -2.08971735e-01 -4.57505188e-02 1.34745783e+02] [ 4.70010937e-02 1.01988871e-03 9.98894317e-01 9.87136791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.5771056809999 meters 0.02673225106863215 Centerline is valid? [True, True] Translation: X:196.40, Y:134.77, Z:9.88 [[-1.99064208e-01 -9.79938377e-01 9.70661079e-03 1.96396519e+02] [ 9.79081819e-01 -1.99296183e-01 -4.09856440e-02 1.34768694e+02] [ 4.20978960e-02 1.34479139e-03 9.99112586e-01 9.87951796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.60710568099995 meters 0.028209159471133255 Centerline is valid? [True, True] Translation: X:196.39, Y:134.79, Z:9.88 [[-1.95966808e-01 -9.80566812e-01 9.25943980e-03 1.96385670e+02] [ 9.79790244e-01 -1.96180293e-01 -3.90431908e-02 1.34793945e+02] [ 4.01009768e-02 1.42113929e-03 9.99194622e-01 9.88270885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.6371056809999 meters 0.028726622720744773 Centerline is valid? [True, True] Translation: X:196.38, Y:134.82, Z:9.88 [[-1.95506512e-01 -9.80661568e-01 8.94942001e-03 1.96376313e+02] [ 9.79938734e-01 -1.95706195e-01 -3.76717769e-02 1.34819160e+02] [ 3.86947208e-02 1.40480561e-03 9.99250091e-01 9.88471985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.66710568099995 meters 0.02758560448406203 Centerline is valid? [True, True] Translation: X:196.37, Y:134.85, Z:9.88 [[-1.98459622e-01 -9.80068500e-01 8.91699651e-03 1.96371346e+02] [ 9.79352305e-01 -1.98655632e-01 -3.74833684e-02 1.34846201e+02] [ 3.85076802e-02 1.29394596e-03 9.99257466e-01 9.88485338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.6971056809999 meters 0.024265868770730413 Centerline is valid? [True, True] Translation: X:196.37, Y:134.87, Z:9.88 [[-2.05838705e-01 -9.78542037e-01 9.26870392e-03 1.96371047e+02] [ 9.77769458e-01 -2.06044567e-01 -3.88911892e-02 1.34874124e+02] [ 3.99664296e-02 1.05734357e-03 9.99200464e-01 9.88323236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.72710568099995 meters 0.02346408640864757 Centerline is valid? [True, True] Translation: X:196.37, Y:134.90, Z:9.88 [[-2.09079961e-01 -9.77853054e-01 9.43262168e-03 1.96367108e+02] [ 9.77055068e-01 -2.09290447e-01 -3.95082622e-02 1.34900100e+02] [ 4.06074324e-02 9.55804882e-04 9.99174721e-01 9.88383278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.7571056809999 meters 0.021695992976653155 Centerline is valid? [True, True] Translation: X:196.36, Y:134.93, Z:9.88 [[-2.14006219e-01 -9.76782050e-01 9.90782737e-03 1.96364862e+02] [ 9.75903781e-01 -2.14233935e-01 -4.14201880e-02 1.34927426e+02] [ 4.25810890e-02 8.04908389e-04 9.99092690e-01 9.88316685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.78710568099996 meters 0.02034555776382343 Centerline is valid? [True, True] Translation: X:196.36, Y:134.95, Z:9.88 [[-2.17650387e-01 -9.75973229e-01 1.02257098e-02 1.96360855e+02] [ 9.75040068e-01 -2.17889399e-01 -4.26740700e-02 1.34954763e+02] [ 4.38768237e-02 6.82448921e-04 9.99036715e-01 9.88315750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.81710568099993 meters 0.019357574855868438 Centerline is valid? [True, True] Translation: X:196.36, Y:134.98, Z:9.88 [[-2.20462194e-01 -9.75342150e-01 1.02034717e-02 1.96357013e+02] [ 9.74415567e-01 -2.20697448e-01 -4.25080978e-02 1.34981525e+02] [ 4.37118197e-02 5.70993148e-04 9.99044018e-01 9.88438453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.84710568099996 meters 0.01794709137965375 Centerline is valid? [True, True] Translation: X:196.36, Y:135.01, Z:9.89 [[-2.27457676e-01 -9.73734088e-01 1.02435757e-02 1.96356919e+02] [ 9.72801780e-01 -2.27688053e-01 -4.26010251e-02 1.35008430e+02] [ 4.38144102e-02 2.75038506e-04 9.99039650e-01 9.88511707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.87710568099993 meters 0.017364026665782413 Centerline is valid? [True, True] Translation: X:196.36, Y:135.03, Z:9.89 [[-2.32297464e-01 -9.72588821e-01 1.04342298e-02 1.96355342e+02] [ 9.71623196e-01 -2.32531675e-01 -4.33288016e-02 1.35034853e+02] [ 4.45673970e-02 7.29689641e-05 9.99006377e-01 9.88548023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.9071056809999 meters 0.017879973730399287 Centerline is valid? [True, True] Translation: X:196.36, Y:135.06, Z:9.88 [[-2.40328651e-01 -9.70626849e-01 1.12098404e-02 1.96356903e+02] [ 9.69514600e-01 -2.40589761e-01 -4.64543531e-02 1.35062962e+02] [ 4.77868152e-02 -2.96208037e-04 9.98857514e-01 9.88247294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.93710568099993 meters 0.018546632752847497 Centerline is valid? [True, True] Translation: X:196.35, Y:135.09, Z:9.88 [[-2.43023704e-01 -9.69952268e-01 1.14924941e-02 1.96353316e+02] [ 9.68786685e-01 -2.43294929e-01 -4.75387916e-02 1.35089254e+02] [ 4.89064243e-02 -4.19277940e-04 9.98803277e-01 9.88165930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.9671056809999 meters 0.018739077130227672 Centerline is valid? [True, True] Translation: X:196.35, Y:135.12, Z:9.88 [[-2.45069060e-01 -9.69435787e-01 1.16366423e-02 1.96348111e+02] [ 9.68243828e-01 -2.45344644e-01 -4.80613606e-02 1.35115175e+02] [ 4.94473908e-02 -5.11245413e-04 9.98776599e-01 9.88183517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99710568099994 meters 0.01856090709333635 Centerline is valid? [True, True] Translation: X:196.34, Y:135.14, Z:9.88 [[-2.44658314e-01 -9.69534106e-01 1.20799820e-02 1.96339819e+02] [ 9.68254616e-01 -2.44955874e-01 -4.97957755e-02 1.35140568e+02] [ 5.12377652e-02 -4.86452195e-04 9.98686365e-01 9.88171865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0271056809999 meters 0.01777927906710941 Centerline is valid? [True, True] Translation: X:196.33, Y:135.16, Z:9.88 [[-2.39990676e-01 -9.70692852e-01 1.26436597e-02 1.96325642e+02] [ 9.69298420e-01 -2.40323397e-01 -5.20118981e-02 1.35163484e+02] [ 5.35261450e-02 -2.26891170e-04 9.98566423e-01 9.88035057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.05710568099994 meters 0.01744863164271161 Centerline is valid? [True, True] Translation: X:196.31, Y:135.19, Z:9.88 [[-2.31544599e-01 -9.72745898e-01 1.23497526e-02 1.96308410e+02] [ 9.71423673e-01 -2.31873568e-01 -5.07020310e-02 1.35185855e+02] [ 5.21837739e-02 2.57060596e-04 9.98637466e-01 9.88402269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0871056809999 meters 0.019071264638271565 Centerline is valid? [True, True] Translation: X:196.29, Y:135.21, Z:9.89 [[-2.23297174e-01 -9.74677388e-01 1.19315613e-02 1.96291158e+02] [ 9.73450477e-01 -2.23614634e-01 -4.88944264e-02 1.35209111e+02] [ 5.03243635e-02 6.96796770e-04 9.98732683e-01 9.88827330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.11710568099994 meters 0.019653405690535152 Centerline is valid? [True, True] Translation: X:196.28, Y:135.23, Z:9.89 [[-2.20328583e-01 -9.75353751e-01 1.18480234e-02 1.96279692e+02] [ 9.74149300e-01 -2.20645223e-01 -4.84646979e-02 1.35233943e+02] [ 4.98844347e-02 8.63585471e-04 9.98754623e-01 9.88990539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.1471056809999 meters 0.02256575849217906 Centerline is valid? [True, True] Translation: X:196.26, Y:135.26, Z:9.89 [[-2.15431074e-01 -9.76449653e-01 1.16416572e-02 1.96261308e+02] [ 9.75292528e-01 -2.15742523e-01 -4.75357561e-02 1.35256513e+02] [ 4.89278731e-02 1.11334224e-03 9.98801694e-01 9.88912621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.17710568099994 meters 0.023226613312350528 Centerline is valid? [True, True] Translation: X:196.25, Y:135.28, Z:9.89 [[-2.13981388e-01 -9.76768448e-01 1.16346148e-02 1.96252778e+02] [ 9.75617413e-01 -2.14294073e-01 -4.74206088e-02 1.35282055e+02] [ 4.88121835e-02 1.20380505e-03 9.98807249e-01 9.89101662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.2071056809999 meters 0.02252613472567423 Centerline is valid? [True, True] Translation: X:196.25, Y:135.31, Z:9.90 [[-2.13111521e-01 -9.76961068e-01 1.14259137e-02 1.96247137e+02] [ 9.75855024e-01 -2.13413984e-01 -4.64913220e-02 1.35308429e+02] [ 4.78586614e-02 1.24219895e-03 9.98853345e-01 9.89635079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.23710568099995 meters 0.022772605979681015 Centerline is valid? [True, True] Translation: X:196.24, Y:135.34, Z:9.90 [[-2.13567587e-01 -9.76865449e-01 1.10805934e-02 1.96239866e+02] [ 9.75828758e-01 -2.13851474e-01 -4.50086908e-02 1.35335118e+02] [ 4.63370362e-02 1.20036414e-03 9.98925141e-01 9.89946792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.2671056809999 meters 0.022495088967528377 Centerline is valid? [True, True] Translation: X:196.23, Y:135.36, Z:9.90 [[-2.14837396e-01 -9.76597941e-01 1.00675304e-02 1.96232024e+02] [ 9.75744587e-01 -2.15070585e-01 -4.08306728e-02 1.35360774e+02] [ 4.20403806e-02 1.05138283e-03 9.99115359e-01 9.90467959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.29710568099995 meters 0.022132600808748314 Centerline is valid? [True, True] Translation: X:196.22, Y:135.39, Z:9.90 [[-2.15530774e-01 -9.76445452e-01 1.00381553e-02 1.96222793e+02] [ 9.75599890e-01 -2.15761929e-01 -4.06404231e-02 1.35386626e+02] [ 4.18490081e-02 1.03396135e-03 9.99123412e-01 9.90423888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.3271056809999 meters 0.022495612394721528 Centerline is valid? [True, True] Translation: X:196.21, Y:135.41, Z:9.90 [[-2.15403718e-01 -9.76469884e-01 1.03828502e-02 1.96214090e+02] [ 9.75568587e-01 -2.15651049e-01 -4.19589977e-02 1.35412410e+02] [ 4.32107702e-02 1.09105837e-03 9.99065383e-01 9.90338681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.35710568099995 meters 0.022505946801752205 Centerline is valid? [True, True] Translation: X:196.21, Y:135.44, Z:9.90 [[-2.15999453e-01 -9.76335463e-01 1.06442620e-02 1.96205512e+02] [ 9.75391485e-01 -2.16258726e-01 -4.29373296e-02 1.35438522e+02] [ 4.42231521e-02 1.10788277e-03 9.99021064e-01 9.90481645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.3871056809999 meters 0.022646191232815156 Centerline is valid? [True, True] Translation: X:196.20, Y:135.46, Z:9.91 [[-2.17439302e-01 -9.76017107e-01 1.05240971e-02 1.96198810e+02] [ 9.75097282e-01 -2.17691316e-01 -4.23766755e-02 1.35463348e+02] [ 4.36513648e-02 1.04766378e-03 9.99046276e-01 9.90675798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.41710568099995 meters 0.020685992550556236 Centerline is valid? [True, True] Translation: X:196.20, Y:135.49, Z:9.91 [[-2.22475231e-01 -9.74875088e-01 1.11055754e-02 1.96196558e+02] [ 9.73853572e-01 -2.22750477e-01 -4.46256063e-02 1.35491274e+02] [ 4.59781641e-02 8.87112227e-04 9.98942051e-01 9.90614404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.4471056809999 meters 0.01944221145128939 Centerline is valid? [True, True] Translation: X:196.19, Y:135.52, Z:9.90 [[-2.26706859e-01 -9.73894975e-01 1.15142738e-02 1.96193465e+02] [ 9.72799525e-01 -2.26997895e-01 -4.61848397e-02 1.35518561e+02] [ 4.75928992e-02 7.30660121e-04 9.98866549e-01 9.90484618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.47710568099995 meters 0.0175683541928771 Centerline is valid? [True, True] Translation: X:196.19, Y:135.55, Z:9.90 [[-2.36676464e-01 -9.71521467e-01 1.14144733e-02 1.96194386e+02] [ 9.70445582e-01 -2.36951413e-01 -4.57099486e-02 1.35547114e+02] [ 4.71128719e-02 2.58656176e-04 9.98889539e-01 9.90304138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.5071056809999 meters 0.017560259265494472 Centerline is valid? [True, True] Translation: X:196.20, Y:135.58, Z:9.90 [[-2.46599310e-01 -9.69054144e-01 1.10835757e-02 1.96198517e+02] [ 9.68039833e-01 -2.46848181e-01 -4.43267191e-02 1.35575883e+02] [ 4.56909514e-02 -2.01595580e-04 9.98955603e-01 9.90376396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.53710568099996 meters 0.018104272808549267 Centerline is valid? [True, True] Translation: X:196.20, Y:135.60, Z:9.90 [[-2.50519621e-01 -9.68045553e-01 1.13016376e-02 1.96197444e+02] [ 9.66993709e-01 -2.50774137e-01 -4.51165054e-02 1.35603070e+02] [ 4.65089908e-02 -3.73957389e-04 9.98917801e-01 9.90465408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.56710568099993 meters 0.019175475624982542 Centerline is valid? [True, True] Translation: X:196.20, Y:135.63, Z:9.91 [[-2.55756405e-01 -9.66669942e-01 1.17424336e-02 1.96196828e+02] [ 9.65537018e-01 -2.56025052e-01 -4.67914564e-02 1.35630469e+02] [ 4.82382516e-02 -6.29460355e-04 9.98835660e-01 9.90547096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.59710568099996 meters 0.019660229306659095 Centerline is valid? [True, True] Translation: X:196.19, Y:135.66, Z:9.90 [[-2.57607187e-01 -9.66175246e-01 1.19971046e-02 1.96191075e+02] [ 9.64995709e-01 -2.57885394e-01 -4.77326378e-02 1.35656540e+02] [ 4.92119711e-02 -7.19116081e-04 9.98788098e-01 9.90487012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.62710568099993 meters 0.019886015761861685 Centerline is valid? [True, True] Translation: X:196.18, Y:135.68, Z:9.91 [[-2.59201234e-01 -9.65755938e-01 1.14100019e-02 1.96182434e+02] [ 9.64692546e-01 -2.59451196e-01 -4.53141016e-02 1.35681122e+02] [ 4.67227013e-02 -7.38327273e-04 9.98907625e-01 9.90788213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.6571056809999 meters 0.020559891517142315 Centerline is valid? [True, True] Translation: X:196.18, Y:135.71, Z:9.91 [[-2.60073751e-01 -9.65524919e-01 1.11028835e-02 1.96177066e+02] [ 9.64521680e-01 -2.60309599e-01 -4.40095554e-02 1.35705949e+02] [ 4.53825096e-02 -7.36758307e-04 9.98969411e-01 9.91079969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.68710568099993 meters 0.020667203617934827 Centerline is valid? [True, True] Translation: X:196.17, Y:135.73, Z:9.92 [[-2.61263283e-01 -9.65206557e-01 1.08535634e-02 1.96169679e+02] [ 9.64251354e-01 -2.61487546e-01 -4.29370396e-02 1.35731508e+02] [ 4.42811838e-02 -7.52308740e-04 9.99018824e-01 9.91758902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7171056809999 meters 0.019180006420594573 Centerline is valid? [True, True] Translation: X:196.15, Y:135.75, Z:9.92 [[-2.58172055e-01 -9.66048304e-01 9.89261328e-03 1.96151801e+02] [ 9.65258090e-01 -2.58360958e-01 -3.90696064e-02 1.35754931e+02] [ 4.02989921e-02 -5.37755581e-04 9.99187521e-01 9.92464281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.74710568099994 meters 0.018222417259198893 Centerline is valid? [True, True] Translation: X:196.14, Y:135.78, Z:9.93 [[-2.53755324e-01 -9.67221760e-01 9.50274497e-03 1.96136685e+02] [ 9.66495859e-01 -2.53932988e-01 -3.74672200e-02 1.35778404e+02] [ 3.86521709e-02 -3.23142895e-04 9.99252673e-01 9.92707710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7771056809999 meters 0.018222417259198893 Centerline is valid? [True, True] Translation: X:196.13, Y:135.80, Z:9.93 [[-2.54179332e-01 -9.67110261e-01 9.51890840e-03 1.96129982e+02] [ 9.66384436e-01 -2.54357303e-01 -3.74631132e-02 1.35803453e+02] [ 3.86521651e-02 -3.23424166e-04 9.99252674e-01 9.92803249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.80710568099994 meters 0.01774404588231888 Centerline is valid? [True, True] Translation: X:196.10, Y:135.82, Z:9.93 [[-2.42467972e-01 -9.70114470e-01 9.33793549e-03 1.96104807e+02] [ 9.69420622e-01 -2.42647665e-01 -3.66847239e-02 1.35823985e+02] [ 3.78542097e-02 1.57516634e-04 9.99283260e-01 9.92996089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8371056809999 meters 0.018551854690107002 Centerline is valid? [True, True] Translation: X:196.09, Y:135.85, Z:9.93 [[-2.37455544e-01 -9.71353357e-01 9.35522809e-03 1.96090636e+02] [ 9.70660537e-01 -2.37639471e-01 -3.66824589e-02 1.35848030e+02] [ 3.78548010e-02 3.70297514e-04 9.99283182e-01 9.93058182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.86710568099994 meters 0.02112044640147804 Centerline is valid? [True, True] Translation: X:196.07, Y:135.87, Z:9.93 [[-2.28825195e-01 -9.73416314e-01 9.98549875e-03 1.96069492e+02] [ 9.72631876e-01 -2.29041671e-01 -3.90787183e-02 1.35870101e+02] [ 4.03269573e-02 7.70019032e-04 9.99186241e-01 9.92741156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8971056809999 meters 0.02364543864551248 Centerline is valid? [True, True] Translation: X:196.05, Y:135.89, Z:9.93 [[-2.25567900e-01 -9.74170642e-01 1.05205827e-02 1.96054481e+02] [ 9.73303205e-01 -2.25811042e-01 -4.11125813e-02 1.35893467e+02] [ 4.24263334e-02 9.66038268e-04 9.99099131e-01 9.92514924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.92710568099994 meters 0.02395580225390131 Centerline is valid? [True, True] Translation: X:196.04, Y:135.92, Z:9.92 [[-2.21846090e-01 -9.75014145e-01 1.14773087e-02 1.96043147e+02] [ 9.73986705e-01 -2.22139281e-01 -4.47664816e-02 1.35918848e+02] [ 4.61975139e-02 1.24747720e-03 9.98931546e-01 9.92216555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.9571056809999 meters 0.024616735618452037 Centerline is valid? [True, True] Translation: X:196.03, Y:135.94, Z:9.92 [[-2.22262121e-01 -9.74913091e-01 1.20005922e-02 1.96032024e+02] [ 9.73793519e-01 -2.22582060e-01 -4.67269615e-02 1.35942604e+02] [ 4.82258430e-02 1.30046534e-03 9.98835611e-01 9.91916512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.98710568099995 meters 0.02310924850682976 Centerline is valid? [True, True] Translation: X:196.03, Y:135.97, Z:9.92 [[-2.23860683e-01 -9.74547945e-01 1.19455726e-02 1.96025996e+02] [ 9.73441553e-01 -2.24175788e-01 -4.64409244e-02 1.35969511e+02] [ 4.79368157e-02 1.23201972e-03 9.98849610e-01 9.92112998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.0171056809999 meters 0.021828412170434176 Centerline is valid? [True, True] Translation: X:196.02, Y:136.00, Z:9.92 [[-2.28262719e-01 -9.73529851e-01 1.16516092e-02 1.96021018e+02] [ 9.72479434e-01 -2.28557679e-01 -4.52232024e-02 1.35996037e+02] [ 4.66892023e-02 1.00817912e-03 9.98908956e-01 9.92346620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.04710568099995 meters 0.021064248300991652 Centerline is valid? [True, True] Translation: X:196.02, Y:136.02, Z:9.92 [[-2.31801927e-01 -9.72694485e-01 1.15457815e-02 1.96016087e+02] [ 9.71665396e-01 -2.32087741e-01 -4.47396711e-02 1.36021985e+02] [ 4.61976657e-02 8.47894429e-04 9.98931958e-01 9.92449480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.0771056809999 meters 0.01936415721758198 Centerline is valid? [True, True] Translation: X:196.01, Y:136.05, Z:9.92 [[-2.38181646e-01 -9.71149933e-01 1.17180108e-02 1.96013108e+02] [ 9.70091605e-01 -2.38469039e-01 -4.53298504e-02 1.36048253e+02] [ 4.68164639e-02 5.70805535e-04 9.98903345e-01 9.92486950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.10710568099995 meters 0.018353335723891667 Centerline is valid? [True, True] Translation: X:196.01, Y:136.08, Z:9.92 [[-2.44353918e-01 -9.69612478e-01 1.19500972e-02 1.96010075e+02] [ 9.68512964e-01 -2.44645777e-01 -4.61636527e-02 1.36075708e+02] [ 4.76843946e-02 2.93554658e-04 9.98862409e-01 9.92369701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.1371056809999 meters 0.018097885408507434 Centerline is valid? [True, True] Translation: X:196.01, Y:136.10, Z:9.92 [[-2.47376462e-01 -9.68838471e-01 1.25260845e-02 1.96005294e+02] [ 9.67633599e-01 -2.47693334e-01 -4.83035178e-02 1.36101486e+02] [ 4.99009340e-02 1.71506897e-04 9.98754158e-01 9.92178489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.16710568099995 meters 0.018229421302033446 Centerline is valid? [True, True] Translation: X:196.00, Y:136.13, Z:9.92 [[-2.51550297e-01 -9.67750877e-01 1.34420621e-02 1.95999203e+02] [ 9.66366937e-01 -2.51909190e-01 -5.17368697e-02 1.36128451e+02] [ 5.34545800e-02 -2.44605728e-05 9.98570282e-01 9.91781883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.1971056809999 meters 0.01834668956468579 Centerline is valid? [True, True] Translation: X:195.99, Y:136.15, Z:9.92 [[-2.52681979e-01 -9.67456619e-01 1.33980199e-02 1.95992048e+02] [ 9.66086189e-01 -2.53036925e-01 -5.14761038e-02 1.36152682e+02] [ 5.31910911e-02 -6.34418197e-05 9.98584350e-01 9.91752529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.22710568099995 meters 0.0181033046103875 Centerline is valid? [True, True] Translation: X:195.98, Y:136.18, Z:9.92 [[-2.53269022e-01 -9.67303648e-01 1.33586892e-02 1.95984927e+02] [ 9.65946340e-01 -2.53621070e-01 -5.12252028e-02 1.36177840e+02] [ 5.29383706e-02 -6.99800559e-05 9.98597779e-01 9.91994478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.2571056809999 meters 0.01818793258970081 Centerline is valid? [True, True] Translation: X:195.98, Y:136.20, Z:9.92 [[-2.54006477e-01 -9.67113169e-01 1.31463773e-02 1.95978675e+02] [ 9.65803113e-01 -2.54346438e-01 -5.03213353e-02 1.36201966e+02] [ 5.20101603e-02 -8.51330213e-05 9.98646552e-01 9.92173130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.28710568099996 meters 0.018150009456113694 Centerline is valid? [True, True] Translation: X:195.97, Y:136.23, Z:9.92 [[-2.55636848e-01 -9.66681600e-01 1.32847881e-02 1.95970701e+02] [ 9.65347583e-01 -2.55981757e-01 -5.07679503e-02 1.36227511e+02] [ 5.24771069e-02 -1.53720730e-04 9.98622116e-01 9.92393726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.31710568099993 meters 0.01827263706999529 Centerline is valid? [True, True] Translation: X:195.96, Y:136.25, Z:9.92 [[-2.57219424e-01 -9.66260186e-01 1.33947971e-02 1.95960203e+02] [ 9.64908554e-01 -2.57567866e-01 -5.10908733e-02 1.36252497e+02] [ 5.28171460e-02 -2.16810708e-04 9.98604177e-01 9.92420374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.34710568099996 meters 0.01854381867700101 Centerline is valid? [True, True] Translation: X:195.95, Y:136.28, Z:9.93 [[-2.60264271e-01 -9.65451796e-01 1.28583993e-02 1.95951076e+02] [ 9.64209929e-01 -2.60581487e-01 -4.89540754e-02 1.36276618e+02] [ 5.06134609e-02 -3.42800429e-04 9.98718259e-01 9.92626960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.37710568099993 meters 0.0186906330596611 Centerline is valid? [True, True] Translation: X:195.94, Y:136.30, Z:9.93 [[-2.62015212e-01 -9.64978410e-01 1.28334485e-02 1.95943484e+02] [ 9.63745557e-01 -2.62328995e-01 -4.87647334e-02 1.36302361e+02] [ 5.04235006e-02 -4.08922968e-04 9.98727842e-01 9.92807834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.4071056809999 meters 0.019896104265442232 Centerline is valid? [True, True] Translation: X:195.94, Y:136.33, Z:9.93 [[-2.67676841e-01 -9.63421464e-01 1.29688717e-02 1.95935841e+02] [ 9.62165180e-01 -2.67989942e-01 -4.91890012e-02 1.36328644e+02] [ 5.08652667e-02 -6.88559719e-04 9.98705287e-01 9.93016286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.43710568099993 meters 0.02122563509117933 Centerline is valid? [True, True] Translation: X:195.93, Y:136.35, Z:9.93 [[-2.72280690e-01 -9.62133510e-01 1.27410733e-02 1.95930532e+02] [ 9.60923745e-01 -2.72577169e-01 -4.82415025e-02 1.36354173e+02] [ 4.98876918e-02 -8.92029720e-04 9.98754436e-01 9.93198435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.4671056809999 meters 0.026215909011395498 Centerline is valid? [True, True] Translation: X:195.93, Y:136.38, Z:9.93 [[-2.83138781e-01 -9.59002317e-01 1.21238434e-02 1.95927850e+02] [ 9.57907801e-01 -2.83394960e-01 -4.58251237e-02 1.36380449e+02] [ 4.73822359e-02 -1.36134546e-03 9.98875903e-01 9.93442888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49710568099994 meters 0.029569609137797704 Centerline is valid? [True, True] Translation: X:195.92, Y:136.41, Z:9.94 [[-2.92027888e-01 -9.56334564e-01 1.19964241e-02 1.95920076e+02] [ 9.55264350e-01 -2.92268896e-01 -4.52649312e-02 1.36406544e+02] [ 4.67945999e-02 -1.75886602e-03 9.98902984e-01 9.93696217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5271056809999 meters 0.03181585886715121 Centerline is valid? [True, True] Translation: X:195.91, Y:136.43, Z:9.94 [[-2.95485130e-01 -9.55270928e-01 1.20827450e-02 1.95914586e+02] [ 9.54187920e-01 -2.95725833e-01 -4.55153350e-02 1.36431728e+02] [ 4.70526562e-02 -1.91989537e-03 9.98890565e-01 9.93863036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.55710568099994 meters 0.032840073653753785 Centerline is valid? [True, True] Translation: X:195.90, Y:136.46, Z:9.94 [[-2.98257059e-01 -9.54413472e-01 1.17324617e-02 1.95901920e+02] [ 9.53394620e-01 -2.98481180e-01 -4.41325735e-02 1.36456532e+02] [ 4.56226417e-02 -1.97718574e-03 9.98956789e-01 9.94094521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5871056809999 meters 0.03331723383127241 Centerline is valid? [True, True] Translation: X:195.88, Y:136.48, Z:9.94 [[-2.98158221e-01 -9.54443807e-01 1.17768935e-02 1.95883471e+02] [ 9.53420730e-01 -2.98384298e-01 -4.42235453e-02 1.36478509e+02] [ 4.57229290e-02 -1.95727922e-03 9.98952243e-01 9.93881911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.61710568099994 meters 0.032745843425384544 Centerline is valid? [True, True] Translation: X:195.87, Y:136.50, Z:9.94 [[-2.98052332e-01 -9.54472826e-01 1.21009072e-02 1.95870726e+02] [ 9.53396713e-01 -2.98291301e-01 -4.53542549e-02 1.36502169e+02] [ 4.68989992e-02 -1.98097629e-03 9.98897672e-01 9.93827471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.6471056809999 meters 0.034117388386182834 Centerline is valid? [True, True] Translation: X:195.86, Y:136.53, Z:9.94 [[-2.98273727e-01 -9.54404174e-01 1.20605839e-02 1.95858899e+02] [ 9.53339156e-01 -2.98511027e-01 -4.51178551e-02 1.36525126e+02] [ 4.66608865e-02 -1.95964394e-03 9.98908865e-01 9.93979029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.67710568099994 meters 0.03388543930688888 Centerline is valid? [True, True] Translation: X:195.85, Y:136.55, Z:9.94 [[-2.99803025e-01 -9.53924125e-01 1.21206313e-02 1.95847113e+02] [ 9.52852173e-01 -3.00041145e-01 -4.52553693e-02 1.36549611e+02] [ 4.68068766e-02 -2.01852669e-03 9.98901918e-01 9.94100302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.7071056809999 meters 0.03564122135280797 Centerline is valid? [True, True] Translation: X:195.83, Y:136.57, Z:9.94 [[-3.03485675e-01 -9.52755586e-01 1.23789835e-02 1.95831175e+02] [ 9.51640377e-01 -3.03729908e-01 -4.61382208e-02 1.36573381e+02] [ 4.77183151e-02 -2.22194857e-03 9.98858361e-01 9.93987921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.73710568099995 meters 0.03759359278112582 Centerline is valid? [True, True] Translation: X:195.82, Y:136.60, Z:9.94 [[-3.05517470e-01 -9.52103660e-01 1.25577089e-02 1.95820858e+02] [ 9.50959348e-01 -3.05766540e-01 -4.67241032e-02 1.36598034e+02] [ 4.83259169e-02 -2.33315912e-03 9.98828895e-01 9.93905034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.7671056809999 meters 0.03929150106777494 Centerline is valid? [True, True] Translation: X:195.80, Y:136.62, Z:9.94 [[-3.07134291e-01 -9.51583583e-01 1.25384246e-02 1.95804904e+02] [ 9.50446310e-01 -3.07380855e-01 -4.65706126e-02 1.36620528e+02] [ 4.81699020e-02 -2.38633267e-03 9.98836306e-01 9.93989931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.79710568099995 meters 0.03825715403492691 Centerline is valid? [True, True] Translation: X:195.79, Y:136.64, Z:9.94 [[-3.06825075e-01 -9.51684529e-01 1.24471427e-02 1.95789931e+02] [ 9.50567594e-01 -3.07068613e-01 -4.61531893e-02 1.36644419e+02] [ 4.77454030e-02 -2.32910526e-03 9.98856822e-01 9.94148724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.8271056809999 meters 0.035590775346751265 Centerline is valid? [True, True] Translation: X:195.77, Y:136.67, Z:9.95 [[-3.03964825e-01 -9.52609749e-01 1.18343685e-02 1.95767316e+02] [ 9.51603911e-01 -3.04188166e-01 -4.38127463e-02 1.36666495e+02] [ 4.53363241e-02 -2.05590243e-03 9.98969665e-01 9.94523127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.85710568099995 meters 0.032655806406034694 Centerline is valid? [True, True] Translation: X:195.74, Y:136.69, Z:9.95 [[-3.00333619e-01 -9.53773465e-01 1.07654314e-02 1.95743389e+02] [ 9.52944371e-01 -3.00521730e-01 -3.97959318e-02 1.36687867e+02] [ 4.11915498e-02 -1.69319901e-03 9.99149833e-01 9.95168185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.8871056809999 meters 0.031814561635345566 Centerline is valid? [True, True] Translation: X:195.73, Y:136.71, Z:9.95 [[-2.98803407e-01 -9.54257418e-01 1.04548444e-02 1.95725833e+02] [ 9.53478312e-01 -2.98982180e-01 -3.85845237e-02 1.36710473e+02] [ 3.99453801e-02 -1.56071969e-03 9.99200646e-01 9.95291398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.91710568099995 meters 0.027909222637476166 Centerline is valid? [True, True] Translation: X:195.69, Y:136.73, Z:9.95 [[-2.92562124e-01 -9.56181612e-01 1.11412554e-02 1.95694393e+02] [ 9.55301279e-01 -2.92771006e-01 -4.10439334e-02 1.36729712e+02] [ 4.25072909e-02 -1.36464480e-03 9.99095225e-01 9.94838213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.9471056809999 meters 0.02551064878150945 Centerline is valid? [True, True] Translation: X:195.68, Y:136.75, Z:9.95 [[-2.88720279e-01 -9.57344954e-01 1.14559900e-02 1.95676831e+02] [ 9.56418231e-01 -2.88944945e-01 -4.21305861e-02 1.36752966e+02] [ 4.36436544e-02 -1.20723682e-03 9.99046432e-01 9.94733554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.97710568099995 meters 0.020972935056462895 Centerline is valid? [True, True] Translation: X:195.65, Y:136.77, Z:9.95 [[-2.80748769e-01 -9.59714492e-01 1.13235788e-02 1.95650271e+02] [ 9.58813851e-01 -2.80975853e-01 -4.15760718e-02 1.36773020e+02] [ 4.30828108e-02 -8.15226803e-04 9.99071172e-01 9.94922964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.0071056809999 meters 0.019116579482081005 Centerline is valid? [True, True] Translation: X:195.63, Y:136.80, Z:9.95 [[-2.76963577e-01 -9.60813458e-01 1.13435190e-02 1.95632101e+02] [ 9.59913694e-01 -2.77195068e-01 -4.15763743e-02 1.36795904e+02] [ 4.30915075e-02 -6.26342132e-04 9.99070933e-01 9.95084723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.03710568099996 meters 0.017290315268651685 Centerline is valid? [True, True] Translation: X:195.60, Y:136.82, Z:9.95 [[-2.69309508e-01 -9.62983663e-01 1.16126960e-02 1.95603578e+02] [ 9.62045825e-01 -2.69559626e-01 -4.24904610e-02 1.36815621e+02] [ 4.40479338e-02 -2.71139394e-04 9.99029382e-01 9.94964759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.06710568099993 meters 0.01675834363393899 Centerline is valid? [True, True] Translation: X:195.58, Y:136.84, Z:9.95 [[-2.60914141e-01 -9.65300849e-01 1.08665614e-02 1.95578296e+02] [ 9.64484328e-01 -2.61140300e-01 -3.96954052e-02 1.36836154e+02] [ 4.11557054e-02 1.23535599e-04 9.99152737e-01 9.95356809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.09710568099996 meters 0.017167924577003876 Centerline is valid? [True, True] Translation: X:195.56, Y:136.86, Z:9.96 [[-2.57621972e-01 -9.66189432e-01 1.04355881e-02 1.95564628e+02] [ 9.65439785e-01 -2.57833102e-01 -3.80540846e-02 1.36860813e+02] [ 3.94580944e-02 2.71363542e-04 9.99221189e-01 9.95628039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.12710568099993 meters 0.018867657234581833 Centerline is valid? [True, True] Translation: X:195.55, Y:136.88, Z:9.96 [[-2.52082399e-01 -9.67653385e-01 1.00692611e-02 1.95546579e+02] [ 9.66958876e-01 -2.52282937e-01 -3.66585808e-02 1.36882371e+02] [ 3.80131026e-02 4.95578453e-04 9.99277118e-01 9.95788917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.1571056809999 meters 0.019476073038694103 Centerline is valid? [True, True] Translation: X:195.54, Y:136.91, Z:9.96 [[-2.50735335e-01 -9.68002522e-01 1.01443830e-02 1.95535506e+02] [ 9.67299877e-01 -2.50939827e-01 -3.68802367e-02 1.36907866e+02] [ 3.82457919e-02 5.65481881e-04 9.99268202e-01 9.95717188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.18710568099993 meters 0.021332724112748624 Centerline is valid? [True, True] Translation: X:195.52, Y:136.93, Z:9.95 [[-2.46267044e-01 -9.69132750e-01 1.15869187e-02 1.95523198e+02] [ 9.68220495e-01 -2.46537965e-01 -4.20488468e-02 1.36933030e+02] [ 4.36075299e-02 8.63446895e-04 9.99048366e-01 9.95076916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2171056809999 meters 0.0225881230246283 Centerline is valid? [True, True] Translation: X:195.51, Y:136.96, Z:9.95 [[-2.43784044e-01 -9.69749436e-01 1.24648189e-02 1.95513824e+02] [ 9.68698058e-01 -2.44100175e-01 -4.51572537e-02 1.36958531e+02] [ 4.68338857e-02 1.06602789e-03 9.98902123e-01 9.94695022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.24710568099994 meters 0.025149655534121972 Centerline is valid? [True, True] Translation: X:195.50, Y:136.98, Z:9.94 [[-2.38560158e-01 -9.71040903e-01 1.29851892e-02 1.95502372e+02] [ 9.69905545e-01 -2.38909250e-01 -4.69638502e-02 1.36983465e+02] [ 4.87061014e-02 1.39070353e-03 9.98812185e-01 9.94453290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2771056809999 meters 0.026890051981335168 Centerline is valid? [True, True] Translation: X:195.49, Y:137.01, Z:9.95 [[-2.35988683e-01 -9.71669431e-01 1.29560262e-02 1.95492824e+02] [ 9.70543769e-01 -2.36339085e-01 -4.67827958e-02 1.37008985e+02] [ 4.85194280e-02 1.53418013e-03 9.98821061e-01 9.94607479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.30710568099994 meters 0.028788393704062762 Centerline is valid? [True, True] Translation: X:195.48, Y:137.03, Z:9.95 [[-2.33234203e-01 -9.72335403e-01 1.28712833e-02 1.95483963e+02] [ 9.71229016e-01 -2.33583061e-01 -4.64020606e-02 1.37034116e+02] [ 4.81248801e-02 1.67841619e-03 9.98839917e-01 9.94792592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3371056809999 meters 0.03205569676841745 Centerline is valid? [True, True] Translation: X:195.48, Y:137.06, Z:9.95 [[-2.28160572e-01 -9.73537288e-01 1.29576896e-02 1.95475287e+02] [ 9.72421643e-01 -2.28519817e-01 -4.66351866e-02 1.37059434e+02] [ 4.83621819e-02 1.96002700e-03 9.98827942e-01 9.95002046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.36710568099994 meters 0.03552302729115344 Centerline is valid? [True, True] Translation: X:195.47, Y:137.08, Z:9.95 [[-2.24144815e-01 -9.74477765e-01 1.23364133e-02 1.95468202e+02] [ 9.73471229e-01 -2.24474468e-01 -4.43280863e-02 1.37084060e+02] [ 4.59659443e-02 2.07323269e-03 9.98940856e-01 9.95297796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3971056809999 meters 0.033099554971415604 Centerline is valid? [True, True] Translation: X:195.47, Y:137.11, Z:9.96 [[-2.23587367e-01 -9.74607926e-01 1.21688470e-02 1.95467774e+02] [ 9.73632079e-01 -2.23908536e-01 -4.36525063e-02 1.37111696e+02] [ 4.52687873e-02 2.08783085e-03 9.98972661e-01 9.95523169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.42710568099994 meters 0.037193424055684966 Centerline is valid? [True, True] Translation: X:195.46, Y:137.14, Z:9.95 [[-2.23989967e-01 -9.74507641e-01 1.27809699e-02 1.95463153e+02] [ 9.73434442e-01 -2.24343642e-01 -4.57746361e-02 1.37137975e+02] [ 4.74750620e-02 2.18837702e-03 9.98870026e-01 9.95209170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.4571056809999 meters 0.0334444444442028 Centerline is valid? [True, True] Translation: X:195.47, Y:137.17, Z:9.95 [[-2.24736441e-01 -9.74333736e-01 1.29345339e-02 1.95468982e+02] [ 9.73237377e-01 -2.25097680e-01 -4.62605957e-02 1.37166782e+02] [ 4.79847927e-02 2.19193023e-03 9.98845661e-01 9.95294816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.48710568099995 meters 0.03288000305442917 Centerline is valid? [True, True] Translation: X:195.47, Y:137.19, Z:9.95 [[-2.25389090e-01 -9.74184851e-01 1.27919741e-02 1.95465993e+02] [ 9.73116131e-01 -2.25741522e-01 -4.56701391e-02 1.37193566e+02] [ 4.73788374e-02 2.15452518e-03 9.98874669e-01 9.95439271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.5171056809999 meters 0.03112698203545579 Centerline is valid? [True, True] Translation: X:195.47, Y:137.22, Z:9.96 [[-2.27621793e-01 -9.73669506e-01 1.24904724e-02 1.95469634e+02] [ 9.72653387e-01 -2.27955322e-01 -4.45169725e-02 1.37222991e+02] [ 4.61920883e-02 2.01586718e-03 9.98930542e-01 9.95818824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.54710568099995 meters 0.030823708900940158 Centerline is valid? [True, True] Translation: X:195.47, Y:137.25, Z:9.96 [[-2.29823194e-01 -9.73153914e-01 1.23596127e-02 1.95467928e+02] [ 9.72161515e-01 -2.30147387e-01 -4.39791821e-02 1.37249762e+02] [ 4.56430458e-02 1.90810374e-03 9.98955991e-01 9.96027221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.5771056809999 meters 0.028004467784253514 Centerline is valid? [True, True] Translation: X:195.47, Y:137.28, Z:9.96 [[-2.35260410e-01 -9.71856010e-01 1.21834028e-02 1.95473658e+02] [ 9.70893070e-01 -2.35569919e-01 -4.32834720e-02 1.37279601e+02] [ 4.49353456e-02 1.64589395e-03 9.98988541e-01 9.96285272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.60710568099995 meters 0.025706061736110078 Centerline is valid? [True, True] Translation: X:195.47, Y:137.31, Z:9.96 [[-2.39014251e-01 -9.70935807e-01 1.24838604e-02 1.95472728e+02] [ 9.69926172e-01 -2.39335211e-01 -4.42930946e-02 1.37308135e+02] [ 4.59935789e-02 1.52174208e-03 9.98940576e-01 9.96324575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.6371056809999 meters 0.022859789424713974 Centerline is valid? [True, True] Translation: X:195.48, Y:137.34, Z:9.96 [[-2.47528390e-01 -9.68789710e-01 1.32738232e-02 1.95476305e+02] [ 9.67648796e-01 -2.47881108e-01 -4.70187661e-02 1.37336359e+02] [ 4.88416268e-02 1.20591961e-03 9.98805808e-01 9.96031999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.66710568099995 meters 0.020521292383367775 Centerline is valid? [True, True] Translation: X:195.48, Y:137.37, Z:9.96 [[-2.51774171e-01 -9.67689870e-01 1.36412300e-02 1.95476340e+02] [ 9.66487306e-01 -2.52141305e-01 -4.82394992e-02 1.37365225e+02] [ 5.01203922e-02 1.03861572e-03 9.98742643e-01 9.95957802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.6971056809999 meters 0.020521292383367775 Centerline is valid? [True, True] Translation: X:195.47, Y:137.39, Z:9.96 [[-2.52223475e-01 -9.67572576e-01 1.36611910e-02 1.95468979e+02] [ 9.66370147e-01 -2.52591045e-01 -4.82338468e-02 1.37390004e+02] [ 5.01204420e-02 1.03605870e-03 9.98742643e-01 9.96053381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.72710568099995 meters 0.016979289171652524 Centerline is valid? [True, True] Translation: X:195.48, Y:137.42, Z:9.96 [[-2.63522822e-01 -9.64548138e-01 1.42342034e-02 1.95478168e+02] [ 9.63242695e-01 -2.63906516e-01 -5.01683183e-02 1.37420873e+02] [ 5.21462571e-02 4.90495684e-04 9.98639338e-01 9.95831027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.7571056809999 meters 0.016097817294882584 Centerline is valid? [True, True] Translation: X:195.48, Y:137.45, Z:9.96 [[-2.69869445e-01 -9.62789026e-01 1.44143635e-02 1.95479467e+02] [ 9.61452142e-01 -2.70254070e-01 -5.07199843e-02 1.37448478e+02] [ 5.27281847e-02 1.70946610e-04 9.98608887e-01 9.95892869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.78710568099996 meters 0.01653972627094165 Centerline is valid? [True, True] Translation: X:195.48, Y:137.48, Z:9.96 [[-2.79006606e-01 -9.60182435e-01 1.43179865e-02 1.95484361e+02] [ 9.58864152e-01 -2.79373581e-01 -5.02985185e-02 1.37476503e+02] [ 5.22958211e-02 -3.04614945e-04 9.98631591e-01 9.96220050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.81710568099993 meters 0.01748504110217906 Centerline is valid? [True, True] Translation: X:195.48, Y:137.50, Z:9.97 [[-2.84869727e-01 -9.58460878e-01 1.42120814e-02 1.95483683e+02] [ 9.57163611e-01 -2.85223397e-01 -4.98541499e-02 1.37504383e+02] [ 5.18368704e-02 -5.98650950e-04 9.98655386e-01 9.96678429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.84710568099996 meters 0.01879130573393022 Centerline is valid? [True, True] Translation: X:195.48, Y:137.53, Z:9.97 [[-2.88128121e-01 -9.57484195e-01 1.43597237e-02 1.95480964e+02] [ 9.56162983e-01 -2.88484730e-01 -5.02882731e-02 1.37530538e+02] [ 5.22927877e-02 -7.59229389e-04 9.98631508e-01 9.96692825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.87710568099993 meters 0.021003340267829046 Centerline is valid? [True, True] Translation: X:195.48, Y:137.56, Z:9.97 [[-2.94532947e-01 -9.55533856e-01 1.43315641e-02 1.95477094e+02] [ 9.54219942e-01 -2.94879434e-01 -5.01041159e-02 1.37557196e+02] [ 5.21022625e-02 -1.08184869e-03 9.98641169e-01 9.97065113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.9071056809999 meters 0.02357502255030124 Centerline is valid? [True, True] Translation: X:195.47, Y:137.58, Z:9.97 [[-2.97452275e-01 -9.54638783e-01 1.36725467e-02 1.95472504e+02] [ 9.53445705e-01 -2.97764081e-01 -4.77267207e-02 1.37582887e+02] [ 4.96329718e-02 -1.16039077e-03 9.98766850e-01 9.97402841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.93710568099993 meters 0.023518899776116303 Centerline is valid? [True, True] Translation: X:195.46, Y:137.61, Z:9.99 [[-3.02699891e-01 -9.53011877e-01 1.18802035e-02 1.95461426e+02] [ 9.52112063e-01 -3.02930450e-01 -4.14217634e-02 1.37607891e+02] [ 4.30743079e-02 -1.22707821e-03 9.99071118e-01 9.98518976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.9671056809999 meters 0.026508324342946726 Centerline is valid? [True, True] Translation: X:195.45, Y:137.63, Z:9.99 [[-3.08288625e-01 -9.51218119e-01 1.19253212e-02 1.95453520e+02] [ 9.50313085e-01 -3.08515713e-01 -4.15101772e-02 1.37633073e+02] [ 4.31643817e-02 -1.46432661e-03 9.99066911e-01 9.98712157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99710568099994 meters 0.02776197508667762 Centerline is valid? [True, True] Translation: X:195.44, Y:137.66, Z:9.99 [[-3.11840593e-01 -9.50056231e-01 1.21902403e-02 1.95443368e+02] [ 9.49112904e-01 -3.12074464e-01 -4.23582820e-02 1.37657985e+02] [ 4.40470125e-02 -1.63911739e-03 9.99028115e-01 9.98651542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0271056809999 meters 0.03077297920182895 Centerline is valid? [True, True] Translation: X:195.43, Y:137.68, Z:9.99 [[-3.18382540e-01 -9.47880911e-01 1.24232427e-02 1.95429152e+02] [ 9.46902906e-01 -3.18618819e-01 -4.30921741e-02 1.37681873e+02] [ 4.48045282e-02 -1.95619125e-03 9.98993858e-01 9.98586565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.05710568099994 meters 0.03237653911604538 Centerline is valid? [True, True] Translation: X:195.42, Y:137.71, Z:9.99 [[-3.21760666e-01 -9.46738954e-01 1.24670131e-02 1.95418226e+02] [ 9.45756550e-01 -3.21995256e-01 -4.31694672e-02 1.37707009e+02] [ 4.48845353e-02 -2.09947723e-03 9.98989975e-01 9.98589596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0871056809999 meters 0.03608701748540221 Centerline is valid? [True, True] Translation: X:195.40, Y:137.73, Z:9.99 [[-3.27590881e-01 -9.44737203e-01 1.24832523e-02 1.95404728e+02] [ 9.43753997e-01 -3.27820174e-01 -4.31546816e-02 1.37730450e+02] [ 4.48620951e-02 -2.35596095e-03 9.98990411e-01 9.98590879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.11710568099994 meters 0.03757881884365986 Centerline is valid? [True, True] Translation: X:195.39, Y:137.76, Z:9.99 [[-3.31458760e-01 -9.43387280e-01 1.24711950e-02 1.95393071e+02] [ 9.42408278e-01 -3.31683770e-01 -4.30408350e-02 1.37755245e+02] [ 4.47406692e-02 -2.51330439e-03 9.98995473e-01 9.98700878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.1471056809999 meters 0.043710344131830184 Centerline is valid? [True, True] Translation: X:195.38, Y:137.78, Z:9.99 [[-3.39327444e-01 -9.40576336e-01 1.31545119e-02 1.95380777e+02] [ 9.39488610e-01 -3.39568890e-01 -4.53224062e-02 1.37778503e+02] [ 4.70960458e-02 -3.02062216e-03 9.98885798e-01 9.98536891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.17710568099994 meters 0.044145875035644495 Centerline is valid? [True, True] Translation: X:195.37, Y:137.80, Z:9.99 [[-3.42786420e-01 -9.39323418e-01 1.29995157e-02 1.95367684e+02] [ 9.38263814e-01 -3.43018540e-01 -4.47134891e-02 1.37802478e+02] [ 4.64595023e-02 -3.13020169e-03 9.98915270e-01 9.98730553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.2071056809999 meters 0.04841048201406957 Centerline is valid? [True, True] Translation: X:195.36, Y:137.83, Z:9.99 [[-3.47498480e-01 -9.37597272e-01 1.24964892e-02 1.95355387e+02] [ 9.36620179e-01 -3.47708304e-01 -4.29135728e-02 1.37825315e+02] [ 4.45807819e-02 -3.20793737e-03 9.99000632e-01 9.98913135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.23710568099995 meters 0.05184082537818659 Centerline is valid? [True, True] Translation: X:195.34, Y:137.85, Z:9.99 [[-3.52772178e-01 -9.35624112e-01 1.26218421e-02 1.95339256e+02] [ 9.34629462e-01 -3.52980872e-01 -4.32697819e-02 1.37849042e+02] [ 4.49395201e-02 -3.46762965e-03 9.98983691e-01 9.98825818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.2671056809999 meters 0.05328712490631657 Centerline is valid? [True, True] Translation: X:195.33, Y:137.87, Z:9.99 [[-3.55638033e-01 -9.34537737e-01 1.26810147e-02 1.95326482e+02] [ 9.33536155e-01 -3.55845854e-01 -4.34047803e-02 1.37873585e+02] [ 4.50758917e-02 -3.59820496e-03 9.98977085e-01 9.98864214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.29710568099995 meters 0.05454975999651957 Centerline is valid? [True, True] Translation: X:195.31, Y:137.90, Z:9.99 [[-3.59749824e-01 -9.32972729e-01 1.19143611e-02 1.95307929e+02] [ 9.32090341e-01 -3.59929611e-01 -4.07218872e-02 1.37895623e+02] [ 4.22807415e-02 -3.54443083e-03 9.99099482e-01 9.99226384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.3271056809999 meters 0.052673593123203986 Centerline is valid? [True, True] Translation: X:195.29, Y:137.92, Z:9.99 [[-3.60424901e-01 -9.32715079e-01 1.16821138e-02 1.95290836e+02] [ 9.31869263e-01 -3.60597359e-01 -3.98650329e-02 1.37917632e+02] [ 4.13952568e-02 -3.48214774e-03 9.99136781e-01 9.99402319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.35710568099995 meters 0.05187812317616743 Centerline is valid? [True, True] Translation: X:195.27, Y:137.94, Z:10.00 [[-3.56780792e-01 -9.34111559e-01 1.19608452e-02 1.95265739e+02] [ 9.33228586e-01 -3.56965271e-01 -4.07455826e-02 1.37936858e+02] [ 4.23305260e-02 -3.37503861e-03 9.99097961e-01 9.99501169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.3871056809999 meters 0.04789031933880677 Centerline is valid? [True, True] Translation: X:195.24, Y:137.96, Z:10.00 [[-3.51749652e-01 -9.36012387e-01 1.23690578e-02 1.95243426e+02] [ 9.35072257e-01 -3.51952233e-01 -4.20654302e-02 1.37958092e+02] [ 4.37270813e-02 -3.23053760e-03 9.99038291e-01 9.99647207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.41710568099995 meters 0.04700671415370636 Centerline is valid? [True, True] Translation: X:195.22, Y:137.98, Z:10.00 [[-3.44040451e-01 -9.38868814e-01 1.27089627e-02 1.95224250e+02] [ 9.37881185e-01 -3.44262669e-01 -4.31520292e-02 1.37979865e+02] [ 4.48893159e-02 -2.92654660e-03 9.98987680e-01 9.99720720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.4471056809999 meters 0.03066638788316983 Centerline is valid? [True, True] Translation: X:195.17, Y:137.99, Z:10.00 [[-3.24378329e-01 -9.45830559e-01 1.35371370e-02 1.95172985e+02] [ 9.44719146e-01 -3.24653911e-01 -4.58865184e-02 1.37992770e+02] [ 4.77957558e-02 -2.09579961e-03 9.98854931e-01 9.99694589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.47710568099995 meters 0.02020323074629618 Centerline is valid? [True, True] Translation: X:195.13, Y:138.01, Z:10.00 [[-3.03436823e-01 -9.52744604e-01 1.42763420e-02 1.95128122e+02] [ 9.51519500e-01 -3.03770576e-01 -4.83122960e-02 1.38007087e+02] [ 5.03660119e-02 -1.07551179e-03 9.98730248e-01 9.99571218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.5071056809999 meters 0.01692951084651741 Centerline is valid? [True, True] Translation: X:195.10, Y:138.03, Z:10.00 [[-2.95673971e-01 -9.55180110e-01 1.44173695e-02 1.95103479e+02] [ 9.53937505e-01 -2.96024554e-01 -4.87103664e-02 1.38027753e+02] [ 5.07950685e-02 -6.49118019e-04 9.98708886e-01 9.99602458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.53710568099996 meters 0.015158571636516065 Centerline is valid? [True, True] Translation: X:195.07, Y:138.05, Z:10.00 [[-2.86279891e-01 -9.58030615e-01 1.48715923e-02 1.95071270e+02] [ 9.56716348e-01 -2.86665872e-01 -5.01648014e-02 1.38045563e+02] [ 5.23225936e-02 -1.33278378e-04 9.98630226e-01 9.99561246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.56710568099993 meters 0.01525865593732301 Centerline is valid? [True, True] Translation: X:195.05, Y:138.07, Z:10.00 [[-2.84619411e-01 -9.58525409e-01 1.48603849e-02 1.95054811e+02] [ 9.57217968e-01 -2.85007088e-01 -5.00472019e-02 1.38069065e+02] [ 5.22068297e-02 -1.97777777e-05 9.98636293e-01 9.99633353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.59710568099996 meters 0.015240129795280012 Centerline is valid? [True, True] Translation: X:195.04, Y:138.09, Z:10.00 [[-2.84574558e-01 -9.58543490e-01 1.45498791e-02 1.95035564e+02] [ 9.57294057e-01 -2.84946273e-01 -4.89255578e-02 1.38090637e+02] [ 5.10432087e-02 5.54377483e-06 9.98696446e-01 9.99839040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.62710568099993 meters 0.015532597653025115 Centerline is valid? [True, True] Translation: X:195.02, Y:138.11, Z:10.00 [[-2.85285650e-01 -9.58330325e-01 1.46658165e-02 1.95023162e+02] [ 9.57064837e-01 -2.85662368e-01 -4.92332194e-02 1.38112948e+02] [ 5.13711590e-02 -9.39368498e-06 9.98679630e-01 9.99755676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.6571056809999 meters 0.015489194430034946 Centerline is valid? [True, True] Translation: X:195.01, Y:138.14, Z:10.00 [[-2.86529349e-01 -9.57949722e-01 1.52729225e-02 1.95008608e+02] [ 9.56581417e-01 -2.86936103e-01 -5.11826679e-02 1.38137335e+02] [ 5.34127754e-02 -5.55426836e-05 9.98572517e-01 9.99676490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.68710568099993 meters 0.015771798017263413 Centerline is valid? [True, True] Translation: X:195.00, Y:138.16, Z:10.00 [[-2.89570584e-01 -9.57031662e-01 1.54685275e-02 1.94996366e+02] [ 9.55630998e-01 -2.89983372e-01 -5.17594488e-02 1.38161664e+02] [ 5.40210471e-02 -2.05809450e-04 9.98539776e-01 9.99678820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7171056809999 meters 0.01589739347500904 Centerline is valid? [True, True] Translation: X:194.99, Y:138.19, Z:10.00 [[-2.91826507e-01 -9.56353030e-01 1.50390327e-02 1.94986747e+02] [ 9.55032146e-01 -2.92213607e-01 -5.02474741e-02 1.38187086e+02] [ 5.24489341e-02 -3.00785219e-04 9.98623562e-01 1.00003154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.74710568099994 meters 0.016462729134951098 Centerline is valid? [True, True] Translation: X:194.98, Y:138.21, Z:10.01 [[-2.97085457e-01 -9.54755226e-01 1.35162869e-02 1.94978823e+02] [ 9.53689789e-01 -2.97392336e-01 -4.50952844e-02 1.38211509e+02] [ 4.70745986e-02 -5.06808370e-04 9.98891248e-01 1.00086135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7771056809999 meters 0.018054463484363174 Centerline is valid? [True, True] Translation: X:194.97, Y:138.24, Z:10.01 [[-3.03609776e-01 -9.52714220e-01 1.25187282e-02 1.94974962e+02] [ 9.51801251e-01 -3.03866841e-01 -4.17051656e-02 1.38238509e+02] [ 4.35371307e-02 -7.46754855e-04 9.99051531e-01 1.00132179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.80710568099994 meters 0.01963010688404745 Centerline is valid? [True, True] Translation: X:194.97, Y:138.27, Z:10.01 [[-3.06636256e-01 -9.51742233e-01 1.26857680e-02 1.94970987e+02] [ 9.50806788e-01 -3.06897300e-01 -4.21959695e-02 1.38265044e+02] [ 4.40529142e-02 -8.77099765e-04 9.99028814e-01 1.00124169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8371056809999 meters 0.02103397848711729 Centerline is valid? [True, True] Translation: X:194.97, Y:138.29, Z:10.01 [[-3.09908373e-01 -9.50668284e-01 1.36606831e-02 1.94965680e+02] [ 9.49585979e-01 -3.10207404e-01 -4.53633680e-02 1.38292068e+02] [ 4.73631602e-02 -1.08649441e-03 9.98877145e-01 1.00093116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.86710568099994 meters 0.02085817259855029 Centerline is valid? [True, True] Translation: X:194.96, Y:138.32, Z:10.01 [[-3.09714293e-01 -9.50725534e-01 1.40717713e-02 1.94955893e+02] [ 9.49580641e-01 -3.10031893e-01 -4.66565223e-02 1.38316565e+02] [ 4.87202450e-02 -1.08791025e-03 9.98811871e-01 1.00085678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8971056809999 meters 0.018639164235683504 Centerline is valid? [True, True] Translation: X:194.94, Y:138.34, Z:10.01 [[-3.04606623e-01 -9.52370231e-01 1.43439052e-02 1.94942120e+02] [ 9.51186172e-01 -3.04943061e-01 -4.74825836e-02 1.38340548e+02] [ 4.95950735e-02 -8.19785214e-04 9.98769071e-01 1.00077844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.92710568099994 meters 0.017274852443016964 Centerline is valid? [True, True] Translation: X:194.93, Y:138.37, Z:10.01 [[-3.01182570e-01 -9.53457206e-01 1.44365893e-02 1.94930888e+02] [ 9.52262555e-01 -3.01527719e-01 -4.77185530e-02 1.38365384e+02] [ 4.98506301e-02 -6.24572980e-04 9.98756489e-01 1.00089191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.9571056809999 meters 0.016128424759858373 Centerline is valid? [True, True] Translation: X:194.92, Y:138.39, Z:10.01 [[-2.93592446e-01 -9.55812595e-01 1.50252768e-02 1.94916097e+02] [ 9.54525523e-01 -2.93976592e-01 -4.95861859e-02 1.38388191e+02] [ 5.18121807e-02 -2.16119446e-04 9.98656824e-01 1.00086413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.98710568099995 meters 0.016110606134502926 Centerline is valid? [True, True] Translation: X:194.90, Y:138.41, Z:10.01 [[-2.89886200e-01 -9.56944469e-01 1.49423651e-02 1.94904909e+02] [ 9.55676857e-01 -2.90271051e-01 -4.92388337e-02 1.38410811e+02] [ 5.14561656e-02 6.41413074e-06 9.98675254e-01 1.00088151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.0171056809999 meters 0.01699177064416964 Centerline is valid? [True, True] Translation: X:194.89, Y:138.43, Z:10.02 [[-2.81780408e-01 -9.59378980e-01 1.38482898e-02 1.94892086e+02] [ 9.58295909e-01 -2.82120169e-01 -4.55758866e-02 1.38434890e+02] [ 4.76314294e-02 4.28367543e-04 9.98864887e-01 1.00153507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.04710568099995 meters 0.01787148680414777 Centerline is valid? [True, True] Translation: X:194.88, Y:138.46, Z:10.02 [[-2.77930506e-01 -9.60509406e-01 1.32783335e-02 1.94881881e+02] [ 9.59517849e-01 -2.78246842e-01 -4.36370532e-02 1.38459707e+02] [ 4.56084545e-02 6.12729668e-04 9.98959205e-01 1.00205334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.0771056809999 meters 0.020868349445849727 Centerline is valid? [True, True] Translation: X:194.87, Y:138.48, Z:10.02 [[-2.71653044e-01 -9.62303449e-01 1.32926778e-02 1.94869491e+02] [ 9.61314912e-01 -2.71976483e-01 -4.36168782e-02 1.38482471e+02] [ 4.55879680e-02 9.29791638e-04 9.98959895e-01 1.00226999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.10710568099995 meters 0.02326664501869578 Centerline is valid? [True, True] Translation: X:194.86, Y:138.51, Z:10.02 [[-2.69138014e-01 -9.63004116e-01 1.37040758e-02 1.94859264e+02] [ 9.61957746e-01 -2.69484437e-01 -4.48935794e-02 1.38506967e+02] [ 4.69257369e-02 1.10017302e-03 9.98897775e-01 1.00214877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.1371056809999 meters 0.026604646305109652 Centerline is valid? [True, True] Translation: X:194.85, Y:138.53, Z:10.02 [[-2.62327667e-01 -9.64875181e-01 1.41449525e-02 1.94853749e+02] [ 9.63766375e-01 -2.62704491e-01 -4.62679727e-02 1.38533358e+02] [ 4.83587610e-02 1.49506025e-03 9.98828912e-01 1.00205605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.16710568099995 meters 0.028851491028278584 Centerline is valid? [True, True] Translation: X:194.85, Y:138.56, Z:10.02 [[-2.59104397e-01 -9.65747392e-01 1.40316126e-02 1.94846168e+02] [ 9.64660238e-01 -2.59478757e-01 -4.58410388e-02 1.38559465e+02] [ 4.79117691e-02 1.65812401e-03 9.98850195e-01 1.00210409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.1971056809999 meters 0.03329279404483939 Centerline is valid? [True, True] Translation: X:194.84, Y:138.58, Z:10.02 [[-2.53383601e-01 -9.67267386e-01 1.38041598e-02 1.94837966e+02] [ 9.66220486e-01 -2.53752022e-01 -4.50320195e-02 1.38584310e+02] [ 4.70608373e-02 1.92748674e-03 9.98890165e-01 1.00241495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.22710568099995 meters 0.03389323264138609 Centerline is valid? [True, True] Translation: X:194.83, Y:138.61, Z:10.03 [[-2.49476116e-01 -9.68294132e-01 1.29669155e-02 1.94834198e+02] [ 9.67374475e-01 -2.49804821e-01 -4.22395132e-02 1.38611307e+02] [ 4.41394708e-02 2.00611342e-03 9.99023364e-01 1.00310691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.2571056809999 meters 0.03698608445803991 Centerline is valid? [True, True] Translation: X:194.83, Y:138.64, Z:10.03 [[-2.48345274e-01 -9.68583204e-01 1.30844246e-02 1.94826428e+02] [ 9.67650080e-01 -2.48680919e-01 -4.25572844e-02 1.38636316e+02] [ 4.44741176e-02 2.09224405e-03 9.99008346e-01 1.00312998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.28710568099996 meters 0.03455218068095994 Centerline is valid? [True, True] Translation: X:194.83, Y:138.67, Z:10.03 [[-2.46907123e-01 -9.68939626e-01 1.38879008e-02 1.94834081e+02] [ 9.67892279e-01 -2.47286634e-01 -4.50982995e-02 1.38667716e+02] [ 4.71318217e-02 2.30690060e-03 9.98886014e-01 1.00289849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.31710568099993 meters 0.0351476236559189 Centerline is valid? [True, True] Translation: X:194.83, Y:138.70, Z:10.03 [[-2.48481268e-01 -9.68532856e-01 1.41833367e-02 1.94832036e+02] [ 9.67443008e-01 -2.48875163e-01 -4.59910895e-02 1.38695006e+02] [ 4.80737615e-02 2.29364573e-03 9.98841155e-01 1.00276730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.34710568099996 meters 0.03334028980701785 Centerline is valid? [True, True] Translation: X:194.84, Y:138.73, Z:10.03 [[-2.52367501e-01 -9.67528897e-01 1.40881929e-02 1.94842023e+02] [ 9.66455428e-01 -2.52751665e-01 -4.56125158e-02 1.38725391e+02] [ 4.76922413e-02 2.10449387e-03 9.98859861e-01 1.00284852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.37710568099993 meters 0.02970772758283383 Centerline is valid? [True, True] Translation: X:194.85, Y:138.76, Z:10.03 [[-2.58624628e-01 -9.65872146e-01 1.42933068e-02 1.94853681e+02] [ 9.64768097e-01 -2.59012763e-01 -4.62050623e-02 1.38757714e+02] [ 4.83303316e-02 1.83995933e-03 9.98829712e-01 1.00295684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.4071056809999 meters 0.02752366548378859 Centerline is valid? [True, True] Translation: X:194.86, Y:138.79, Z:10.03 [[-2.62447933e-01 -9.64841726e-01 1.41959864e-02 1.94855830e+02] [ 9.63754397e-01 -2.62826376e-01 -4.58231310e-02 1.38786625e+02] [ 4.79431484e-02 1.65525828e-03 9.98848695e-01 1.00311153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.43710568099993 meters 0.022162924526115513 Centerline is valid? [True, True] Translation: X:194.87, Y:138.82, Z:10.04 [[-2.72010646e-01 -9.62200279e-01 1.34474032e-02 1.94870443e+02] [ 9.61224048e-01 -2.72340478e-01 -4.33473540e-02 1.38819341e+02] [ 4.53711083e-02 1.13502563e-03 9.98969556e-01 1.00355062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.4671056809999 meters 0.020226589136548435 Centerline is valid? [True, True] Translation: X:194.87, Y:138.85, Z:10.04 [[-2.77302806e-01 -9.60691359e-01 1.32388556e-02 1.94872704e+02] [ 9.59745743e-01 -2.77617233e-01 -4.26237029e-02 1.38847657e+02] [ 4.46235575e-02 8.86262884e-04 9.99003480e-01 1.00369689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49710568099994 meters 0.016333363235429596 Centerline is valid? [True, True] Translation: X:194.89, Y:138.88, Z:10.04 [[-2.88369710e-01 -9.57426654e-01 1.33083752e-02 1.94888487e+02] [ 9.56470487e-01 -2.88676373e-01 -4.27803521e-02 1.38880739e+02] [ 4.48008629e-02 3.92510409e-04 9.98995860e-01 1.00372301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5271056809999 meters 0.01544357777542417 Centerline is valid? [True, True] Translation: X:194.89, Y:138.91, Z:10.04 [[-2.93139231e-01 -9.55975930e-01 1.33945229e-02 1.94891657e+02] [ 9.55008783e-01 -2.93445031e-01 -4.29911385e-02 1.38909735e+02] [ 4.50290498e-02 1.89497688e-04 9.98985660e-01 1.00380981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.55710568099994 meters 0.015414446588141189 Centerline is valid? [True, True] Translation: X:194.90, Y:138.94, Z:10.03 [[-2.98004634e-01 -9.54453372e-01 1.45601595e-02 1.94898467e+02] [ 9.53312359e-01 -2.98360117e-01 -4.66560489e-02 1.38939339e+02] [ 4.88751941e-02 -2.33388436e-05 9.98804893e-01 1.00342742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5871056809999 meters 0.015414446588141189 Centerline is valid? [True, True] Translation: X:194.89, Y:138.96, Z:10.04 [[-2.98433376e-01 -9.54319150e-01 1.45767324e-02 1.94890431e+02] [ 9.53178229e-01 -2.98789157e-01 -4.66508712e-02 1.38963859e+02] [ 4.88751893e-02 -2.79530590e-05 9.98804893e-01 1.00352296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.61710568099994 meters 0.01551003585245871 Centerline is valid? [True, True] Translation: X:194.88, Y:138.99, Z:10.03 [[-2.97480711e-01 -9.54600263e-01 1.56065475e-02 1.94884740e+02] [ 9.53296995e-01 -2.97889805e-01 -4.98648603e-02 1.38990735e+02] [ 5.22500401e-02 4.38407627e-05 9.98634033e-01 1.00332341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.6471056809999 meters 0.01691915768607297 Centerline is valid? [True, True] Translation: X:194.88, Y:139.02, Z:10.03 [[-2.90672827e-01 -9.56680500e-01 1.64841782e-02 1.94878163e+02] [ 9.55234007e-01 -2.91139501e-01 -5.25907029e-02 1.39015665e+02] [ 5.51116954e-02 4.59559306e-04 9.98480090e-01 1.00308240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.67710568099994 meters 0.019878209995096128 Centerline is valid? [True, True] Translation: X:194.87, Y:139.04, Z:10.04 [[-2.81331378e-01 -9.59481841e-01 1.57242559e-02 1.94865980e+02] [ 9.58173332e-01 -2.81768794e-01 -5.01020276e-02 1.39040427e+02] [ 5.25025902e-02 9.71290145e-04 9.98620316e-01 1.00364816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.7071056809999 meters 0.021919830857560354 Centerline is valid? [True, True] Translation: X:194.86, Y:139.07, Z:10.04 [[-2.77231501e-01 -9.60679721e-01 1.54002902e-02 1.94855781e+02] [ 9.59430106e-01 -2.77656359e-01 -4.89981423e-02 1.39065288e+02] [ 5.13475102e-02 1.19167356e-03 9.98680136e-01 1.00398247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.73710568099995 meters 0.025209077816877864 Centerline is valid? [True, True] Translation: X:194.85, Y:139.09, Z:10.04 [[-2.71021294e-01 -9.62457485e-01 1.49348057e-02 1.94849108e+02] [ 9.61288370e-01 -2.71428349e-01 -4.74480843e-02 1.39091091e+02] [ 4.97204935e-02 1.49721385e-03 9.98762049e-01 1.00448348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.7671056809999 meters 0.026060958255927538 Centerline is valid? [True, True] Translation: X:194.84, Y:139.12, Z:10.05 [[-2.70367409e-01 -9.62640206e-01 1.50099076e-02 1.94843021e+02] [ 9.61463182e-01 -2.70779256e-01 -4.76145407e-02 1.39117907e+02] [ 4.99000429e-02 1.55805354e-03 9.98753002e-01 1.00456238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.79710568099995 meters 0.025512134145311498 Centerline is valid? [True, True] Translation: X:194.84, Y:139.14, Z:10.05 [[-2.72755432e-01 -9.61967480e-01 1.49345613e-02 1.94842946e+02] [ 9.60804629e-01 -2.73160166e-01 -4.73073904e-02 1.39144958e+02] [ 4.95876984e-02 1.44584793e-03 9.98768727e-01 1.00463962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.8271056809999 meters 0.023957449760169978 Centerline is valid? [True, True] Translation: X:194.84, Y:139.17, Z:10.05 [[-2.75827874e-01 -9.61094978e-01 1.46774547e-02 1.94840054e+02] [ 9.59973901e-01 -2.76215122e-01 -4.64253866e-02 1.39172644e+02] [ 4.86733409e-02 1.28455774e-03 9.98813925e-01 1.00478407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.85710568099995 meters 0.021276385244070137 Centerline is valid? [True, True] Translation: X:194.84, Y:139.20, Z:10.05 [[-2.81988939e-01 -9.59312457e-01 1.42073304e-02 1.94843089e+02] [ 9.58262689e-01 -2.82344983e-01 -4.48768345e-02 1.39201396e+02] [ 4.70622748e-02 9.59583633e-04 9.98891496e-01 1.00511027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.8871056809999 meters 0.019843778502119137 Centerline is valid? [True, True] Translation: X:194.84, Y:139.23, Z:10.05 [[-2.85175142e-01 -9.58369502e-01 1.42490704e-02 1.94839827e+02] [ 9.57315350e-01 -2.85529717e-01 -4.49455407e-02 1.39228760e+02] [ 4.71429685e-02 8.23502888e-04 9.98887813e-01 1.00533699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.91710568099995 meters 0.018213522821066797 Centerline is valid? [True, True] Translation: X:194.84, Y:139.26, Z:10.05 [[-2.89907343e-01 -9.56948505e-01 1.42580147e-02 1.94839177e+02] [ 9.55894235e-01 -2.90257106e-01 -4.49112783e-02 1.39256154e+02] [ 4.71162707e-02 6.09044719e-04 9.98889226e-01 1.00546304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.9471056809999 meters 0.01702400360321197 Centerline is valid? [True, True] Translation: X:194.84, Y:139.28, Z:10.05 [[-2.94710653e-01 -9.55470989e-01 1.48600110e-02 1.94837269e+02] [ 9.54327338e-01 -2.95084772e-01 -4.67365844e-02 1.39282163e+02] [ 4.90404135e-02 4.07545443e-04 9.98796712e-01 1.00526289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.97710568099995 meters 0.016402227436027157 Centerline is valid? [True, True] Translation: X:194.83, Y:139.31, Z:10.05 [[-2.97650640e-01 -9.54554467e-01 1.51613245e-02 1.94831808e+02] [ 9.53366309e-01 -2.98036389e-01 -4.76129361e-02 1.39308616e+02] [ 4.99677673e-02 2.82275132e-04 9.98750791e-01 1.00522636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.0071056809999 meters 0.01599301314926288 Centerline is valid? [True, True] Translation: X:194.83, Y:139.33, Z:10.05 [[-3.01706598e-01 -9.53280541e-01 1.51439346e-02 1.94827451e+02] [ 9.52096590e-01 -3.02086415e-01 -4.74961091e-02 1.39334283e+02] [ 4.98518935e-02 8.85990296e-05 9.98756617e-01 1.00523189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.03710568099996 meters 0.016586974485207285 Centerline is valid? [True, True] Translation: X:194.83, Y:139.36, Z:10.05 [[-3.09486325e-01 -9.50784581e-01 1.50630804e-02 1.94829804e+02] [ 9.49613875e-01 -3.09852538e-01 -4.71687669e-02 1.39362889e+02] [ 4.95146699e-02 -2.93978193e-04 9.98773353e-01 1.00541813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.06710568099993 meters 0.017446840577856906 Centerline is valid? [True, True] Translation: X:194.83, Y:139.39, Z:10.06 [[-3.13255772e-01 -9.49552210e-01 1.48802593e-02 1.94826929e+02] [ 9.48411653e-01 -3.13608652e-01 -4.65290254e-02 1.39389231e+02] [ 4.88483169e-02 -4.62874419e-04 9.98806101e-01 1.00564219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.09710568099996 meters 0.019768066534798068 Centerline is valid? [True, True] Translation: X:194.83, Y:139.42, Z:10.06 [[-3.19082619e-01 -9.47618687e-01 1.43215656e-02 1.94826685e+02] [ 9.46563261e-01 -3.19403064e-01 -4.47177214e-02 1.39415499e+02] [ 4.69497004e-02 -7.12379772e-04 9.98897001e-01 1.00597071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.12710568099993 meters 0.023402821726873597 Centerline is valid? [True, True] Translation: X:194.83, Y:139.44, Z:10.06 [[-3.25597408e-01 -9.45402759e-01 1.41404291e-02 1.94825834e+02] [ 9.44374841e-01 -3.25902782e-01 -4.40855616e-02 1.39441662e+02] [ 4.62870167e-02 -1.00027910e-03 9.98927681e-01 1.00607468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.1571056809999 meters 0.026141258317804 Centerline is valid? [True, True] Translation: X:194.82, Y:139.47, Z:10.06 [[-3.30110883e-01 -9.43836591e-01 1.41171569e-02 1.94821925e+02] [ 9.42813639e-01 -3.30410434e-01 -4.39475569e-02 1.39468137e+02] [ 4.61437682e-02 -1.19771876e-03 9.98934091e-01 1.00614286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.18710568099993 meters 0.03431022326812622 Centerline is valid? [True, True] Translation: X:194.83, Y:139.50, Z:10.06 [[-3.41226992e-01 -9.39874036e-01 1.41751979e-02 1.94825153e+02] [ 9.38841995e-01 -3.41516923e-01 -4.40669922e-02 1.39495271e+02] [ 4.62584918e-02 -1.72857613e-03 9.98928007e-01 1.00615732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2171056809999 meters 0.03267794202676095 Centerline is valid? [True, True] Translation: X:194.81, Y:139.52, Z:10.06 [[-3.47517784e-01 -9.37564142e-01 1.43132443e-02 1.94814011e+02] [ 9.36512598e-01 -3.47806443e-01 -4.44390765e-02 1.39519885e+02] [ 4.66427232e-02 -2.03883576e-03 9.98909555e-01 1.00639671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.24710568099994 meters 0.03936965870171694 Centerline is valid? [True, True] Translation: X:194.81, Y:139.55, Z:10.07 [[-3.58608767e-01 -9.33381888e-01 1.40713582e-02 1.94813647e+02] [ 9.32365366e-01 -3.58875857e-01 -4.36227399e-02 1.39547990e+02] [ 4.57665461e-02 -2.52384989e-03 9.98948974e-01 1.00664863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2771056809999 meters 0.04059902518446442 Centerline is valid? [True, True] Translation: X:194.80, Y:139.57, Z:10.07 [[-3.62687813e-01 -9.31808029e-01 1.38328300e-02 1.94804931e+02] [ 9.30827434e-01 -3.62941802e-01 -4.28198246e-02 1.39573654e+02] [ 4.49203687e-02 -2.65425088e-03 9.98987045e-01 1.00693732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.30710568099994 meters 0.04436254060234809 Centerline is valid? [True, True] Translation: X:194.79, Y:139.60, Z:10.07 [[-3.66967056e-01 -9.30144257e-01 1.29167215e-02 1.94794784e+02] [ 9.29290575e-01 -3.67184752e-01 -3.99297572e-02 1.39597853e+02] [ 4.18832575e-02 -2.64951793e-03 9.99118998e-01 1.00747306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3371056809999 meters 0.04395415269998667 Centerline is valid? [True, True] Translation: X:194.78, Y:139.62, Z:10.08 [[-3.69049167e-01 -9.29328170e-01 1.23233552e-02 1.94780869e+02] [ 9.28552876e-01 -3.69245734e-01 -3.80413371e-02 1.39621553e+02] [ 3.99032326e-02 -2.59623688e-03 9.99200176e-01 1.00785280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.36710568099994 meters 0.04698925689051001 Centerline is valid? [True, True] Translation: X:194.77, Y:139.64, Z:10.08 [[-3.70669662e-01 -9.28692688e-01 1.15712310e-02 1.94767546e+02] [ 9.28010656e-01 -3.70841906e-01 -3.56721679e-02 1.39644964e+02] [ 3.74195788e-02 -2.48436478e-03 9.99296554e-01 1.00823641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3971056809999 meters 0.044621779453304075 Centerline is valid? [True, True] Translation: X:194.75, Y:139.67, Z:10.08 [[-3.71219347e-01 -9.28475692e-01 1.13616281e-02 1.94751335e+02] [ 9.27819907e-01 -3.71385146e-01 -3.49756073e-02 1.39667455e+02] [ 3.66935411e-02 -2.44207736e-03 9.99323581e-01 1.00831041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.42710568099994 meters 0.04671241190784389 Centerline is valid? [True, True] Translation: X:194.73, Y:139.69, Z:10.08 [[-3.72033757e-01 -9.28140581e-01 1.20807630e-02 1.94733379e+02] [ 9.27401340e-01 -3.72220705e-01 -3.71281766e-02 1.39689599e+02] [ 3.89568775e-02 -2.60921922e-03 9.99237486e-01 1.00800374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.4571056809999 meters 0.04859011428005462 Centerline is valid? [True, True] Translation: X:194.72, Y:139.71, Z:10.08 [[-3.72623557e-01 -9.27896622e-01 1.26310948e-02 1.94720628e+02] [ 9.27090746e-01 -3.72827563e-01 -3.87602521e-02 1.39713027e+02] [ 4.06747273e-02 -2.73281191e-03 9.99168704e-01 1.00782587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.48710568099995 meters 0.04820924005406946 Centerline is valid? [True, True] Translation: X:194.70, Y:139.73, Z:10.08 [[-3.74894082e-01 -9.26983997e-01 1.24537731e-02 1.94698527e+02] [ 9.26202281e-01 -3.75090635e-01 -3.81621522e-02 1.39734290e+02] [ 4.00469981e-02 -2.77205195e-03 9.99193952e-01 1.00802565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.5171056809999 meters 0.04795216418983282 Centerline is valid? [True, True] Translation: X:194.68, Y:139.76, Z:10.08 [[-3.76623135e-01 -9.26286042e-01 1.22140642e-02 1.94683267e+02] [ 9.25535748e-01 -3.76810935e-01 -3.73777737e-02 1.39757540e+02] [ 3.92249030e-02 -2.77278127e-03 9.99226560e-01 1.00830920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.54710568099995 meters 0.04754666682577472 Centerline is valid? [True, True] Translation: X:194.66, Y:139.78, Z:10.09 [[-3.77703853e-01 -9.25853260e-01 1.16421884e-02 1.94661670e+02] [ 9.25173150e-01 -3.77873818e-01 -3.55811834e-02 1.39779068e+02] [ 3.73422328e-02 -2.66810993e-03 9.99298974e-01 1.00871930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.5771056809999 meters 0.048076292918269495 Centerline is valid? [True, True] Translation: X:194.64, Y:139.80, Z:10.09 [[-3.75046397e-01 -9.26939431e-01 1.11126819e-02 1.94642954e+02] [ 9.26321827e-01 -3.75203146e-01 -3.39186141e-02 1.39799433e+02] [ 3.56100140e-02 -2.42713419e-03 9.99362815e-01 1.00911523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.60710568099995 meters 0.04707200156125722 Centerline is valid? [True, True] Translation: X:194.63, Y:139.82, Z:10.09 [[-3.73303426e-01 -9.27648313e-01 1.06376769e-02 1.94626969e+02] [ 9.27084321e-01 -3.73448240e-01 -3.24202637e-02 1.39823021e+02] [ 3.40472247e-02 -2.24057210e-03 9.99417714e-01 1.00941881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.6371056809999 meters 0.042098771986180804 Centerline is valid? [True, True] Translation: X:194.60, Y:139.84, Z:10.10 [[-3.68914775e-01 -9.29415132e-01 9.45521773e-03 1.94596029e+02] [ 9.28971051e-01 -3.69031355e-01 -2.87862077e-02 1.39840869e+02] [ 3.02436089e-02 -1.83603379e-03 9.99540871e-01 1.01011416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.66710568099995 meters 0.039635706980283895 Centerline is valid? [True, True] Translation: X:194.58, Y:139.86, Z:10.10 [[-3.65670894e-01 -9.30700266e-01 9.04497255e-03 1.94576371e+02] [ 9.30295319e-01 -3.65779057e-01 -2.75009394e-02 1.39862254e+02] [ 2.89035932e-02 -1.64179748e-03 9.99580856e-01 1.01043207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.6971056809999 meters 0.03327955101708444 Centerline is valid? [True, True] Translation: X:194.54, Y:139.88, Z:10.11 [[-3.55976233e-01 -9.34453961e-01 8.75876366e-03 1.94544637e+02] [ 9.34076469e-01 -3.56081656e-01 -2.65895364e-02 1.39880453e+02] [ 2.79655327e-02 -1.28388797e-03 9.99608064e-01 1.01068349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.72710568099995 meters 0.029249410860882723 Centerline is valid? [True, True] Translation: X:194.52, Y:139.90, Z:10.11 [[-3.49916998e-01 -9.36739125e-01 8.82650689e-03 1.94523000e+02] [ 9.36357194e-01 -3.50026567e-01 -2.67695228e-02 1.39901953e+02] [ 2.81655712e-02 -1.10234782e-03 9.99602664e-01 1.01077703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.7571056809999 meters 0.021794569722476988 Centerline is valid? [True, True] Translation: X:194.49, Y:139.92, Z:10.10 [[-3.35416209e-01 -9.42011146e-01 1.05341514e-02 1.94487453e+02] [ 9.41471373e-01 -3.35580679e-01 -3.18945274e-02 1.39918551e+02] [ 3.35800580e-02 -7.80339450e-04 9.99435726e-01 1.01027155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.78710568099996 meters 0.017045577143005336 Centerline is valid? [True, True] Translation: X:194.45, Y:139.94, Z:10.10 [[-3.21798793e-01 -9.46737023e-01 1.15994378e-02 1.94451313e+02] [ 9.46087501e-01 -3.22007631e-01 -3.50646089e-02 1.39935618e+02] [ 3.69320709e-02 -3.09665760e-04 9.99317730e-01 1.01008926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.81710568099993 meters 0.01639058570600562 Centerline is valid? [True, True] Translation: X:194.43, Y:139.96, Z:10.10 [[-3.16687033e-01 -9.48456582e-01 1.18082295e-02 1.94432088e+02] [ 9.47785980e-01 -3.16907086e-01 -3.56599918e-02 1.39956149e+02] [ 3.75640655e-02 -1.01382611e-04 9.99294216e-01 1.01012970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.84710568099996 meters 0.01690683114120515 Centerline is valid? [True, True] Translation: X:194.41, Y:139.98, Z:10.10 [[-3.09483166e-01 -9.50822596e-01 1.25124690e-02 1.94409933e+02] [ 9.50074025e-01 -3.09735930e-01 -3.77226888e-02 1.39977402e+02] [ 3.97431461e-02 2.13234622e-04 9.99209906e-01 1.00992834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.87710568099993 meters 0.01707411741409862 Centerline is valid? [True, True] Translation: X:194.40, Y:140.00, Z:10.10 [[-3.08252509e-01 -9.51220666e-01 1.26347101e-02 1.94396312e+02] [ 9.50459863e-01 -3.08511207e-01 -3.80379393e-02 1.40001874e+02] [ 4.00804236e-02 2.83494643e-04 9.99196417e-01 1.01000642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.9071056809999 meters 0.017484673046258843 Centerline is valid? [True, True] Translation: X:194.38, Y:140.02, Z:10.10 [[-3.07741126e-01 -9.51389025e-01 1.24227012e-02 1.94380696e+02] [ 9.50655703e-01 -3.07991597e-01 -3.73484933e-02 1.40022798e+02] [ 3.93590342e-02 3.16044373e-04 9.99225083e-01 1.01004082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.93710568099993 meters 0.017337326327840765 Centerline is valid? [True, True] Translation: X:194.37, Y:140.05, Z:10.10 [[-3.08045235e-01 -9.51297966e-01 1.18454171e-02 1.94371234e+02] [ 9.50633203e-01 -3.08272747e-01 -3.55587884e-02 1.40047929e+02] [ 3.74786223e-02 3.06931460e-04 9.99297382e-01 1.01023429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.9671056809999 meters 0.01729540332026061 Centerline is valid? [True, True] Translation: X:194.36, Y:140.07, Z:10.11 [[-3.09409105e-01 -9.50865825e-01 1.09630745e-02 1.94360947e+02] [ 9.50297597e-01 -3.09603168e-01 -3.28687599e-02 1.40070910e+02] [ 3.46479831e-02 2.48289767e-04 9.99399548e-01 1.01067644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99710568099994 meters 0.017176564701478766 Centerline is valid? [True, True] Translation: X:194.35, Y:140.09, Z:10.11 [[-3.10757890e-01 -9.50425793e-01 1.09702314e-02 1.94352440e+02] [ 9.49858365e-01 -3.10951388e-01 -3.28378031e-02 1.40094363e+02] [ 3.46211038e-02 2.15559678e-04 9.99400487e-01 1.01077675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0271056809999 meters 0.016720969478127037 Centerline is valid? [True, True] Translation: X:194.35, Y:140.12, Z:10.11 [[-3.13288983e-01 -9.49591802e-01 1.11992082e-02 1.94347966e+02] [ 9.49001803e-01 -3.13489057e-01 -3.34692120e-02 1.40121383e+02] [ 3.52929185e-02 1.42533404e-04 9.99377001e-01 1.01065804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.05710568099994 meters 0.016428315929380693 Centerline is valid? [True, True] Translation: X:194.35, Y:140.15, Z:10.11 [[-3.18880329e-01 -9.47731773e-01 1.09463436e-02 1.94347796e+02] [ 9.47168503e-01 -3.19068150e-01 -3.26702169e-02 1.40147796e+02] [ 3.44552322e-02 -4.98575961e-05 9.99406241e-01 1.01078799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0871056809999 meters 0.016585885391870156 Centerline is valid? [True, True] Translation: X:194.34, Y:140.17, Z:10.11 [[-3.22263254e-01 -9.46582233e-01 1.13345199e-02 1.94343561e+02] [ 9.45979568e-01 -3.22462478e-01 -3.37728656e-02 1.40173557e+02] [ 3.56237519e-02 -1.61529299e-04 9.99365260e-01 1.01082236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.11710568099994 meters 0.017369186832575167 Centerline is valid? [True, True] Translation: X:194.34, Y:140.20, Z:10.11 [[-3.27879337e-01 -9.44639895e-01 1.22722783e-02 1.94341802e+02] [ 9.43933785e-01 -3.28108697e-01 -3.65197576e-02 1.40201533e+02] [ 3.85246612e-02 -3.89855864e-04 9.99257574e-01 1.01053456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.1471056809999 meters 0.017866691456471382 Centerline is valid? [True, True] Translation: X:194.34, Y:140.23, Z:10.10 [[-3.30474550e-01 -9.43730660e-01 1.26100253e-02 1.94337166e+02] [ 9.42986585e-01 -3.30714678e-01 -3.74713434e-02 1.40227446e+02] [ 3.95331761e-02 -4.92240687e-04 9.99218137e-01 1.01039146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.17710568099994 meters 0.018775083245446886 Centerline is valid? [True, True] Translation: X:194.34, Y:140.26, Z:10.10 [[-3.34075465e-01 -9.42449966e-01 1.34775878e-02 1.94335729e+02] [ 9.41601474e-01 -3.34346548e-01 -3.99881311e-02 1.40255097e+02] [ 4.21929978e-02 -6.68536949e-04 9.99109255e-01 1.01012154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.2071056809999 meters 0.019719864209659984 Centerline is valid? [True, True] Translation: X:194.33, Y:140.28, Z:10.10 [[-3.36528006e-01 -9.41563825e-01 1.43688757e-02 1.94332060e+02] [ 9.40601430e-01 -3.36833650e-01 -4.25680979e-02 1.40281070e+02] [ 4.49205019e-02 -8.09972053e-04 9.98990236e-01 1.01002546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.23710568099995 meters 0.018883540480465894 Centerline is valid? [True, True] Translation: X:194.32, Y:140.31, Z:10.10 [[-3.34571911e-01 -9.42260615e-01 1.43725288e-02 1.94321687e+02] [ 9.41301064e-01 -3.34879752e-01 -4.25189288e-02 1.40305870e+02] [ 4.48769809e-02 -6.96762636e-04 9.98992278e-01 1.01018857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.2671056809999 meters 0.01650243757845703 Centerline is valid? [True, True] Translation: X:194.30, Y:140.33, Z:10.11 [[-3.23722736e-01 -9.46057681e-01 1.33586460e-02 1.94303287e+02] [ 9.45234014e-01 -3.23998211e-01 -3.94692115e-02 1.40327135e+02] [ 4.16683281e-02 -1.50034535e-04 9.99131487e-01 1.01079763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.29710568099995 meters 0.01660925141605961 Centerline is valid? [True, True] Translation: X:194.29, Y:140.35, Z:10.11 [[-3.17966939e-01 -9.48012587e-01 1.30061591e-02 1.94289116e+02] [ 9.47235570e-01 -3.18232809e-01 -3.83751909e-02 1.40350035e+02] [ 4.05191506e-02 1.17854522e-04 9.99178755e-01 1.01111231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.3271056809999 meters 0.01887726348469267 Centerline is valid? [True, True] Translation: X:194.27, Y:140.37, Z:10.11 [[-3.08668848e-01 -9.51087559e-01 1.24899350e-02 1.94273557e+02] [ 9.50375498e-01 -3.08921017e-01 -3.67997002e-02 1.40371927e+02] [ 3.88581404e-02 5.11207176e-04 9.99244606e-01 1.01140085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.35710568099995 meters 0.019349678974010544 Centerline is valid? [True, True] Translation: X:194.26, Y:140.40, Z:10.12 [[-3.06646754e-01 -9.51745341e-01 1.21891399e-02 1.94264525e+02] [ 9.51069556e-01 -3.06888339e-01 -3.58642954e-02 1.40397240e+02] [ 3.78743809e-02 5.95050148e-04 9.99282331e-01 1.01158915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.3871056809999 meters 0.02071518122803474 Centerline is valid? [True, True] Translation: X:194.26, Y:140.42, Z:10.12 [[-3.05719333e-01 -9.52050139e-01 1.16714273e-02 1.94257014e+02] [ 9.51432452e-01 -3.05941414e-01 -3.42949105e-02 1.40421665e+02] [ 3.62212473e-02 6.19957511e-04 9.99343603e-01 1.01184208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.41710568099995 meters 0.02013504489913553 Centerline is valid? [True, True] Translation: X:194.25, Y:140.45, Z:10.12 [[-3.06282555e-01 -9.51873991e-01 1.12650407e-02 1.94252040e+02] [ 9.51299733e-01 -3.06489081e-01 -3.30644994e-02 1.40448123e+02] [ 3.49258490e-02 5.89350895e-04 9.99389733e-01 1.01205255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.4471056809999 meters 0.020366559403174698 Centerline is valid? [True, True] Translation: X:194.25, Y:140.47, Z:10.12 [[-3.06624567e-01 -9.51767147e-01 1.09851337e-02 1.94247756e+02] [ 9.51222609e-01 -3.06820738e-01 -3.21960154e-02 1.40474127e+02] [ 3.40135765e-02 5.77218266e-04 9.99421204e-01 1.01230152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.47710568099995 meters 0.020306244536407045 Centerline is valid? [True, True] Translation: X:194.24, Y:140.50, Z:10.13 [[-3.06546775e-01 -9.51795561e-01 1.06904014e-02 1.94241639e+02] [ 9.51281390e-01 -3.06732579e-01 -3.12864370e-02 1.40500491e+02] [ 3.30573862e-02 5.78823573e-04 9.99453288e-01 1.01250109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.5071056809999 meters 0.020306244536407045 Centerline is valid? [True, True] Translation: X:194.23, Y:140.53, Z:10.13 [[-3.06949785e-01 -9.51665520e-01 1.07036548e-02 1.94232758e+02] [ 9.51151428e-01 -3.07135806e-01 -3.12819017e-02 1.40525552e+02] [ 3.30573829e-02 5.78823514e-04 9.99453288e-01 1.01259972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.53710568099996 meters 0.020296324773481728 Centerline is valid? [True, True] Translation: X:194.23, Y:140.55, Z:10.13 [[-3.07988886e-01 -9.51331135e-01 1.05790822e-02 1.94226055e+02] [ 9.50830092e-01 -3.08170033e-01 -3.08766276e-02 1.40549483e+02] [ 3.26340533e-02 5.49251606e-04 9.99467217e-01 1.01270915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.56710568099993 meters 0.019400395633387885 Centerline is valid? [True, True] Translation: X:194.23, Y:140.58, Z:10.13 [[-3.11702744e-01 -9.50121642e-01 1.05007168e-02 1.94225253e+02] [ 9.49628897e-01 -3.11879267e-01 -3.05987180e-02 1.40576624e+02] [ 3.23474601e-02 4.34079749e-04 9.99476590e-01 1.01276976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.5971056809999 meters 0.018547330333680185 Centerline is valid? [True, True] Translation: X:194.22, Y:140.60, Z:10.13 [[-3.15005203e-01 -9.49032531e-01 1.04392041e-02 1.94222702e+02] [ 9.48546320e-01 -3.15177956e-01 -3.03765638e-02 1.40604110e+02] [ 3.21185542e-02 3.33292984e-04 9.99484011e-01 1.01281491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.62710568099993 meters 0.01726024830352501 Centerline is valid? [True, True] Translation: X:194.23, Y:140.63, Z:10.13 [[-3.21453855e-01 -9.46868355e-01 1.03796445e-02 1.94226008e+02] [ 9.46387766e-01 -3.21621364e-01 -3.01644761e-02 1.40634340e+02] [ 3.19001033e-02 1.26681419e-04 9.99491054e-01 1.01284388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.6571056809999 meters 0.017140666319946183 Centerline is valid? [True, True] Translation: X:194.22, Y:140.66, Z:10.13 [[-3.24021800e-01 -9.45990259e-01 1.05972910e-02 1.94221669e+02] [ 9.45490177e-01 -3.24195044e-01 -3.07554585e-02 1.40659867e+02] [ 3.25299534e-02 5.41955395e-05 9.99470760e-01 1.01283219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.68710568099993 meters 0.017002854557598864 Centerline is valid? [True, True] Translation: X:194.22, Y:140.69, Z:10.13 [[-3.26442737e-01 -9.45151899e-01 1.10917697e-02 1.94218456e+02] [ 9.44605340e-01 -3.26631118e-01 -3.21382102e-02 1.40686254e+02] [ 3.39984075e-02 -1.39403579e-05 9.99421887e-01 1.01264746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7171056809999 meters 0.017045026723349076 Centerline is valid? [True, True] Translation: X:194.21, Y:140.71, Z:10.12 [[-3.23541752e-01 -9.46135889e-01 1.21496752e-02 1.94210598e+02] [ 9.45482900e-01 -3.23769774e-01 -3.51456971e-02 1.40710405e+02] [ 3.71863030e-02 1.16209691e-04 9.99308343e-01 1.01227252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.74710568099994 meters 0.017471573398571708 Centerline is valid? [True, True] Translation: X:194.20, Y:140.74, Z:10.12 [[-3.21465795e-01 -9.46839771e-01 1.24173556e-02 1.94201517e+02] [ 9.46159867e-01 -3.21705458e-01 -3.58762343e-02 1.40735396e+02] [ 3.79637765e-02 2.15821304e-04 9.99279093e-01 1.01212706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7771056809999 meters 0.018692112463287707 Centerline is valid? [True, True] Translation: X:194.19, Y:140.76, Z:10.12 [[-3.16448730e-01 -9.48533496e-01 1.20170073e-02 1.94191940e+02] [ 9.47899777e-01 -3.16676540e-01 -3.46696104e-02 1.40760612e+02] [ 3.66907910e-02 4.19764413e-04 9.99326578e-01 1.01204664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.80710568099994 meters 0.02033773574800266 Centerline is valid? [True, True] Translation: X:194.18, Y:140.78, Z:10.12 [[-3.13711395e-01 -9.49441485e-01 1.20841754e-02 1.94180403e+02] [ 9.48803066e-01 -3.13943580e-01 -3.48162445e-02 1.40783957e+02] [ 3.68497362e-02 5.43250056e-04 9.99320670e-01 1.01205713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8371056809999 meters 0.02055430143794453 Centerline is valid? [True, True] Translation: X:194.17, Y:140.81, Z:10.12 [[-3.11611835e-01 -9.50127138e-01 1.25093985e-02 1.94174095e+02] [ 9.49445532e-01 -3.11862121e-01 -3.59888847e-02 1.40810292e+02] [ 3.80952236e-02 6.62430072e-04 9.99273894e-01 1.01189696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.86710568099994 meters 0.02098863627172376 Centerline is valid? [True, True] Translation: X:194.17, Y:140.84, Z:10.12 [[-3.11322187e-01 -9.50221773e-01 1.25330908e-02 1.94167460e+02] [ 9.49539532e-01 -3.11573596e-01 -3.60079309e-02 1.40835368e+02] [ 3.81205001e-02 6.90597385e-04 9.99272911e-01 1.01186958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8971056809999 meters 0.020969197434602484 Centerline is valid? [True, True] Translation: X:194.17, Y:140.86, Z:10.12 [[-3.12255704e-01 -9.49913069e-01 1.27096813e-02 1.94165982e+02] [ 9.49213322e-01 -3.12513518e-01 -3.64605362e-02 1.40862128e+02] [ 3.86062871e-02 6.79188442e-04 9.99254269e-01 1.01174998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.92710568099994 meters 0.02062832281944722 Centerline is valid? [True, True] Translation: X:194.16, Y:140.89, Z:10.12 [[-3.13636633e-01 -9.49458018e-01 1.27096275e-02 1.94161341e+02] [ 9.48759583e-01 -3.13893400e-01 -3.64168556e-02 1.40888567e+02] [ 3.85657438e-02 6.36720939e-04 9.99255862e-01 1.01177511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.9571056809999 meters 0.019913269533936507 Centerline is valid? [True, True] Translation: X:194.16, Y:140.92, Z:10.12 [[-3.16571507e-01 -9.48486661e-01 1.24713552e-02 1.94160470e+02] [ 9.47815353e-01 -3.16816633e-01 -3.56830084e-02 1.40916250e+02] [ 3.77959902e-02 5.24318205e-04 9.99285339e-01 1.01187347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.98710568099995 meters 0.019809094616003962 Centerline is valid? [True, True] Translation: X:194.16, Y:140.94, Z:10.12 [[-3.17703683e-01 -9.48108852e-01 1.24086670e-02 1.94156992e+02] [ 9.47445810e-01 -3.17945534e-01 -3.54552346e-02 1.40942145e+02] [ 3.75607020e-02 4.92280986e-04 9.99294227e-01 1.01195856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.0171056809999 meters 0.02027113248970139 Centerline is valid? [True, True] Translation: X:194.15, Y:140.97, Z:10.12 [[-3.16940108e-01 -9.48366636e-01 1.22348863e-02 1.94149976e+02] [ 9.47724130e-01 -3.17175727e-01 -3.49074808e-02 1.40967009e+02] [ 3.69856990e-02 5.31716231e-04 9.99315654e-01 1.01204385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.04710568099995 meters 0.021760452210244904 Centerline is valid? [True, True] Translation: X:194.14, Y:140.99, Z:10.12 [[-3.14219841e-01 -9.49270976e-01 1.22680539e-02 1.94140852e+02] [ 9.48627148e-01 -3.14458564e-01 -3.49620440e-02 1.40991289e+02] [ 3.70462483e-02 6.52041072e-04 9.99313339e-01 1.01215772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.0771056809999 meters 0.024043490165473094 Centerline is valid? [True, True] Translation: X:194.13, Y:141.02, Z:10.12 [[-3.07622272e-01 -9.51419400e-01 1.30254727e-02 1.94131409e+02] [ 9.50697544e-01 -3.07896352e-01 -3.70677353e-02 1.41016265e+02] [ 3.92774581e-02 9.80423985e-04 9.99227862e-01 1.01204530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.10710568099995 meters 0.025971872625393785 Centerline is valid? [True, True] Translation: X:194.12, Y:141.04, Z:10.12 [[-3.04084271e-01 -9.52546765e-01 1.36899878e-02 1.94120183e+02] [ 9.51752843e-01 -3.04389913e-01 -3.89012556e-02 1.41040994e+02] [ 4.12223593e-02 1.20022482e-03 9.99149276e-01 1.01193653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.1371056809999 meters 0.02884966128422672 Centerline is valid? [True, True] Translation: X:194.11, Y:141.07, Z:10.12 [[-2.97753084e-01 -9.54529050e-01 1.47442484e-02 1.94112865e+02] [ 9.53612995e-01 -2.98113609e-01 -4.18393468e-02 1.41067079e+02] [ 4.43323330e-02 1.60251237e-03 9.99015554e-01 1.01171727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.16710568099995 meters 0.03470698271191742 Centerline is valid? [True, True] Translation: X:194.10, Y:141.09, Z:10.12 [[-2.95471367e-01 -9.55233309e-01 1.50331715e-02 1.94099939e+02] [ 9.54284072e-01 -2.95848344e-01 -4.26106565e-02 1.41090119e+02] [ 4.51506573e-02 1.75568719e-03 9.98978646e-01 1.01161806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.1971056809999 meters 0.0329347104716206 Centerline is valid? [True, True] Translation: X:194.10, Y:141.12, Z:10.12 [[-2.94666946e-01 -9.55485293e-01 1.48069248e-02 1.94102983e+02] [ 9.54567304e-01 -2.95033338e-01 -4.19117021e-02 1.41119524e+02] [ 4.44145515e-02 1.78421308e-03 9.99011594e-01 1.01184420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.22710568099995 meters 0.028909906947769817 Centerline is valid? [True, True] Translation: X:194.11, Y:141.15, Z:10.12 [[-2.99640188e-01 -9.53943137e-01 1.44308593e-02 1.94109695e+02] [ 9.53071645e-01 -2.99983587e-01 -4.07956716e-02 1.41150067e+02] [ 4.32457719e-02 1.52962007e-03 9.99063293e-01 1.01207795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.2571056809999 meters 0.027020983450932866 Centerline is valid? [True, True] Translation: X:194.11, Y:141.18, Z:10.12 [[-3.03906597e-01 -9.52598226e-01 1.40499060e-02 1.94107386e+02] [ 9.51772930e-01 -3.04228341e-01 -3.96661877e-02 1.41178442e+02] [ 4.20603197e-02 1.31750411e-03 9.99114205e-01 1.01230654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.28710568099996 meters 0.022656407485583344 Centerline is valid? [True, True] Translation: X:194.11, Y:141.21, Z:10.12 [[-3.12996781e-01 -9.49648127e-01 1.41933099e-02 1.94114454e+02] [ 9.48804939e-01 -3.13317013e-01 -4.00204700e-02 1.41209652e+02] [ 4.24523698e-02 9.40404241e-04 9.99098049e-01 1.01239865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.31710568099993 meters 0.02108146837806302 Centerline is valid? [True, True] Translation: X:194.11, Y:141.24, Z:10.13 [[-3.16477395e-01 -9.48492560e-01 1.42801144e-02 1.94113254e+02] [ 9.47640163e-01 -3.16798379e-01 -4.02108130e-02 1.41238495e+02] [ 4.26635740e-02 8.06596628e-04 9.99089170e-01 1.01251846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.3471056809999 meters 0.019994217338089173 Centerline is valid? [True, True] Translation: X:194.12, Y:141.27, Z:10.13 [[-3.19290320e-01 -9.47558078e-01 1.36886796e-02 1.94117685e+02] [ 9.46775884e-01 -3.19582920e-01 -3.84991247e-02 1.41268751e+02] [ 4.08548248e-02 6.67713912e-04 9.99164870e-01 1.01295517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.37710568099993 meters 0.019112275524553836 Centerline is valid? [True, True] Translation: X:194.12, Y:141.30, Z:10.13 [[-3.21764919e-01 -9.46718291e-01 1.38497226e-02 1.94115320e+02] [ 9.45918971e-01 -3.22062318e-01 -3.88994108e-02 1.41296196e+02] [ 4.12872574e-02 5.84249553e-04 9.99147147e-01 1.01286566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.4071056809999 meters 0.0187952890660717 Centerline is valid? [True, True] Translation: X:194.11, Y:141.32, Z:10.13 [[-3.23762811e-01 -9.46032800e-01 1.41274114e-02 1.94109269e+02] [ 9.45202946e-01 -3.24070463e-01 -3.96197609e-02 1.41321134e+02] [ 4.20598701e-02 5.25865745e-04 9.99114954e-01 1.01284586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.43710568099993 meters 0.018071950182836687 Centerline is valid? [True, True] Translation: X:194.10, Y:141.35, Z:10.13 [[-3.26103584e-01 -9.45227882e-01 1.41669913e-02 1.94104665e+02] [ 9.44395151e-01 -3.26410869e-01 -3.96704336e-02 1.41347593e+02] [ 4.21218599e-02 4.42567284e-04 9.99112383e-01 1.01293201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.4671056809999 meters 0.017348666181159354 Centerline is valid? [True, True] Translation: X:194.10, Y:141.38, Z:10.13 [[-3.29700984e-01 -9.43983072e-01 1.39003605e-02 1.94102924e+02] [ 9.43182573e-01 -3.29993745e-01 -3.88685291e-02 1.41375698e+02] [ 4.12782656e-02 2.95585494e-04 9.99147645e-01 1.01322543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49710568099994 meters 0.017827909362526952 Centerline is valid? [True, True] Translation: X:194.10, Y:141.40, Z:10.13 [[-3.29122106e-01 -9.44183250e-01 1.40224639e-02 1.94095572e+02] [ 9.43371061e-01 -3.29420512e-01 -3.91556839e-02 1.41400902e+02] [ 4.15894282e-02 3.41385539e-04 9.99134727e-01 1.01334976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5271056809999 meters 0.018804740466060243 Centerline is valid? [True, True] Translation: X:194.09, Y:141.43, Z:10.14 [[-3.26451344e-01 -9.45111743e-01 1.39036860e-02 1.94085111e+02] [ 9.44316313e-01 -3.26746950e-01 -3.87702406e-02 1.41425292e+02] [ 4.11851966e-02 4.72880353e-04 9.99151418e-01 1.01355126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.55710568099994 meters 0.021879805806118015 Centerline is valid? [True, True] Translation: X:194.07, Y:141.45, Z:10.14 [[-3.18645217e-01 -9.47781599e-01 1.32387889e-02 1.94070793e+02] [ 9.47064099e-01 -3.18919146e-01 -3.68804910e-02 1.41448920e+02] [ 3.91767540e-02 7.86189555e-04 9.99231987e-01 1.01407882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5871056809999 meters 0.023445991638379043 Centerline is valid? [True, True] Translation: X:194.06, Y:141.47, Z:10.14 [[-3.14593219e-01 -9.49130931e-01 1.34752397e-02 1.94057540e+02] [ 9.48390722e-01 -3.14880143e-01 -3.74904481e-02 1.41473184e+02] [ 3.98264293e-02 9.85551569e-04 9.99206127e-01 1.01410956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.61710568099994 meters 0.026047281968594103 Centerline is valid? [True, True] Translation: X:194.04, Y:141.50, Z:10.14 [[-3.09663204e-01 -9.50745714e-01 1.38306920e-02 1.94042734e+02] [ 9.49969598e-01 -3.09969439e-01 -3.84279798e-02 1.41496117e+02] [ 4.08223289e-02 1.23900560e-03 9.99165653e-01 1.01395762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.6471056809999 meters 0.027360047947293728 Centerline is valid? [True, True] Translation: X:194.04, Y:141.52, Z:10.14 [[-3.08072160e-01 -9.51256900e-01 1.42075680e-02 1.94035636e+02] [ 9.50440682e-01 -3.08396602e-01 -3.94213922e-02 1.41521454e+02] [ 4.18814370e-02 1.35881725e-03 9.99121664e-01 1.01393616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.67710568099994 meters 0.027237689671759685 Centerline is valid? [True, True] Translation: X:194.03, Y:141.55, Z:10.14 [[-3.08665168e-01 -9.51064878e-01 1.41919594e-02 1.94030011e+02] [ 9.50251977e-01 -3.08988335e-01 -3.93368588e-02 1.41546974e+02] [ 4.17970547e-02 1.34401933e-03 9.99125217e-01 1.01404990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.7071056809999 meters 0.026551366326094217 Centerline is valid? [True, True] Translation: X:194.03, Y:141.57, Z:10.14 [[-3.10597938e-01 -9.50447920e-01 1.33293964e-02 1.94027630e+02] [ 9.49732209e-01 -3.10881511e-01 -3.68973873e-02 1.41574466e+02] [ 3.92129079e-02 1.19910466e-03 9.99230159e-01 1.01441970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.73710568099995 meters 0.02610058578605331 Centerline is valid? [True, True] Translation: X:194.02, Y:141.60, Z:10.14 [[-3.11372441e-01 -9.50190850e-01 1.35849855e-02 1.94021574e+02] [ 9.49449105e-01 -3.11666326e-01 -3.75566095e-02 1.41600344e+02] [ 3.99199293e-02 1.20415911e-03 9.99202156e-01 1.01444985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.7671056809999 meters 0.02663204646795972 Centerline is valid? [True, True] Translation: X:194.02, Y:141.63, Z:10.14 [[-3.10634822e-01 -9.50421620e-01 1.43091371e-02 1.94016504e+02] [ 9.49601323e-01 -3.10961425e-01 -3.95008800e-02 1.41627428e+02] [ 4.19920801e-02 1.31762670e-03 9.99117075e-01 1.01421611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.79710568099995 meters 0.02611937962351417 Centerline is valid? [True, True] Translation: X:194.01, Y:141.65, Z:10.14 [[-3.11412018e-01 -9.50167900e-01 1.42659419e-02 1.94010970e+02] [ 9.49354391e-01 -3.11735921e-01 -3.93313669e-02 1.41653764e+02] [ 4.18186088e-02 1.29517424e-03 9.99124380e-01 1.01425937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.8271056809999 meters 0.02483848395147027 Centerline is valid? [True, True] Translation: X:194.01, Y:141.68, Z:10.14 [[-3.14173099e-01 -9.49263048e-01 1.39617041e-02 1.94006862e+02] [ 9.48485151e-01 -3.14481011e-01 -3.84397140e-02 1.41680993e+02] [ 4.08800909e-02 1.16574501e-03 9.99163380e-01 1.01444131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.85710568099995 meters 0.020500932271038958 Centerline is valid? [True, True] Translation: X:194.01, Y:141.71, Z:10.15 [[-3.24091948e-01 -9.45922507e-01 1.39649420e-02 1.94010411e+02] [ 9.45143088e-01 -3.24391803e-01 -3.83992274e-02 1.41710856e+02] [ 4.08528061e-02 7.53987973e-04 9.99164891e-01 1.01461923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.8871056809999 meters 0.017531191360522395 Centerline is valid? [True, True] Translation: X:194.01, Y:141.74, Z:10.15 [[-3.35288544e-01 -9.41996641e-01 1.49639721e-02 1.94013212e+02] [ 9.41100087e-01 -3.35622161e-01 -4.10900308e-02 1.41739516e+02] [ 4.37289117e-02 3.05578785e-04 9.99043387e-01 1.01454873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.91710568099995 meters 0.017061101906105967 Centerline is valid? [True, True] Translation: X:194.01, Y:141.77, Z:10.14 [[-3.45490374e-01 -9.38293232e-01 1.55631734e-02 1.94013724e+02] [ 9.37321690e-01 -3.45840693e-01 -4.26879823e-02 1.41767517e+02] [ 4.54362235e-02 -1.60586934e-04 9.98967229e-01 1.01436166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.9471056809999 meters 0.017728140154457363 Centerline is valid? [True, True] Translation: X:194.01, Y:141.79, Z:10.14 [[-3.50740130e-01 -9.36346610e-01 1.53749092e-02 1.94008329e+02] [ 9.35399229e-01 -3.51076737e-01 -4.21118433e-02 1.41793232e+02] [ 4.48290547e-02 -3.88635229e-04 9.98994597e-01 1.01443022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.97710568099995 meters 0.021177730575233297 Centerline is valid? [True, True] Translation: X:194.01, Y:141.82, Z:10.14 [[-3.60364351e-01 -9.32689406e-01 1.50998791e-02 1.94006668e+02] [ 9.31774822e-01 -3.60679649e-01 -4.13022001e-02 1.41820057e+02] [ 4.39683436e-02 -8.14153345e-04 9.99032593e-01 1.01446139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.0071056809999 meters 0.023077485221179566 Centerline is valid? [True, True] Translation: X:194.00, Y:141.85, Z:10.15 [[-3.64249331e-01 -9.31183650e-01 1.48133174e-02 1.93999835e+02] [ 9.30304142e-01 -3.64549153e-01 -4.04736879e-02 1.41845141e+02] [ 4.30886188e-02 -9.61623210e-04 9.99070791e-01 1.01462166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.03710568099996 meters 0.02446996891063956 Centerline is valid? [True, True] Translation: X:193.99, Y:141.87, Z:10.15 [[-3.69404831e-01 -9.29170340e-01 1.35111165e-02 1.93990129e+02] [ 9.28439290e-01 -3.69650274e-01 -3.68667741e-02 1.41870201e+02] [ 3.92499009e-02 -1.07451304e-03 9.99228848e-01 1.01527103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.06710568099993 meters 0.025123514693963827 Centerline is valid? [True, True] Translation: X:193.98, Y:141.90, Z:10.16 [[-3.70866855e-01 -9.28595437e-01 1.29726362e-02 1.93978753e+02] [ 9.27922845e-01 -3.71092119e-01 -3.53529883e-02 1.41895274e+02] [ 3.76426667e-02 -1.07364613e-03 9.99290687e-01 1.01558677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.0971056809999 meters 0.025495170960701374 Centerline is valid? [True, True] Translation: X:193.96, Y:141.92, Z:10.16 [[-3.70946074e-01 -9.28573548e-01 1.22546243e-02 1.93960095e+02] [ 9.27974797e-01 -3.71147091e-01 -3.33558536e-02 1.41915744e+02] [ 3.55216315e-02 -1.00124045e-03 9.99368406e-01 1.01591728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.12710568099993 meters 0.022893928058256147 Centerline is valid? [True, True] Translation: X:193.94, Y:141.94, Z:10.16 [[-3.67721992e-01 -9.29868744e-01 1.11649641e-02 1.93936339e+02] [ 9.29373699e-01 -3.67890617e-01 -3.03483290e-02 1.41935631e+02] [ 3.23274481e-02 -7.83323992e-04 9.99477025e-01 1.01621283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.1571056809999 meters 0.021366483217641348 Centerline is valid? [True, True] Translation: X:193.92, Y:141.96, Z:10.16 [[-3.65165998e-01 -9.30883703e-01 1.04558907e-02 1.93920124e+02] [ 9.30450986e-01 -3.65315104e-01 -2.83872832e-02 1.41958766e+02] [ 3.02449542e-02 -6.37376787e-04 9.99542314e-01 1.01649643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.18710568099993 meters 0.019105780544839805 Centerline is valid? [True, True] Translation: X:193.90, Y:141.98, Z:10.16 [[-3.58635092e-01 -9.33411496e-01 1.11288106e-02 1.93896603e+02] [ 9.32923825e-01 -3.58807452e-01 -3.01719896e-02 1.41977862e+02] [ 3.21559821e-02 -4.38401728e-04 9.99482767e-01 1.01649013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2171056809999 meters 0.017830052018905064 Centerline is valid? [True, True] Translation: X:193.88, Y:142.00, Z:10.16 [[-3.55092937e-01 -9.34758396e-01 1.16510608e-02 1.93877403e+02] [ 9.34226084e-01 -3.55283888e-01 -3.15433636e-02 1.41999801e+02] [ 3.36248582e-02 -3.16100766e-04 9.99434475e-01 1.01633595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.24710568099994 meters 0.01675799697843531 Centerline is valid? [True, True] Translation: X:193.85, Y:142.02, Z:10.16 [[-3.46267516e-01 -9.38060307e-01 1.19024114e-02 1.93849267e+02] [ 9.37508139e-01 -3.46472019e-01 -3.21812095e-02 1.42016978e+02] [ 3.43117677e-02 1.53000436e-05 9.99411178e-01 1.01627064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2771056809999 meters 0.017258015157517365 Centerline is valid? [True, True] Translation: X:193.83, Y:142.04, Z:10.16 [[-3.41972400e-01 -9.39638019e-01 1.16306233e-02 1.93831164e+02] [ 9.39113069e-01 -3.42170076e-01 -3.14051470e-02 1.42038557e+02] [ 3.34891213e-02 1.82776848e-04 9.99439065e-01 1.01641783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.30710568099994 meters 0.020030748548109573 Centerline is valid? [True, True] Translation: X:193.81, Y:142.06, Z:10.16 [[-3.32908112e-01 -9.42880275e-01 1.22055994e-02 1.93807337e+02] [ 9.42305974e-01 -3.33131340e-01 -3.29083756e-02 1.42057469e+02] [ 3.50947259e-02 5.45944034e-04 9.99383841e-01 1.01632500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3371056809999 meters 0.021786730936838524 Centerline is valid? [True, True] Translation: X:193.79, Y:142.08, Z:10.16 [[-3.28692169e-01 -9.44344899e-01 1.31973464e-02 1.93791406e+02] [ 9.43676541e-01 -3.28956092e-01 -3.55313361e-02 1.42080681e+02] [ 3.78951836e-02 7.75154286e-04 9.99281419e-01 1.01600159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.36710568099994 meters 0.02447940008772681 Centerline is valid? [True, True] Translation: X:193.77, Y:142.10, Z:10.16 [[-3.23045851e-01 -9.46280739e-01 1.39334501e-02 1.93771896e+02] [ 9.45539454e-01 -3.23344419e-01 -3.74636861e-02 1.42102756e+02] [ 3.99564679e-02 1.07213839e-03 9.99200846e-01 1.01565249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3971056809999 meters 0.02447940008772681 Centerline is valid? [True, True] Translation: X:193.76, Y:142.13, Z:10.16 [[-3.23480147e-01 -9.46132136e-01 1.39490530e-02 1.93762571e+02] [ 9.45390962e-01 -3.23778992e-01 -3.74578760e-02 1.42126823e+02] [ 3.99565105e-02 1.07042940e-03 9.99200846e-01 1.01574805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.42710568099994 meters 0.025195438149824813 Centerline is valid? [True, True] Translation: X:193.75, Y:142.15, Z:10.16 [[-3.22198167e-01 -9.46577321e-01 1.34058234e-02 1.93747353e+02] [ 9.45895012e-01 -3.22475070e-01 -3.59507473e-02 1.42150335e+02] [ 3.83532060e-02 1.09723660e-03 9.99263643e-01 1.01584124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.4571056809999 meters 0.024551943281766957 Centerline is valid? [True, True] Translation: X:193.74, Y:142.18, Z:10.16 [[-3.23728487e-01 -9.46058950e-01 1.31274459e-02 1.93736982e+02] [ 9.45405905e-01 -3.23992910e-01 -3.51606100e-02 1.42175379e+02] [ 3.75172092e-02 1.02827382e-03 9.99295453e-01 1.01597025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.48710568099995 meters 0.022685864508296034 Centerline is valid? [True, True] Translation: X:193.73, Y:142.20, Z:10.16 [[-3.29319754e-01 -9.44111343e-01 1.42222276e-02 1.93729988e+02] [ 9.43345141e-01 -3.29625516e-01 -3.80389872e-02 1.42201541e+02] [ 4.06010484e-02 8.89479362e-04 9.99175042e-01 1.01557719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.5171056809999 meters 0.020427586679440814 Centerline is valid? [True, True] Translation: X:193.73, Y:142.23, Z:10.15 [[-3.33996913e-01 -9.42452099e-01 1.51691249e-02 1.93725942e+02] [ 9.41581021e-01 -3.34340362e-01 -4.05179271e-02 1.42228937e+02] [ 4.32578562e-02 7.50097569e-04 9.99063659e-01 1.01540568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.54710568099995 meters 0.017112918449983673 Centerline is valid? [True, True] Translation: X:193.73, Y:142.26, Z:10.15 [[-3.45224605e-01 -9.38393838e-01 1.53940248e-02 1.93728063e+02] [ 9.37494863e-01 -3.45567561e-01 -4.10663175e-02 1.42259015e+02] [ 4.38560549e-02 2.54715910e-04 9.99037828e-01 1.01530071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.5771056809999 meters 0.01663442488163689 Centerline is valid? [True, True] Translation: X:193.72, Y:142.29, Z:10.15 [[-3.51308139e-01 -9.36134170e-01 1.53429679e-02 1.93723923e+02] [ 9.35241284e-01 -3.51643022e-01 -4.08769574e-02 1.42285233e+02] [ 4.36615642e-02 -1.10308062e-05 9.99046379e-01 1.01535478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.60710568099995 meters 0.017833627407255092 Centerline is valid? [True, True] Translation: X:193.72, Y:142.31, Z:10.15 [[-3.60480053e-01 -9.32640439e-01 1.53604408e-02 1.93724623e+02] [ 9.31744695e-01 -3.60806922e-01 -4.08679452e-02 1.42313135e+02] [ 4.36572517e-02 -4.20069779e-04 9.99046479e-01 1.01541488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.6371056809999 meters 0.021208395161391284 Centerline is valid? [True, True] Translation: X:193.73, Y:142.34, Z:10.16 [[-3.68837960e-01 -9.29378176e-01 1.46548890e-02 1.93725675e+02] [ 9.28561773e-01 -3.69128202e-01 -3.89538804e-02 1.42341142e+02] [ 4.16124191e-02 -7.59700086e-04 9.99133539e-01 1.01583725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.66710568099995 meters 0.02231459353706465 Centerline is valid? [True, True] Translation: X:193.72, Y:142.37, Z:10.16 [[-3.73242829e-01 -9.27622258e-01 1.43783703e-02 1.93718417e+02] [ 9.26836597e-01 -3.73518529e-01 -3.81815431e-02 1.42367169e+02] [ 4.07886369e-02 -9.24587350e-04 9.99167369e-01 1.01603231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.6971056809999 meters 0.024021032511289734 Centerline is valid? [True, True] Translation: X:193.71, Y:142.39, Z:10.16 [[-3.77013015e-01 -9.26092441e-01 1.46279283e-02 1.93712217e+02] [ 9.25280179e-01 -3.77295110e-01 -3.87942153e-02 1.42393516e+02] [ 4.14460754e-02 -1.09099196e-03 9.99140147e-01 1.01601331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.72710568099995 meters 0.029400384221740145 Centerline is valid? [True, True] Translation: X:193.71, Y:142.42, Z:10.16 [[-3.84339067e-01 -9.23083622e-01 1.41459704e-02 1.93714323e+02] [ 9.22323859e-01 -3.84596925e-01 -3.74687152e-02 1.42421866e+02] [ 4.00272540e-02 -1.35352504e-03 9.99197672e-01 1.01620437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.7571056809999 meters 0.030548376271590752 Centerline is valid? [True, True] Translation: X:193.71, Y:142.45, Z:10.16 [[-3.88281354e-01 -9.21433210e-01 1.40864882e-02 1.93707144e+02] [ 9.20680291e-01 -3.88533885e-01 -3.72722747e-02 1.42448290e+02] [ 3.98169897e-02 -1.50297724e-03 9.99205859e-01 1.01639981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.78710568099996 meters 0.03432967101839495 Centerline is valid? [True, True] Translation: X:193.70, Y:142.48, Z:10.17 [[-3.94374411e-01 -9.18845675e-01 1.38365331e-02 1.93703248e+02] [ 9.18119379e-01 -3.94613325e-01 -3.65667777e-02 1.42475071e+02] [ 3.90593059e-02 -1.71741231e-03 9.99235418e-01 1.01660449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.81710568099993 meters 0.035649487737344394 Centerline is valid? [True, True] Translation: X:193.69, Y:142.50, Z:10.17 [[-3.95810025e-01 -9.18229804e-01 1.37277569e-02 1.93694008e+02] [ 9.17516307e-01 -3.96044162e-01 -3.62332455e-02 1.42499936e+02] [ 3.87072439e-02 -1.74604101e-03 9.99249068e-01 1.01674876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.8471056809999 meters 0.03474530630040377 Centerline is valid? [True, True] Translation: X:193.68, Y:142.52, Z:10.17 [[-3.94610642e-01 -9.18749583e-01 1.34775447e-02 1.93681982e+02] [ 9.18063844e-01 -3.94837297e-01 -3.55286862e-02 1.42523641e+02] [ 3.79634030e-02 -1.64675124e-03 9.99277773e-01 1.01696908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.87710568099993 meters 0.033075110791155056 Centerline is valid? [True, True] Translation: X:193.67, Y:142.55, Z:10.17 [[-3.92335026e-01 -9.19729499e-01 1.30719697e-02 1.93668549e+02] [ 9.19086572e-01 -3.92549913e-01 -3.44156759e-02 1.42547044e+02] [ 3.67845129e-02 -1.48820332e-03 9.99322113e-01 1.01727347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.9071056809999 meters 0.025619782850657174 Centerline is valid? [True, True] Translation: X:193.64, Y:142.57, Z:10.18 [[-3.83243061e-01 -9.23569253e-01 1.20245877e-02 1.93644778e+02] [ 9.23028292e-01 -3.83430298e-01 -3.16224479e-02 1.42566349e+02] [ 3.38161119e-02 -1.02004906e-03 9.99427551e-01 1.01792790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.93710568099993 meters 0.021220152366817003 Centerline is valid? [True, True] Translation: X:193.62, Y:142.58, Z:10.19 [[-3.71821469e-01 -9.28237948e-01 1.10953854e-02 1.93620736e+02] [ 9.27780448e-01 -3.71986583e-01 -2.91448663e-02 1.42584895e+02] [ 3.11807054e-02 -5.42605355e-04 9.99513616e-01 1.01858483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.9671056809999 meters 0.018113164248000076 Centerline is valid? [True, True] Translation: X:193.60, Y:142.61, Z:10.19 [[-3.65737223e-01 -9.30654684e-01 1.08693569e-02 1.93599175e+02] [ 9.30217893e-01 -3.65898563e-01 -2.85116153e-02 1.42606129e+02] [ 3.05115504e-02 -3.16888687e-04 9.99534364e-01 1.01867112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99710568099994 meters 0.016809885899667847 Centerline is valid? [True, True] Translation: X:193.57, Y:142.62, Z:10.18 [[-3.53671527e-01 -9.35292797e-01 1.19931242e-02 1.93572323e+02] [ 9.34764983e-01 -3.53874800e-01 -3.14173846e-02 1.42624246e+02] [ 3.36285180e-02 9.93181847e-05 9.99434397e-01 1.01830169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0271056809999 meters 0.01789864925370734 Centerline is valid? [True, True] Translation: X:193.56, Y:142.65, Z:10.18 [[-3.48928987e-01 -9.37065006e-01 1.25593546e-02 1.93555203e+02] [ 9.36488451e-01 -3.49154821e-01 -3.28677945e-02 1.42645878e+02] [ 3.51844193e-02 2.93164279e-04 9.99380794e-01 1.01812708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.05710568099994 meters 0.021552617495190423 Centerline is valid? [True, True] Translation: X:193.53, Y:142.67, Z:10.18 [[-3.38815507e-01 -9.40751571e-01 1.38034274e-02 1.93531836e+02] [ 9.40059967e-01 -3.39095731e-01 -3.60741490e-02 1.42666504e+02] [ 3.86174956e-02 7.53568445e-04 9.99253782e-01 1.01765442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0871056809999 meters 0.025041888900077868 Centerline is valid? [True, True] Translation: X:193.51, Y:142.69, Z:10.17 [[-3.30295817e-01 -9.43747114e-01 1.56862535e-02 1.93512720e+02] [ 9.42859580e-01 -3.30665659e-01 -4.09393916e-02 1.42687756e+02] [ 4.38233380e-02 1.26782459e-03 9.99038492e-01 1.01699413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.11710568099994 meters 0.02650496016305301 Centerline is valid? [True, True] Translation: X:193.50, Y:142.71, Z:10.17 [[-3.28096081e-01 -9.44505097e-01 1.62198711e-02 1.93500497e+02] [ 9.43559614e-01 -3.28493632e-01 -4.22751628e-02 1.42711968e+02] [ 4.52572311e-02 1.43410001e-03 9.98974337e-01 1.01683237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.1471056809999 meters 0.027532127142892174 Centerline is valid? [True, True] Translation: X:193.49, Y:142.74, Z:10.17 [[-3.25538454e-01 -9.45387267e-01 1.63593890e-02 1.93491186e+02] [ 9.44428991e-01 -3.25945387e-01 -4.25850414e-02 1.42737624e+02] [ 4.55916233e-02 1.58721268e-03 9.98958900e-01 1.01694417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17710568099994 meters 0.03192620989718687 Centerline is valid? [True, True] Translation: X:193.48, Y:142.76, Z:10.17 [[-3.20940183e-01 -9.46952127e-01 1.67053335e-02 1.93477994e+02] [ 9.45957577e-01 -3.21369247e-01 -4.34289142e-02 1.42760781e+02] [ 4.64936832e-02 1.86445317e-03 9.98916844e-01 1.01689262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.2071056809999 meters 0.03263583160894595 Centerline is valid? [True, True] Translation: X:193.47, Y:142.79, Z:10.17 [[-3.17702526e-01 -9.48043210e-01 1.67085865e-02 1.93469515e+02] [ 9.47052390e-01 -3.18135039e-01 -4.33805061e-02 1.42786590e+02] [ 4.64421811e-02 2.04181043e-03 9.98918893e-01 1.01700510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23710568099995 meters 0.03707111534334763 Centerline is valid? [True, True] Translation: X:193.46, Y:142.81, Z:10.17 [[-3.11504343e-01 -9.50111025e-01 1.59400369e-02 1.93459234e+02] [ 9.49214132e-01 -3.11903763e-01 -4.13349077e-02 1.42810305e+02] [ 4.42445090e-02 2.25450506e-03 9.99018188e-01 1.01732122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.2671056809999 meters 0.037704049766191766 Centerline is valid? [True, True] Translation: X:193.45, Y:142.84, Z:10.18 [[-3.09458628e-01 -9.50787825e-01 1.54229924e-02 1.93451121e+02] [ 9.49951244e-01 -3.09834253e-01 -3.99420852e-02 1.42835784e+02] [ 4.27550196e-02 2.29066791e-03 9.99082960e-01 1.01760954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29710568099995 meters 0.03904485410581624 Centerline is valid? [True, True] Translation: X:193.45, Y:142.86, Z:10.18 [[-3.07149402e-01 -9.51557259e-01 1.40722295e-02 1.93447724e+02] [ 9.50863337e-01 -3.07463723e-01 -3.64001735e-02 1.42862777e+02] [ 3.89635494e-02 2.20047556e-03 9.99238210e-01 1.01804064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.3271056809999 meters 0.03964057251319263 Centerline is valid? [True, True] Translation: X:193.44, Y:142.89, Z:10.18 [[-3.07848858e-01 -9.51339859e-01 1.34741658e-02 1.93443090e+02] [ 9.50705110e-01 -3.08136476e-01 -3.48095532e-02 1.42887648e+02] [ 3.72675974e-02 2.09387707e-03 9.99303128e-01 1.01829324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35710568099995 meters 0.038209051997894906 Centerline is valid? [True, True] Translation: X:193.45, Y:142.92, Z:10.18 [[-3.12491667e-01 -9.49824712e-01 1.34898133e-02 1.93446132e+02] [ 9.49188504e-01 -3.12776770e-01 -3.48120068e-02 1.42916310e+02] [ 3.72846045e-02 1.92591366e-03 9.99302832e-01 1.01842084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.3871056809999 meters 0.036092488995055565 Centerline is valid? [True, True] Translation: X:193.45, Y:142.95, Z:10.18 [[-3.16480705e-01 -9.48483571e-01 1.47945545e-02 1.93449398e+02] [ 9.47719063e-01 -3.16820283e-01 -3.81246127e-02 1.42946226e+02] [ 4.08477838e-02 1.95537704e-03 9.99163468e-01 1.01816784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41710568099995 meters 0.034290124148173604 Centerline is valid? [True, True] Translation: X:193.45, Y:142.97, Z:10.18 [[-3.17561097e-01 -9.48117859e-01 1.50822937e-02 1.93446922e+02] [ 9.47324985e-01 -3.17913005e-01 -3.88161568e-02 1.42973646e+02] [ 4.15971488e-02 1.96133236e-03 9.99132539e-01 1.01817968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.4471056809999 meters 0.034891297435453335 Centerline is valid? [True, True] Translation: X:193.45, Y:143.00, Z:10.18 [[-3.15537733e-01 -9.48781060e-01 1.58252597e-02 1.93445679e+02] [ 9.47911399e-01 -3.15926893e-01 -4.06715847e-02 1.43002174e+02] [ 4.35880544e-02 2.16752444e-03 9.99047238e-01 1.01821115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47710568099995 meters 0.036250532778830113 Centerline is valid? [True, True] Translation: X:193.44, Y:143.03, Z:10.18 [[-3.13952236e-01 -9.49301786e-01 1.61279954e-02 1.93438265e+02] [ 9.48401496e-01 -3.14357811e-01 -4.13976909e-02 1.43028245e+02] [ 4.43688633e-02 2.29891739e-03 9.99012572e-01 1.01825106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.5071056809999 meters 0.04119436188074696 Centerline is valid? [True, True] Translation: X:193.43, Y:143.05, Z:10.18 [[-3.09845976e-01 -9.50644914e-01 1.64231170e-02 1.93429562e+02] [ 9.49715575e-01 -3.10270421e-01 -4.21021593e-02 1.43052891e+02] [ 4.51198110e-02 2.55210539e-03 9.98978323e-01 1.01829995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.53710568099996 meters 0.04124829008135906 Centerline is valid? [True, True] Translation: X:193.42, Y:143.08, Z:10.19 [[-3.08507361e-01 -9.51084237e-01 1.61858555e-02 1.93422837e+02] [ 9.50184472e-01 -3.08920771e-01 -4.14418481e-02 1.43079173e+02] [ 4.44148355e-02 2.59443334e-03 9.99009805e-01 1.01852359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.56710568099993 meters 0.042401135158695605 Centerline is valid? [True, True] Translation: X:193.42, Y:143.11, Z:10.19 [[-3.06832424e-01 -9.51613255e-01 1.69137915e-02 1.93420258e+02] [ 9.50633955e-01 -3.07285421e-01 -4.32522067e-02 1.43107689e+02] [ 4.63567348e-02 2.80764507e-03 9.98921003e-01 1.01851679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.5971056809999 meters 0.041694149877659244 Centerline is valid? [True, True] Translation: X:193.42, Y:143.13, Z:10.18 [[-3.07551677e-01 -9.51372381e-01 1.73942204e-02 1.93415619e+02] [ 9.50338904e-01 -3.08029822e-01 -4.44251792e-02 1.43134612e+02] [ 4.76228271e-02 2.86736599e-03 9.98861274e-01 1.01846270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.62710568099993 meters 0.03902976054831617 Centerline is valid? [True, True] Translation: X:193.42, Y:143.16, Z:10.18 [[-3.08910957e-01 -9.50917058e-01 1.81870761e-02 1.93415979e+02] [ 9.49789510e-01 -3.09431867e-01 -4.63875713e-02 1.43163510e+02] [ 4.97383937e-02 2.94426509e-03 9.98757940e-01 1.01837351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.6571056809999 meters 0.03719278556103361 Centerline is valid? [True, True] Translation: X:193.41, Y:143.19, Z:10.18 [[-3.13406990e-01 -9.49437177e-01 1.85770069e-02 1.93414234e+02] [ 9.48260977e-01 -3.13944740e-01 -4.73267319e-02 1.43191825e+02] [ 5.07659123e-02 2.78332210e-03 9.98706701e-01 1.01819535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.68710568099993 meters 0.03863276709231877 Centerline is valid? [True, True] Translation: X:193.41, Y:143.22, Z:10.18 [[-3.17562176e-01 -9.48046242e-01 1.90417542e-02 1.93406991e+02] [ 9.46810410e-01 -3.18121613e-01 -4.84632469e-02 1.43216697e+02] [ 5.20029926e-02 2.63883693e-03 9.98643443e-01 1.01801648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7171056809999 meters 0.033410021544650656 Centerline is valid? [True, True] Translation: X:193.41, Y:143.25, Z:10.18 [[-3.28054324e-01 -9.44436841e-01 2.04795743e-02 1.93413629e+02] [ 9.43003426e-01 -3.28685360e-01 -5.20621979e-02 1.43246740e+02] [ 5.59007940e-02 2.23307955e-03 9.98433831e-01 1.01766395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.74710568099994 meters 0.02948474470502069 Centerline is valid? [True, True] Translation: X:193.41, Y:143.28, Z:10.18 [[-3.33670094e-01 -9.42461605e-01 2.07458783e-02 1.93413625e+02] [ 9.40990733e-01 -3.34308736e-01 -5.26698089e-02 1.43275155e+02] [ 5.65748010e-02 1.94733911e-03 9.98396464e-01 1.01772193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7771056809999 meters 0.02247736162916445 Centerline is valid? [True, True] Translation: X:193.42, Y:143.31, Z:10.18 [[-3.44800788e-01 -9.38451263e-01 2.05339521e-02 1.93421107e+02] [ 9.37006689e-01 -3.45409276e-01 -5.20662666e-02 1.43306756e+02] [ 5.59542712e-02 1.28796074e-03 9.98432502e-01 1.01829638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.80710568099994 meters 0.020251113316392674 Centerline is valid? [True, True] Translation: X:193.42, Y:143.33, Z:10.19 [[-3.50844881e-01 -9.36216695e-01 2.01536684e-02 1.93417663e+02] [ 9.34824872e-01 -3.51422011e-01 -5.10394868e-02 1.43334716e+02] [ 5.48664624e-02 9.33207848e-04 9.98493265e-01 1.01853369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8371056809999 meters 0.01756399656605235 Centerline is valid? [True, True] Translation: X:193.42, Y:143.36, Z:10.19 [[-3.62060544e-01 -9.31959782e-01 1.90559076e-02 1.93420966e+02] [ 9.30712412e-01 -3.62561560e-01 -4.82029117e-02 1.43364856e+02] [ 5.18321147e-02 2.83197328e-04 9.98655772e-01 1.01903614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.86710568099994 meters 0.01717305075896412 Centerline is valid? [True, True] Translation: X:193.42, Y:143.39, Z:10.19 [[-3.67760899e-01 -9.29730658e-01 1.87836115e-02 1.93416684e+02] [ 9.28518821e-01 -3.68240279e-01 -4.74541485e-02 1.43391862e+02] [ 5.10364591e-02 -1.08435617e-05 9.98696791e-01 1.01927134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8971056809999 meters 0.019363246809153908 Centerline is valid? [True, True] Translation: X:193.42, Y:143.42, Z:10.19 [[-3.78093055e-01 -9.25574883e-01 1.88885886e-02 1.93419751e+02] [ 9.24347325e-01 -3.78564161e-01 -4.76570940e-02 1.43422122e+02] [ 5.12607519e-02 -5.59199901e-04 9.98685147e-01 1.01931340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.92710568099994 meters 0.02332600736318759 Centerline is valid? [True, True] Translation: X:193.42, Y:143.45, Z:10.20 [[-3.88214667e-01 -9.21389161e-01 1.82039887e-02 1.93421005e+02] [ 9.20246998e-01 -3.88639801e-01 -4.58755629e-02 1.43450412e+02] [ 4.93440410e-02 -1.05740044e-03 9.98781281e-01 1.01974093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.9571056809999 meters 0.026250995350613728 Centerline is valid? [True, True] Translation: X:193.42, Y:143.48, Z:10.20 [[-3.93007198e-01 -9.19356147e-01 1.81553878e-02 1.93415589e+02] [ 9.18220790e-01 -3.93424221e-01 -4.56942279e-02 1.43475388e+02] [ 4.91520386e-02 -1.28750593e-03 9.98790478e-01 1.01981484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.98710568099995 meters 0.031236109314160956 Centerline is valid? [True, True] Translation: X:193.41, Y:143.50, Z:10.20 [[-4.01335996e-01 -9.15742615e-01 1.85710014e-02 1.93409870e+02] [ 9.14553899e-01 -4.01761626e-01 -4.66772100e-02 1.43502463e+02] [ 5.02054260e-02 -1.74906280e-03 9.98737381e-01 1.01976018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.0171056809999 meters 0.033986106423146555 Centerline is valid? [True, True] Translation: X:193.40, Y:143.53, Z:10.20 [[-4.04634261e-01 -9.14289522e-01 1.85953002e-02 1.93402551e+02] [ 9.13099051e-01 -4.05056817e-01 -4.66808193e-02 1.43526587e+02] [ 5.02119371e-02 -1.90930790e-03 9.98736760e-01 1.01980376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.04710568099995 meters 0.03513982920745254 Centerline is valid? [True, True] Translation: X:193.39, Y:143.55, Z:10.20 [[-4.12393970e-01 -9.10808714e-01 1.89393639e-02 1.93390067e+02] [ 9.09573368e-01 -4.12821931e-01 -4.74799025e-02 1.43550161e+02] [ 5.10636938e-02 -2.35368446e-03 9.98692625e-01 1.02009887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.0771056809999 meters 0.0398636374460865 Centerline is valid? [True, True] Translation: X:193.38, Y:143.57, Z:10.20 [[-4.21598111e-01 -9.06583234e-01 1.90229453e-02 1.93377842e+02] [ 9.05335892e-01 -4.22017390e-01 -4.76260995e-02 1.43574060e+02] [ 5.12050371e-02 -2.85691844e-03 9.98684075e-01 1.02023364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.10710568099995 meters 0.042752851771707186 Centerline is valid? [True, True] Translation: X:193.36, Y:143.60, Z:10.20 [[-4.26122193e-01 -9.04462706e-01 1.91595736e-02 1.93364784e+02] [ 9.03198517e-01 -4.26541382e-01 -4.79050004e-02 1.43598318e+02] [ 5.15006373e-02 -3.10848536e-03 9.98668124e-01 1.02028790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.1371056809999 meters 0.04642625194786115 Centerline is valid? [True, True] Translation: X:193.35, Y:143.62, Z:10.20 [[-4.29940908e-01 -9.02658462e-01 1.89345183e-02 1.93353667e+02] [ 9.01424905e-01 -4.30345275e-01 -4.72872695e-02 1.43621339e+02] [ 5.08326345e-02 -3.26268526e-03 9.98701856e-01 1.02028015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.16710568099995 meters 0.05817964413914261 Centerline is valid? [True, True] Translation: X:193.35, Y:143.65, Z:10.20 [[-4.36885326e-01 -8.99331431e-01 1.82808306e-02 1.93345928e+02] [ 8.98180950e-01 -4.37253562e-01 -4.56103320e-02 1.43646315e+02] [ 4.90121635e-02 -3.50699092e-03 9.98792025e-01 1.02033471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.1971056809999 meters 0.0530007882728614 Centerline is valid? [True, True] Translation: X:193.31, Y:143.66, Z:10.21 [[-4.42499680e-01 -8.96596768e-01 1.75575792e-02 1.93314979e+02] [ 8.95535399e-01 -4.42832888e-01 -4.37650901e-02 1.43662537e+02] [ 4.70147118e-02 -3.64260471e-03 9.98887555e-01 1.02075824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.22710568099995 meters 0.05626068691081223 Centerline is valid? [True, True] Translation: X:193.30, Y:143.69, Z:10.21 [[-4.44668779e-01 -8.95520433e-01 1.76870481e-02 1.93300910e+02] [ 8.94444615e-01 -4.45004473e-01 -4.40437134e-02 1.43685067e+02] [ 4.73128608e-02 -3.76477932e-03 9.98873025e-01 1.02075012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.2571056809999 meters 0.056386484138490914 Centerline is valid? [True, True] Translation: X:193.27, Y:143.70, Z:10.21 [[-4.49089923e-01 -8.93293898e-01 1.85540619e-02 1.93273770e+02] [ 8.92110482e-01 -4.49453642e-01 -4.61552981e-02 1.43703302e+02] [ 4.95694369e-02 -4.17560615e-03 9.98761951e-01 1.02059384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.28710568099996 meters 0.055003048401470224 Centerline is valid? [True, True] Translation: X:193.25, Y:143.72, Z:10.21 [[-4.51329868e-01 -8.92160387e-01 1.87401919e-02 1.93251733e+02] [ 8.90955051e-01 -4.51698133e-01 -4.65606418e-02 1.43723974e+02] [ 5.00044698e-02 -4.31753968e-03 9.98739662e-01 1.02063569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.31710568099993 meters 0.055003048401470224 Centerline is valid? [True, True] Translation: X:193.24, Y:143.75, Z:10.21 [[-4.51748046e-01 -8.91948288e-01 1.87604427e-02 1.93241738e+02] [ 8.90743100e-01 -4.52116794e-01 -4.65524821e-02 1.43747926e+02] [ 5.00043179e-02 -4.31925795e-03 9.98739662e-01 1.02073160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.3471056809999 meters 0.05813072523109656 Centerline is valid? [True, True] Translation: X:193.22, Y:143.77, Z:10.21 [[-4.54868777e-01 -8.90364341e-01 1.85940055e-02 1.93217852e+02] [ 8.89182066e-01 -4.55227127e-01 -4.60816263e-02 1.43766184e+02] [ 4.94939325e-02 -4.42763674e-03 9.98764610e-01 1.02066798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.37710568099993 meters 0.059690426775216625 Centerline is valid? [True, True] Translation: X:193.20, Y:143.79, Z:10.21 [[-4.56439002e-01 -8.89577650e-01 1.77494501e-02 1.93195225e+02] [ 8.88501958e-01 -4.56763862e-01 -4.39436595e-02 1.43785784e+02] [ 4.71986047e-02 -4.28717894e-03 9.98876325e-01 1.02112868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.4071056809999 meters 0.057850591682107266 Centerline is valid? [True, True] Translation: X:193.17, Y:143.81, Z:10.21 [[-4.56250633e-01 -8.89677622e-01 1.75809317e-02 1.93173528e+02] [ 8.88624796e-01 -4.56569805e-01 -4.34739512e-02 1.43806684e+02] [ 4.67047241e-02 -4.21216587e-03 9.98899858e-01 1.02137919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.43710568099993 meters 0.05546729593616435 Centerline is valid? [True, True] Translation: X:193.14, Y:143.82, Z:10.21 [[-4.50800209e-01 -8.92455246e-01 1.74012952e-02 1.93141307e+02] [ 8.91428059e-01 -4.51119393e-01 -4.29803351e-02 1.43821471e+02] [ 4.62080872e-02 -3.86354128e-03 9.98924364e-01 1.02141951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.4671056809999 meters 0.04847336332637823 Centerline is valid? [True, True] Translation: X:193.11, Y:143.84, Z:10.22 [[-4.41290073e-01 -8.97206384e-01 1.68456575e-02 1.93105376e+02] [ 8.96249242e-01 -4.41599590e-01 -4.15583786e-02 1.43836191e+02] [ 4.47254780e-02 -3.24139214e-03 9.98994057e-01 1.02153115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49710568099994 meters 0.046163506897237576 Centerline is valid? [True, True] Translation: X:193.08, Y:143.86, Z:10.22 [[-4.36197465e-01 -8.99695489e-01 1.67271991e-02 1.93084067e+02] [ 8.98755317e-01 -4.36508112e-01 -4.12255747e-02 1.43855439e+02] [ 4.43920217e-02 -2.94883205e-03 9.99009836e-01 1.02167668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5271056809999 meters 0.03750566588495336 Centerline is valid? [True, True] Translation: X:193.04, Y:143.87, Z:10.22 [[-4.24240134e-01 -9.05399908e-01 1.64716423e-02 1.93042474e+02] [ 9.04494571e-01 -4.24553538e-01 -4.05445952e-02 1.43867506e+02] [ 4.37021668e-02 -2.30213341e-03 9.99041951e-01 1.02180831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55710568099994 meters 0.03378522977621402 Centerline is valid? [True, True] Translation: X:193.02, Y:143.89, Z:10.22 [[-4.16948953e-01 -9.08763039e-01 1.74158110e-02 1.93017071e+02] [ 9.07756156e-01 -4.17307521e-01 -4.28158125e-02 1.43886615e+02] [ 4.61771768e-02 -2.04269848e-03 9.98931177e-01 1.02163301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5871056809999 meters 0.02484001152982915 Centerline is valid? [True, True] Translation: X:192.98, Y:143.90, Z:10.21 [[-4.01118186e-01 -9.15824563e-01 1.92242172e-02 1.92978335e+02] [ 9.14607729e-01 -4.01576308e-01 -4.72141010e-02 1.43900244e+02] [ 5.09598236e-02 -1.35581692e-03 9.98699784e-01 1.02103906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61710568099994 meters 0.022635286569759567 Centerline is valid? [True, True] Translation: X:192.96, Y:143.92, Z:10.21 [[-3.95908175e-01 -9.18081456e-01 1.95744256e-02 1.92958722e+02] [ 9.16825054e-01 -3.96390339e-01 -4.80262283e-02 1.43920886e+02] [ 5.18511028e-02 -1.06765263e-03 9.98654256e-01 1.02099226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.6471056809999 meters 0.020423199297372626 Centerline is valid? [True, True] Translation: X:192.93, Y:143.94, Z:10.21 [[-3.91957636e-01 -9.19781541e-01 1.92646776e-02 1.92931567e+02] [ 9.18569467e-01 -3.92429945e-01 -4.72109259e-02 1.43938721e+02] [ 5.09837746e-02 -8.08738268e-04 9.98699154e-01 1.02140390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67710568099994 meters 0.02122239786172409 Centerline is valid? [True, True] Translation: X:192.91, Y:143.96, Z:10.21 [[-3.93458709e-01 -9.19144394e-01 1.90742747e-02 1.92912527e+02] [ 9.17958396e-01 -3.93919846e-01 -4.66855286e-02 1.43958564e+02] [ 5.04244772e-02 -8.59437228e-04 9.98727507e-01 1.02134569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.7071056809999 meters 0.021972237273548027 Centerline is valid? [True, True] Translation: X:192.90, Y:143.98, Z:10.21 [[-3.95549511e-01 -9.18240311e-01 1.93730434e-02 1.92899923e+02] [ 9.17019066e-01 -3.96022474e-01 -4.73522172e-02 1.43982261e+02] [ 5.11528753e-02 -9.64696212e-04 9.98690369e-01 1.02126729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73710568099995 meters 0.023302385752454385 Centerline is valid? [True, True] Translation: X:192.89, Y:144.01, Z:10.21 [[-3.98009684e-01 -9.17167926e-01 1.97809518e-02 1.92889757e+02] [ 9.15896265e-01 -3.98499405e-01 -4.82934307e-02 1.44005891e+02] [ 5.21758832e-02 -1.10395324e-03 9.98637301e-01 1.02106058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.7671056809999 meters 0.025187121954118735 Centerline is valid? [True, True] Translation: X:192.88, Y:144.03, Z:10.21 [[-4.03518166e-01 -9.14744884e-01 2.03687679e-02 1.92879179e+02] [ 9.13396174e-01 -4.04029358e-01 -4.96760306e-02 1.44030595e+02] [ 5.36704750e-02 -1.44042612e-03 9.98557662e-01 1.02091621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79710568099995 meters 0.024994990883824137 Centerline is valid? [True, True] Translation: X:192.87, Y:144.05, Z:10.21 [[-4.05072014e-01 -9.14066219e-01 1.99902674e-02 1.92867995e+02] [ 9.12769552e-01 -4.05562281e-01 -4.86927198e-02 1.44054735e+02] [ 5.26156687e-02 -1.47755063e-03 9.98613743e-01 1.02109863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.8271056809999 meters 0.024591984031414525 Centerline is valid? [True, True] Translation: X:192.85, Y:144.08, Z:10.21 [[-4.04018042e-01 -9.14544604e-01 1.94316493e-02 1.92852754e+02] [ 9.13323052e-01 -4.04482807e-01 -4.72722083e-02 1.44076237e+02] [ 5.10923110e-02 -1.35145178e-03 9.98693021e-01 1.02142987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85710568099995 meters 0.022840299526656484 Centerline is valid? [True, True] Translation: X:192.83, Y:144.10, Z:10.22 [[-4.01061153e-01 -9.15858164e-01 1.88089092e-02 1.92832263e+02] [ 9.14717811e-01 -4.01500384e-01 -4.57030369e-02 1.44097257e+02] [ 4.94092837e-02 -1.12486845e-03 9.98777982e-01 1.02181704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.8871056809999 meters 0.022293158578831365 Centerline is valid? [True, True] Translation: X:192.82, Y:144.12, Z:10.22 [[-3.99812864e-01 -9.16411636e-01 1.84224392e-02 1.92819231e+02] [ 9.15320763e-01 -4.00235785e-01 -4.47126061e-02 1.44120736e+02] [ 4.83484720e-02 -1.01423400e-03 9.98830014e-01 1.02200578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91710568099995 meters 0.022125645242867056 Centerline is valid? [True, True] Translation: X:192.81, Y:144.14, Z:10.22 [[-3.99889341e-01 -9.16377795e-01 1.84459076e-02 1.92807839e+02] [ 9.15286709e-01 -4.00313303e-01 -4.47157610e-02 1.44143259e+02] [ 4.83606727e-02 -9.98062105e-04 9.98829439e-01 1.02197730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.9471056809999 meters 0.02206834873335128 Centerline is valid? [True, True] Translation: X:192.80, Y:144.17, Z:10.22 [[-4.00812556e-01 -9.15960696e-01 1.91127610e-02 1.92795441e+02] [ 9.14791862e-01 -4.01266590e-01 -4.62706449e-02 1.44167142e+02] [ 5.00514045e-02 -1.06165722e-03 9.98746079e-01 1.02183425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97710568099995 meters 0.023497142075609587 Centerline is valid? [True, True] Translation: X:192.79, Y:144.19, Z:10.21 [[-4.03197911e-01 -9.14895954e-01 1.99208054e-02 1.92785905e+02] [ 9.13627892e-01 -4.03687878e-01 -4.81681659e-02 1.44191057e+02] [ 5.21106478e-02 -1.22110036e-03 9.98640571e-01 1.02124976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.0071056809999 meters 0.023484800375247954 Centerline is valid? [True, True] Translation: X:192.77, Y:144.22, Z:10.21 [[-4.04082012e-01 -9.14491809e-01 2.05537804e-02 1.92774682e+02] [ 9.13144531e-01 -4.04602358e-01 -4.96386650e-02 1.44215967e+02] [ 5.37102606e-02 -1.28951946e-03 9.98555730e-01 1.02126773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.03710568099996 meters 0.022649387871628512 Centerline is valid? [True, True] Translation: X:192.76, Y:144.24, Z:10.22 [[-4.02222691e-01 -9.15328352e-01 1.97715510e-02 1.92756134e+02] [ 9.14085500e-01 -4.02706806e-01 -4.76961918e-02 1.44237301e+02] [ 5.16198148e-02 -1.11160258e-03 9.98666190e-01 1.02188642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.06710568099993 meters 0.01972708890052282 Centerline is valid? [True, True] Translation: X:192.73, Y:144.25, Z:10.23 [[-3.94568870e-01 -9.18686486e-01 1.81809650e-02 1.92732452e+02] [ 9.17641436e-01 -3.94987060e-01 -4.38111486e-02 1.44254823e+02] [ 4.74299561e-02 -6.02908562e-04 9.98874384e-01 1.02285328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.0971056809999 meters 0.018318327127911118 Centerline is valid? [True, True] Translation: X:192.72, Y:144.28, Z:10.23 [[-3.89931886e-01 -9.20670888e-01 1.78392801e-02 1.92716722e+02] [ 9.19669208e-01 -3.90339599e-01 -4.29365311e-02 1.44277878e+02] [ 4.64937916e-02 -3.36085976e-04 9.98918522e-01 1.02311692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.12710568099993 meters 0.017825895080255585 Centerline is valid? [True, True] Translation: X:192.70, Y:144.30, Z:10.23 [[-3.81470133e-01 -9.24209330e-01 1.78228154e-02 1.92701355e+02] [ 9.23215541e-01 -3.81886243e-01 -4.28481170e-02 1.44299780e+02] [ 4.64069175e-02 1.09023299e-04 9.98922613e-01 1.02305344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.1571056809999 meters 0.0182587584218599 Centerline is valid? [True, True] Translation: X:192.69, Y:144.32, Z:10.23 [[-3.78217320e-01 -9.25548651e-01 1.76452150e-02 1.92687770e+02] [ 9.24578519e-01 -3.78628592e-01 -4.23668588e-02 1.44321629e+02] [ 4.58935719e-02 2.90506957e-04 9.98946293e-01 1.02323397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.18710568099993 meters 0.0203367494273935 Centerline is valid? [True, True] Translation: X:192.67, Y:144.34, Z:10.24 [[-3.71158067e-01 -9.28407695e-01 1.73447485e-02 1.92666610e+02] [ 9.27475803e-01 -3.71562551e-01 -4.15921298e-02 1.44342389e+02] [ 4.50591124e-02 6.49580093e-04 9.98984111e-01 1.02356806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2171056809999 meters 0.02136797448495921 Centerline is valid? [True, True] Translation: X:192.65, Y:144.37, Z:10.24 [[-3.67978020e-01 -9.29662235e-01 1.78970973e-02 1.92653131e+02] [ 9.28673832e-01 -3.68412015e-01 -4.28660765e-02 1.44366300e+02] [ 4.64444782e-02 8.46792007e-04 9.98920514e-01 1.02353827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.24710568099994 meters 0.02508969199099768 Centerline is valid? [True, True] Translation: X:192.64, Y:144.39, Z:10.23 [[-3.62068544e-01 -9.31963020e-01 1.87429374e-02 1.92638579e+02] [ 9.30884528e-01 -3.62551318e-01 -4.48390148e-02 1.44388165e+02] [ 4.85835803e-02 1.21271362e-03 9.98818384e-01 1.02328677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2771056809999 meters 0.02627823392668626 Centerline is valid? [True, True] Translation: X:192.63, Y:144.41, Z:10.23 [[-3.60269851e-01 -9.32660594e-01 1.87043127e-02 1.92627449e+02] [ 9.31589681e-01 -3.60752649e-01 -4.47011428e-02 1.44412433e+02] [ 4.84386248e-02 1.32027069e-03 9.98825288e-01 1.02334192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.30710568099994 meters 0.027546503419906717 Centerline is valid? [True, True] Translation: X:192.62, Y:144.44, Z:10.23 [[-3.58075894e-01 -9.33498153e-01 1.90486977e-02 1.92619299e+02] [ 9.32391182e-01 -3.58579158e-01 -4.54716535e-02 1.44438520e+02] [ 4.92781706e-02 1.47853479e-03 9.98783999e-01 1.02333164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3371056809999 meters 0.025777123280198946 Centerline is valid? [True, True] Translation: X:192.62, Y:144.47, Z:10.24 [[-3.59280130e-01 -9.33030659e-01 1.92763275e-02 1.92618736e+02] [ 9.31899071e-01 -3.59793947e-01 -4.59612500e-02 1.44467286e+02] [ 4.98187614e-02 1.45062784e-03 9.98757221e-01 1.02357571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.36710568099994 meters 0.02580900305844859 Centerline is valid? [True, True] Translation: X:192.61, Y:144.49, Z:10.24 [[-3.61853787e-01 -9.32030538e-01 1.95170224e-02 1.92610929e+02] [ 9.30871888e-01 -3.62377229e-01 -4.64787213e-02 1.44492743e+02] [ 5.03921121e-02 1.34934617e-03 9.98728599e-01 1.02368353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3971056809999 meters 0.021848693805173486 Centerline is valid? [True, True] Translation: X:192.61, Y:144.52, Z:10.24 [[-3.70085454e-01 -9.28783155e-01 1.99651519e-02 1.92613142e+02] [ 9.27568810e-01 -3.70622394e-01 -4.74883587e-02 1.44522594e+02] [ 5.15059200e-02 9.44301392e-04 9.98672243e-01 1.02386579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.42710568099994 meters 0.01999313964474839 Centerline is valid? [True, True] Translation: X:192.61, Y:144.55, Z:10.24 [[-3.74406904e-01 -9.27056466e-01 1.96412534e-02 1.92611074e+02] [ 9.25881587e-01 -3.74921056e-01 -4.66635786e-02 1.44550874e+02] [ 5.06236917e-02 7.14308878e-04 9.98717543e-01 1.02401225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.4571056809999 meters 0.017933168745488833 Centerline is valid? [True, True] Translation: X:192.61, Y:144.58, Z:10.24 [[-3.81237060e-01 -9.24277500e-01 1.92199615e-02 1.92614935e+02] [ 9.23151543e-01 -3.81721072e-01 -4.56097833e-02 1.44581491e+02] [ 4.94927609e-02 3.54797433e-04 9.98774419e-01 1.02421667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.48710568099995 meters 0.01766524851827592 Centerline is valid? [True, True] Translation: X:192.61, Y:144.61, Z:10.24 [[-3.83915837e-01 -9.23168801e-01 1.91832199e-02 1.92609301e+02] [ 9.22048492e-01 -3.84394734e-01 -4.54671973e-02 1.44607861e+02] [ 4.93478268e-02 2.32281899e-04 9.98781627e-01 1.02429931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.5171056809999 meters 0.017304372679047414 Centerline is valid? [True, True] Translation: X:192.61, Y:144.63, Z:10.24 [[-3.85943695e-01 -9.22328594e-01 1.89058026e-02 1.92607114e+02] [ 9.21242135e-01 -3.86406450e-01 -4.47547161e-02 1.44633915e+02] [ 4.85838784e-02 1.44021408e-04 9.98819096e-01 1.02448182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.54710568099995 meters 0.017134764485924433 Centerline is valid? [True, True] Translation: X:192.60, Y:144.66, Z:10.25 [[-3.86351960e-01 -9.22162050e-01 1.86900136e-02 1.92598840e+02] [ 9.21102335e-01 -3.86803741e-01 -4.41967772e-02 1.44659383e+02] [ 4.79859579e-02 1.39903654e-04 9.98848001e-01 1.02474814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.5771056809999 meters 0.017365225014910085 Centerline is valid? [True, True] Translation: X:192.59, Y:144.68, Z:10.25 [[-3.85146662e-01 -9.22669889e-01 1.85020426e-02 1.92592046e+02] [ 9.21634502e-01 -3.85590751e-01 -4.36991726e-02 1.44684597e+02] [ 4.74541272e-02 2.21530409e-04 9.98873394e-01 1.02493192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.60710568099995 meters 0.018048901529494357 Centerline is valid? [True, True] Translation: X:192.59, Y:144.71, Z:10.25 [[-3.83096990e-01 -9.23515023e-01 1.88864385e-02 1.92587288e+02] [ 9.22439909e-01 -3.83562089e-01 -4.45504005e-02 1.44710564e+02] [ 4.83870860e-02 3.54480217e-04 9.98828596e-01 1.02498640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.6371056809999 meters 0.018429786081875125 Centerline is valid? [True, True] Translation: X:192.58, Y:144.74, Z:10.25 [[-3.81901110e-01 -9.24012658e-01 1.87656488e-02 1.92578906e+02] [ 9.22954415e-01 -3.82361633e-01 -4.42123215e-02 1.44735657e+02] [ 4.80280088e-02 4.35103809e-04 9.98845895e-01 1.02519921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.66710568099995 meters 0.019326369768501113 Centerline is valid? [True, True] Translation: X:192.57, Y:144.76, Z:10.25 [[-3.79848392e-01 -9.24860216e-01 1.86756759e-02 1.92570718e+02] [ 9.23815688e-01 -3.80306808e-01 -4.39466391e-02 1.44761089e+02] [ 4.77469848e-02 5.59822237e-04 9.98859305e-01 1.02543719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.6971056809999 meters 0.019480610720292696 Centerline is valid? [True, True] Translation: X:192.56, Y:144.79, Z:10.26 [[-3.79408343e-01 -9.25043524e-01 1.85415144e-02 1.92562232e+02] [ 9.24016570e-01 -3.79860660e-01 -4.35804722e-02 1.44785465e+02] [ 4.73570255e-02 5.97871791e-04 9.98877848e-01 1.02566109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.72710568099995 meters 0.020680150283746496 Centerline is valid? [True, True] Translation: X:192.56, Y:144.81, Z:10.26 [[-3.77799855e-01 -9.25712216e-01 1.80044948e-02 1.92555802e+02] [ 9.24747162e-01 -3.78228009e-01 -4.22641561e-02 1.44809666e+02] [ 4.59342498e-02 6.82213408e-04 9.98944232e-01 1.02597449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.7571056809999 meters 0.021852041836767006 Centerline is valid? [True, True] Translation: X:192.55, Y:144.83, Z:10.26 [[-3.76150465e-01 -9.26385141e-01 1.79275722e-02 1.92547119e+02] [ 9.25431491e-01 -3.76576633e-01 -4.20308808e-02 1.44834142e+02] [ 4.56878883e-02 7.80804507e-04 9.98955458e-01 1.02607329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.78710568099996 meters 0.02377791344355262 Centerline is valid? [True, True] Translation: X:192.54, Y:144.86, Z:10.26 [[-3.70422907e-01 -9.28685927e-01 1.81471336e-02 1.92540899e+02] [ 9.27713298e-01 -3.70865555e-01 -4.25061998e-02 1.44860704e+02] [ 4.62050563e-02 1.09006707e-03 9.98931381e-01 1.02625604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.81710568099993 meters 0.028221391742337943 Centerline is valid? [True, True] Translation: X:192.53, Y:144.88, Z:10.27 [[-3.62404527e-01 -9.31857105e-01 1.74726962e-02 1.92529371e+02] [ 9.30961153e-01 -3.62822586e-01 -4.08791251e-02 1.44884570e+02] [ 4.44329920e-02 1.45162144e-03 9.99011312e-01 1.02661505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.8471056809999 meters 0.03188155596619207 Centerline is valid? [True, True] Translation: X:192.52, Y:144.91, Z:10.27 [[-3.58234914e-01 -9.33474698e-01 1.71094931e-02 1.92516861e+02] [ 9.32619484e-01 -3.58639540e-01 -3.99822233e-02 1.44907056e+02] [ 4.34585346e-02 1.63361836e-03 9.99053896e-01 1.02681072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.87710568099993 meters 0.03546371408671953 Centerline is valid? [True, True] Translation: X:192.51, Y:144.93, Z:10.27 [[-3.51400248e-01 -9.36055655e-01 1.78234657e-02 1.92506914e+02] [ 9.35132636e-01 -3.51846024e-01 -4.16092346e-02 1.44931562e+02] [ 4.52196749e-02 2.04580914e-03 9.98974972e-01 1.02667315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.9071056809999 meters 0.042680423216158676 Centerline is valid? [True, True] Translation: X:192.49, Y:144.95, Z:10.26 [[-3.49565911e-01 -9.36730906e-01 1.84088092e-02 1.92490129e+02] [ 9.35749184e-01 -3.50043267e-01 -4.29322188e-02 1.44952851e+02] [ 4.66598160e-02 2.21838805e-03 9.98908374e-01 1.02644474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.93710568099993 meters 0.03690016169940657 Centerline is valid? [True, True] Translation: X:192.50, Y:144.98, Z:10.26 [[-3.48356324e-01 -9.37172952e-01 1.88342523e-02 1.92495694e+02] [ 9.36148490e-01 -3.48857192e-01 -4.38710063e-02 1.44985000e+02] [ 4.76851849e-02 2.34891432e-03 9.98859653e-01 1.02645000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.9671056809999 meters 0.036329984041556185 Centerline is valid? [True, True] Translation: X:192.49, Y:145.01, Z:10.26 [[-3.48393955e-01 -9.37147178e-01 1.94118354e-02 1.92490334e+02] [ 9.36061518e-01 -3.48925824e-01 -4.51619660e-02 1.45011826e+02] [ 4.90966997e-02 2.43651615e-03 9.98791058e-01 1.02643642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99710568099994 meters 0.03642649122810854 Centerline is valid? [True, True] Translation: X:192.48, Y:145.04, Z:10.26 [[-3.48854606e-01 -9.36967230e-01 1.98210624e-02 1.92483658e+02] [ 9.35837781e-01 -3.49408432e-01 -4.60585957e-02 1.45038500e+02] [ 5.00810412e-02 2.48154579e-03 9.98742074e-01 1.02639274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0271056809999 meters 0.03908592618290465 Centerline is valid? [True, True] Translation: X:192.48, Y:145.06, Z:10.26 [[-3.48476261e-01 -9.37087309e-01 2.07766929e-02 1.92478068e+02] [ 9.35849350e-01 -3.49085107e-01 -4.82242985e-02 1.45064608e+02] [ 5.24432121e-02 2.63883129e-03 9.98620421e-01 1.02606751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05710568099994 meters 0.040957296815918816 Centerline is valid? [True, True] Translation: X:192.48, Y:145.09, Z:10.26 [[-3.46702186e-01 -9.37737671e-01 2.11105275e-02 1.92475060e+02] [ 9.36463328e-01 -3.47333028e-01 -4.89510345e-02 1.45092583e+02] [ 5.32356126e-02 2.79780416e-03 9.98578060e-01 1.02612440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0871056809999 meters 0.040356995087535485 Centerline is valid? [True, True] Translation: X:192.47, Y:145.12, Z:10.27 [[-3.45196111e-01 -9.38301937e-01 2.07151868e-02 1.92470129e+02] [ 9.37078694e-01 -3.45805375e-01 -4.79808628e-02 1.45119521e+02] [ 5.21839595e-02 2.84895291e-03 9.98633425e-01 1.02650625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.11710568099994 meters 0.044170207617196894 Centerline is valid? [True, True] Translation: X:192.46, Y:145.15, Z:10.27 [[-3.39916185e-01 -9.40231447e-01 2.05380720e-02 1.92464746e+02] [ 9.39035250e-01 -3.40521660e-01 -4.75162968e-02 1.45146565e+02] [ 5.16699749e-02 3.13441520e-03 9.98659296e-01 1.02678886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.1471056809999 meters 0.04582631920467116 Centerline is valid? [True, True] Translation: X:192.46, Y:145.17, Z:10.27 [[-3.37386928e-01 -9.41125273e-01 2.12904147e-02 1.92457065e+02] [ 9.39844669e-01 -3.38040805e-01 -4.91976943e-02 1.45172118e+02] [ 5.34982224e-02 3.41102384e-03 9.98562119e-01 1.02674525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.17710568099994 meters 0.04826697039541606 Centerline is valid? [True, True] Translation: X:192.45, Y:145.20, Z:10.26 [[-3.32995244e-01 -9.42647165e-01 2.30323480e-02 1.92452924e+02] [ 9.41155585e-01 -3.33767153e-01 -5.31568618e-02 1.45200406e+02] [ 5.77956063e-02 3.97604079e-03 9.98320519e-01 1.02624583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.2071056809999 meters 0.04826697039541606 Centerline is valid? [True, True] Translation: X:192.44, Y:145.22, Z:10.26 [[-3.33427547e-01 -9.42493776e-01 2.30554584e-02 1.92442339e+02] [ 9.41002512e-01 -3.34200068e-01 -5.31468385e-02 1.45223994e+02] [ 5.77957002e-02 3.97462429e-03 9.98320519e-01 1.02634160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23710568099995 meters 0.05030785910358371 Centerline is valid? [True, True] Translation: X:192.44, Y:145.25, Z:10.26 [[-3.31366030e-01 -9.43200946e-01 2.38438728e-02 1.92441538e+02] [ 9.41611826e-01 -3.32195446e-01 -5.48940262e-02 1.45251634e+02] [ 5.96969234e-02 4.26165712e-03 9.98207451e-01 1.02634028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.2671056809999 meters 0.04713150043376088 Centerline is valid? [True, True] Translation: X:192.44, Y:145.28, Z:10.27 [[-3.32013314e-01 -9.42972535e-01 2.38737730e-02 1.92440586e+02] [ 9.41382845e-01 -3.32843434e-01 -5.48961499e-02 1.45280459e+02] [ 5.97117902e-02 4.24810771e-03 9.98206620e-01 1.02672107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29710568099995 meters 0.0485564379371968 Centerline is valid? [True, True] Translation: X:192.44, Y:145.31, Z:10.27 [[-3.35164571e-01 -9.41856377e-01 2.39013606e-02 1.92438758e+02] [ 9.40264116e-01 -3.35991012e-01 -5.48947291e-02 1.45308378e+02] [ 5.97335931e-02 4.07482340e-03 9.98206038e-01 1.02680431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.3271056809999 meters 0.04560346651404643 Centerline is valid? [True, True] Translation: X:192.44, Y:145.34, Z:10.27 [[-3.37132651e-01 -9.41143759e-01 2.42899447e-02 1.92436144e+02] [ 9.39501060e-01 -3.37982489e-01 -5.57278707e-02 1.45337333e+02] [ 6.06575137e-02 4.03274402e-03 9.98150491e-01 1.02694529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35710568099995 meters 0.04348425059541637 Centerline is valid? [True, True] Translation: X:192.44, Y:145.37, Z:10.27 [[-3.40154550e-01 -9.40057700e-01 2.42157400e-02 1.92439142e+02] [ 9.38425553e-01 -3.40993752e-01 -5.55044333e-02 1.45367887e+02] [ 6.04347860e-02 3.84458364e-03 9.98164744e-01 1.02720059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.3871056809999 meters 0.044669562797825184 Centerline is valid? [True, True] Translation: X:192.43, Y:145.39, Z:10.27 [[-3.41683366e-01 -9.39497483e-01 2.44327040e-02 1.92432748e+02] [ 9.37838539e-01 -3.42534711e-01 -5.59360908e-02 1.45394188e+02] [ 6.09208657e-02 3.80149965e-03 9.98135360e-01 1.02731108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41710568099995 meters 0.04250463221301899 Centerline is valid? [True, True] Translation: X:192.43, Y:145.42, Z:10.28 [[-3.43485865e-01 -9.38824095e-01 2.50355689e-02 1.92433657e+02] [ 9.37084565e-01 -3.44376119e-01 -5.72503839e-02 1.45424253e+02] [ 6.23696919e-02 3.79574757e-03 9.98045898e-01 1.02755409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.4471056809999 meters 0.04249347805365091 Centerline is valid? [True, True] Translation: X:192.43, Y:145.45, Z:10.28 [[-3.44142266e-01 -9.38589673e-01 2.48098193e-02 1.92427316e+02] [ 9.36884944e-01 -3.45015103e-01 -5.66672769e-02 1.45449957e+02] [ 6.17470832e-02 3.74234106e-03 9.98084812e-01 1.02779130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47710568099995 meters 0.042469679089789276 Centerline is valid? [True, True] Translation: X:192.43, Y:145.48, Z:10.28 [[-3.44952853e-01 -9.38317303e-01 2.38362724e-02 1.92425292e+02] [ 9.36747017e-01 -3.45756985e-01 -5.43795283e-02 1.45478440e+02] [ 5.92668100e-02 3.57018364e-03 9.98235793e-01 1.02837337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.5071056809999 meters 0.03994337538586329 Centerline is valid? [True, True] Translation: X:192.43, Y:145.51, Z:10.29 [[-3.48929652e-01 -9.36831461e-01 2.43908239e-02 1.92425895e+02] [ 9.35187524e-01 -3.49764410e-01 -5.55801516e-02 1.45507748e+02] [ 6.06002768e-02 3.41643119e-03 9.98156268e-01 1.02860011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.53710568099996 meters 0.03853710064514476 Centerline is valid? [True, True] Translation: X:192.42, Y:145.53, Z:10.29 [[-3.52042967e-01 -9.35661223e-01 2.45728518e-02 1.92420535e+02] [ 9.33993813e-01 -3.52884456e-01 -5.59295722e-02 1.45534030e+02] [ 6.10025094e-02 3.26127905e-03 9.98132285e-01 1.02867074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.56710568099993 meters 0.03554117527017274 Centerline is valid? [True, True] Translation: X:192.42, Y:145.56, Z:10.29 [[-3.59876151e-01 -9.32685993e-01 2.42073276e-02 1.92422063e+02] [ 9.31064866e-01 -3.60679040e-01 -5.50349519e-02 1.45562642e+02] [ 6.00614045e-02 2.73282561e-03 9.98190943e-01 1.02863218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.5971056809999 meters 0.03169093651827837 Centerline is valid? [True, True] Translation: X:192.43, Y:145.59, Z:10.29 [[-3.68278980e-01 -9.29395857e-01 2.43707655e-02 1.92426537e+02] [ 9.27749432e-01 -3.69077732e-01 -5.53409310e-02 1.45592583e+02] [ 6.04283388e-02 2.22906221e-03 9.98170049e-01 1.02867522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.62710568099993 meters 0.027817616902542842 Centerline is valid? [True, True] Translation: X:192.42, Y:145.62, Z:10.29 [[-3.74169688e-01 -9.27048595e-01 2.40405184e-02 1.92424589e+02] [ 9.25445521e-01 -3.74936653e-01 -5.45260936e-02 1.45621261e+02] [ 5.95620100e-02 1.84617864e-03 9.98222900e-01 1.02898117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.6571056809999 meters 0.02390731706764529 Centerline is valid? [True, True] Translation: X:192.43, Y:145.65, Z:10.29 [[-3.85580819e-01 -9.22392094e-01 2.28091195e-02 1.92428976e+02] [ 9.20944178e-01 -3.86253355e-01 -5.16736569e-02 1.45650848e+02] [ 5.64734715e-02 1.08155485e-03 9.98403514e-01 1.02936210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.68710568099993 meters 0.021142235269913733 Centerline is valid? [True, True] Translation: X:192.43, Y:145.68, Z:10.30 [[-3.92657294e-01 -9.19419228e-01 2.21028009e-02 1.92428433e+02] [ 9.18058042e-01 -3.93278347e-01 -5.00157276e-02 1.45680326e+02] [ 5.46779746e-02 6.52613920e-04 9.98503827e-01 1.02986250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7171056809999 meters 0.02058790679048402 Centerline is valid? [True, True] Translation: X:192.44, Y:145.71, Z:10.30 [[-4.08500504e-01 -9.12490834e-01 2.20865702e-02 1.92437847e+02] [ 9.11124094e-01 -4.09097061e-01 -4.99247398e-02 1.45712872e+02] [ 5.45914184e-02 -2.70675147e-04 9.98508740e-01 1.02996102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.74710568099994 meters 0.025580589070127013 Centerline is valid? [True, True] Translation: X:192.44, Y:145.74, Z:10.30 [[-4.23744395e-01 -9.05502129e-01 2.25073768e-02 1.92443321e+02] [ 9.04075721e-01 -4.24340062e-01 -5.08193051e-02 1.45744848e+02] [ 5.55677706e-02 -1.18602280e-03 9.98454213e-01 1.03014699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7771056809999 meters 0.030501018146599085 Centerline is valid? [True, True] Translation: X:192.44, Y:145.77, Z:10.30 [[-4.30003840e-01 -9.02552473e-01 2.22650114e-02 1.92441643e+02] [ 9.01155886e-01 -4.30577170e-01 -5.02132347e-02 1.45771695e+02] [ 5.49068848e-02 -1.52763763e-03 9.98490311e-01 1.03005635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.80710568099994 meters 0.036705208718570095 Centerline is valid? [True, True] Translation: X:192.44, Y:145.80, Z:10.30 [[-4.39325068e-01 -8.98052874e-01 2.22378253e-02 1.92440305e+02] [ 8.96657205e-01 -4.39882673e-01 -5.00908323e-02 1.45800108e+02] [ 5.47662499e-02 -2.06645205e-03 9.98497064e-01 1.03032953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8371056809999 meters 0.039466888845543564 Centerline is valid? [True, True] Translation: X:192.43, Y:145.82, Z:10.30 [[-4.42564198e-01 -8.96461154e-01 2.22335123e-02 1.92432172e+02] [ 8.95067135e-01 -4.43116675e-01 -5.00243504e-02 1.45824797e+02] [ 5.46969269e-02 -2.23850035e-03 9.98500493e-01 1.03043493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.86710568099994 meters 0.03821461354080179 Centerline is valid? [True, True] Translation: X:192.42, Y:145.85, Z:10.31 [[-4.46457421e-01 -8.94531447e-01 2.21192550e-02 1.92416326e+02] [ 8.93152505e-01 -4.46998377e-01 -4.97096833e-02 1.45846211e+02] [ 5.43541460e-02 -2.43738898e-03 9.98518746e-01 1.03087505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8971056809999 meters 0.036465809864637835 Centerline is valid? [True, True] Translation: X:192.40, Y:145.87, Z:10.31 [[-4.48154109e-01 -8.93678984e-01 2.22658442e-02 1.92400187e+02] [ 8.92284053e-01 -4.48699758e-01 -4.99769477e-02 1.45869101e+02] [ 5.46540268e-02 -2.52991680e-03 9.98502147e-01 1.03115028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.92710568099994 meters 0.038671024852820333 Centerline is valid? [True, True] Translation: X:192.39, Y:145.89, Z:10.31 [[-4.51715670e-01 -8.91878162e-01 2.25010729e-02 1.92385403e+02] [ 8.90454443e-01 -4.52267364e-01 -5.04491420e-02 1.45890673e+02] [ 5.51709890e-02 -2.75248759e-03 9.98473127e-01 1.03128500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.9571056809999 meters 0.043241033259983984 Centerline is valid? [True, True] Translation: X:192.38, Y:145.91, Z:10.31 [[-4.51976218e-01 -8.91737235e-01 2.28517300e-02 1.92376027e+02] [ 8.90271729e-01 -4.52544951e-01 -5.11792465e-02 1.45914294e+02] [ 5.59798748e-02 -2.78755304e-03 9.98428006e-01 1.03110628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.98710568099995 meters 0.03663044712778896 Centerline is valid? [True, True] Translation: X:192.35, Y:145.93, Z:10.31 [[-4.47631817e-01 -8.93908176e-01 2.35357133e-02 1.92345724e+02] [ 8.92360419e-01 -4.48242800e-01 -5.26428998e-02 1.45930017e+02] [ 5.76076325e-02 -2.56229792e-03 9.98336013e-01 1.03122638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.0171056809999 meters 0.0317529769517029 Centerline is valid? [True, True] Translation: X:192.32, Y:145.95, Z:10.31 [[-4.40194937e-01 -8.97584465e-01 2.38861218e-02 1.92317088e+02] [ 8.95999224e-01 -4.40837576e-01 -5.33631119e-02 1.45946825e+02] [ 5.84278003e-02 -2.08822505e-03 9.98289453e-01 1.03125611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.04710568099995 meters 0.029104505139707408 Centerline is valid? [True, True] Translation: X:192.30, Y:145.97, Z:10.32 [[-4.36204576e-01 -8.99532815e-01 2.37966812e-02 1.92296981e+02] [ 8.97965930e-01 -4.36849510e-01 -5.31007869e-02 1.45967164e+02] [ 5.81614688e-02 -1.79419727e-03 9.98305577e-01 1.03150820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.0771056809999 meters 0.025682515037947502 Centerline is valid? [True, True] Translation: X:192.27, Y:145.98, Z:10.32 [[-4.30965846e-01 -9.02085177e-01 2.26002750e-02 1.92268773e+02] [ 9.00678608e-01 -4.31555906e-01 -5.03740482e-02 1.45983935e+02] [ 5.51949643e-02 -1.35391007e-03 9.98474678e-01 1.03196332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.10710568099995 meters 0.02462173668913527 Centerline is valid? [True, True] Translation: X:192.25, Y:146.00, Z:10.32 [[-4.30368480e-01 -9.02377606e-01 2.23075641e-02 1.92249650e+02] [ 9.01010738e-01 -4.30944347e-01 -4.96650806e-02 1.46004909e+02] [ 5.44299752e-02 -1.27493047e-03 9.98516776e-01 1.03226702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.1371056809999 meters 0.02338862877248282 Centerline is valid? [True, True] Translation: X:192.23, Y:146.02, Z:10.32 [[-4.29985681e-01 -9.02553891e-01 2.25563416e-02 1.92226181e+02] [ 9.01159848e-01 -4.30575120e-01 -5.01596953e-02 1.46023017e+02] [ 5.49840276e-02 -1.24108142e-03 9.98486463e-01 1.03240523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.16710568099995 meters 0.025140105909146893 Centerline is valid? [True, True] Translation: X:192.21, Y:146.05, Z:10.32 [[-4.31989229e-01 -9.01590003e-01 2.28204322e-02 1.92213702e+02] [ 9.00165344e-01 -4.32589457e-01 -5.06824958e-02 1.46045967e+02] [ 5.55667099e-02 -1.35213012e-03 9.98454061e-01 1.03230774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.1971056809999 meters 0.03019517838446139 Centerline is valid? [True, True] Translation: X:192.20, Y:146.07, Z:10.32 [[-4.40681851e-01 -8.97371832e-01 2.28757762e-02 1.92201345e+02] [ 8.95937618e-01 -4.41271234e-01 -5.07492262e-02 1.46069994e+02] [ 5.56353481e-02 -1.86899452e-03 9.98449405e-01 1.03206860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.22710568099995 meters 0.03227977588536223 Centerline is valid? [True, True] Translation: X:192.19, Y:146.09, Z:10.32 [[-4.47615920e-01 -8.93929754e-01 2.30126762e-02 1.92189038e+02] [ 8.92476543e-01 -4.48201233e-01 -5.10026910e-02 1.46094168e+02] [ 5.59071329e-02 -2.29134278e-03 9.98433344e-01 1.03234956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.2571056809999 meters 0.04123586234831835 Centerline is valid? [True, True] Translation: X:192.18, Y:146.12, Z:10.32 [[-4.60115458e-01 -8.87542861e-01 2.36946322e-02 1.92179799e+02] [ 8.85997203e-01 -4.60714455e-01 -5.24513845e-02 1.46117905e+02] [ 5.74693115e-02 -3.14031492e-03 9.98342334e-01 1.03230913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.28710568099996 meters 0.04426727919284105 Centerline is valid? [True, True] Translation: X:192.16, Y:146.14, Z:10.33 [[-4.68973170e-01 -8.82896856e-01 2.36073623e-02 1.92159452e+02] [ 8.81360376e-01 -4.69552622e-01 -5.21940865e-02 1.46137961e+02] [ 5.71668937e-02 -3.67103251e-03 9.98357887e-01 1.03269620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.31710568099993 meters 0.04834289397966362 Centerline is valid? [True, True] Translation: X:192.14, Y:146.16, Z:10.33 [[-4.74979737e-01 -8.79717112e-01 2.21822700e-02 1.92139840e+02] [ 8.78360059e-01 -4.75482356e-01 -4.89911829e-02 1.46157678e+02] [ 5.36456599e-02 -3.78579919e-03 9.98552858e-01 1.03318741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.3471056809999 meters 0.049125073327788024 Centerline is valid? [True, True] Translation: X:192.12, Y:146.18, Z:10.33 [[-4.76735982e-01 -8.78769258e-01 2.20770027e-02 1.92122065e+02] [ 8.77426610e-01 -4.77231345e-01 -4.87112565e-02 1.46179508e+02] [ 5.33417924e-02 -3.85145906e-03 9.98568886e-01 1.03331175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.37710568099993 meters 0.05004307705375924 Centerline is valid? [True, True] Translation: X:192.10, Y:146.20, Z:10.33 [[-4.79065656e-01 -8.77503461e-01 2.19948295e-02 1.92097744e+02] [ 8.76172318e-01 -4.79554016e-01 -4.84769523e-02 1.46198385e+02] [ 5.30864022e-02 -3.95238223e-03 9.98582101e-01 1.03344259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.4071056809999 meters 0.04952334814023207 Centerline is valid? [True, True] Translation: X:192.08, Y:146.22, Z:10.33 [[-4.80235935e-01 -8.76853017e-01 2.24105753e-02 1.92078396e+02] [ 8.75473327e-01 -4.80741290e-01 -4.93382779e-02 1.46219245e+02] [ 5.40361067e-02 -4.07415313e-03 9.98530671e-01 1.03342023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.43710568099993 meters 0.050679578924284395 Centerline is valid? [True, True] Translation: X:192.05, Y:146.24, Z:10.33 [[-4.81290476e-01 -8.76247294e-01 2.34554236e-02 1.92053258e+02] [ 8.74738475e-01 -4.81842427e-01 -5.15797977e-02 1.46238075e+02] [ 5.64984764e-02 -4.30750390e-03 9.98393393e-01 1.03336955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.4671056809999 meters 0.050753105145695296 Centerline is valid? [True, True] Translation: X:192.04, Y:146.26, Z:10.34 [[-4.81200488e-01 -8.76307795e-01 2.30377591e-02 1.92035105e+02] [ 8.74855444e-01 -4.81733366e-01 -5.06055017e-02 1.46258806e+02] [ 5.54440529e-02 -4.19668315e-03 9.98452976e-01 1.03361735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49710568099994 meters 0.048167176243836304 Centerline is valid? [True, True] Translation: X:192.01, Y:146.28, Z:10.34 [[-4.77545976e-01 -8.78332911e-01 2.19348396e-02 1.92007603e+02] [ 8.77021253e-01 -4.78034788e-01 -4.81296466e-02 1.46275540e+02] [ 5.27594690e-02 -3.74679859e-03 9.98600220e-01 1.03427296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5271056809999 meters 0.0450870094347805 Centerline is valid? [True, True] Translation: X:191.99, Y:146.29, Z:10.35 [[-4.73674983e-01 -8.80424440e-01 2.20185382e-02 1.91985370e+02] [ 8.79107662e-01 -4.74173523e-01 -4.82616685e-02 1.46294456e+02] [ 5.29313603e-02 -3.50367934e-03 9.98592006e-01 1.03451072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55710568099994 meters 0.037088869046684174 Centerline is valid? [True, True] Translation: X:191.95, Y:146.31, Z:10.35 [[-4.60716441e-01 -8.87259661e-01 2.25976665e-02 1.91947977e+02] [ 8.85883202e-01 -4.61261940e-01 -4.94810601e-02 1.46306661e+02] [ 5.43259921e-02 -2.77784472e-03 9.98519389e-01 1.03460667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5871056809999 meters 0.027245223160194877 Centerline is valid? [True, True] Translation: X:191.91, Y:146.32, Z:10.34 [[-4.43071541e-01 -8.96175929e-01 2.35862995e-02 1.91908305e+02] [ 8.94691878e-01 -4.43695428e-01 -5.15830511e-02 1.46316980e+02] [ 5.66926220e-02 -1.75251135e-03 9.98390142e-01 1.03441620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61710568099994 meters 0.022880052133136788 Centerline is valid? [True, True] Translation: X:191.88, Y:146.33, Z:10.35 [[-4.34250160e-01 -9.00484744e-01 2.35377118e-02 1.91882527e+02] [ 8.99016430e-01 -4.34886036e-01 -5.14158935e-02 1.46334612e+02] [ 5.65354499e-02 -1.16657035e-03 9.98399911e-01 1.03450353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.6471056809999 meters 0.01874012761696493 Centerline is valid? [True, True] Translation: X:191.85, Y:146.35, Z:10.35 [[-4.19185830e-01 -9.07601140e-01 2.33111770e-02 1.91845137e+02] [ 9.06174825e-01 -4.19833457e-01 -5.08630966e-02 1.46346869e+02] [ 5.59502165e-02 -1.97087614e-04 9.98433540e-01 1.03489707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67710568099994 meters 0.018999118498417063 Centerline is valid? [True, True] Translation: X:191.82, Y:146.37, Z:10.35 [[-4.14480380e-01 -9.09753407e-01 2.35531911e-02 1.91824891e+02] [ 9.08304253e-01 -4.15149039e-01 -5.13289331e-02 1.46365128e+02] [ 5.64747564e-02 1.18627878e-04 9.98404020e-01 1.03483170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.7071056809999 meters 0.020143119709605202 Centerline is valid? [True, True] Translation: X:191.80, Y:146.38, Z:10.35 [[-4.08571043e-01 -9.12419090e-01 2.36877024e-02 1.91802046e+02] [ 9.10961312e-01 -4.09256816e-01 -5.15591551e-02 1.46384335e+02] [ 5.67379111e-02 5.13002684e-04 9.98388975e-01 1.03479517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73710568099995 meters 0.020658111945455866 Centerline is valid? [True, True] Translation: X:191.79, Y:146.41, Z:10.35 [[-4.07592164e-01 -9.12848953e-01 2.39878608e-02 1.91787180e+02] [ 9.11358009e-01 -4.08296982e-01 -5.21551037e-02 1.46407751e+02] [ 5.74039030e-02 6.03517459e-04 9.98350854e-01 1.03475098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.7671056809999 meters 0.02162270254425576 Centerline is valid? [True, True] Translation: X:191.77, Y:146.43, Z:10.34 [[-4.07336878e-01 -9.12936475e-01 2.49732061e-02 1.91770430e+02] [ 9.11324291e-01 -4.08101150e-01 -5.42354953e-02 1.46428940e+02] [ 5.97051560e-02 6.66571980e-04 9.98215833e-01 1.03424398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79710568099995 meters 0.021203481433015252 Centerline is valid? [True, True] Translation: X:191.76, Y:146.45, Z:10.34 [[-4.07820014e-01 -9.12701403e-01 2.56706903e-02 1.91758744e+02] [ 9.11001260e-01 -4.08626592e-01 -5.56867367e-02 1.46453104e+02] [ 6.13150894e-02 6.75865520e-04 9.98118231e-01 1.03428644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.8271056809999 meters 0.021702886846235413 Centerline is valid? [True, True] Translation: X:191.75, Y:146.48, Z:10.34 [[-4.07439522e-01 -9.12844993e-01 2.65905078e-02 1.91746991e+02] [ 9.11025061e-01 -4.08305594e-01 -5.76183908e-02 1.46477944e+02] [ 6.34537127e-02 7.48609423e-04 9.97984502e-01 1.03411450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85710568099995 meters 0.02140245632656878 Centerline is valid? [True, True] Translation: X:191.74, Y:146.50, Z:10.34 [[-4.09236741e-01 -9.12025939e-01 2.70919891e-02 1.91737802e+02] [ 9.10139271e-01 -4.10131990e-01 -5.86366646e-02 1.46501565e+02] [ 6.45894505e-02 6.61205681e-04 9.97911702e-01 1.03427765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.8871056809999 meters 0.02036146967387556 Centerline is valid? [True, True] Translation: X:191.73, Y:146.53, Z:10.35 [[-4.11521389e-01 -9.10988238e-01 2.73966638e-02 1.91729868e+02] [ 9.09061453e-01 -4.12431988e-01 -5.92210248e-02 1.46526167e+02] [ 6.52489175e-02 5.34532616e-04 9.97868876e-01 1.03467841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91710568099995 meters 0.02044999229331927 Centerline is valid? [True, True] Translation: X:191.73, Y:146.55, Z:10.34 [[-4.17147006e-01 -9.08419034e-01 2.76266891e-02 1.91725955e+02] [ 9.06459106e-01 -4.18060800e-01 -5.96410617e-02 1.46552635e+02] [ 6.57287114e-02 1.63373617e-04 9.97837517e-01 1.03443638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.9471056809999 meters 0.019938131830478968 Centerline is valid? [True, True] Translation: X:191.72, Y:146.58, Z:10.35 [[-4.21285778e-01 -9.06507296e-01 2.76191092e-02 1.91719958e+02] [ 9.04549190e-01 -4.22190136e-01 -5.95504151e-02 1.46578942e+02] [ 6.56434013e-02 -1.04900123e-04 9.97843140e-01 1.03476902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97710568099995 meters 0.020664697423104172 Centerline is valid? [True, True] Translation: X:191.72, Y:146.61, Z:10.35 [[-4.29595270e-01 -9.02618221e-01 2.69861242e-02 1.91719766e+02] [ 9.00745035e-01 -4.30441527e-01 -5.81246311e-02 1.46606512e+02] [ 6.40802996e-02 -6.62449187e-04 9.97944526e-01 1.03523415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.0071056809999 meters 0.023834155397659047 Centerline is valid? [True, True] Translation: X:191.72, Y:146.64, Z:10.35 [[-4.38445935e-01 -8.98380976e-01 2.60150757e-02 1.91721704e+02] [ 8.96636124e-01 -4.39215369e-01 -5.59778637e-02 1.46636676e+02] [ 6.17156689e-02 -1.21721014e-03 9.98093029e-01 1.03548248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.03710568099996 meters 0.023427285876106655 Centerline is valid? [True, True] Translation: X:191.71, Y:146.66, Z:10.36 [[-4.43053439e-01 -8.96126914e-01 2.56944435e-02 1.91714149e+02] [ 8.94424821e-01 -4.43795386e-01 -5.52258578e-02 1.46662552e+02] [ 6.08924530e-02 -1.48625812e-03 9.98143226e-01 1.03613161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.06710568099993 meters 0.02736706174949572 Centerline is valid? [True, True] Translation: X:191.71, Y:146.69, Z:10.36 [[-4.46483004e-01 -8.94430430e-01 2.54388234e-02 1.91712364e+02] [ 8.92763082e-01 -4.47203988e-01 -5.46138460e-02 1.46690509e+02] [ 6.02246290e-02 -1.67331165e-03 9.98183447e-01 1.03596775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.0971056809999 meters 0.027922433207011106 Centerline is valid? [True, True] Translation: X:191.70, Y:146.72, Z:10.36 [[-4.50524996e-01 -8.92392337e-01 2.57515813e-02 1.91701673e+02] [ 8.90684230e-01 -4.51256184e-01 -5.52218998e-02 1.46715080e+02] [ 6.09001605e-02 -1.94231885e-03 9.98141973e-01 1.03643595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.12710568099993 meters 0.027922433207011106 Centerline is valid? [True, True] Translation: X:191.69, Y:146.74, Z:10.37 [[-4.50931560e-01 -8.92186284e-01 2.57752492e-02 1.91690461e+02] [ 8.90478470e-01 -4.51663432e-01 -5.52108528e-02 1.46738302e+02] [ 6.09001031e-02 -1.94401155e-03 9.98141973e-01 1.03653154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.1571056809999 meters 0.028528205743298 Centerline is valid? [True, True] Translation: X:191.68, Y:146.76, Z:10.37 [[-4.53824792e-01 -8.90706096e-01 2.61860439e-02 1.91678470e+02] [ 8.88945025e-01 -4.54574571e-01 -5.60241272e-02 1.46761923e+02] [ 6.18045413e-02 -2.14718443e-03 9.98085962e-01 1.03667571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.18710568099993 meters 0.030307000469048953 Centerline is valid? [True, True] Translation: X:191.67, Y:146.79, Z:10.37 [[-4.56082694e-01 -8.89550037e-01 2.62546952e-02 1.91670499e+02] [ 8.87781818e-01 -4.56832060e-01 -5.61062530e-02 1.46787259e+02] [ 6.19033059e-02 -2.28065000e-03 9.98079546e-01 1.03671670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2171056809999 meters 0.031673864746859334 Centerline is valid? [True, True] Translation: X:191.66, Y:146.81, Z:10.37 [[-4.62374155e-01 -8.86323898e-01 2.52999940e-02 1.91660445e+02] [ 8.84680766e-01 -4.63058578e-01 -5.40064409e-02 1.46812124e+02] [ 5.95825785e-02 -2.58876439e-03 9.98220023e-01 1.03736253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.24710568099994 meters 0.033335267154619534 Centerline is valid? [True, True] Translation: X:191.65, Y:146.84, Z:10.38 [[-4.65982345e-01 -8.84445953e-01 2.48155207e-02 1.91649014e+02] [ 8.82865936e-01 -4.66634549e-01 -5.29144309e-02 1.46836837e+02] [ 5.83797336e-02 -2.74841273e-03 9.98290666e-01 1.03774637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2771056809999 meters 0.036756979224929695 Centerline is valid? [True, True] Translation: X:191.64, Y:146.86, Z:10.38 [[-4.70953829e-01 -8.81835135e-01 2.38597091e-02 1.91638287e+02] [ 8.80374118e-01 -4.71548730e-01 -5.08252700e-02 1.46860046e+02] [ 5.60705244e-02 -2.93088514e-03 9.98422509e-01 1.03808533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.30710568099994 meters 0.04196700134819333 Centerline is valid? [True, True] Translation: X:191.63, Y:146.88, Z:10.38 [[-4.73486305e-01 -8.80497116e-01 2.31418976e-02 1.91628294e+02] [ 8.79123733e-01 -4.74042173e-01 -4.92491707e-02 1.46884442e+02] [ 5.43339882e-02 -2.97421644e-03 9.98518388e-01 1.03807658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3371056809999 meters 0.038606334260355105 Centerline is valid? [True, True] Translation: X:191.61, Y:146.90, Z:10.38 [[-4.73371192e-01 -8.80557455e-01 2.32009406e-02 1.91608287e+02] [ 8.79180114e-01 -4.73930241e-01 -4.93199020e-02 1.46904522e+02] [ 5.44246347e-02 -2.94881524e-03 9.98513527e-01 1.03830767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.36710568099994 meters 0.035195353765947464 Centerline is valid? [True, True] Translation: X:191.58, Y:146.92, Z:10.38 [[-4.69653133e-01 -8.82542881e-01 2.33237693e-02 1.91583748e+02] [ 8.81156321e-01 -4.70224127e-01 -4.95258361e-02 1.46922346e+02] [ 5.46760731e-02 -2.70807731e-03 9.98500472e-01 1.03846688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3971056809999 meters 0.0326439019878723 Centerline is valid? [True, True] Translation: X:191.56, Y:146.94, Z:10.38 [[-4.64413025e-01 -8.85301301e-01 2.37096531e-02 1.91559586e+02] [ 8.83875175e-01 -4.65011674e-01 -5.02873519e-02 1.46939944e+02] [ 5.55447235e-02 -2.39772745e-03 9.98453321e-01 1.03831699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.42710568099994 meters 0.03134958184926489 Centerline is valid? [True, True] Translation: X:191.54, Y:146.96, Z:10.38 [[-4.62956383e-01 -8.86050882e-01 2.41913843e-02 1.91541386e+02] [ 8.84570480e-01 -4.63582157e-01 -5.12508567e-02 1.46961092e+02] [ 5.66255608e-02 -2.32792681e-03 9.98392772e-01 1.03831195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.4571056809999 meters 0.030355798391786985 Centerline is valid? [True, True] Translation: X:191.52, Y:146.98, Z:10.38 [[-4.60232692e-01 -8.87427825e-01 2.56461381e-02 1.91520348e+02] [ 8.85769577e-01 -4.60941147e-01 -5.42726014e-02 1.46980140e+02] [ 5.99843770e-02 -2.26145654e-03 9.98196754e-01 1.03772865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.48710568099995 meters 0.0298233452249015 Centerline is valid? [True, True] Translation: X:191.51, Y:147.00, Z:10.37 [[-4.59146108e-01 -8.87960554e-01 2.66628222e-02 1.91505660e+02] [ 8.86173020e-01 -4.59914117e-01 -5.63594156e-02 1.47002035e+02] [ 6.23075463e-02 -2.24933262e-03 9.98054463e-01 1.03746468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.5171056809999 meters 0.028364089878096334 Centerline is valid? [True, True] Translation: X:191.49, Y:147.02, Z:10.37 [[-4.56500657e-01 -8.89289963e-01 2.77581028e-02 1.91486050e+02] [ 8.87359132e-01 -4.57338883e-01 -5.86081630e-02 1.47022968e+02] [ 6.48145108e-02 -2.12325894e-03 9.97895070e-01 1.03730189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.54710568099995 meters 0.02700453230009611 Centerline is valid? [True, True] Translation: X:191.47, Y:147.04, Z:10.38 [[-4.53964325e-01 -8.90600218e-01 2.73430903e-02 1.91467759e+02] [ 8.88732931e-01 -4.54783154e-01 -5.76720148e-02 1.47044151e+02] [ 6.37978857e-02 -1.88033242e-03 9.97961068e-01 1.03750458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.5771056809999 meters 0.023050677735346574 Centerline is valid? [True, True] Translation: X:191.44, Y:147.06, Z:10.38 [[-4.46609977e-01 -8.94368235e-01 2.53966148e-02 1.91442973e+02] [ 8.92766780e-01 -4.47329808e-01 -5.35118607e-02 1.47062062e+02] [ 5.92199712e-02 -1.22567684e-03 9.98244205e-01 1.03833993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.60710568099995 meters 0.021598021131589665 Centerline is valid? [True, True] Translation: X:191.43, Y:147.08, Z:10.39 [[-4.42679806e-01 -8.96338357e-01 2.47414300e-02 1.91426946e+02] [ 8.94824774e-01 -4.43369726e-01 -5.20759949e-02 1.47083807e+02] [ 5.76473127e-02 -9.13746804e-04 9.98336593e-01 1.03858825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.6371056809999 meters 0.020046068871621237 Centerline is valid? [True, True] Translation: X:191.41, Y:147.10, Z:10.39 [[-4.35796476e-01 -8.99732718e-01 2.37164206e-02 1.91408593e+02] [ 8.98349823e-01 -4.36441125e-01 -4.98672302e-02 1.47103639e+02] [ 5.52179998e-02 -4.26320968e-04 9.98474231e-01 1.03872500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.66710568099995 meters 0.019529109294216293 Centerline is valid? [True, True] Translation: X:191.39, Y:147.12, Z:10.39 [[-4.30572559e-01 -9.02249376e-01 2.35230653e-02 1.91391561e+02] [ 9.00895516e-01 -4.31214629e-01 -4.94086331e-02 1.47124040e+02] [ 5.47223983e-02 -8.21775283e-05 9.98501604e-01 1.03872519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.6971056809999 meters 0.01940293249923673 Centerline is valid? [True, True] Translation: X:191.38, Y:147.15, Z:10.39 [[-4.28693327e-01 -9.03137359e-01 2.37685227e-02 1.91376914e+02] [ 9.01759429e-01 -4.29351730e-01 -4.98700736e-02 1.47145863e+02] [ 5.52445829e-02 5.45217051e-05 9.98472850e-01 1.03879979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.72710568099995 meters 0.01989827970557376 Centerline is valid? [True, True] Translation: X:191.36, Y:147.17, Z:10.39 [[-4.23383640e-01 -9.05647537e-01 2.34271825e-02 1.91358207e+02] [ 9.04315692e-01 -4.24031109e-01 -4.90993775e-02 1.47166165e+02] [ 5.44005844e-02 3.97695572e-04 9.98519113e-01 1.03914651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.7571056809999 meters 0.02084717189643578 Centerline is valid? [True, True] Translation: X:191.34, Y:147.19, Z:10.39 [[-4.19609943e-01 -9.07417293e-01 2.28331303e-02 1.91343080e+02] [ 9.06157649e-01 -4.20230241e-01 -4.78002019e-02 1.47187975e+02] [ 5.29699017e-02 6.32975670e-04 9.98595909e-01 1.03944866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.78710568099996 meters 0.02519989404649977 Centerline is valid? [True, True] Translation: X:191.32, Y:147.21, Z:10.40 [[-4.11875726e-01 -9.10964737e-01 2.23971927e-02 1.91323437e+02] [ 9.09760669e-01 -4.12482809e-01 -4.68343502e-02 1.47206734e+02] [ 5.19028984e-02 1.08615302e-03 9.98651546e-01 1.03958384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.81710568099993 meters 0.026028051565671007 Centerline is valid? [True, True] Translation: X:191.31, Y:147.23, Z:10.40 [[-4.09100957e-01 -9.12225639e-01 2.19269422e-02 1.91310917e+02] [ 9.11075925e-01 -4.09686280e-01 -4.58018741e-02 1.47230632e+02] [ 5.07648113e-02 1.23951861e-03 9.98709867e-01 1.03983470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.8471056809999 meters 0.02740671358396951 Centerline is valid? [True, True] Translation: X:191.30, Y:147.26, Z:10.40 [[-4.05703699e-01 -9.13743840e-01 2.18335374e-02 1.91299933e+02] [ 9.12608422e-01 -4.06288219e-01 -4.55604209e-02 1.47255387e+02] [ 5.05012630e-02 1.44143883e-03 9.98722957e-01 1.04007598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.87710568099993 meters 0.028693478549860964 Centerline is valid? [True, True] Translation: X:191.29, Y:147.28, Z:10.40 [[-4.03938522e-01 -9.14514490e-01 2.22916846e-02 1.91291386e+02] [ 9.13334586e-01 -4.04550023e-01 -4.64673364e-02 1.47281343e+02] [ 5.15131540e-02 1.58981930e-03 9.98671051e-01 1.03996173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.9071056809999 meters 0.029253300381002247 Centerline is valid? [True, True] Translation: X:191.28, Y:147.31, Z:10.40 [[-4.03285564e-01 -9.14798834e-01 2.24465478e-02 1.91282127e+02] [ 9.13605435e-01 -4.03906360e-01 -4.67414285e-02 1.47306658e+02] [ 5.18253077e-02 1.65714476e-03 9.98654791e-01 1.04004577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.93710568099993 meters 0.031974874403544934 Centerline is valid? [True, True] Translation: X:191.27, Y:147.33, Z:10.40 [[-4.00717271e-01 -9.15902811e-01 2.34032098e-02 1.91274696e+02] [ 9.14610156e-01 -4.01395616e-01 -4.86808224e-02 1.47332312e+02] [ 5.39808479e-02 1.89756703e-03 9.98540168e-01 1.03971237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.9671056809999 meters 0.03269618712863748 Centerline is valid? [True, True] Translation: X:191.27, Y:147.36, Z:10.40 [[-3.99289490e-01 -9.16504603e-01 2.42325488e-02 1.91266323e+02] [ 9.15122825e-01 -4.00018779e-01 -5.03506874e-02 1.47358606e+02] [ 5.58401114e-02 2.07125822e-03 9.98437575e-01 1.03963913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99710568099994 meters 0.03220799121572124 Centerline is valid? [True, True] Translation: X:191.26, Y:147.39, Z:10.40 [[-3.98962419e-01 -9.16631112e-01 2.48272512e-02 1.91264827e+02] [ 9.15184025e-01 -3.99728318e-01 -5.15312802e-02 1.47387891e+02] [ 5.71593301e-02 2.16245946e-03 9.98362727e-01 1.03970923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0271056809999 meters 0.031581048903480166 Centerline is valid? [True, True] Translation: X:191.26, Y:147.41, Z:10.40 [[-4.01432392e-01 -9.15551095e-01 2.48641715e-02 1.91258850e+02] [ 9.14100836e-01 -4.02196539e-01 -5.15519753e-02 1.47413990e+02] [ 5.71987512e-02 2.03372721e-03 9.98360740e-01 1.03982513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05710568099994 meters 0.02715996888485347 Centerline is valid? [True, True] Translation: X:191.26, Y:147.45, Z:10.40 [[-4.08940250e-01 -9.12244505e-01 2.40381983e-02 1.91264794e+02] [ 9.10886267e-01 -4.09643262e-01 -4.97856148e-02 1.47446360e+02] [ 5.52637394e-02 1.53672291e-03 9.98470609e-01 1.04023642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0871056809999 meters 0.024614334481557844 Centerline is valid? [True, True] Translation: X:191.26, Y:147.48, Z:10.41 [[-4.13375767e-01 -9.10267505e-01 2.30986015e-02 1.91263767e+02] [ 9.09012952e-01 -4.14018754e-01 -4.77904262e-02 1.47476509e+02] [ 5.30653262e-02 1.24152386e-03 9.98590271e-01 1.04058565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11710568099994 meters 0.019547729153606034 Centerline is valid? [True, True] Translation: X:191.27, Y:147.51, Z:10.41 [[-4.22343146e-01 -9.06182375e-01 2.14422796e-02 1.91272692e+02] [ 9.05098136e-01 -4.22886545e-01 -4.43208141e-02 1.47510422e+02] [ 4.92303921e-02 6.88775249e-04 9.98787212e-01 1.04121274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.1471056809999 meters 0.017440955978949572 Centerline is valid? [True, True] Translation: X:191.27, Y:147.54, Z:10.41 [[-4.30407776e-01 -9.02374269e-01 2.16754206e-02 1.91274885e+02] [ 9.01263906e-01 -4.30953133e-01 -4.47523054e-02 1.47540114e+02] [ 4.97244194e-02 2.73533966e-04 9.98762938e-01 1.04119139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17710568099994 meters 0.01724647284171404 Centerline is valid? [True, True] Translation: X:191.27, Y:147.57, Z:10.41 [[-4.33542419e-01 -9.00867632e-01 2.18742196e-02 1.91269722e+02] [ 8.99737468e-01 -4.34093878e-01 -4.51108953e-02 1.47566136e+02] [ 5.01344103e-02 1.23568284e-04 9.98742472e-01 1.04097162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.2071056809999 meters 0.016998854460544395 Centerline is valid? [True, True] Translation: X:191.27, Y:147.60, Z:10.41 [[-4.37090090e-01 -8.99136059e-01 2.25077985e-02 1.91269954e+02] [ 8.97940037e-01 -4.37669219e-01 -4.63610192e-02 1.47595484e+02] [ 5.15358347e-02 -5.32886569e-05 9.98671145e-01 1.04089029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23710568099995 meters 0.016915739902334363 Centerline is valid? [True, True] Translation: X:191.26, Y:147.62, Z:10.41 [[-4.37646803e-01 -8.98865859e-01 2.24820559e-02 1.91261340e+02] [ 8.97674975e-01 -4.38223873e-01 -4.62544828e-02 1.47620575e+02] [ 5.14287490e-02 -6.15475631e-05 9.98676664e-01 1.04109550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.2671056809999 meters 0.017081892558752292 Centerline is valid? [True, True] Translation: X:191.25, Y:147.64, Z:10.41 [[-4.33969976e-01 -9.00662616e-01 2.18383190e-02 1.91250365e+02] [ 8.99543860e-01 -4.34519072e-01 -4.48778274e-02 1.47644448e+02] [ 4.99089475e-02 1.68896024e-04 9.98753758e-01 1.04148233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.29710568099995 meters 0.019160399521325533 Centerline is valid? [True, True] Translation: X:191.24, Y:147.67, Z:10.42 [[-4.26051407e-01 -9.04477888e-01 1.99987159e-02 1.91235015e+02] [ 9.03545949e-01 -4.26520122e-01 -4.10524505e-02 1.47665673e+02] [ 4.56608885e-02 5.79304386e-04 9.98956830e-01 1.04225734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.3271056809999 meters 0.020813083937749915 Centerline is valid? [True, True] Translation: X:191.22, Y:147.69, Z:10.43 [[-4.21841091e-01 -9.06466636e-01 1.91919822e-02 1.91220463e+02] [ 9.05612284e-01 -4.22276723e-01 -3.93542871e-02 1.47688189e+02] [ 4.37776756e-02 7.79239500e-04 9.99040994e-01 1.04266215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.35710568099995 meters 0.022240099881334238 Centerline is valid? [True, True] Translation: X:191.21, Y:147.71, Z:10.43 [[-4.17904429e-01 -9.08292786e-01 1.89763711e-02 1.91207388e+02] [ 9.07461177e-01 -4.18333912e-01 -3.88709517e-02 1.47711957e+02] [ 4.32446646e-02 9.75977115e-04 9.99064035e-01 1.04288830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.3871056809999 meters 0.025061179882605693 Centerline is valid? [True, True] Translation: X:191.20, Y:147.74, Z:10.43 [[-4.13156662e-01 -9.10480687e-01 1.80690674e-02 1.91196607e+02] [ 9.09730413e-01 -4.13549958e-01 -3.69730776e-02 1.47735492e+02] [ 4.11357352e-02 1.16230682e-03 9.99152891e-01 1.04317933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41710568099995 meters 0.02586258553245331 Centerline is valid? [True, True] Translation: X:191.19, Y:147.76, Z:10.43 [[-4.12508015e-01 -9.10798296e-01 1.68404617e-02 1.91190745e+02] [ 9.10148309e-01 -4.12850083e-01 -3.44218706e-02 1.47761352e+02] [ 3.83039672e-02 1.12802023e-03 9.99265497e-01 1.04343799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.4471056809999 meters 0.025419794834577673 Centerline is valid? [True, True] Translation: X:191.18, Y:147.79, Z:10.44 [[-4.11993273e-01 -9.11031950e-01 1.68026358e-02 1.91182094e+02] [ 9.10386557e-01 -4.12334127e-01 -3.43057551e-02 1.47787501e+02] [ 3.81819391e-02 1.16315345e-03 9.99270127e-01 1.04352638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47710568099995 meters 0.028104342651113088 Centerline is valid? [True, True] Translation: X:191.17, Y:147.81, Z:10.43 [[-4.08822014e-01 -9.12426494e-01 1.85055036e-02 1.91173505e+02] [ 9.11646876e-01 -4.09238088e-01 -3.77380652e-02 1.47812347e+02] [ 4.20063674e-02 1.44233276e-03 9.99116302e-01 1.04300903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.5071056809999 meters 0.028953158929483913 Centerline is valid? [True, True] Translation: X:191.16, Y:147.84, Z:10.43 [[-4.07082235e-01 -9.13168626e-01 2.01770726e-02 1.91163579e+02] [ 9.12244440e-01 -4.07578536e-01 -4.11074051e-02 1.47838259e+02] [ 4.57617344e-02 1.67232797e-03 9.98950983e-01 1.04261730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.53710568099996 meters 0.03199331246002248 Centerline is valid? [True, True] Translation: X:191.15, Y:147.86, Z:10.42 [[-4.03264318e-01 -9.14792434e-01 2.30801161e-02 1.91153287e+02] [ 9.13588575e-01 -4.03918550e-01 -4.69650985e-02 1.47862692e+02] [ 5.22858038e-02 2.14638197e-03 9.98629855e-01 1.04184499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.56710568099993 meters 0.03497513811606844 Centerline is valid? [True, True] Translation: X:191.14, Y:147.89, Z:10.42 [[-4.00048243e-01 -9.16182941e-01 2.38793241e-02 1.91142206e+02] [ 9.14899427e-01 -4.00752940e-01 -4.85398759e-02 1.47886685e+02] [ 5.40411156e-02 2.42888784e-03 9.98535757e-01 1.04163488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.5971056809999 meters 0.034833814858646214 Centerline is valid? [True, True] Translation: X:191.13, Y:147.91, Z:10.42 [[-3.99711720e-01 -9.16318186e-01 2.43212415e-02 1.91133062e+02] [ 9.14989419e-01 -4.00443103e-01 -4.93931631e-02 1.47912761e+02] [ 5.49991270e-02 2.51065244e-03 9.98483246e-01 1.04172753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.62710568099993 meters 0.035707673604711894 Centerline is valid? [True, True] Translation: X:191.13, Y:147.94, Z:10.42 [[-3.99753309e-01 -9.16289915e-01 2.46998586e-02 1.91127433e+02] [ 9.14922305e-01 -4.00507431e-01 -5.01096196e-02 1.47938635e+02] [ 5.58074160e-02 2.56696526e-03 9.98438252e-01 1.04162152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.6571056809999 meters 0.03417166084258831 Centerline is valid? [True, True] Translation: X:191.12, Y:147.97, Z:10.42 [[-4.01773004e-01 -9.15422453e-01 2.40870561e-02 1.91124092e+02] [ 9.14122966e-01 -4.02487207e-01 -4.88185552e-02 1.47967734e+02] [ 5.43843335e-02 2.40455354e-03 9.98517182e-01 1.04195875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.68710568099993 meters 0.03430846016793872 Centerline is valid? [True, True] Translation: X:191.12, Y:147.99, Z:10.42 [[-4.02625061e-01 -9.15074699e-01 2.30511383e-02 1.91115548e+02] [ 9.13886508e-01 -4.03277970e-01 -4.66725712e-02 1.47992285e+02] [ 5.20049053e-02 2.27457752e-03 9.98644239e-01 1.04235178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7171056809999 meters 0.033760403899461215 Centerline is valid? [True, True] Translation: X:191.11, Y:148.02, Z:10.43 [[-4.02568029e-01 -9.15148069e-01 2.10474304e-02 1.91111892e+02] [ 9.14159775e-01 -4.03112379e-01 -4.25713020e-02 1.48019290e+02] [ 4.74435246e-02 2.10286911e-03 9.98871708e-01 1.04313615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.74710568099994 meters 0.03446444337167371 Centerline is valid? [True, True] Translation: X:191.10, Y:148.05, Z:10.43 [[-4.01631038e-01 -9.15561630e-01 2.09621570e-02 1.91102774e+02] [ 9.14584166e-01 -4.02171887e-01 -4.23506389e-02 1.48045104e+02] [ 4.72050102e-02 2.16232584e-03 9.98882882e-01 1.04338421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7771056809999 meters 0.036482289587934716 Centerline is valid? [True, True] Translation: X:191.10, Y:148.07, Z:10.43 [[-3.98250236e-01 -9.17021187e-01 2.16539319e-02 1.91096204e+02] [ 9.15982512e-01 -3.98831087e-01 -4.37012756e-02 1.48071984e+02] [ 4.87112568e-02 2.43057965e-03 9.98809945e-01 1.04342601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.80710568099994 meters 0.0378209260386072 Centerline is valid? [True, True] Translation: X:191.09, Y:148.10, Z:10.44 [[-3.97142382e-01 -9.17492738e-01 2.20228067e-02 1.91086553e+02] [ 9.16421282e-01 -3.97744366e-01 -4.44010563e-02 1.48096684e+02] [ 4.94970940e-02 2.54862749e-03 9.98771016e-01 1.04355761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8371056809999 meters 0.03943960450783072 Centerline is valid? [True, True] Translation: X:191.08, Y:148.12, Z:10.44 [[-3.96377984e-01 -9.17831780e-01 2.16637643e-02 1.91080821e+02] [ 9.16797194e-01 -3.96961281e-01 -4.36422630e-02 1.48123031e+02] [ 4.86559315e-02 2.56244615e-03 9.98812312e-01 1.04375635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.86710568099994 meters 0.039324962803289315 Centerline is valid? [True, True] Translation: X:191.07, Y:148.15, Z:10.44 [[-3.97266914e-01 -9.17445579e-01 2.17395524e-02 1.91073397e+02] [ 9.16405054e-01 -3.97853190e-01 -4.37563150e-02 1.48148462e+02] [ 4.87931881e-02 2.53929944e-03 9.98805675e-01 1.04396661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8971056809999 meters 0.037741346870688613 Centerline is valid? [True, True] Translation: X:191.07, Y:148.18, Z:10.44 [[-4.00893476e-01 -9.15848920e-01 2.24761508e-02 1.91072297e+02] [ 9.14736742e-01 -4.01515605e-01 -4.51875209e-02 1.48176918e+02] [ 5.04094675e-02 2.44437860e-03 9.98725643e-01 1.04402433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.92710568099994 meters 0.036269206879478905 Centerline is valid? [True, True] Translation: X:191.07, Y:148.21, Z:10.44 [[-4.03509734e-01 -9.14674883e-01 2.34468244e-02 1.91072181e+02] [ 9.13465178e-01 -4.04183147e-01 -4.70887691e-02 1.48207476e+02] [ 5.25477257e-02 2.41708097e-03 9.98615489e-01 1.04406471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.9571056809999 meters 0.034527922769647265 Centerline is valid? [True, True] Translation: X:191.07, Y:148.23, Z:10.44 [[-4.03895405e-01 -9.14494490e-01 2.38396414e-02 1.91068312e+02] [ 9.13246303e-01 -4.04590908e-01 -4.78266484e-02 1.48234549e+02] [ 5.33825086e-02 2.45450085e-03 9.98571121e-01 1.04426369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.98710568099995 meters 0.03965567660107894 Centerline is valid? [True, True] Translation: X:191.06, Y:148.26, Z:10.44 [[-4.01887371e-01 -9.15378409e-01 2.38518219e-02 1.91058214e+02] [ 9.14133390e-01 -4.02586183e-01 -4.77965612e-02 1.48258868e+02] [ 5.33543541e-02 2.59491253e-03 9.98572270e-01 1.04440558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.0171056809999 meters 0.03965567660107894 Centerline is valid? [True, True] Translation: X:191.05, Y:148.28, Z:10.45 [[-4.02280866e-01 -9.15205008e-01 2.38725433e-02 1.91046353e+02] [ 9.13960294e-01 -4.02980222e-01 -4.77862111e-02 1.48281837e+02] [ 5.33543425e-02 2.59507829e-03 9.98572271e-01 1.04450123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.04710568099995 meters 0.03734153431845939 Centerline is valid? [True, True] Translation: X:191.04, Y:148.31, Z:10.45 [[-3.99853864e-01 -9.16272013e-01 2.37167679e-02 1.91040080e+02] [ 9.15048016e-01 -4.00547243e-01 -4.74239956e-02 1.48308609e+02] [ 5.29529659e-02 2.73931346e-03 9.98593250e-01 1.04498914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.0771056809999 meters 0.04125554611533058 Centerline is valid? [True, True] Translation: X:191.03, Y:148.33, Z:10.45 [[-3.94207997e-01 -9.18710593e-01 2.38935573e-02 1.91028964e+02] [ 9.17475132e-01 -3.94919232e-01 -4.77303138e-02 1.48332475e+02] [ 5.32863702e-02 3.10607320e-03 9.98574441e-01 1.04510247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.10710568099995 meters 0.043487359140210555 Centerline is valid? [True, True] Translation: X:191.02, Y:148.36, Z:10.45 [[-3.91603453e-01 -9.19806205e-01 2.45617856e-02 1.91017659e+02] [ 9.18504994e-01 -3.92358562e-01 -4.90238175e-02 1.48356737e+02] [ 5.47294384e-02 3.36222653e-03 9.98495560e-01 1.04506832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.1371056809999 meters 0.046234005374673155 Centerline is valid? [True, True] Translation: X:191.01, Y:148.38, Z:10.45 [[-3.88835509e-01 -9.20961997e-01 2.52179884e-02 1.91009195e+02] [ 9.19595207e-01 -3.89635439e-01 -5.02879628e-02 1.48381914e+02] [ 5.61391246e-02 3.63659564e-03 9.98416333e-01 1.04501766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.16710568099995 meters 0.043136901788162076 Centerline is valid? [True, True] Translation: X:191.01, Y:148.41, Z:10.45 [[-3.91245826e-01 -9.19950543e-01 2.48536151e-02 1.91009010e+02] [ 9.18623846e-01 -3.92019160e-01 -4.95096644e-02 1.48412400e+02] [ 5.52895360e-02 3.46067395e-03 9.98464366e-01 1.04522277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.1971056809999 meters 0.04157557717286646 Centerline is valid? [True, True] Translation: X:191.00, Y:148.44, Z:10.45 [[-3.95387283e-01 -9.18186052e-01 2.45615517e-02 1.91003755e+02] [ 9.16889831e-01 -3.96136547e-01 -4.88761116e-02 1.48439251e+02] [ 5.46070922e-02 3.19524408e-03 9.98502807e-01 1.04540716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.22710568099995 meters 0.036018747383917665 Centerline is valid? [True, True] Translation: X:191.01, Y:148.47, Z:10.46 [[-4.05590107e-01 -9.13735827e-01 2.41558370e-02 1.91009174e+02] [ 9.12476972e-01 -4.06300690e-01 -4.80158758e-02 1.48472265e+02] [ 5.36883592e-02 2.56688086e-03 9.98554441e-01 1.04554725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.2571056809999 meters 0.03352881639063554 Centerline is valid? [True, True] Translation: X:191.01, Y:148.50, Z:10.46 [[-4.11085997e-01 -9.11280152e-01 2.40164066e-02 1.91005394e+02] [ 9.10034350e-01 -4.11780782e-01 -4.76872047e-02 1.48499459e+02] [ 5.33458978e-02 2.25221289e-03 9.98573554e-01 1.04572901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.28710568099996 meters 0.03069105607841791 Centerline is valid? [True, True] Translation: X:191.01, Y:148.53, Z:10.46 [[-4.19668779e-01 -9.07367910e-01 2.36979464e-02 1.91006480e+02] [ 9.06151395e-01 -4.20333700e-01 -4.70024522e-02 1.48529124e+02] [ 5.26095623e-02 1.74846544e-03 9.98613627e-01 1.04577223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.31710568099993 meters 0.027555582599272772 Centerline is valid? [True, True] Translation: X:191.00, Y:148.56, Z:10.46 [[-4.22710594e-01 -9.05952239e-01 2.37969481e-02 1.91002438e+02] [ 9.04726019e-01 -4.23376878e-01 -4.71471025e-02 1.48557425e+02] [ 5.27881007e-02 1.60013839e-03 9.98604454e-01 1.04599858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.3471056809999 meters 0.026671544726737603 Centerline is valid? [True, True] Translation: X:191.00, Y:148.58, Z:10.46 [[-4.26183611e-01 -9.04331042e-01 2.35137554e-02 1.90997853e+02] [ 9.03133876e-01 -4.26829475e-01 -4.65381765e-02 1.48584437e+02] [ 5.21222815e-02 1.40226098e-03 9.98639726e-01 1.04588924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.37710568099993 meters 0.026217579953154362 Centerline is valid? [True, True] Translation: X:190.99, Y:148.61, Z:10.45 [[-4.28075934e-01 -9.03384657e-01 2.54392470e-02 1.90992264e+02] [ 9.01984729e-01 -4.28828817e-01 -5.02930918e-02 1.48612487e+02] [ 5.63430897e-02 1.41655008e-03 9.98410462e-01 1.04541975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.4071056809999 meters 0.027285157244691723 Centerline is valid? [True, True] Translation: X:190.98, Y:148.64, Z:10.45 [[-4.28438332e-01 -9.03183410e-01 2.64636363e-02 1.90983241e+02] [ 9.01671271e-01 -4.29252334e-01 -5.22623381e-02 1.48637384e+02] [ 5.85620544e-02 1.47031160e-03 9.98282687e-01 1.04504861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.43710568099993 meters 0.02706986000671071 Centerline is valid? [True, True] Translation: X:190.97, Y:148.66, Z:10.45 [[-4.29316334e-01 -9.02778593e-01 2.60441507e-02 1.90972998e+02] [ 9.01316481e-01 -4.30103252e-01 -5.13789283e-02 1.48661321e+02] [ 5.75854705e-02 1.41620906e-03 9.98339575e-01 1.04529848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.4671056809999 meters 0.02494489541319194 Centerline is valid? [True, True] Translation: X:190.97, Y:148.69, Z:10.46 [[-4.32602819e-01 -9.01241596e-01 2.48673897e-02 1.90965005e+02] [ 8.99908969e-01 -4.33315357e-01 -4.90066107e-02 1.48687502e+02] [ 5.49422179e-02 1.17798907e-03 9.98488841e-01 1.04604876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49710568099994 meters 0.024318271547357127 Centerline is valid? [True, True] Translation: X:190.95, Y:148.71, Z:10.46 [[-4.35233472e-01 -8.99989099e-01 2.43196849e-02 1.90954288e+02] [ 8.98715189e-01 -4.35911214e-01 -4.78792490e-02 1.48711941e+02] [ 5.36920255e-02 1.01781845e-03 9.98557024e-01 1.04640765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5271056809999 meters 0.022206310316121084 Centerline is valid? [True, True] Translation: X:190.95, Y:148.74, Z:10.47 [[-4.40386919e-01 -8.97508744e-01 2.31822429e-02 1.90945895e+02] [ 8.96350008e-01 -4.40996107e-01 -4.55971166e-02 1.48737545e+02] [ 5.11470897e-02 6.99029869e-04 9.98690886e-01 1.04680753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55710568099994 meters 0.021671609563315587 Centerline is valid? [True, True] Translation: X:190.94, Y:148.76, Z:10.47 [[-4.43156862e-01 -8.96141440e-01 2.32919559e-02 1.90936371e+02] [ 8.94972034e-01 -4.43768187e-01 -4.57695816e-02 1.48761834e+02] [ 5.13522478e-02 5.62544950e-04 9.98680444e-01 1.04698802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5871056809999 meters 0.020457681204103958 Centerline is valid? [True, True] Translation: X:190.93, Y:148.79, Z:10.47 [[-4.49429305e-01 -8.93011661e-01 2.33125046e-02 1.90930036e+02] [ 8.91838573e-01 -4.50033467e-01 -4.57584813e-02 1.48786872e+02] [ 5.13542647e-02 2.25788356e-04 9.98680474e-01 1.04714947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61710568099994 meters 0.020290719009598113 Centerline is valid? [True, True] Translation: X:190.92, Y:148.81, Z:10.47 [[-4.52705219e-01 -8.91360892e-01 2.31029115e-02 1.90920023e+02] [ 8.90209276e-01 -4.53294337e-01 -4.52955764e-02 1.48811104e+02] [ 5.08471243e-02 6.08822963e-05 9.98706446e-01 1.04733898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.6471056809999 meters 0.020150692970959415 Centerline is valid? [True, True] Translation: X:190.91, Y:148.83, Z:10.48 [[-4.58679612e-01 -8.88323691e-01 2.22268505e-02 1.90909053e+02] [ 8.87256515e-01 -4.59217769e-01 -4.35306569e-02 1.48833619e+02] [ 4.88762785e-02 -2.45706951e-04 9.98804810e-01 1.04756779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67710568099994 meters 0.020201765666125828 Centerline is valid? [True, True] Translation: X:190.89, Y:148.85, Z:10.48 [[-4.60094219e-01 -8.87581906e-01 2.26201061e-02 1.90893708e+02] [ 8.86478292e-01 -4.60649830e-01 -4.42489810e-02 1.48854861e+02] [ 4.96945430e-02 -3.06467355e-04 9.98764416e-01 1.04773354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.7071056809999 meters 0.020218012089748428 Centerline is valid? [True, True] Translation: X:190.88, Y:148.88, Z:10.48 [[-4.60884021e-01 -8.87151607e-01 2.34082382e-02 1.90880168e+02] [ 8.85971754e-01 -4.61477962e-01 -4.57399407e-02 1.48877569e+02] [ 5.13806480e-02 -3.41769931e-04 9.98679084e-01 1.04769149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73710568099995 meters 0.02065049698281607 Centerline is valid? [True, True] Translation: X:190.86, Y:148.90, Z:10.48 [[-4.62376585e-01 -8.86370373e-01 2.35680933e-02 1.90863005e+02] [ 8.85175512e-01 -4.62976665e-01 -4.60100139e-02 1.48898749e+02] [ 5.16933904e-02 -4.12054083e-04 9.98662918e-01 1.04779058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.7671056809999 meters 0.02065715535619084 Centerline is valid? [True, True] Translation: X:190.85, Y:148.92, Z:10.48 [[-4.62190450e-01 -8.86466340e-01 2.36096644e-02 1.90846877e+02] [ 8.85270168e-01 -4.62792920e-01 -4.60374118e-02 1.48919593e+02] [ 5.17370015e-02 -3.77120506e-04 9.98660673e-01 1.04775630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79710568099995 meters 0.01991810966627182 Centerline is valid? [True, True] Translation: X:190.82, Y:148.94, Z:10.48 [[-4.56769616e-01 -8.89290951e-01 2.28718732e-02 1.90820937e+02] [ 8.88174320e-01 -4.57341889e-01 -4.45508077e-02 1.48935147e+02] [ 5.00788958e-02 -3.52448632e-05 9.98745264e-01 1.04802965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.8271056809999 meters 0.020103044854192603 Centerline is valid? [True, True] Translation: X:190.80, Y:148.95, Z:10.48 [[-4.52109253e-01 -8.91667067e-01 2.29578954e-02 1.90800372e+02] [ 8.90547137e-01 -4.52691706e-01 -4.46767973e-02 1.48953535e+02] [ 5.02296777e-02 2.46294589e-04 9.98737663e-01 1.04839839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85710568099995 meters 0.023408376659740292 Centerline is valid? [True, True] Translation: X:190.77, Y:148.97, Z:10.49 [[-4.41097815e-01 -8.97145817e-01 2.37086683e-02 1.90769094e+02] [ 8.95961846e-01 -4.41733571e-01 -4.60849534e-02 1.48967818e+02] [ 5.18178379e-02 9.14090036e-04 9.98656135e-01 1.04852923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.8871056809999 meters 0.025465789192986265 Centerline is valid? [True, True] Translation: X:190.75, Y:148.99, Z:10.49 [[-4.36343184e-01 -8.99471217e-01 2.35829700e-02 1.90747170e+02] [ 8.98305473e-01 -4.36978358e-01 -4.57951162e-02 1.48986795e+02] [ 5.14966364e-02 1.20232421e-03 9.98672444e-01 1.04858925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91710568099995 meters 0.02922509503688265 Centerline is valid? [True, True] Translation: X:190.72, Y:149.00, Z:10.49 [[-4.28365479e-01 -9.03288790e-01 2.39244266e-02 1.90721415e+02] [ 9.02097282e-01 -4.29029682e-01 -4.64114807e-02 1.49004210e+02] [ 5.21872594e-02 1.70108414e-03 9.98635868e-01 1.04860732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.9471056809999 meters 0.03020601741324701 Centerline is valid? [True, True] Translation: X:190.70, Y:149.03, Z:10.48 [[-4.26580163e-01 -9.04123367e-01 2.42961069e-02 1.90704094e+02] [ 9.02898455e-01 -4.27267489e-01 -4.70836886e-02 1.49025413e+02] [ 5.29503997e-02 1.85194978e-03 9.98595426e-01 1.04849869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97710568099995 meters 0.031066234108080463 Centerline is valid? [True, True] Translation: X:190.69, Y:149.05, Z:10.48 [[-4.28069107e-01 -9.03411974e-01 2.45691877e-02 1.90689922e+02] [ 9.02160961e-01 -4.28769803e-01 -4.75610889e-02 1.49047250e+02] [ 5.35017829e-02 1.80592915e-03 9.98566121e-01 1.04836123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.0071056809999 meters 0.02906527063192525 Centerline is valid? [True, True] Translation: X:190.68, Y:149.07, Z:10.48 [[-4.32411865e-01 -9.01320694e-01 2.53177080e-02 1.90680842e+02] [ 8.99991699e-01 -4.33149388e-01 -4.89545663e-02 1.49070988e+02] [ 5.50901134e-02 1.61719177e-03 9.98480077e-01 1.04830041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.03710568099996 meters 0.027039376582189266 Centerline is valid? [True, True] Translation: X:190.67, Y:149.10, Z:10.48 [[-4.34030127e-01 -9.00524980e-01 2.59347237e-02 1.90671264e+02] [ 8.99132160e-01 -4.34801416e-01 -5.00907891e-02 1.49095929e+02] [ 5.63844614e-02 1.57783260e-03 9.98407884e-01 1.04841047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.06710568099993 meters 0.0264767021513558 Centerline is valid? [True, True] Translation: X:190.66, Y:149.12, Z:10.48 [[-4.36377317e-01 -8.99345472e-01 2.74328152e-02 1.90657181e+02] [ 8.97788363e-01 -4.37236052e-01 -5.29215490e-02 1.49116908e+02] [ 5.95893713e-02 1.53509872e-03 9.98221794e-01 1.04794633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.0971056809999 meters 0.026528142696887785 Centerline is valid? [True, True] Translation: X:190.64, Y:149.14, Z:10.48 [[-4.37026236e-01 -8.99018734e-01 2.78097896e-02 1.90644035e+02] [ 8.97421584e-01 -4.37907466e-01 -5.35868568e-02 1.49140016e+02] [ 6.03537027e-02 1.53824310e-03 9.98175868e-01 1.04783104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.12710568099993 meters 0.026618202220411114 Centerline is valid? [True, True] Translation: X:190.63, Y:149.16, Z:10.48 [[-4.38258523e-01 -8.98399731e-01 2.84146124e-02 1.90632603e+02] [ 8.96734463e-01 -4.39176098e-01 -5.46960436e-02 1.49162418e+02] [ 6.16179295e-02 1.50935497e-03 9.98098669e-01 1.04779290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.1571056809999 meters 0.025934264675790304 Centerline is valid? [True, True] Translation: X:190.62, Y:149.19, Z:10.48 [[-4.40135158e-01 -8.97485266e-01 2.83061784e-02 1.90620763e+02] [ 8.95834022e-01 -4.41042221e-01 -5.44349595e-02 1.49185951e+02] [ 6.13387939e-02 1.39889811e-03 9.98116023e-01 1.04799694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.18710568099993 meters 0.025652395029883174 Centerline is valid? [True, True] Translation: X:190.61, Y:149.21, Z:10.48 [[-4.41622514e-01 -8.96794350e-01 2.70082941e-02 1.90608071e+02] [ 8.95293095e-01 -4.42445802e-01 -5.18843571e-02 1.49208697e+02] [ 5.84793046e-02 1.26703897e-03 9.98287817e-01 1.04845569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2171056809999 meters 0.02565113854387396 Centerline is valid? [True, True] Translation: X:190.59, Y:149.23, Z:10.49 [[-4.41836707e-01 -8.96727763e-01 2.56835234e-02 1.90593090e+02] [ 8.95373018e-01 -4.42580878e-01 -4.92881899e-02 1.49230809e+02] [ 5.55651246e-02 1.21900234e-03 9.98454321e-01 1.04894407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.24710568099994 meters 0.02575089323758708 Centerline is valid? [True, True] Translation: X:190.58, Y:149.25, Z:10.49 [[-4.41652206e-01 -8.96836029e-01 2.50692335e-02 1.90580721e+02] [ 8.95548292e-01 -4.42361431e-01 -4.80585233e-02 1.49253516e+02] [ 5.41902772e-02 1.22555640e-03 9.98529875e-01 1.04910939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2771056809999 meters 0.02510402750387882 Centerline is valid? [True, True] Translation: X:190.57, Y:149.28, Z:10.49 [[-4.43429172e-01 -8.95974340e-01 2.45061488e-02 1.90571075e+02] [ 8.94745183e-01 -4.44104418e-01 -4.69289211e-02 1.49277693e+02] [ 5.29303980e-02 1.11710602e-03 9.98597579e-01 1.04940351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.30710568099994 meters 0.024963010340145007 Centerline is valid? [True, True] Translation: X:190.56, Y:149.30, Z:10.49 [[-4.45166801e-01 -8.95111919e-01 2.45187852e-02 1.90559719e+02] [ 8.93882926e-01 -4.45840302e-01 -4.69013943e-02 1.49300886e+02] [ 5.29134596e-02 1.03797975e-03 9.98598562e-01 1.04938494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3371056809999 meters 0.02471557344959161 Centerline is valid? [True, True] Translation: X:190.55, Y:149.32, Z:10.49 [[-4.47907709e-01 -8.93722382e-01 2.52781951e-02 1.90548347e+02] [ 8.92416834e-01 -4.48619490e-01 -4.82985268e-02 1.49324138e+02] [ 5.45057654e-02 9.25404355e-04 9.98513027e-01 1.04913808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.36710568099994 meters 0.02423828358249395 Centerline is valid? [True, True] Translation: X:190.54, Y:149.35, Z:10.49 [[-4.48790326e-01 -8.93290048e-01 2.49025022e-02 1.90537335e+02] [ 8.92025225e-01 -4.49479822e-01 -4.75277627e-02 1.49346883e+02] [ 5.36492497e-02 8.83660045e-04 9.98559451e-01 1.04947483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3971056809999 meters 0.02407452789157504 Centerline is valid? [True, True] Translation: X:190.52, Y:149.37, Z:10.50 [[-4.47249401e-01 -8.94083736e-01 2.41297676e-02 1.90524103e+02] [ 8.92900064e-01 -4.47898793e-01 -4.60015989e-02 1.49369559e+02] [ 5.19369752e-02 9.71283520e-04 9.98649892e-01 1.05012031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.42710568099994 meters 0.026569574900261347 Centerline is valid? [True, True] Translation: X:190.51, Y:149.39, Z:10.51 [[-4.41512357e-01 -8.96944567e-01 2.36068380e-02 1.90505400e+02] [ 8.95818179e-01 -4.42141106e-01 -4.49559030e-02 1.49389868e+02] [ 5.07605063e-02 1.29884793e-03 9.98710010e-01 1.05054689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.4571056809999 meters 0.02928643953021047 Centerline is valid? [True, True] Translation: X:190.49, Y:149.41, Z:10.51 [[-4.37287309e-01 -8.99014808e-01 2.34985889e-02 1.90488227e+02] [ 8.97904065e-01 -4.37915479e-01 -4.47026176e-02 1.49410599e+02] [ 5.04787110e-02 1.55159118e-03 9.98723932e-01 1.05073655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.48710568099995 meters 0.034166441104274435 Centerline is valid? [True, True] Translation: X:190.47, Y:149.43, Z:10.51 [[-4.29225133e-01 -9.02923202e-01 2.22592921e-02 1.90467187e+02] [ 9.01933747e-01 -4.29797636e-01 -4.23025754e-02 1.49429838e+02] [ 4.77629680e-02 1.91907823e-03 9.98856855e-01 1.05106205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.5171056809999 meters 0.03591566615207856 Centerline is valid? [True, True] Translation: X:190.45, Y:149.45, Z:10.51 [[-4.25681474e-01 -9.04596757e-01 2.23604632e-02 1.90451833e+02] [ 9.03602644e-01 -4.26263009e-01 -4.24512599e-02 1.49452497e+02] [ 4.79327103e-02 2.13425876e-03 9.98848287e-01 1.05115181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.54710568099995 meters 0.03902790522528183 Centerline is valid? [True, True] Translation: X:190.44, Y:149.47, Z:10.51 [[-4.21707644e-01 -9.06436145e-01 2.31555363e-02 1.90437225e+02] [ 9.05375009e-01 -4.22335812e-01 -4.39153206e-02 1.49473862e+02] [ 4.95858461e-02 2.44501747e-03 9.98766873e-01 1.05095765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.5771056809999 meters 0.04027158451667936 Centerline is valid? [True, True] Translation: X:190.42, Y:149.50, Z:10.51 [[-4.20537795e-01 -9.06965922e-01 2.36808030e-02 1.90423974e+02] [ 9.05859322e-01 -4.21196079e-01 -4.48637034e-02 1.49497832e+02] [ 5.06641115e-02 2.58459330e-03 9.98712405e-01 1.05081951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.60710568099995 meters 0.0416092384469302 Centerline is valid? [True, True] Translation: X:190.41, Y:149.52, Z:10.50 [[-4.18645006e-01 -9.07803104e-01 2.50974919e-02 1.90412190e+02] [ 9.06564082e-01 -4.19386822e-01 -4.75000909e-02 1.49522528e+02] [ 5.36462873e-02 2.86680891e-03 9.98555886e-01 1.05026700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.6371056809999 meters 0.043784822116480895 Centerline is valid? [True, True] Translation: X:190.40, Y:149.54, Z:10.50 [[-4.18325827e-01 -9.07918628e-01 2.62157852e-02 1.90399247e+02] [ 9.06569523e-01 -4.19135517e-01 -4.95693248e-02 1.49544828e+02] [ 5.59928800e-02 3.03030313e-03 9.98426569e-01 1.04987712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.66710568099995 meters 0.04180701575019159 Centerline is valid? [True, True] Translation: X:190.39, Y:149.57, Z:10.50 [[-4.17702524e-01 -9.08157466e-01 2.78319808e-02 1.90394073e+02] [ 9.06640193e-01 -4.18615945e-01 -5.25761481e-02 1.49573185e+02] [ 5.93983324e-02 3.27240271e-03 9.98228997e-01 1.04971330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.6971056809999 meters 0.03920765594167073 Centerline is valid? [True, True] Translation: X:190.39, Y:149.60, Z:10.50 [[-4.19618786e-01 -9.07293826e-01 2.71659542e-02 1.90389105e+02] [ 9.05849440e-01 -4.20485832e-01 -5.12684780e-02 1.49600914e+02] [ 5.79384723e-02 3.09504793e-03 9.98315358e-01 1.05024110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.72710568099995 meters 0.03781446853040556 Centerline is valid? [True, True] Translation: X:190.38, Y:149.63, Z:10.50 [[-4.21110792e-01 -9.06621112e-01 2.65303593e-02 1.90379988e+02] [ 9.05244779e-01 -4.21935366e-01 -5.00243690e-02 1.49627313e+02] [ 5.65472459e-02 2.95066756e-03 9.98395564e-01 1.05045240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.7571056809999 meters 0.035986892388470124 Centerline is valid? [True, True] Translation: X:190.37, Y:149.65, Z:10.51 [[-4.24492685e-01 -9.05056388e-01 2.60556044e-02 1.90372104e+02] [ 9.03728238e-01 -4.25282956e-01 -4.90884774e-02 1.49653437e+02] [ 5.55088445e-02 2.70948597e-03 9.98454519e-01 1.05072196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.78710568099996 meters 0.03257872686083942 Centerline is valid? [True, True] Translation: X:190.37, Y:149.68, Z:10.51 [[-4.31925569e-01 -9.01550699e-01 2.54291099e-02 1.90369564e+02] [ 9.00282262e-01 -4.32667771e-01 -4.78586338e-02 1.49682856e+02] [ 5.41493411e-02 2.22200888e-03 9.98530376e-01 1.05103126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.81710568099993 meters 0.02852555827252309 Centerline is valid? [True, True] Translation: X:190.37, Y:149.71, Z:10.51 [[-4.40657360e-01 -8.97324500e-01 2.50964523e-02 1.90365188e+02] [ 8.96084734e-01 -4.41368171e-01 -4.71835457e-02 1.49710406e+02] [ 5.34157268e-02 1.69677110e-03 9.98570919e-01 1.05121977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.8471056809999 meters 0.02649773818740999 Centerline is valid? [True, True] Translation: X:190.36, Y:149.74, Z:10.51 [[-4.46058025e-01 -8.94649223e-01 2.51993382e-02 1.90357357e+02] [ 8.93397570e-01 -4.46767057e-01 -4.73284121e-02 1.49737625e+02] [ 5.36005613e-02 1.40180943e-03 9.98561473e-01 1.05118473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.87710568099993 meters 0.02371007565335103 Centerline is valid? [True, True] Translation: X:190.36, Y:149.77, Z:10.51 [[-4.54996182e-01 -8.90129337e-01 2.54605181e-02 1.90357099e+02] [ 8.88847001e-01 -4.55707102e-01 -4.77707713e-02 1.49766484e+02] [ 5.41247039e-02 8.94986526e-04 9.98533783e-01 1.05130241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.9071056809999 meters 0.02267552898742071 Centerline is valid? [True, True] Translation: X:190.35, Y:149.79, Z:10.52 [[-4.58344401e-01 -8.88409648e-01 2.54697539e-02 1.90348233e+02] [ 8.87126442e-01 -4.59050964e-01 -4.77377009e-02 1.49792335e+02] [ 5.41025491e-02 7.14584250e-04 9.98535129e-01 1.05161508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.93710568099993 meters 0.02267552898742071 Centerline is valid? [True, True] Translation: X:190.34, Y:149.81, Z:10.52 [[-4.58754599e-01 -8.88197310e-01 2.54903113e-02 1.90335754e+02] [ 8.86914387e-01 -4.59461674e-01 -4.77267233e-02 1.49814992e+02] [ 5.41025683e-02 7.12870004e-04 9.98535129e-01 1.05171065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.9671056809999 meters 0.021591486403653246 Centerline is valid? [True, True] Translation: X:190.33, Y:149.84, Z:10.52 [[-4.63545157e-01 -8.85684253e-01 2.62543607e-02 1.90327349e+02] [ 8.84322265e-01 -4.64287837e-01 -4.91012843e-02 1.49839859e+02] [ 5.56778147e-02 4.56653180e-04 9.98448683e-01 1.05200919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99710568099994 meters 0.021639768983862682 Centerline is valid? [True, True] Translation: X:190.31, Y:149.86, Z:10.52 [[-4.64567167e-01 -8.85131728e-01 2.68173622e-02 1.90314156e+02] [ 8.83713016e-01 -4.65340351e-01 -5.00965401e-02 1.49863027e+02] [ 5.68212379e-02 4.25644321e-04 9.98384278e-01 1.05203251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0271056809999 meters 0.022416656176354816 Centerline is valid? [True, True] Translation: X:190.30, Y:149.88, Z:10.52 [[-4.61955648e-01 -8.86478238e-01 2.74465647e-02 1.90296004e+02] [ 8.84997873e-01 -4.62769851e-01 -5.12135704e-02 1.49883030e+02] [ 5.81011583e-02 6.31753289e-04 9.98310501e-01 1.05209853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.05710568099994 meters 0.023342748464305837 Centerline is valid? [True, True] Translation: X:190.28, Y:149.90, Z:10.52 [[-4.58071176e-01 -8.88493307e-01 2.73941651e-02 1.90278169e+02] [ 8.87025283e-01 -4.58888675e-01 -5.10620360e-02 1.49904140e+02] [ 5.79391494e-02 9.09270111e-04 9.98319702e-01 1.05238426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0871056809999 meters 0.028461755997603293 Centerline is valid? [True, True] Translation: X:190.25, Y:149.92, Z:10.53 [[-4.46332197e-01 -8.94504701e-01 2.54737099e-02 1.90251634e+02] [ 8.93247477e-01 -4.47055741e-01 -4.74353092e-02 1.49919203e+02] [ 5.38192754e-02 1.58242137e-03 9.98549439e-01 1.05296865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.11710568099994 meters 0.03319397585782011 Centerline is valid? [True, True] Translation: X:190.23, Y:149.94, Z:10.53 [[-4.35459123e-01 -8.99879562e-01 2.43336606e-02 1.90229912e+02] [ 8.98743011e-01 -4.36133138e-01 -4.52646195e-02 1.49937837e+02] [ 5.13454217e-02 2.15881593e-03 9.98678621e-01 1.05346448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.1471056809999 meters 0.034869159749623305 Centerline is valid? [True, True] Translation: X:190.22, Y:149.96, Z:10.54 [[-4.32806980e-01 -9.01153763e-01 2.44951766e-02 1.90215941e+02] [ 9.00006534e-01 -4.33493246e-01 -4.55175261e-02 1.49960539e+02] [ 5.16367835e-02 2.34551597e-03 9.98663177e-01 1.05353377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17710568099994 meters 0.0375368630502328 Centerline is valid? [True, True] Translation: X:190.20, Y:149.98, Z:10.54 [[-4.30954578e-01 -9.02033319e-01 2.47798983e-02 1.90202770e+02] [ 9.00863229e-01 -4.31659172e-01 -4.59978509e-02 1.49983158e+02] [ 5.21880644e-02 2.50031475e-03 9.98634144e-01 1.05351772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.2071056809999 meters 0.03716345804635182 Centerline is valid? [True, True] Translation: X:190.19, Y:150.01, Z:10.53 [[-4.31316076e-01 -9.01851087e-01 2.51208826e-02 1.90190762e+02] [ 9.00650870e-01 -4.32039577e-01 -4.65812693e-02 1.50006256e+02] [ 5.28625839e-02 2.53389451e-03 9.98598581e-01 1.05344822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23710568099995 meters 0.0375718203677678 Centerline is valid? [True, True] Translation: X:190.18, Y:150.03, Z:10.53 [[-4.31912537e-01 -9.01530196e-01 2.63603210e-02 1.90177671e+02] [ 9.00210913e-01 -4.32708134e-01 -4.88260486e-02 1.50029404e+02] [ 5.54244825e-02 2.64126615e-03 9.98459388e-01 1.05292353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.2671056809999 meters 0.03911009753568267 Centerline is valid? [True, True] Translation: X:190.16, Y:150.05, Z:10.53 [[-4.32492761e-01 -9.01243100e-01 2.66624358e-02 1.90164407e+02] [ 8.99895771e-01 -4.33305682e-01 -4.93334201e-02 1.50051565e+02] [ 5.60143894e-02 2.65706618e-03 9.98426426e-01 1.05272674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29710568099995 meters 0.03978122338755288 Centerline is valid? [True, True] Translation: X:190.16, Y:150.08, Z:10.53 [[-4.30620483e-01 -9.02112588e-01 2.75477342e-02 1.90155316e+02] [ 9.00679161e-01 -4.31491077e-01 -5.09165968e-02 1.50077391e+02] [ 5.78191044e-02 2.88594060e-03 9.98322905e-01 1.05274930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.3271056809999 meters 0.038125920056076235 Centerline is valid? [True, True] Translation: X:190.15, Y:150.10, Z:10.53 [[-4.29454270e-01 -9.02669116e-01 2.75226585e-02 1.90146751e+02] [ 9.01242323e-01 -4.30324980e-01 -5.08201477e-02 1.50103004e+02] [ 5.77174653e-02 2.97965521e-03 9.98328511e-01 1.05294398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35710568099995 meters 0.04218789882545584 Centerline is valid? [True, True] Translation: X:190.13, Y:150.12, Z:10.53 [[-4.28364864e-01 -9.03208255e-01 2.68028231e-02 1.90130467e+02] [ 9.01859072e-01 -4.29192130e-01 -4.94401660e-02 1.50124283e+02] [ 5.61583268e-02 2.99393918e-03 9.98417387e-01 1.05304163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.3871056809999 meters 0.0394070377022622 Centerline is valid? [True, True] Translation: X:190.12, Y:150.15, Z:10.53 [[-4.28509697e-01 -9.03143456e-01 2.66709216e-02 1.90122014e+02] [ 9.01810296e-01 -4.29328477e-01 -4.91451926e-02 1.50149630e+02] [ 5.58357452e-02 2.99292008e-03 9.98435482e-01 1.05332865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41710568099995 meters 0.0369350577618717 Centerline is valid? [True, True] Translation: X:190.12, Y:150.18, Z:10.53 [[-4.30266049e-01 -9.02323388e-01 2.61463411e-02 1.90115316e+02] [ 9.01043462e-01 -4.31050316e-01 -4.81279961e-02 1.50177288e+02] [ 5.46974051e-02 2.85114698e-03 9.98498906e-01 1.05344145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.4471056809999 meters 0.035281931701479065 Centerline is valid? [True, True] Translation: X:190.11, Y:150.20, Z:10.54 [[-4.33872123e-01 -9.00608327e-01 2.56831279e-02 1.90107018e+02] [ 8.99372946e-01 -4.34623792e-01 -4.72277716e-02 1.50203027e+02] [ 5.36962228e-02 2.60789683e-03 9.98553912e-01 1.05365210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47710568099995 meters 0.03196940993836159 Centerline is valid? [True, True] Translation: X:190.10, Y:150.23, Z:10.54 [[-4.42147532e-01 -8.96594038e-01 2.49938218e-02 1.90104699e+02] [ 8.95420101e-01 -4.42848515e-01 -4.59133511e-02 1.50231876e+02] [ 5.22341137e-02 2.07949551e-03 9.98632702e-01 1.05384855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.5071056809999 meters 0.031797060271721626 Centerline is valid? [True, True] Translation: X:190.09, Y:150.26, Z:10.54 [[-4.46271708e-01 -8.94541813e-01 2.52291159e-02 1.90094093e+02] [ 8.93344897e-01 -4.46980338e-01 -4.62976479e-02 1.50255927e+02] [ 5.26921006e-02 1.87697161e-03 9.98609042e-01 1.05376262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.53710568099996 meters 0.027207757185664434 Centerline is valid? [True, True] Translation: X:190.09, Y:150.28, Z:10.54 [[-4.54146453e-01 -8.90535828e-01 2.63995953e-02 1.90090771e+02] [ 8.89220995e-01 -4.54910654e-01 -4.83975047e-02 1.50284944e+02] [ 5.51091691e-02 1.49551935e-03 9.98479215e-01 1.05361287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.56710568099993 meters 0.02454273180085481 Centerline is valid? [True, True] Translation: X:190.09, Y:150.31, Z:10.54 [[-4.62044454e-01 -8.86465990e-01 2.63243412e-02 1.90087927e+02] [ 8.85154328e-01 -4.62792612e-01 -4.82163247e-02 1.50314166e+02] [ 5.49248427e-02 1.02301908e-03 9.98489967e-01 1.05352797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.5971056809999 meters 0.02364705819283529 Centerline is valid? [True, True] Translation: X:190.08, Y:150.34, Z:10.54 [[-4.66056715e-01 -8.84351064e-01 2.67270131e-02 1.90079776e+02] [ 8.82998218e-01 -4.66821746e-01 -4.89040308e-02 1.50340194e+02] [ 5.57250826e-02 8.07852968e-04 9.98445824e-01 1.05359581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.62710568099993 meters 0.022906186647103307 Centerline is valid? [True, True] Translation: X:190.07, Y:150.37, Z:10.54 [[-4.70483864e-01 -8.81997050e-01 2.69469412e-02 1.90072248e+02] [ 8.80620752e-01 -4.71254596e-01 -4.92564283e-02 1.50366052e+02] [ 5.61428944e-02 5.55680944e-04 9.98422589e-01 1.05372635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.6571056809999 meters 0.023181060679364027 Centerline is valid? [True, True] Translation: X:190.06, Y:150.39, Z:10.54 [[-4.70092760e-01 -8.82218583e-01 2.65173400e-02 1.90058124e+02] [ 8.80888973e-01 -4.70839693e-01 -4.84210751e-02 1.50388862e+02] [ 5.52033885e-02 5.96435583e-04 9.98474952e-01 1.05390615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.68710568099993 meters 0.023830137806668462 Centerline is valid? [True, True] Translation: X:190.04, Y:150.41, Z:10.55 [[-4.65613296e-01 -8.84619019e-01 2.55626710e-02 1.90040381e+02] [ 8.83389588e-01 -4.66313666e-01 -4.66304738e-02 1.50410167e+02] [ 5.31704268e-02 8.70028783e-04 9.98585073e-01 1.05450131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7171056809999 meters 0.024721835233649587 Centerline is valid? [True, True] Translation: X:190.02, Y:150.43, Z:10.55 [[-4.62434748e-01 -8.86297945e-01 2.51009182e-02 1.90024224e+02] [ 8.85117397e-01 -4.63114261e-01 -4.57424871e-02 1.50432286e+02] [ 5.21660655e-02 1.06434385e-03 9.98637857e-01 1.05474653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.74710568099994 meters 0.02766152508339326 Centerline is valid? [True, True] Translation: X:190.00, Y:150.45, Z:10.55 [[-4.55667193e-01 -8.89819443e-01 2.42645600e-02 1.90004517e+02] [ 8.88723430e-01 -4.56310528e-01 -4.41742742e-02 1.50451385e+02] [ 5.03793023e-02 1.43571549e-03 9.98729125e-01 1.05503997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7771056809999 meters 0.029160079238365465 Centerline is valid? [True, True] Translation: X:189.99, Y:150.47, Z:10.55 [[-4.52218507e-01 -8.91584861e-01 2.39761726e-02 1.89987790e+02] [ 8.90519492e-01 -4.52850714e-01 -4.36034959e-02 1.50472531e+02] [ 4.97338438e-02 1.63294121e-03 9.98761172e-01 1.05517292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.80710568099994 meters 0.032971007758535155 Centerline is valid? [True, True] Translation: X:189.97, Y:150.49, Z:10.55 [[-4.44697049e-01 -8.95361436e-01 2.39255850e-02 1.89968138e+02] [ 8.94308166e-01 -4.45335406e-01 -4.34658659e-02 1.50492878e+02] [ 4.95725702e-02 2.06770376e-03 9.98768384e-01 1.05504437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8371056809999 meters 0.03529400321307266 Centerline is valid? [True, True] Translation: X:189.95, Y:150.51, Z:10.55 [[-4.41829309e-01 -8.96776431e-01 2.40602281e-02 1.89952109e+02] [ 8.95715633e-01 -4.42478169e-01 -4.36643378e-02 1.50513273e+02] [ 4.98032747e-02 2.25893824e-03 9.98756492e-01 1.05506841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.86710568099994 meters 0.03999176496399978 Centerline is valid? [True, True] Translation: X:189.93, Y:150.53, Z:10.55 [[-4.35680187e-01 -8.99753369e-01 2.50329548e-02 1.89932489e+02] [ 8.98612204e-01 -4.36390265e-01 -4.53833010e-02 1.50532385e+02] [ 5.17579158e-02 2.72231357e-03 9.98655950e-01 1.05483743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8971056809999 meters 0.04128022385669233 Centerline is valid? [True, True] Translation: X:189.92, Y:150.55, Z:10.55 [[-4.32986693e-01 -9.01042261e-01 2.54040757e-02 1.89916789e+02] [ 8.99871240e-01 -4.33721367e-01 -4.60165963e-02 1.50554533e+02] [ 5.24811884e-02 2.93582330e-03 9.98617597e-01 1.05474970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.92710568099994 meters 0.04284032074781734 Centerline is valid? [True, True] Translation: X:189.90, Y:150.58, Z:10.54 [[-4.30171705e-01 -9.02356156e-01 2.65644866e-02 1.89902211e+02] [ 9.01080634e-01 -4.30978836e-01 -4.80721738e-02 1.50577107e+02] [ 5.48269534e-02 3.25745547e-03 9.98490558e-01 1.05433095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.9571056809999 meters 0.04420315184328716 Centerline is valid? [True, True] Translation: X:189.89, Y:150.60, Z:10.54 [[-4.30204629e-01 -9.02289778e-01 2.82335632e-02 1.89891697e+02] [ 9.00851316e-01 -4.31116100e-01 -5.10471886e-02 1.50601115e+02] [ 5.82313001e-02 3.47350566e-03 9.98297075e-01 1.05406226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.98710568099995 meters 0.043797909571260424 Centerline is valid? [True, True] Translation: X:189.88, Y:150.63, Z:10.54 [[-4.30771390e-01 -9.02012531e-01 2.84500293e-02 1.89881060e+02] [ 9.00554401e-01 -4.31695782e-01 -5.13860143e-02 1.50625354e+02] [ 5.86325865e-02 3.48517432e-03 9.98273546e-01 1.05423975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.0171056809999 meters 0.04424490470321878 Centerline is valid? [True, True] Translation: X:189.87, Y:150.65, Z:10.55 [[-4.31787349e-01 -9.01573287e-01 2.69312671e-02 1.89869795e+02] [ 9.00268389e-01 -4.32614117e-01 -4.85989027e-02 1.50649127e+02] [ 5.54663188e-02 3.26097707e-03 9.98455234e-01 1.05484935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.04710568099995 meters 0.044263107337355154 Centerline is valid? [True, True] Translation: X:189.86, Y:150.67, Z:10.55 [[-4.32669448e-01 -9.01177966e-01 2.59889064e-02 1.89858252e+02] [ 8.99964157e-01 -4.33438091e-01 -4.68608377e-02 1.50672389e+02] [ 5.34945363e-02 3.11383144e-03 9.98563287e-01 1.05508888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.0771056809999 meters 0.044019218401791314 Centerline is valid? [True, True] Translation: X:189.85, Y:150.70, Z:10.55 [[-4.34014207e-01 -9.00533095e-01 2.59193517e-02 1.89846693e+02] [ 8.99327187e-01 -4.34776795e-01 -4.66877887e-02 1.50696184e+02] [ 5.33130315e-02 3.04681408e-03 9.98573201e-01 1.05519523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.10710568099995 meters 0.04399565345129275 Centerline is valid? [True, True] Translation: X:189.84, Y:150.72, Z:10.55 [[-4.35059951e-01 -9.00010414e-01 2.65347661e-02 1.89836975e+02] [ 8.98748244e-01 -4.35857544e-01 -4.77471969e-02 1.50721547e+02] [ 5.45383524e-02 3.07518130e-03 9.98506941e-01 1.05502971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.1371056809999 meters 0.0448405240665685 Centerline is valid? [True, True] Translation: X:189.83, Y:150.75, Z:10.55 [[-4.35346269e-01 -8.99876450e-01 2.63818374e-02 1.89826926e+02] [ 8.98631173e-01 -4.36134154e-01 -4.74237737e-02 1.50745465e+02] [ 5.41815574e-02 3.06177856e-03 9.98526406e-01 1.05523762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.16710568099995 meters 0.04560568897000593 Centerline is valid? [True, True] Translation: X:189.82, Y:150.77, Z:10.55 [[-4.35370019e-01 -8.99872592e-01 2.61201901e-02 1.89815023e+02] [ 8.98654480e-01 -4.36142183e-01 -4.69054441e-02 1.50769404e+02] [ 5.36010403e-02 3.05180178e-03 9.98557767e-01 1.05544745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.1971056809999 meters 0.04595777220684087 Centerline is valid? [True, True] Translation: X:189.80, Y:150.79, Z:10.56 [[-4.35761908e-01 -8.99705537e-01 2.53279679e-02 1.89804934e+02] [ 8.98562314e-01 -4.36487333e-01 -4.54376025e-02 1.50793095e+02] [ 5.19357998e-02 2.95878109e-03 9.98646043e-01 1.05576678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.22710568099995 meters 0.043602771603833794 Centerline is valid? [True, True] Translation: X:189.80, Y:150.82, Z:10.56 [[-4.35793098e-01 -8.99700958e-01 2.49511934e-02 1.89796153e+02] [ 8.98593917e-01 -4.36496935e-01 -4.47146276e-02 1.50818525e+02] [ 5.11209127e-02 2.93466458e-03 9.98688160e-01 1.05605007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.2571056809999 meters 0.0416997189087444 Centerline is valid? [True, True] Translation: X:189.79, Y:150.85, Z:10.56 [[-4.36750357e-01 -8.99256054e-01 2.42420188e-02 1.89790388e+02] [ 8.98212525e-01 -4.37413538e-01 -4.34011206e-02 1.50846033e+02] [ 4.96325077e-02 2.81903001e-03 9.98763569e-01 1.05639464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.28710568099996 meters 0.04226303309009082 Centerline is valid? [True, True] Translation: X:189.78, Y:150.87, Z:10.57 [[-4.37709152e-01 -8.98801644e-01 2.37971193e-02 1.89779234e+02] [ 8.97797378e-01 -4.38347042e-01 -4.25645262e-02 1.50869452e+02] [ 4.86884630e-02 2.73410862e-03 9.98810271e-01 1.05661716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.31710568099993 meters 0.04234208335183525 Centerline is valid? [True, True] Translation: X:189.77, Y:150.90, Z:10.57 [[-4.38634366e-01 -8.98361093e-01 2.33931760e-02 1.89769376e+02] [ 8.97391946e-01 -4.39249687e-01 -4.18020115e-02 1.50895298e+02] [ 4.78287460e-02 2.65704895e-03 9.98852017e-01 1.05669743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.3471056809999 meters 0.04294241466136679 Centerline is valid? [True, True] Translation: X:189.76, Y:150.92, Z:10.57 [[-4.39269923e-01 -8.98050622e-01 2.33883592e-02 1.89758087e+02] [ 8.97083344e-01 -4.39884201e-01 -4.17536135e-02 1.50918021e+02] [ 4.77850282e-02 2.64020086e-03 9.98854154e-01 1.05673743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.37710568099993 meters 0.044252642780362894 Centerline is valid? [True, True] Translation: X:189.75, Y:150.94, Z:10.57 [[-4.38390326e-01 -8.98469568e-01 2.37982703e-02 1.89748333e+02] [ 8.97470918e-01 -4.39027169e-01 -4.24393244e-02 1.50941215e+02] [ 4.85785287e-02 2.75326624e-03 9.98815572e-01 1.05669382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.4071056809999 meters 0.046014352124084015 Centerline is valid? [True, True] Translation: X:189.74, Y:150.96, Z:10.57 [[-4.37001839e-01 -8.99136574e-01 2.41415235e-02 1.89736030e+02] [ 8.98112217e-01 -4.37658629e-01 -4.30043032e-02 1.50963328e+02] [ 4.92324879e-02 2.88883755e-03 9.98783168e-01 1.05665578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.43710568099993 meters 0.04704056106046771 Centerline is valid? [True, True] Translation: X:189.72, Y:150.99, Z:10.57 [[-4.36322998e-01 -8.99453330e-01 2.46160085e-02 1.89722861e+02] [ 8.98391056e-01 -4.37006515e-01 -4.38043007e-02 1.50986610e+02] [ 5.01572802e-02 3.00197809e-03 9.98736820e-01 1.05655854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.4671056809999 meters 0.05277619941271563 Centerline is valid? [True, True] Translation: X:189.71, Y:151.01, Z:10.56 [[-4.36717955e-01 -8.99240796e-01 2.53656797e-02 1.89706618e+02] [ 8.98114789e-01 -4.37443084e-01 -4.50929396e-02 1.51007101e+02] [ 5.16454521e-02 3.08839566e-03 9.98660708e-01 1.05630026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49710568099994 meters 0.04392840040209933 Centerline is valid? [True, True] Translation: X:189.71, Y:151.04, Z:10.57 [[-4.37825969e-01 -8.98701270e-01 2.53859774e-02 1.89706316e+02] [ 8.97574862e-01 -4.38550732e-01 -4.50846152e-02 1.51038032e+02] [ 5.16506399e-02 3.04659986e-03 9.98660568e-01 1.05657191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5271056809999 meters 0.04049388612972417 Centerline is valid? [True, True] Translation: X:189.70, Y:151.07, Z:10.57 [[-4.40520800e-01 -8.97381252e-01 2.54619799e-02 1.89700777e+02] [ 8.96248068e-01 -4.41246383e-01 -4.51777726e-02 1.51066050e+02] [ 5.17766927e-02 2.91850167e-03 9.98654423e-01 1.05677203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55710568099994 meters 0.04162589496661344 Centerline is valid? [True, True] Translation: X:189.69, Y:151.09, Z:10.57 [[-4.41985154e-01 -8.96655136e-01 2.56649658e-02 1.89688571e+02] [ 8.95504890e-01 -4.42720339e-01 -4.54938896e-02 1.51089095e+02] [ 5.21547321e-02 2.87547856e-03 9.98634876e-01 1.05681693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5871056809999 meters 0.038711595090705785 Centerline is valid? [True, True] Translation: X:189.68, Y:151.12, Z:10.57 [[-4.44495313e-01 -8.95420299e-01 2.54244870e-02 1.89680921e+02] [ 8.94291754e-01 -4.45213509e-01 -4.50243340e-02 1.51116545e+02] [ 5.16350277e-02 2.72380363e-03 9.98662308e-01 1.05711658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61710568099994 meters 0.037311219118407304 Centerline is valid? [True, True] Translation: X:189.67, Y:151.14, Z:10.57 [[-4.45960146e-01 -8.94700872e-01 2.50977896e-02 1.89670206e+02] [ 8.93602092e-01 -4.46658105e-01 -4.44053812e-02 1.51141650e+02] [ 5.09396644e-02 2.62440704e-03 9.98698284e-01 1.05728626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.6471056809999 meters 0.037469561127995266 Centerline is valid? [True, True] Translation: X:189.66, Y:151.16, Z:10.57 [[-4.46815362e-01 -8.94259277e-01 2.56198665e-02 1.89658109e+02] [ 8.93115942e-01 -4.47541431e-01 -4.52833423e-02 1.51164852e+02] [ 5.19610007e-02 2.64821823e-03 9.98645603e-01 1.05735575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67710568099994 meters 0.03714524477863011 Centerline is valid? [True, True] Translation: X:189.65, Y:151.19, Z:10.57 [[-4.47719780e-01 -8.93777681e-01 2.66168206e-02 1.89647805e+02] [ 8.92545516e-01 -4.48502037e-01 -4.69938859e-02 1.51188920e+02] [ 5.39397846e-02 2.71663157e-03 9.98540495e-01 1.05730050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.7071056809999 meters 0.036467445254009544 Centerline is valid? [True, True] Translation: X:189.63, Y:151.21, Z:10.57 [[-4.48856749e-01 -8.93225109e-01 2.60100668e-02 1.89634175e+02] [ 8.92050092e-01 -4.49602144e-01 -4.58753261e-02 1.51212799e+02] [ 5.26711750e-02 2.61083276e-03 9.98608497e-01 1.05736331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73710568099995 meters 0.036428709629016516 Centerline is valid? [True, True] Translation: X:189.62, Y:151.23, Z:10.58 [[-4.49626071e-01 -8.92856703e-01 2.53634642e-02 1.89621233e+02] [ 8.91741140e-01 -4.50333808e-01 -4.46900482e-02 1.51234432e+02] [ 5.13238345e-02 2.52383370e-03 9.98678874e-01 1.05758686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.7671056809999 meters 0.037648849419065225 Centerline is valid? [True, True] Translation: X:189.61, Y:151.26, Z:10.58 [[-4.49694948e-01 -8.92849729e-01 2.43683472e-02 1.89607983e+02] [ 8.91822332e-01 -4.50348071e-01 -4.28898925e-02 1.51256488e+02] [ 4.92684670e-02 2.44486829e-03 9.98782579e-01 1.05793048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79710568099995 meters 0.03691011535086319 Centerline is valid? [True, True] Translation: X:189.59, Y:151.28, Z:10.58 [[-4.51206002e-01 -8.92090232e-01 2.42520483e-02 1.89594911e+02] [ 8.91073766e-01 -4.51851077e-01 -4.26397408e-02 1.51280484e+02] [ 4.89968104e-02 2.37105705e-03 9.98796121e-01 1.05826888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.8271056809999 meters 0.03691011535086319 Centerline is valid? [True, True] Translation: X:189.58, Y:151.30, Z:10.58 [[-4.51612135e-01 -8.91884212e-01 2.42699786e-02 1.89581825e+02] [ 8.90867995e-01 -4.52257602e-01 -4.26295339e-02 1.51302865e+02] [ 4.89968906e-02 2.36933230e-03 9.98796121e-01 1.05836455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85710568099995 meters 0.0347766693089869 Centerline is valid? [True, True] Translation: X:189.57, Y:151.33, Z:10.59 [[-4.54432283e-01 -8.90467334e-01 2.36479732e-02 1.89570045e+02] [ 8.89502650e-01 -4.55041957e-01 -4.14952196e-02 1.51328154e+02] [ 4.77109575e-02 2.17816743e-03 9.98858809e-01 1.05860098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.8871056809999 meters 0.034098183159505746 Centerline is valid? [True, True] Translation: X:189.56, Y:151.35, Z:10.59 [[-4.60674246e-01 -8.87261822e-01 2.33601961e-02 1.89558872e+02] [ 8.86318143e-01 -4.61262483e-01 -4.09520630e-02 1.51351528e+02] [ 4.71103840e-02 1.83900487e-03 9.98887997e-01 1.05867746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91710568099995 meters 0.031821683060491476 Centerline is valid? [True, True] Translation: X:189.55, Y:151.38, Z:10.59 [[-4.64168479e-01 -8.85439324e-01 2.33415252e-02 1.89549210e+02] [ 8.84496785e-01 -4.64751989e-01 -4.08781793e-02 1.51377393e+02] [ 4.70431677e-02 1.67114167e-03 9.98891459e-01 1.05897548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.9471056809999 meters 0.03144717264358344 Centerline is valid? [True, True] Translation: X:189.54, Y:151.40, Z:10.59 [[-4.66928063e-01 -8.83988472e-01 2.32930530e-02 1.89536073e+02] [ 8.83049849e-01 -4.67506163e-01 -4.07547811e-02 1.51400153e+02] [ 4.69164025e-02 1.53937597e-03 9.98897633e-01 1.05906233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97710568099995 meters 0.0290030884715949 Centerline is valid? [True, True] Translation: X:189.52, Y:151.42, Z:10.59 [[-4.69424430e-01 -8.82660668e-01 2.34701809e-02 1.89523122e+02] [ 8.81707932e-01 -4.70008599e-01 -4.10248534e-02 1.51424278e+02] [ 4.72422113e-02 1.43577624e-03 9.98882432e-01 1.05900714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.0071056809999 meters 0.029756635901488287 Centerline is valid? [True, True] Translation: X:189.51, Y:151.44, Z:10.59 [[-4.69847505e-01 -8.82437753e-01 2.33866212e-02 1.89508094e+02] [ 8.81493360e-01 -4.70427015e-01 -4.08396731e-02 1.51444675e+02] [ 4.70401678e-02 1.42673280e-03 9.98891980e-01 1.05906096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.03710568099996 meters 0.030578506725473104 Centerline is valid? [True, True] Translation: X:189.49, Y:151.47, Z:10.59 [[-4.67875510e-01 -8.83451474e-01 2.46170777e-02 1.89492062e+02] [ 8.82408857e-01 -4.68519828e-01 -4.29392559e-02 1.51466371e+02] [ 4.94683379e-02 1.63210112e-03 9.98774359e-01 1.05903123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.06710568099993 meters 0.032025702588304984 Centerline is valid? [True, True] Translation: X:189.48, Y:151.49, Z:10.59 [[-4.66411964e-01 -8.84215160e-01 2.49685786e-02 1.89475850e+02] [ 8.83145701e-01 -4.67076508e-01 -4.35110057e-02 1.51487237e+02] [ 5.01353274e-02 1.75683920e-03 9.98740889e-01 1.05897810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.0971056809999 meters 0.03234861706199211 Centerline is valid? [True, True] Translation: X:189.46, Y:151.51, Z:10.59 [[-4.64496858e-01 -8.85226365e-01 2.48385020e-02 1.89460610e+02] [ 8.84171170e-01 -4.65156724e-01 -4.32500092e-02 1.51509628e+02] [ 4.98398446e-02 1.87199399e-03 9.98755468e-01 1.05904887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.12710568099993 meters 0.03461077297992966 Centerline is valid? [True, True] Translation: X:189.44, Y:151.53, Z:10.59 [[-4.61669687e-01 -8.86687168e-01 2.54355452e-02 1.89443599e+02] [ 8.85584851e-01 -4.62365083e-01 -4.42493049e-02 1.51530525e+02] [ 5.09957988e-02 2.09677077e-03 9.98696667e-01 1.05872318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.1571056809999 meters 0.03498522390277902 Centerline is valid? [True, True] Translation: X:189.43, Y:151.55, Z:10.59 [[-4.60260980e-01 -8.87408703e-01 2.57996876e-02 1.89429497e+02] [ 8.86277562e-01 -4.60978140e-01 -4.48468254e-02 1.51553764e+02] [ 5.16905552e-02 2.22444038e-03 9.98660672e-01 1.05883623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.18710568099993 meters 0.036651668883053205 Centerline is valid? [True, True] Translation: X:189.42, Y:151.58, Z:10.59 [[-4.58500023e-01 -8.88344528e-01 2.49344746e-02 1.89415573e+02] [ 8.87291417e-01 -4.59171914e-01 -4.33023761e-02 1.51575332e+02] [ 4.99166393e-02 2.27000480e-03 9.98750808e-01 1.05926869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2171056809999 meters 0.036823496390881165 Centerline is valid? [True, True] Translation: X:189.40, Y:151.60, Z:10.60 [[-4.58081980e-01 -8.88582570e-01 2.41229322e-02 1.89402943e+02] [ 8.87599214e-01 -4.58711239e-01 -4.18525347e-02 1.51598826e+02] [ 4.82548929e-02 2.23960365e-03 9.98832543e-01 1.05955226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.24710568099994 meters 0.036880571964232715 Centerline is valid? [True, True] Translation: X:189.39, Y:151.62, Z:10.60 [[-4.56806612e-01 -8.89250391e-01 2.36951841e-02 1.89391019e+02] [ 8.88304504e-01 -4.57415026e-01 -4.10682552e-02 1.51622823e+02] [ 4.73584953e-02 2.28828823e-03 9.98875336e-01 1.05971144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2771056809999 meters 0.03925160275068813 Centerline is valid? [True, True] Translation: X:189.37, Y:151.64, Z:10.60 [[-4.56571630e-01 -8.89355454e-01 2.42739288e-02 1.89374588e+02] [ 8.88365016e-01 -4.57210275e-01 -4.20281199e-02 1.51643194e+02] [ 4.84762273e-02 2.37526188e-03 9.98821512e-01 1.05963708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.30710568099994 meters 0.04030202496206115 Centerline is valid? [True, True] Translation: X:189.36, Y:151.67, Z:10.59 [[-4.53406361e-01 -8.90922946e-01 2.60571570e-02 1.89360632e+02] [ 8.89786541e-01 -4.54146161e-01 -4.50685594e-02 1.51666570e+02] [ 5.19863716e-02 2.75093610e-03 9.98644005e-01 1.05927387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3371056809999 meters 0.04249193169478982 Centerline is valid? [True, True] Translation: X:189.35, Y:151.69, Z:10.59 [[-4.50946320e-01 -8.92147533e-01 2.68364641e-02 1.89345480e+02] [ 8.90946524e-01 -4.51734205e-01 -4.63734813e-02 1.51687664e+02] [ 5.34949357e-02 2.99790369e-03 9.98563621e-01 1.05913752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.36710568099994 meters 0.04548114140876509 Centerline is valid? [True, True] Translation: X:189.33, Y:151.71, Z:10.60 [[-4.46517598e-01 -8.94379954e-01 2.65806846e-02 1.89330352e+02] [ 8.93207594e-01 -4.47296254e-01 -4.58939688e-02 1.51710137e+02] [ 5.29360864e-02 3.24960462e-03 9.98592615e-01 1.05953839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3971056809999 meters 0.048695455071975334 Centerline is valid? [True, True] Translation: X:189.32, Y:151.73, Z:10.60 [[-4.41261858e-01 -8.96992359e-01 2.63188295e-02 1.89316640e+02] [ 8.95849773e-01 -4.42031832e-01 -4.53987196e-02 1.51732881e+02] [ 5.23560650e-02 3.54499412e-03 9.98622189e-01 1.05986553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.42710568099994 meters 0.044943604690037775 Centerline is valid? [True, True] Translation: X:189.31, Y:151.76, Z:10.60 [[-4.39720437e-01 -8.97762228e-01 2.58634674e-02 1.89307489e+02] [ 8.96662305e-01 -4.40465755e-01 -4.45716345e-02 1.51759040e+02] [ 5.14067016e-02 3.59173772e-03 9.98671343e-01 1.06019079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.4571056809999 meters 0.048980493657141404 Centerline is valid? [True, True] Translation: X:189.29, Y:151.78, Z:10.60 [[-4.35841288e-01 -8.99681923e-01 2.47953493e-02 1.89289451e+02] [ 8.98676030e-01 -4.36530548e-01 -4.26904497e-02 1.51778829e+02] [ 4.92317533e-02 3.67672548e-03 9.98780615e-01 1.06003785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.48710568099995 meters 0.05430012968301007 Centerline is valid? [True, True] Translation: X:189.27, Y:151.80, Z:10.60 [[-4.34251243e-01 -9.00441751e-01 2.51099659e-02 1.89271463e+02] [ 8.99413469e-01 -4.34959761e-01 -4.31904800e-02 1.51798322e+02] [ 4.98123362e-02 3.82872198e-03 9.98751256e-01 1.05998027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.5171056809999 meters 0.05047885890832648 Centerline is valid? [True, True] Translation: X:189.27, Y:151.83, Z:10.60 [[-4.33172643e-01 -9.00948617e-01 2.55548469e-02 1.89269048e+02] [ 8.99886262e-01 -4.33907609e-01 -4.39192647e-02 1.51828592e+02] [ 5.06574433e-02 3.97183174e-03 9.98708190e-01 1.06045093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.54710568099995 meters 0.04963077101558506 Centerline is valid? [True, True] Translation: X:189.26, Y:151.85, Z:10.61 [[-4.35469024e-01 -8.99856970e-01 2.49832416e-02 1.89260757e+02] [ 8.98841843e-01 -4.36168749e-01 -4.28971359e-02 1.51854707e+02] [ 4.94981960e-02 3.77560901e-03 9.98767077e-01 1.06070726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.5771056809999 meters 0.05132120735925207 Centerline is valid? [True, True] Translation: X:189.25, Y:151.88, Z:10.61 [[-4.37215170e-01 -8.99018241e-01 2.46798973e-02 1.89246170e+02] [ 8.98028294e-01 -4.37895941e-01 -4.23358964e-02 1.51876567e+02] [ 4.88679700e-02 3.65334992e-03 9.98798566e-01 1.06073075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.60710568099995 meters 0.05008715064446614 Centerline is valid? [True, True] Translation: X:189.24, Y:151.90, Z:10.60 [[-4.40360452e-01 -8.97435102e-01 2.63231975e-02 1.89236975e+02] [ 8.96308450e-01 -4.41130740e-01 -4.51091142e-02 1.51900896e+02] [ 5.20944741e-02 3.72943448e-03 9.98635197e-01 1.06029256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.6371056809999 meters 0.04596269131432984 Centerline is valid? [True, True] Translation: X:189.23, Y:151.93, Z:10.60 [[-4.42116945e-01 -8.96551771e-01 2.69727404e-02 1.89230938e+02] [ 8.95369595e-01 -4.42923212e-01 -4.61770150e-02 1.51928821e+02] [ 5.33469374e-02 3.73493087e-03 9.98569053e-01 1.06039621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.66710568099995 meters 0.047118887619040664 Centerline is valid? [True, True] Translation: X:189.22, Y:151.95, Z:10.61 [[-4.43432392e-01 -8.95901192e-01 2.69956944e-02 1.89219596e+02] [ 8.94718153e-01 -4.44238132e-01 -4.61726085e-02 1.51952739e+02] [ 5.33586118e-02 3.67910757e-03 9.98568637e-01 1.06061144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.6971056809999 meters 0.046080672691148364 Centerline is valid? [True, True] Translation: X:189.21, Y:151.98, Z:10.61 [[-4.46250552e-01 -8.94509029e-01 2.67215801e-02 1.89214798e+02] [ 8.93349783e-01 -4.47036212e-01 -4.56595143e-02 1.51980712e+02] [ 5.27883617e-02 3.49613428e-03 9.98599602e-01 1.06116473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.72710568099995 meters 0.043963660100698694 Centerline is valid? [True, True] Translation: X:189.21, Y:152.01, Z:10.62 [[-4.47726039e-01 -8.93778446e-01 2.64855342e-02 1.89205507e+02] [ 8.92640571e-01 -4.48495862e-01 -4.52136404e-02 1.52007226e+02] [ 5.22896297e-02 3.39873822e-03 9.98626178e-01 1.06151430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.7571056809999 meters 0.04376614293213107 Centerline is valid? [True, True] Translation: X:189.19, Y:152.03, Z:10.61 [[-4.48989633e-01 -8.93125429e-01 2.71160204e-02 1.89194274e+02] [ 8.91933760e-01 -4.49794695e-01 -4.62482501e-02 1.52032125e+02] [ 5.35021303e-02 3.42070918e-03 9.98561876e-01 1.06130378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.78710568099996 meters 0.04418925097915015 Centerline is valid? [True, True] Translation: X:189.18, Y:152.06, Z:10.61 [[-4.49375718e-01 -8.92915729e-01 2.76218097e-02 1.89181808e+02] [ 8.91681241e-01 -4.50210386e-01 -4.70656221e-02 1.52055127e+02] [ 5.44612599e-02 3.47970184e-03 9.98509821e-01 1.06110388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.81710568099993 meters 0.04241125021404257 Centerline is valid? [True, True] Translation: X:189.18, Y:152.08, Z:10.61 [[-4.48618938e-01 -8.93236578e-01 2.94866623e-02 1.89175698e+02] [ 8.91833340e-01 -4.49571044e-01 -5.01913331e-02 1.52082770e+02] [ 5.80890841e-02 3.78040595e-03 9.98304246e-01 1.06132452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.8471056809999 meters 0.04399782573266581 Centerline is valid? [True, True] Translation: X:189.17, Y:152.11, Z:10.62 [[-4.46789472e-01 -8.94141692e-01 2.98295691e-02 1.89165341e+02] [ 8.92710469e-01 -4.47766581e-01 -5.07258136e-02 1.52107626e+02] [ 5.87127490e-02 3.96540913e-03 9.98267043e-01 1.06186150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.87710568099993 meters 0.04422115009546626 Centerline is valid? [True, True] Translation: X:189.15, Y:152.13, Z:10.62 [[-4.46105177e-01 -8.94508037e-01 2.90782095e-02 1.89152769e+02] [ 8.93151584e-01 -4.47034560e-01 -4.93999102e-02 1.52131094e+02] [ 5.71875813e-02 3.93369319e-03 9.98355701e-01 1.06225083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.9071056809999 meters 0.04840952322390533 Centerline is valid? [True, True] Translation: X:189.13, Y:152.15, Z:10.62 [[-4.43617515e-01 -8.95787775e-01 2.77085209e-02 1.89134331e+02] [ 8.94560899e-01 -4.44464701e-01 -4.70311337e-02 1.52149972e+02] [ 5.44453741e-02 3.92312470e-03 9.98509044e-01 1.06230479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.93710568099993 meters 0.04816735740892593 Centerline is valid? [True, True] Translation: X:189.12, Y:152.17, Z:10.63 [[-4.43023482e-01 -8.96109009e-01 2.68111686e-02 1.89120197e+02] [ 8.94962844e-01 -4.43817330e-01 -4.54718037e-02 1.52172806e+02] [ 5.26469542e-02 3.84992289e-03 9.98605766e-01 1.06257070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.9671056809999 meters 0.046501397398085204 Centerline is valid? [True, True] Translation: X:189.11, Y:152.20, Z:10.63 [[-4.42029509e-01 -8.96650800e-01 2.50450762e-02 1.89112291e+02] [ 8.95653407e-01 -4.42723230e-01 -4.24395540e-02 1.52199802e+02] [ 4.91414970e-02 3.67217264e-03 9.98785076e-01 1.06336893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99710568099994 meters 0.0476905568637034 Centerline is valid? [True, True] Translation: X:189.10, Y:152.22, Z:10.64 [[-4.42699004e-01 -8.96321345e-01 2.50127414e-02 1.89099683e+02] [ 8.95327962e-01 -4.43390048e-01 -4.23450913e-02 1.52223229e+02] [ 4.90452098e-02 3.64847698e-03 9.98789896e-01 1.06383425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0271056809999 meters 0.04659270889374626 Centerline is valid? [True, True] Translation: X:189.09, Y:152.25, Z:10.64 [[-4.44592831e-01 -8.95350981e-01 2.61502633e-02 1.89088659e+02] [ 8.94265657e-01 -4.45345676e-01 -4.42285287e-02 1.52248708e+02] [ 5.12459633e-02 3.72159564e-03 9.98679128e-01 1.06390802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05710568099994 meters 0.04509818667359225 Centerline is valid? [True, True] Translation: X:189.07, Y:152.27, Z:10.63 [[-4.47500058e-01 -8.93860733e-01 2.75079657e-02 1.89074139e+02] [ 8.92659139e-01 -4.48329009e-01 -4.64839981e-02 1.52272032e+02] [ 5.38828396e-02 3.75364513e-03 9.98540209e-01 1.06336375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0871056809999 meters 0.04688856984787843 Centerline is valid? [True, True] Translation: X:189.06, Y:152.29, Z:10.63 [[-4.49489082e-01 -8.92850008e-01 2.79003268e-02 1.89057764e+02] [ 8.91613961e-01 -4.50338947e-01 -4.71102677e-02 1.52293157e+02] [ 5.46270067e-02 3.70076989e-03 9.98499972e-01 1.06310105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11710568099994 meters 0.042765588191866814 Centerline is valid? [True, True] Translation: X:189.05, Y:152.32, Z:10.63 [[-4.54128730e-01 -8.90472237e-01 2.87452996e-02 1.89051448e+02] [ 8.89158093e-01 -4.55023816e-01 -4.84893064e-02 1.52320259e+02] [ 5.62581771e-02 3.53872868e-03 9.98409983e-01 1.06326820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.1471056809999 meters 0.043070120351534395 Centerline is valid? [True, True] Translation: X:189.04, Y:152.34, Z:10.63 [[-4.57024479e-01 -8.88973525e-01 2.92351967e-02 1.89039502e+02] [ 8.87613871e-01 -4.57945725e-01 -4.92679269e-02 1.52343126e+02] [ 5.71860160e-02 3.43291753e-03 9.98357639e-01 1.06344133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17710568099994 meters 0.03699564399329055 Centerline is valid? [True, True] Translation: X:189.03, Y:152.37, Z:10.64 [[-4.61615035e-01 -8.86597182e-01 2.92745122e-02 1.89033836e+02] [ 8.85231770e-01 -4.62531549e-01 -4.92877143e-02 1.52371159e+02] [ 5.72387341e-02 3.16277835e-03 9.98355510e-01 1.06378105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.2071056809999 meters 0.038735284182006086 Centerline is valid? [True, True] Translation: X:189.02, Y:152.39, Z:10.64 [[-4.63603392e-01 -8.85579688e-01 2.86445574e-02 1.89017200e+02] [ 8.84273075e-01 -4.64477837e-01 -4.81816238e-02 1.52391555e+02] [ 5.59734294e-02 2.99244662e-03 9.98427774e-01 1.06375517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23710568099995 meters 0.03879843888031151 Centerline is valid? [True, True] Translation: X:189.00, Y:152.41, Z:10.64 [[-4.65200465e-01 -8.84745597e-01 2.85264263e-02 1.89003893e+02] [ 8.83450735e-01 -4.66065245e-01 -4.79373219e-02 1.52414559e+02] [ 5.57075103e-02 2.90122784e-03 9.98442916e-01 1.06376322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.2671056809999 meters 0.03815179836356785 Centerline is valid? [True, True] Translation: X:188.99, Y:152.44, Z:10.64 [[-4.65570593e-01 -8.84540228e-01 2.88549447e-02 1.88993588e+02] [ 8.83217584e-01 -4.66454704e-01 -4.84428439e-02 1.52438785e+02] [ 5.63091688e-02 2.93163096e-03 9.98409076e-01 1.06420097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29710568099995 meters 0.03508247515690075 Centerline is valid? [True, True] Translation: X:188.98, Y:152.47, Z:10.65 [[-4.64717375e-01 -8.84990512e-01 2.88020065e-02 1.88984027e+02] [ 8.83676127e-01 -4.65599381e-01 -4.83085883e-02 1.52465928e+02] [ 5.61628387e-02 3.00180515e-03 9.98417110e-01 1.06463910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.3271056809999 meters 0.03748366554269988 Centerline is valid? [True, True] Translation: X:188.97, Y:152.49, Z:10.65 [[-4.62018837e-01 -8.86424801e-01 2.81009957e-02 1.88965814e+02] [ 8.85178373e-01 -4.62862143e-01 -4.70944284e-02 1.52485187e+02] [ 5.47525564e-02 3.11588058e-03 9.98495092e-01 1.06480931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35710568099995 meters 0.0390397684796685 Centerline is valid? [True, True] Translation: X:188.95, Y:152.51, Z:10.65 [[-4.60943211e-01 -8.87010012e-01 2.72872731e-02 1.88949570e+02] [ 8.85837796e-01 -4.61739716e-01 -4.56928120e-02 1.52506263e+02] [ 5.31295995e-02 3.11030642e-03 9.98582782e-01 1.06500482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.3871056809999 meters 0.03756779249451976 Centerline is valid? [True, True] Translation: X:188.94, Y:152.53, Z:10.66 [[-4.61349361e-01 -8.86832830e-01 2.61590979e-02 1.88937349e+02] [ 8.85757411e-01 -4.62080779e-01 -4.37625626e-02 1.52530567e+02] [ 5.08976936e-02 2.98078453e-03 9.98699424e-01 1.06554994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41710568099995 meters 0.03692495006019402 Centerline is valid? [True, True] Translation: X:188.92, Y:152.56, Z:10.66 [[-4.63503515e-01 -8.85712075e-01 2.60501756e-02 1.88924009e+02] [ 8.84645820e-01 -4.64226151e-01 -4.35413947e-02 1.52555597e+02] [ 5.06583118e-02 2.86358948e-03 9.98711938e-01 1.06571329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.4471056809999 meters 0.038061171704662854 Centerline is valid? [True, True] Translation: X:188.91, Y:152.58, Z:10.66 [[-4.68708225e-01 -8.82935964e-01 2.71418897e-02 1.88911109e+02] [ 8.81775818e-01 -4.69485738e-01 -4.53271296e-02 1.52578723e+02] [ 5.27636830e-02 2.68786350e-03 9.98603409e-01 1.06566109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47710568099995 meters 0.03342992582668613 Centerline is valid? [True, True] Translation: X:188.90, Y:152.61, Z:10.66 [[-4.71010147e-01 -8.81707343e-01 2.72323927e-02 1.88904161e+02] [ 8.80539677e-01 -4.71789691e-01 -4.54352901e-02 1.52605942e+02] [ 5.29085910e-02 2.57871957e-03 9.98596030e-01 1.06593572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.5071056809999 meters 0.03332258987979521 Centerline is valid? [True, True] Translation: X:188.89, Y:152.63, Z:10.66 [[-4.74329465e-01 -8.79904331e-01 2.79271763e-02 1.88889143e+02] [ 8.78675594e-01 -4.75144528e-01 -4.65497427e-02 1.52627844e+02] [ 5.42287652e-02 2.45901363e-03 9.98525510e-01 1.06562584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.5371056809999 meters 0.032692331970263416 Centerline is valid? [True, True] Translation: X:188.87, Y:152.65, Z:10.65 [[-4.74738999e-01 -8.79661782e-01 2.86012605e-02 1.88874884e+02] [ 8.78375172e-01 -4.75593141e-01 -4.76258593e-02 1.52649834e+02] [ 5.54972116e-02 2.51278428e-03 9.98455680e-01 1.06548604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.56710568099993 meters 0.034053936755755965 Centerline is valid? [True, True] Translation: X:188.86, Y:152.67, Z:10.65 [[-4.73128056e-01 -8.80469046e-01 3.03990528e-02 1.88859369e+02] [ 8.79020241e-01 -4.74095388e-01 -5.05665895e-02 1.52671619e+02] [ 5.89343675e-02 2.79691058e-03 9.98257941e-01 1.06533117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.5971056809999 meters 0.033990243846959305 Centerline is valid? [True, True] Translation: X:188.85, Y:152.70, Z:10.66 [[-4.72377922e-01 -8.80842612e-01 3.12312616e-02 1.88846692e+02] [ 8.79317248e-01 -4.73400057e-01 -5.18995491e-02 1.52695137e+02] [ 6.05002154e-02 2.94598585e-03 9.98163837e-01 1.06564257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.62710568099993 meters 0.03704668126902384 Centerline is valid? [True, True] Translation: X:188.83, Y:152.71, Z:10.66 [[-4.70525837e-01 -8.81809935e-01 3.18853365e-02 1.88829903e+02] [ 8.80225118e-01 -4.71594390e-01 -5.29383885e-02 1.52714901e+02] [ 6.17185428e-02 3.15739446e-03 9.98088599e-01 1.06574468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.6571056809999 meters 0.03748055973588803 Centerline is valid? [True, True] Translation: X:188.81, Y:152.74, Z:10.66 [[-4.69247437e-01 -8.82468702e-01 3.24935811e-02 1.88813185e+02] [ 8.80827175e-01 -4.70359351e-01 -5.39033351e-02 1.52736931e+02] [ 6.28516659e-02 3.32722743e-03 9.98017333e-01 1.06570823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.68710568099993 meters 0.03975322306877823 Centerline is valid? [True, True] Translation: X:188.79, Y:152.76, Z:10.65 [[-4.66687729e-01 -8.83798221e-01 3.32154777e-02 1.88793425e+02] [ 8.82089562e-01 -4.67854339e-01 -5.50483609e-02 1.52755592e+02] [ 6.41916487e-02 3.60863164e-03 9.97931065e-01 1.06537605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7171056809999 meters 0.04058380662643177 Centerline is valid? [True, True] Translation: X:188.78, Y:152.78, Z:10.66 [[-4.65201137e-01 -8.84583701e-01 3.31598760e-02 1.88778669e+02] [ 8.82886076e-01 -4.66366514e-01 -5.49040256e-02 1.52778350e+02] [ 6.40318620e-02 3.73497765e-03 9.97940865e-01 1.06574493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.74710568099994 meters 0.04058380662643177 Centerline is valid? [True, True] Translation: X:188.76, Y:152.80, Z:10.66 [[-4.65586031e-01 -8.84380331e-01 3.31825019e-02 1.88764978e+02] [ 8.82683158e-01 -4.66752067e-01 -5.48903504e-02 1.52800423e+02] [ 6.40319476e-02 3.73345512e-03 9.97940865e-01 1.06584069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7771056809999 meters 0.03842728865623217 Centerline is valid? [True, True] Translation: X:188.75, Y:152.83, Z:10.66 [[-4.65385853e-01 -8.84495624e-01 3.29165456e-02 1.88753937e+02] [ 8.82829167e-01 -4.66533469e-01 -5.43983823e-02 1.52825156e+02] [ 6.34718013e-02 3.74344901e-03 9.97976611e-01 1.06631658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.80710568099994 meters 0.04098114828417168 Centerline is valid? [True, True] Translation: X:188.74, Y:152.84, Z:10.66 [[-4.65676016e-01 -8.84358418e-01 3.24967051e-02 1.88736785e+02] [ 8.82736861e-01 -4.66793858e-01 -5.36575184e-02 1.52844502e+02] [ 6.26217405e-02 3.69902003e-03 9.98030478e-01 1.06640829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8371056809999 meters 0.03838934626069753 Centerline is valid? [True, True] Translation: X:188.72, Y:152.87, Z:10.67 [[-4.66728383e-01 -8.83850636e-01 3.11876521e-02 1.88724975e+02] [ 8.82358673e-01 -4.67756105e-01 -5.14528824e-02 1.52869340e+02] [ 6.00648775e-02 3.50417470e-03 9.98188325e-01 1.06693828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.86710568099994 meters 0.03608887886832155 Centerline is valid? [True, True] Translation: X:188.71, Y:152.89, Z:10.67 [[-4.68322706e-01 -8.82999484e-01 3.13967244e-02 1.88712122e+02] [ 8.81488339e-01 -4.69361355e-01 -5.17515842e-02 1.52894080e+02] [ 6.04330313e-02 3.43940451e-03 9.98166328e-01 1.06718057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8971056809999 meters 0.03680274623036543 Centerline is valid? [True, True] Translation: X:188.70, Y:152.92, Z:10.67 [[-4.69525867e-01 -8.82366881e-01 3.12113422e-02 1.88696900e+02] [ 8.80874908e-01 -4.70550105e-01 -5.14003437e-02 1.52915455e+02] [ 6.00404613e-02 3.35949728e-03 9.98190291e-01 1.06721668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.92710568099994 meters 0.03921683990938784 Centerline is valid? [True, True] Translation: X:188.68, Y:152.94, Z:10.67 [[-4.71308858e-01 -8.81418839e-01 3.11254117e-02 1.88679635e+02] [ 8.79936024e-01 -4.72324303e-01 -5.12088590e-02 1.52935571e+02] [ 5.98377414e-02 3.25318213e-03 9.98202816e-01 1.06723472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.9571056809999 meters 0.03745144144137407 Centerline is valid? [True, True] Translation: X:188.67, Y:152.96, Z:10.68 [[-4.75319945e-01 -8.79256841e-01 3.12787030e-02 1.88667596e+02] [ 8.77757666e-01 -4.76338429e-01 -5.14118763e-02 1.52959920e+02] [ 6.01034922e-02 3.01803108e-03 9.98187588e-01 1.06760993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.98710568099995 meters 0.033801805008011276 Centerline is valid? [True, True] Translation: X:188.66, Y:152.99, Z:10.68 [[-4.82632277e-01 -8.75258964e-01 3.14297807e-02 1.88658829e+02] [ 8.73739623e-01 -4.83647842e-01 -5.16123697e-02 1.52985562e+02] [ 6.03751349e-02 2.55164927e-03 9.98172496e-01 1.06773731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.0171056809999 meters 0.030140810560907703 Centerline is valid? [True, True] Translation: X:188.65, Y:153.01, Z:10.68 [[-4.87194395e-01 -8.72715648e-01 3.17650587e-02 1.88649455e+02] [ 8.71161266e-01 -4.88223500e-01 -5.21139386e-02 1.53011109e+02] [ 6.09890978e-02 2.28286996e-03 9.98135822e-01 1.06790685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.04710568099995 meters 0.026009768452833534 Centerline is valid? [True, True] Translation: X:188.64, Y:153.04, Z:10.68 [[-4.95458286e-01 -8.68073696e-01 3.11310845e-02 1.88641274e+02] [ 8.66574101e-01 -4.96432462e-01 -5.10307589e-02 1.53037779e+02] [ 5.97529404e-02 1.69377917e-03 9.98211760e-01 1.06809765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.0771056809999 meters 0.02491842726695968 Centerline is valid? [True, True] Translation: X:188.63, Y:153.06, Z:10.68 [[-4.98824421e-01 -8.66156256e-01 3.07821032e-02 1.88629621e+02] [ 8.64688807e-01 -4.99771137e-01 -5.04190112e-02 1.53062398e+02] [ 5.90547487e-02 1.46670602e-03 9.98253668e-01 1.06829953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.10710568099995 meters 0.023021921185796105 Centerline is valid? [True, True] Translation: X:188.62, Y:153.09, Z:10.69 [[-5.04827173e-01 -8.62694881e-01 3.01175686e-02 1.88620696e+02] [ 8.61286523e-01 -5.05723660e-01 -4.92859546e-02 1.53088510e+02] [ 5.77499078e-02 1.05896685e-03 9.98330520e-01 1.06868219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.1371056809999 meters 0.02283759944103068 Centerline is valid? [True, True] Translation: X:188.61, Y:153.11, Z:10.68 [[-5.08456165e-01 -8.60540176e-01 3.07072217e-02 1.88605714e+02] [ 8.59074952e-01 -5.09381857e-01 -5.02030844e-02 1.53110313e+02] [ 5.88434727e-02 8.53737208e-04 9.98266857e-01 1.06823245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.16710568099995 meters 0.022323417790406475 Centerline is valid? [True, True] Translation: X:188.59, Y:153.13, Z:10.68 [[-5.10010008e-01 -8.59635240e-01 3.02827561e-02 1.88590797e+02] [ 8.58211349e-01 -5.10907695e-01 -4.94631947e-02 1.53133244e+02] [ 5.79919983e-02 7.62280688e-04 9.98316757e-01 1.06826654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.1971056809999 meters 0.022000590619008 Centerline is valid? [True, True] Translation: X:188.58, Y:153.15, Z:10.69 [[-5.12392482e-01 -8.58255868e-01 2.91686427e-02 1.88576878e+02] [ 8.56934840e-01 -5.13221688e-01 -4.76043957e-02 1.53154854e+02] [ 5.58267320e-02 6.03491779e-04 9.98440290e-01 1.06876647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.22710568099995 meters 0.02178136870077523 Centerline is valid? [True, True] Translation: X:188.56, Y:153.18, Z:10.69 [[-5.14030755e-01 -8.57303048e-01 2.83525639e-02 1.88562740e+02] [ 8.56055391e-01 -5.14811840e-01 -4.62378325e-02 1.53177522e+02] [ 5.42360703e-02 5.03697167e-04 9.98528014e-01 1.06931663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.2571056809999 meters 0.02157497052773593 Centerline is valid? [True, True] Translation: X:188.55, Y:153.20, Z:10.70 [[-5.15844879e-01 -8.56246628e-01 2.73088244e-02 1.88547894e+02] [ 8.55089763e-01 -5.16567085e-01 -4.44965750e-02 1.53198697e+02] [ 5.22068821e-02 3.98165855e-04 9.98636212e-01 1.06981335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.2871056809999 meters 0.021566269228824913 Centerline is valid? [True, True] Translation: X:188.53, Y:153.22, Z:10.70 [[-5.17756584e-01 -8.55152736e-01 2.53360868e-02 1.88527971e+02] [ 8.54157552e-01 -5.18376037e-01 -4.12451286e-02 1.53215973e+02] [ 4.84045048e-02 2.86072964e-04 9.98827774e-01 1.07027628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.31710568099993 meters 0.021716935847817607 Centerline is valid? [True, True] Translation: X:188.51, Y:153.24, Z:10.70 [[-5.18047459e-01 -8.54998431e-01 2.45868491e-02 1.88509457e+02] [ 8.54062941e-01 -5.18630507e-01 -3.99861192e-02 1.53235596e+02] [ 4.69395592e-02 2.84009201e-04 9.98897691e-01 1.07044172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.3471056809999 meters 0.02257195315252949 Centerline is valid? [True, True] Translation: X:188.48, Y:153.25, Z:10.70 [[-5.14890728e-01 -8.56873871e-01 2.55872588e-02 1.88484866e+02] [ 8.55864967e-01 -5.15525873e-01 -4.15720116e-02 1.53251892e+02] [ 4.88128644e-02 4.94195089e-04 9.98807819e-01 1.07041433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.37710568099993 meters 0.024081028074111315 Centerline is valid? [True, True] Translation: X:188.46, Y:153.27, Z:10.70 [[-5.10671140e-01 -8.59367642e-01 2.64998566e-02 1.88460125e+02] [ 8.58290848e-01 -5.11357653e-01 -4.30136201e-02 1.53268771e+02] [ 5.05154177e-02 7.78770004e-04 9.98722978e-01 1.07024491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.4071056809999 meters 0.024750135340798642 Centerline is valid? [True, True] Translation: X:188.44, Y:153.29, Z:10.70 [[-5.09166320e-01 -8.60261892e-01 2.64411579e-02 1.88440649e+02] [ 8.59192980e-01 -5.09851639e-01 -4.28804005e-02 1.53288825e+02] [ 5.03694422e-02 8.84801475e-04 9.98730262e-01 1.07026398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.43710568099993 meters 0.026466015147530907 Centerline is valid? [True, True] Translation: X:188.42, Y:153.30, Z:10.70 [[-5.05432283e-01 -8.62442957e-01 2.70250415e-02 1.88415830e+02] [ 8.61331359e-01 -5.06152974e-01 -4.37887789e-02 1.53303013e+02] [ 5.14441291e-02 1.14525324e-03 9.98675217e-01 1.06986565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.4671056809999 meters 0.028588898440820715 Centerline is valid? [True, True] Translation: X:188.40, Y:153.32, Z:10.70 [[-5.02119441e-01 -8.64356302e-01 2.76450754e-02 1.88395191e+02] [ 8.63198054e-01 -5.02877964e-01 -4.47534707e-02 1.53320767e+02] [ 5.25850437e-02 1.39158761e-03 9.98615480e-01 1.06965147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49710568099994 meters 0.0340053790853345 Centerline is valid? [True, True] Translation: X:188.37, Y:153.33, Z:10.69 [[-4.95259437e-01 -8.68249876e-01 2.93298846e-02 1.88369121e+02] [ 8.66955297e-01 -4.96123380e-01 -4.74352649e-02 1.53334339e+02] [ 5.57369044e-02 1.93493620e-03 9.98443616e-01 1.06929981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5271056809999 meters 0.03148518952283142 Centerline is valid? [True, True] Translation: X:188.36, Y:153.36, Z:10.70 [[-4.93104069e-01 -8.69462228e-01 2.97289734e-02 1.88357261e+02] [ 8.68136605e-01 -4.93994880e-01 -4.80405447e-02 1.53358177e+02] [ 5.64553996e-02 2.11982196e-03 9.98402872e-01 1.06984466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55710568099994 meters 0.03852802457136381 Centerline is valid? [True, True] Translation: X:188.33, Y:153.37, Z:10.70 [[-4.89661100e-01 -8.71429184e-01 2.90376261e-02 1.88330185e+02] [ 8.70170458e-01 -4.90515876e-01 -4.68780199e-02 1.53371788e+02] [ 5.50942912e-02 2.31334160e-03 9.98478476e-01 1.06995423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5871056809999 meters 0.04001589925225443 Centerline is valid? [True, True] Translation: X:188.31, Y:153.39, Z:10.70 [[-4.88992417e-01 -8.71837165e-01 2.80423477e-02 1.88312369e+02] [ 8.70666288e-01 -4.89790434e-01 -4.52277136e-02 1.53391276e+02] [ 5.31660753e-02 2.29951777e-03 9.98583036e-01 1.07022865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61710568099994 meters 0.0375541123584007 Centerline is valid? [True, True] Translation: X:188.30, Y:153.41, Z:10.70 [[-4.89436999e-01 -8.71583366e-01 2.81755080e-02 1.88301272e+02] [ 8.70403304e-01 -4.90241904e-01 -4.53978411e-02 1.53414028e+02] [ 5.33808179e-02 2.30467219e-03 9.98571568e-01 1.07047940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.6471056809999 meters 0.03514288161271355 Centerline is valid? [True, True] Translation: X:188.29, Y:153.44, Z:10.71 [[-4.90804437e-01 -8.70807614e-01 2.83743394e-02 1.88288311e+02] [ 8.69611935e-01 -4.91618756e-01 -4.56736491e-02 1.53438424e+02] [ 5.37223189e-02 2.25783452e-03 9.98553361e-01 1.07066613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67710568099994 meters 0.03451057981892578 Centerline is valid? [True, True] Translation: X:188.27, Y:153.46, Z:10.71 [[-4.91769557e-01 -8.70275294e-01 2.79931380e-02 1.88274546e+02] [ 8.69112746e-01 -4.92560778e-01 -4.50212671e-02 1.53462030e+02] [ 5.29692183e-02 2.18910445e-03 9.98593746e-01 1.07079039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.7071056809999 meters 0.032444756290474254 Centerline is valid? [True, True] Translation: X:188.26, Y:153.49, Z:10.71 [[-4.95312721e-01 -8.68284059e-01 2.73514480e-02 1.88262494e+02] [ 8.67173172e-01 -4.96063499e-01 -4.39510434e-02 1.53486407e+02] [ 5.17300454e-02 1.94893102e-03 9.98659203e-01 1.07112661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73710568099995 meters 0.031635060277950024 Centerline is valid? [True, True] Translation: X:188.25, Y:153.51, Z:10.71 [[-4.98495122e-01 -8.66452936e-01 2.76029311e-02 1.88248642e+02] [ 8.65320776e-01 -4.99255535e-01 -4.43155202e-02 1.53508780e+02] [ 5.21782288e-02 1.79431906e-03 9.98636176e-01 1.07106612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.7671056809999 meters 0.028189799931237096 Centerline is valid? [True, True] Translation: X:188.24, Y:153.53, Z:10.71 [[-5.04407098e-01 -8.62992874e-01 2.85793298e-02 1.88239129e+02] [ 8.61775792e-01 -5.05213846e-01 -4.58416106e-02 1.53534645e+02] [ 5.39996564e-02 1.50614079e-03 9.98539818e-01 1.07097573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79710568099995 meters 0.026979653984060492 Centerline is valid? [True, True] Translation: X:188.23, Y:153.56, Z:10.71 [[-5.08153651e-01 -8.60783738e-01 2.88309470e-02 1.88227000e+02] [ 8.59543873e-01 -5.08969211e-01 -4.62025282e-02 1.53558565e+02] [ 5.44444493e-02 1.30348042e-03 9.98515950e-01 1.07117375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.8271056809999 meters 0.024799344238178814 Centerline is valid? [True, True] Translation: X:188.22, Y:153.58, Z:10.72 [[-5.15308195e-01 -8.56530317e-01 2.85180545e-02 1.88217013e+02] [ 8.55312848e-01 -5.16095990e-01 -4.56602840e-02 1.53583278e+02] [ 5.38274711e-02 8.62739874e-04 9.98549878e-01 1.07155483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85710568099995 meters 0.023123599503665295 Centerline is valid? [True, True] Translation: X:188.21, Y:153.61, Z:10.72 [[-5.21885616e-01 -8.52521507e-01 2.90255692e-02 1.88206021e+02] [ 8.51256327e-01 -5.22691929e-01 -4.64307349e-02 1.53609092e+02] [ 5.47546308e-02 4.76666771e-04 9.98499726e-01 1.07170808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.8871056809999 meters 0.023008028631653507 Centerline is valid? [True, True] Translation: X:188.19, Y:153.63, Z:10.72 [[-5.24888454e-01 -8.50672441e-01 2.91291821e-02 1.88193733e+02] [ 8.49397677e-01 -5.25696019e-01 -4.65540769e-02 1.53632706e+02] [ 5.49153653e-02 3.06562168e-04 9.98490966e-01 1.07180240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91710568099995 meters 0.02272505719232386 Centerline is valid? [True, True] Translation: X:188.18, Y:153.66, Z:10.72 [[-5.30001293e-01 -8.47501531e-01 2.89790221e-02 1.88182420e+02] [ 8.46237485e-01 -5.30792949e-01 -4.62705498e-02 1.53655719e+02] [ 5.45962224e-02 -3.16440295e-07 9.98508514e-01 1.07215735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.9471056809999 meters 0.022896123805523975 Centerline is valid? [True, True] Translation: X:188.17, Y:153.68, Z:10.72 [[-5.32503555e-01 -8.45940815e-01 2.87071680e-02 1.88169258e+02] [ 8.44700243e-01 -5.33276775e-01 -4.57971691e-02 1.53678771e+02] [ 5.40505605e-02 -1.38203575e-04 9.98538190e-01 1.07230210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97710568099995 meters 0.023271434510437665 Centerline is valid? [True, True] Translation: X:188.16, Y:153.70, Z:10.72 [[-5.35755091e-01 -8.43877644e-01 2.89310484e-02 1.88156739e+02] [ 8.42617079e-01 -5.36535569e-01 -4.61090164e-02 1.53701509e+02] [ 5.44329046e-02 -3.25344800e-04 9.98517377e-01 1.07243844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.0071056809999 meters 0.023334159199191244 Centerline is valid? [True, True] Translation: X:188.14, Y:153.72, Z:10.73 [[-5.36159382e-01 -8.43617758e-01 2.90206152e-02 1.88141261e+02] [ 8.42351393e-01 -5.36944103e-01 -4.62077935e-02 1.53723007e+02] [ 5.45641633e-02 -3.29186354e-04 9.98510212e-01 1.07254233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.0371056809999 meters 0.02334285445886941 Centerline is valid? [True, True] Translation: X:188.12, Y:153.74, Z:10.72 [[-5.36007680e-01 -8.43714032e-01 2.90241085e-02 1.88122625e+02] [ 8.42450011e-01 -5.36792832e-01 -4.61674543e-02 1.53740965e+02] [ 5.45320624e-02 -2.94749561e-04 9.98511977e-01 1.07245202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.06710568099993 meters 0.02340395047608145 Centerline is valid? [True, True] Translation: X:188.11, Y:153.76, Z:10.72 [[-5.36102117e-01 -8.43636949e-01 2.95164115e-02 1.88105254e+02] [ 8.42332171e-01 -5.36913977e-01 -4.69030269e-02 1.53761784e+02] [ 5.54169004e-02 -2.82189009e-04 9.98463263e-01 1.07248986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.0971056809999 meters 0.023170041140875 Centerline is valid? [True, True] Translation: X:188.09, Y:153.78, Z:10.73 [[-5.33682081e-01 -8.45189648e-01 2.89464232e-02 1.88085564e+02] [ 8.43939563e-01 -5.34466510e-01 -4.59517488e-02 1.53778031e+02] [ 5.43088362e-02 -9.45931320e-05 9.98524182e-01 1.07293917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.12710568099993 meters 0.023167260720947366 Centerline is valid? [True, True] Translation: X:188.06, Y:153.79, Z:10.74 [[-5.27675321e-01 -8.48989985e-01 2.78345395e-02 1.88061847e+02] [ 8.47841773e-01 -5.28408849e-01 -4.41408705e-02 1.53794134e+02] [ 5.21831740e-02 3.07237357e-04 9.98637483e-01 1.07382763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.1571056809999 meters 0.024099069222006577 Centerline is valid? [True, True] Translation: X:188.04, Y:153.81, Z:10.74 [[-5.23916370e-01 -8.51314788e-01 2.78346635e-02 1.88042718e+02] [ 8.50172124e-01 -5.24654950e-01 -4.40969779e-02 1.53812046e+02] [ 5.21440034e-02 5.61126386e-04 9.98639418e-01 1.07399513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.18710568099993 meters 0.02685951190404511 Centerline is valid? [True, True] Translation: X:188.02, Y:153.83, Z:10.74 [[-5.16570201e-01 -8.55808420e-01 2.73345218e-02 1.88019222e+02] [ 8.54714933e-01 -5.17291906e-01 -4.32604554e-02 1.53826500e+02] [ 5.11625888e-02 1.01616189e-03 9.98689820e-01 1.07426517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2171056809999 meters 0.02712877957446098 Centerline is valid? [True, True] Translation: X:188.00, Y:153.85, Z:10.74 [[-5.13480759e-01 -8.57660924e-01 2.74817971e-02 1.88002264e+02] [ 8.56560535e-01 -5.14214185e-01 -4.34490683e-02 1.53848211e+02] [ 5.13960979e-02 1.22956226e-03 9.98677590e-01 1.07445975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.24710568099994 meters 0.03270133149784372 Centerline is valid? [True, True] Translation: X:187.97, Y:153.86, Z:10.74 [[-5.07164872e-01 -8.61388405e-01 2.81745915e-02 1.87974660e+02] [ 8.60239693e-01 -5.07944127e-01 -4.45020671e-02 1.53862226e+02] [ 5.26446829e-02 1.66701678e-03 9.98611916e-01 1.07390081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2771056809999 meters 0.035078511329712646 Centerline is valid? [True, True] Translation: X:187.96, Y:153.88, Z:10.74 [[-4.99490142e-01 -8.65813552e-01 2.96055910e-02 1.87957151e+02] [ 8.64555271e-01 -5.00361648e-01 -4.67162058e-02 1.53883253e+02] [ 5.52610264e-02 2.26138554e-03 9.98469381e-01 1.07406782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.30710568099994 meters 0.03750745470040917 Centerline is valid? [True, True] Translation: X:187.94, Y:153.90, Z:10.74 [[-4.95431360e-01 -8.68121769e-01 3.02053456e-02 1.87939011e+02] [ 8.66818722e-01 -4.96344517e-01 -4.76174768e-02 1.53903342e+02] [ 5.63300258e-02 2.59136780e-03 9.98408841e-01 1.07415201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3371056809999 meters 0.04286593926460078 Centerline is valid? [True, True] Translation: X:187.92, Y:153.92, Z:10.74 [[-4.87768137e-01 -8.72420586e-01 3.10574704e-02 1.87915082e+02] [ 8.71054131e-01 -4.88745455e-01 -4.89140145e-02 1.53919072e+02] [ 5.78527907e-02 3.19404022e-03 9.98320015e-01 1.07400730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.36710568099994 meters 0.041757625742535845 Centerline is valid? [True, True] Translation: X:187.90, Y:153.94, Z:10.74 [[-4.83839996e-01 -8.74584212e-01 3.16435647e-02 1.87901389e+02] [ 8.73173039e-01 -4.84860724e-01 -4.97887768e-02 1.53941698e+02] [ 5.88871998e-02 3.54050603e-03 9.98258365e-01 1.07420507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3971056809999 meters 0.0501961725678189 Centerline is valid? [True, True] Translation: X:187.88, Y:153.96, Z:10.74 [[-4.77832778e-01 -8.77845748e-01 3.25987624e-02 1.87877881e+02] [ 8.76358186e-01 -4.78926077e-01 -5.12459043e-02 1.53957638e+02] [ 6.05983965e-02 4.08121945e-03 9.98153885e-01 1.07375609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.42710568099994 meters 0.04967431610442785 Centerline is valid? [True, True] Translation: X:187.87, Y:153.98, Z:10.74 [[-4.76676647e-01 -8.78446707e-01 3.33280178e-02 1.87865101e+02] [ 8.76895866e-01 -4.77821241e-01 -5.23497949e-02 1.53980955e+02] [ 6.19113398e-02 4.27127633e-03 9.98072513e-01 1.07393707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.4571056809999 meters 0.05286263675940148 Centerline is valid? [True, True] Translation: X:187.85, Y:154.00, Z:10.74 [[-4.76929215e-01 -8.78273092e-01 3.42768065e-02 1.87848940e+02] [ 8.76635118e-01 -4.78139188e-01 -5.37939297e-02 1.54001338e+02] [ 6.36348454e-02 4.39235567e-03 9.97963583e-01 1.07351571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.48710568099995 meters 0.04796709872386838 Centerline is valid? [True, True] Translation: X:187.84, Y:154.03, Z:10.74 [[-4.78147093e-01 -8.77565381e-01 3.54169245e-02 1.87841791e+02] [ 8.75817745e-01 -4.79436199e-01 -5.55356544e-02 1.54027674e+02] [ 6.57163234e-02 4.46455925e-03 9.97828358e-01 1.07363650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.5171056809999 meters 0.047014490200010244 Centerline is valid? [True, True] Translation: X:187.83, Y:154.05, Z:10.74 [[-4.80373526e-01 -8.76295378e-01 3.67108329e-02 1.87832422e+02] [ 8.74417696e-01 -4.81753450e-01 -5.75091893e-02 1.54054137e+02] [ 6.80806072e-02 4.47470981e-03 9.97669789e-01 1.07350473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.54710568099995 meters 0.04761393885827219 Centerline is valid? [True, True] Translation: X:187.82, Y:154.08, Z:10.74 [[-4.84397241e-01 -8.74101782e-01 3.61301563e-02 1.87821191e+02] [ 8.72280519e-01 -4.85725300e-01 -5.65475846e-02 1.54077511e+02] [ 6.69776755e-02 4.12413753e-03 9.97745951e-01 1.07370360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.5771056809999 meters 0.042331198493073284 Centerline is valid? [True, True] Translation: X:187.82, Y:154.11, Z:10.74 [[-4.86990409e-01 -8.72682534e-01 3.55743656e-02 1.87815841e+02] [ 8.70916676e-01 -4.88272500e-01 -5.56247152e-02 1.54105638e+02] [ 6.59127018e-02 3.89360541e-03 9.97817797e-01 1.07420167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.60710568099995 meters 0.04024297525392574 Centerline is valid? [True, True] Translation: X:187.81, Y:154.13, Z:10.74 [[-4.94618439e-01 -8.68391051e-01 3.53494172e-02 1.87807885e+02] [ 8.66639897e-01 -4.95868880e-01 -5.52208535e-02 1.54131915e+02] [ 6.54819710e-02 3.32196288e-03 9.97848223e-01 1.07416794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.6371056809999 meters 0.04024297525392574 Centerline is valid? [True, True] Translation: X:187.79, Y:154.15, Z:10.74 [[-4.95003516e-01 -8.68170624e-01 3.53735364e-02 1.87793634e+02] [ 8.66420007e-01 -4.96254708e-01 -5.52054021e-02 1.54153573e+02] [ 6.54819924e-02 3.32147151e-03 9.97848223e-01 1.07426363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.66710568099995 meters 0.037983960185811176 Centerline is valid? [True, True] Translation: X:187.78, Y:154.18, Z:10.74 [[-4.99712696e-01 -8.65479291e-01 3.51115085e-02 1.87784628e+02] [ 8.63751364e-01 -5.00935890e-01 -5.47431809e-02 1.54178977e+02] [ 6.49677041e-02 2.97175084e-03 9.97882942e-01 1.07436107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.6971056809999 meters 0.031995849078677155 Centerline is valid? [True, True] Translation: X:187.78, Y:154.21, Z:10.75 [[-5.08674075e-01 -8.60280377e-01 3.41812680e-02 1.87783128e+02] [ 8.58634212e-01 -5.09816181e-01 -5.32423913e-02 1.54209587e+02] [ 6.32295479e-02 2.26618199e-03 9.97996437e-01 1.07499710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.72710568099995 meters 0.03096203162755441 Centerline is valid? [True, True] Translation: X:187.77, Y:154.23, Z:10.75 [[-5.12966882e-01 -8.57746297e-01 3.37085685e-02 1.87772522e+02] [ 8.56142874e-01 -5.14069535e-01 -5.24584752e-02 1.54234526e+02] [ 6.23246111e-02 1.94989029e-03 9.98054027e-01 1.07518792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.7571056809999 meters 0.028406996018087705 Centerline is valid? [True, True] Translation: X:187.76, Y:154.26, Z:10.76 [[-5.20327597e-01 -8.53336124e-01 3.28123724e-02 1.87763964e+02] [ 8.51810854e-01 -5.21359270e-01 -5.10174491e-02 1.54259687e+02] [ 6.06420668e-02 1.40414823e-03 9.98158589e-01 1.07557583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.7871056809999 meters 0.02713626662309739 Centerline is valid? [True, True] Translation: X:187.75, Y:154.28, Z:10.76 [[-5.24047733e-01 -8.51067019e-01 3.25407765e-02 1.87750869e+02] [ 8.49565136e-01 -5.25055804e-01 -5.05517798e-02 1.54284026e+02] [ 6.01086761e-02 1.15396359e-03 9.98191172e-01 1.07578777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.81710568099993 meters 0.026704089599635175 Centerline is valid? [True, True] Translation: X:187.74, Y:154.31, Z:10.76 [[-5.25139432e-01 -8.50363751e-01 3.33176670e-02 1.87736626e+02] [ 8.48790408e-01 -5.26194102e-01 -5.17166305e-02 1.54306352e+02] [ 6.15095077e-02 1.12127418e-03 9.98105868e-01 1.07591642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.8471056809999 meters 0.026953223550416138 Centerline is valid? [True, True] Translation: X:187.72, Y:154.33, Z:10.76 [[-5.26417567e-01 -8.49502082e-01 3.50821401e-02 1.87720227e+02] [ 8.47759240e-01 -5.27584109e-01 -5.43992600e-02 1.54327146e+02] [ 6.47210643e-02 1.10448224e-03 9.97902783e-01 1.07576802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.87710568099993 meters 0.026853104028708982 Centerline is valid? [True, True] Translation: X:187.70, Y:154.35, Z:10.76 [[-5.27308087e-01 -8.48933888e-01 3.54603339e-02 1.87704456e+02] [ 8.47155189e-01 -5.28497970e-01 -5.49361520e-02 1.54346914e+02] [ 6.53778756e-02 1.07212867e-03 9.97860002e-01 1.07575464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.9071056809999 meters 0.02645875192548806 Centerline is valid? [True, True] Translation: X:187.69, Y:154.37, Z:10.76 [[-5.28085837e-01 -8.48420564e-01 3.61648331e-02 1.87686501e+02] [ 8.46572511e-01 -5.29321673e-01 -5.59781237e-02 1.54367144e+02] [ 6.66358213e-02 1.05489923e-03 9.97776806e-01 1.07577250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.93710568099993 meters 0.02639603255223088 Centerline is valid? [True, True] Translation: X:187.67, Y:154.39, Z:10.76 [[-5.29039156e-01 -8.47807702e-01 3.66015255e-02 1.87670890e+02] [ 8.45917103e-01 -5.30302800e-01 -5.65967713e-02 1.54387225e+02] [ 6.73930701e-02 1.01994835e-03 9.97725981e-01 1.07577150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.9671056809999 meters 0.026081528055109455 Centerline is valid? [True, True] Translation: X:187.65, Y:154.41, Z:10.76 [[-5.31237697e-01 -8.46438251e-01 3.64526678e-02 1.87653977e+02] [ 8.44563575e-01 -5.32486175e-01 -5.63102270e-02 1.54407026e+02] [ 6.70736717e-02 8.72480077e-04 9.97747644e-01 1.07588288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99710568099994 meters 0.025978675442932544 Centerline is valid? [True, True] Translation: X:187.64, Y:154.43, Z:10.76 [[-5.32509322e-01 -8.45664928e-01 3.58420464e-02 1.87637822e+02] [ 8.43854309e-01 -5.33713599e-01 -5.53145412e-02 1.54428420e+02] [ 6.59069551e-02 7.89956503e-04 9.97825460e-01 1.07613190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0271056809999 meters 0.026121404740633715 Centerline is valid? [True, True] Translation: X:187.62, Y:154.45, Z:10.77 [[-5.32657368e-01 -8.45629649e-01 3.44474387e-02 1.87619004e+02] [ 8.43960407e-01 -5.33769507e-01 -5.31125730e-02 1.54448155e+02] [ 6.33005589e-02 7.81471060e-04 9.97994203e-01 1.07650830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05710568099994 meters 0.026590215934925863 Centerline is valid? [True, True] Translation: X:187.60, Y:154.47, Z:10.77 [[-5.31042053e-01 -8.46710709e-01 3.27919562e-02 1.87596107e+02] [ 8.45202983e-01 -5.32052800e-01 -5.05147032e-02 1.54465232e+02] [ 6.02183923e-02 8.90427496e-04 9.98184829e-01 1.07688895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0871056809999 meters 0.02683511942391182 Centerline is valid? [True, True] Translation: X:187.58, Y:154.48, Z:10.77 [[-5.29142863e-01 -8.47920496e-01 3.22282951e-02 1.87576997e+02] [ 8.46469205e-01 -5.30122402e-01 -4.95996326e-02 1.54483963e+02] [ 5.91414863e-02 1.03496773e-03 9.98249074e-01 1.07712481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11710568099994 meters 0.027389474886604075 Centerline is valid? [True, True] Translation: X:187.56, Y:154.50, Z:10.77 [[-5.27056669e-01 -8.49214213e-01 3.23494859e-02 1.87557428e+02] [ 8.47757270e-01 -5.28047117e-01 -4.97378516e-02 1.54503268e+02] [ 5.93201432e-02 1.20984547e-03 9.98238277e-01 1.07729119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.1471056809999 meters 0.029539731930404708 Centerline is valid? [True, True] Translation: X:187.53, Y:154.52, Z:10.77 [[-5.22475287e-01 -8.52014612e-01 3.30253576e-02 1.87533396e+02] [ 8.50504532e-01 -5.23515609e-01 -5.07291659e-02 1.54519308e+02] [ 6.05112808e-02 1.58348072e-03 9.98166257e-01 1.07718431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17710568099994 meters 0.03301060886208935 Centerline is valid? [True, True] Translation: X:187.51, Y:154.53, Z:10.77 [[-5.16959193e-01 -8.55350017e-01 3.36086316e-02 1.87507412e+02] [ 8.53795825e-01 -5.18046548e-01 -5.15796813e-02 1.54533524e+02] [ 6.15295169e-02 2.03031888e-03 9.98103199e-01 1.07714423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.2071056809999 meters 0.034000347840894105 Centerline is valid? [True, True] Translation: X:187.49, Y:154.55, Z:10.77 [[-5.14340213e-01 -8.56927917e-01 3.35959879e-02 1.87487663e+02] [ 8.55380875e-01 -5.15431400e-01 -5.15172793e-02 1.54552301e+02] [ 6.14630219e-02 2.23995711e-03 9.98106848e-01 1.07728042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23710568099995 meters 0.03752559800573917 Centerline is valid? [True, True] Translation: X:187.46, Y:154.57, Z:10.77 [[-5.08977892e-01 -8.60110693e-01 3.39278802e-02 1.87462111e+02] [ 8.58542900e-01 -5.10100431e-01 -5.19772919e-02 1.54568219e+02] [ 6.20128509e-02 2.67324821e-03 9.98071771e-01 1.07712101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.2671056809999 meters 0.03955093908606249 Centerline is valid? [True, True] Translation: X:187.44, Y:154.59, Z:10.77 [[-5.06967679e-01 -8.61288183e-01 3.41531418e-02 1.87443354e+02] [ 8.59705230e-01 -5.08108728e-01 -5.22727247e-02 1.54585963e+02] [ 6.23753895e-02 2.86105275e-03 9.98048659e-01 1.07711310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29710568099995 meters 0.04133847608514284 Centerline is valid? [True, True] Translation: X:187.42, Y:154.60, Z:10.77 [[-5.04515103e-01 -8.62732442e-01 3.40182897e-02 1.87423457e+02] [ 8.61168545e-01 -5.05651466e-01 -5.20128046e-02 1.54603878e+02] [ 6.20745319e-02 3.05423556e-03 9.98066844e-01 1.07711575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.3271056809999 meters 0.037601147988930744 Centerline is valid? [True, True] Translation: X:187.41, Y:154.63, Z:10.78 [[-5.05074308e-01 -8.62417110e-01 3.37145567e-02 1.87412792e+02] [ 8.60883532e-01 -5.06189332e-01 -5.14966489e-02 1.54628093e+02] [ 6.14775401e-02 3.01467238e-03 9.98103914e-01 1.07757310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35710568099995 meters 0.03686055295932955 Centerline is valid? [True, True] Translation: X:187.40, Y:154.65, Z:10.77 [[-5.07500771e-01 -8.60978605e-01 3.40412928e-02 1.87399559e+02] [ 8.59414840e-01 -5.08632952e-01 -5.19485618e-02 1.54650701e+02] [ 6.20411236e-02 2.89165706e-03 9.98069405e-01 1.07748405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.3871056809999 meters 0.036509042716353496 Centerline is valid? [True, True] Translation: X:187.39, Y:154.67, Z:10.77 [[-5.09616274e-01 -8.59695808e-01 3.48478240e-02 1.87386349e+02] [ 8.58056798e-01 -5.10798542e-01 -5.31354909e-02 1.54673289e+02] [ 6.34805765e-02 2.82270137e-03 9.97979082e-01 1.07731880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41710568099995 meters 0.034677384113219474 Centerline is valid? [True, True] Translation: X:187.38, Y:154.70, Z:10.77 [[-5.15866880e-01 -8.55946433e-01 3.51719441e-02 1.87375528e+02] [ 8.54271369e-01 -5.17058900e-01 -5.35772463e-02 1.54696888e+02] [ 6.40452197e-02 2.40765793e-03 9.97944093e-01 1.07705656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.4471056809999 meters 0.03050301996573436 Centerline is valid? [True, True] Translation: X:187.37, Y:154.72, Z:10.77 [[-5.22956036e-01 -8.51626170e-01 3.53532198e-02 1.87368030e+02] [ 8.49927270e-01 -5.24146170e-01 -5.37998959e-02 1.54723533e+02] [ 6.43476541e-02 1.91268531e-03 9.97925709e-01 1.07708359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47710568099995 meters 0.029212237252250573 Centerline is valid? [True, True] Translation: X:187.35, Y:154.75, Z:10.77 [[-5.25492022e-01 -8.50076279e-01 3.50493185e-02 1.87354677e+02] [ 8.48405881e-01 -5.26656741e-01 -5.32929485e-02 1.54747914e+02] [ 6.37620312e-02 1.73102870e-03 9.97963630e-01 1.07730607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.5071056809999 meters 0.02873787848194723 Centerline is valid? [True, True] Translation: X:187.34, Y:154.77, Z:10.77 [[-5.27754444e-01 -8.48686404e-01 3.47366573e-02 1.87341162e+02] [ 8.47045354e-01 -5.28894054e-01 -5.27754431e-02 1.54769672e+02] [ 6.31618125e-02 1.57104959e-03 9.98002063e-01 1.07749508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.5371056809999 meters 0.0269698292580381 Centerline is valid? [True, True] Translation: X:187.33, Y:154.79, Z:10.78 [[-5.32012204e-01 -8.46098145e-01 3.28777145e-02 1.87329351e+02] [ 8.44626137e-01 -5.33025740e-01 -4.99024006e-02 1.54792670e+02] [ 5.97469967e-02 1.22069090e-03 9.98212806e-01 1.07807963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.56710568099993 meters 0.024566839776282504 Centerline is valid? [True, True] Translation: X:187.32, Y:154.82, Z:10.79 [[-5.37512962e-01 -8.42716014e-01 3.01585125e-02 1.87319171e+02] [ 8.41474500e-01 -5.38357769e-01 -4.57337812e-02 1.54818003e+02] [ 5.47766593e-02 7.95119017e-04 9.98498315e-01 1.07892925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.5971056809999 meters 0.023704296775749024 Centerline is valid? [True, True] Translation: X:187.31, Y:154.84, Z:10.79 [[-5.40689666e-01 -8.40693192e-01 2.98268667e-02 1.87306893e+02] [ 8.39478051e-01 -5.41511394e-01 -4.51886343e-02 1.54840654e+02] [ 5.41413653e-02 6.05972328e-04 9.98533097e-01 1.07908284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.62710568099993 meters 0.022429676403012917 Centerline is valid? [True, True] Translation: X:187.30, Y:154.86, Z:10.79 [[-5.45765676e-01 -8.37410493e-01 2.97236142e-02 1.87295575e+02] [ 8.36201263e-01 -5.46574400e-01 -4.49874779e-02 1.54863555e+02] [ 5.39191526e-02 3.02302527e-04 9.98545259e-01 1.07912220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.6571056809999 meters 0.022242120772367344 Centerline is valid? [True, True] Translation: X:187.28, Y:154.88, Z:10.79 [[-5.47596118e-01 -8.36200768e-01 3.01125827e-02 1.87282512e+02] [ 8.34960218e-01 -5.48423406e-01 -4.55324281e-02 1.54884402e+02] [ 5.45886965e-02 2.09427732e-04 9.98508903e-01 1.07918797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.68710568099993 meters 0.022123621247750413 Centerline is valid? [True, True] Translation: X:187.27, Y:154.91, Z:10.79 [[-5.51400749e-01 -8.33680839e-01 3.05527893e-02 1.87268540e+02] [ 8.32402234e-01 -5.52246556e-01 -4.61547675e-02 1.54906107e+02] [ 5.53510179e-02 -1.75632637e-05 9.98466957e-01 1.07907758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7171056809999 meters 0.02157117719046315 Centerline is valid? [True, True] Translation: X:187.25, Y:154.93, Z:10.79 [[-5.52424354e-01 -8.32963245e-01 3.16159000e-02 1.87249250e+02] [ 8.31595627e-01 -5.53328318e-01 -4.77125193e-02 1.54925729e+02] [ 5.72367477e-02 -6.59134873e-05 9.98360631e-01 1.07905091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.74710568099994 meters 0.02171499528751932 Centerline is valid? [True, True] Translation: X:187.23, Y:154.94, Z:10.79 [[-5.51841962e-01 -8.33341035e-01 3.18303031e-02 1.87231632e+02] [ 8.31958070e-01 -5.52759187e-01 -4.79901096e-02 1.54944710e+02] [ 5.75866200e-02 -1.47868080e-06 9.98340514e-01 1.07897852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7771056809999 meters 0.021550707109382616 Centerline is valid? [True, True] Translation: X:187.21, Y:154.96, Z:10.79 [[-5.49718497e-01 -8.34745451e-01 3.17743018e-02 1.87210860e+02] [ 8.33372521e-01 -5.50635998e-01 -4.78564433e-02 1.54963002e+02] [ 5.74440227e-02 1.72257925e-04 9.98348714e-01 1.07911261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.80710568099994 meters 0.02143305102619646 Centerline is valid? [True, True] Translation: X:187.19, Y:154.98, Z:10.79 [[-5.48993509e-01 -8.35223131e-01 3.17560825e-02 1.87193511e+02] [ 8.33855107e-01 -5.49911140e-01 -4.77849245e-02 1.54981957e+02] [ 5.73740978e-02 2.46358197e-04 9.98352719e-01 1.07931255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8371056809999 meters 0.021109280488507708 Centerline is valid? [True, True] Translation: X:187.17, Y:155.00, Z:10.80 [[-5.47748143e-01 -8.36101975e-01 3.00908311e-02 1.87173409e+02] [ 8.34877111e-01 -5.48573943e-01 -4.52420075e-02 1.54999633e+02] [ 5.43339777e-02 3.40920509e-04 9.98522760e-01 1.07986348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.86710568099994 meters 0.02130464299917949 Centerline is valid? [True, True] Translation: X:187.16, Y:155.02, Z:10.80 [[-5.47069348e-01 -8.36590373e-01 2.88387876e-02 1.87156677e+02] [ 8.35468199e-01 -5.47828797e-01 -4.33185635e-02 1.55020468e+02] [ 5.20386115e-02 3.95631683e-04 9.98644995e-01 1.08012009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8971056809999 meters 0.022566456488077938 Centerline is valid? [True, True] Translation: X:187.14, Y:155.04, Z:10.80 [[-5.44294392e-01 -8.38433585e-01 2.77981659e-02 1.87138061e+02] [ 8.37395376e-01 -5.45003482e-01 -4.17155657e-02 1.55038843e+02] [ 5.01258286e-02 5.72507118e-04 9.98742746e-01 1.08037524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.92710568099994 meters 0.023387815429376926 Centerline is valid? [True, True] Translation: X:187.12, Y:155.06, Z:10.81 [[-5.42178744e-01 -8.39806495e-01 2.76994695e-02 1.87120182e+02] [ 8.38779498e-01 -5.42885378e-01 -4.15261345e-02 1.55058869e+02] [ 4.99115544e-02 7.19159614e-04 9.98753383e-01 1.08066927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.9571056809999 meters 0.025336241138181493 Centerline is valid? [True, True] Translation: X:187.10, Y:155.08, Z:10.81 [[-5.36535514e-01 -8.43458602e-01 2.65937586e-02 1.87098310e+02] [ 8.42518219e-01 -5.37193182e-01 -3.98313314e-02 1.55076192e+02] [ 4.78820649e-02 1.03480231e-03 9.98852460e-01 1.08106148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.98710568099995 meters 0.030962952384855517 Centerline is valid? [True, True] Translation: X:187.08, Y:155.09, Z:10.81 [[-5.29692354e-01 -8.47760348e-01 2.69889257e-02 1.87075348e+02] [ 8.46799236e-01 -5.30377460e-01 -4.03832174e-02 1.55091838e+02] [ 4.85496084e-02 1.46352016e-03 9.98819700e-01 1.08088671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.0171056809999 meters 0.03238838660603669 Centerline is valid? [True, True] Translation: X:187.06, Y:155.11, Z:10.81 [[-5.26967641e-01 -8.49436974e-01 2.76031381e-02 1.87058985e+02] [ 8.48435878e-01 -5.27687426e-01 -4.12618650e-02 1.55112868e+02] [ 4.96151827e-02 1.67582505e-03 9.98767002e-01 1.08088494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.04710568099995 meters 0.03474161906694314 Centerline is valid? [True, True] Translation: X:187.04, Y:155.13, Z:10.81 [[-5.21822957e-01 -8.52589076e-01 2.81543595e-02 1.87042495e+02] [ 8.51554055e-01 -5.22577966e-01 -4.20471369e-02 1.55134098e+02] [ 5.05617775e-02 2.03379769e-03 9.98718865e-01 1.08088209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.0771056809999 meters 0.036207656741255735 Centerline is valid? [True, True] Translation: X:187.03, Y:155.15, Z:10.81 [[-5.19612896e-01 -8.53944244e-01 2.79583119e-02 1.87026981e+02] [ 8.52927459e-01 -5.20359990e-01 -4.17160745e-02 1.55154743e+02] [ 5.01715886e-02 2.17020166e-03 9.98738255e-01 1.08094355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.10710568099995 meters 0.04042664841226324 Centerline is valid? [True, True] Translation: X:187.01, Y:155.18, Z:10.81 [[-5.15093726e-01 -8.56673964e-01 2.80744322e-02 1.87011247e+02] [ 8.55654763e-01 -5.15852341e-01 -4.18484007e-02 1.55175285e+02] [ 5.03326969e-02 2.46617299e-03 9.98729462e-01 1.08105801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.1371056809999 meters 0.04184625343852314 Centerline is valid? [True, True] Translation: X:187.00, Y:155.20, Z:10.81 [[-5.13526667e-01 -8.57636107e-01 2.73983705e-02 1.86998344e+02] [ 8.56668636e-01 -5.14250881e-01 -4.08029468e-02 1.55197612e+02] [ 4.90837166e-02 2.51792341e-03 9.98791494e-01 1.08134416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.16710568099995 meters 0.04468247567401028 Centerline is valid? [True, True] Translation: X:186.99, Y:155.22, Z:10.82 [[-5.10608751e-01 -8.59414869e-01 2.61684217e-02 1.86986769e+02] [ 8.58536330e-01 -5.11272331e-01 -3.89355002e-02 1.55221350e+02] [ 4.68409378e-02 2.58573356e-03 9.98899014e-01 1.08164565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.1971056809999 meters 0.04797096333804424 Centerline is valid? [True, True] Translation: X:186.97, Y:155.24, Z:10.81 [[-5.07998056e-01 -8.60917226e-01 2.75591157e-02 1.86974801e+02] [ 8.59946899e-01 -5.08736850e-01 -4.09652153e-02 1.55243590e+02] [ 4.92879973e-02 2.88912638e-03 9.98780429e-01 1.08132106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.22710568099995 meters 0.041418268560971354 Centerline is valid? [True, True] Translation: X:186.97, Y:155.27, Z:10.81 [[-5.07934374e-01 -8.60920272e-01 2.86174182e-02 1.86971174e+02] [ 8.59876101e-01 -5.08730923e-01 -4.24963483e-02 1.55273889e+02] [ 5.11445333e-02 3.02207791e-03 9.98686689e-01 1.08141831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.2571056809999 meters 0.040417237931018875 Centerline is valid? [True, True] Translation: X:186.97, Y:155.30, Z:10.81 [[-5.10894019e-01 -8.59120022e-01 3.00014893e-02 1.86965530e+02] [ 8.57971455e-01 -5.11765363e-01 -4.45106240e-02 1.55302840e+02] [ 5.35936913e-02 3.00020982e-03 9.98558318e-01 1.08091882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.2871056809999 meters 0.04518020054485111 Centerline is valid? [True, True] Translation: X:186.95, Y:155.33, Z:10.80 [[-5.18376998e-01 -8.54573972e-01 3.14422270e-02 1.86953826e+02] [ 8.53306431e-01 -5.19322819e-01 -4.66041382e-02 1.55326877e+02] [ 5.61553494e-02 2.67134126e-03 9.98418470e-01 1.08012178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.31710568099993 meters 0.035264401502186085 Centerline is valid? [True, True] Translation: X:186.96, Y:155.36, Z:10.81 [[-5.22703457e-01 -8.51907081e-01 3.21779474e-02 1.86956435e+02] [ 8.50577035e-01 -5.23687174e-01 -4.76492506e-02 1.55361393e+02] [ 5.74439123e-02 2.46339506e-03 9.98345696e-01 1.08065891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.3471056809999 meters 0.03191423020724327 Centerline is valid? [True, True] Translation: X:186.96, Y:155.39, Z:10.81 [[-5.32024327e-01 -8.46144660e-01 3.14536080e-02 1.86955726e+02] [ 8.44866032e-01 -5.32950199e-01 -4.65346564e-02 1.55392069e+02] [ 5.61382576e-02 1.81651573e-03 9.98421352e-01 1.08079227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.37710568099993 meters 0.028823893191770783 Centerline is valid? [True, True] Translation: X:186.95, Y:155.42, Z:10.81 [[-5.36440397e-01 -8.43422472e-01 2.94997228e-02 1.86949122e+02] [ 8.42295846e-01 -5.37248929e-01 -4.36038466e-02 1.55419484e+02] [ 5.26251586e-02 1.45662918e-03 9.98613274e-01 1.08138599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.4071056809999 meters 0.025936046077181193 Centerline is valid? [True, True] Translation: X:186.95, Y:155.45, Z:10.82 [[-5.43656713e-01 -8.38865667e-01 2.72354701e-02 1.86945777e+02] [ 8.37901324e-01 -5.44337656e-01 -4.02229695e-02 1.55449259e+02] [ 4.85669601e-02 9.53149104e-04 9.98819474e-01 1.08180635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.43710568099993 meters 0.025106652244620862 Centerline is valid? [True, True] Translation: X:186.94, Y:155.47, Z:10.82 [[-5.46153522e-01 -8.37241014e-01 2.72729657e-02 1.86935689e+02] [ 8.36273761e-01 -5.46833426e-01 -4.02417854e-02 1.55474617e+02] [ 4.86058425e-02 8.29472786e-04 9.98817693e-01 1.08193947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.4671056809999 meters 0.024073458864229572 Centerline is valid? [True, True] Translation: X:186.93, Y:155.50, Z:10.82 [[-5.49362711e-01 -8.35144990e-01 2.70824203e-02 1.86927075e+02] [ 8.34190460e-01 -5.50029464e-01 -3.99232364e-02 1.55500841e+02] [ 4.82378200e-02 6.59559242e-04 9.98835661e-01 1.08204958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49710568099994 meters 0.02468749787786465 Centerline is valid? [True, True] Translation: X:186.91, Y:155.52, Z:10.82 [[-5.48715818e-01 -8.35595153e-01 2.63000193e-02 1.86913738e+02] [ 8.34697209e-01 -5.49345294e-01 -3.87339298e-02 1.55522698e+02] [ 4.68136758e-02 6.98632741e-04 9.98903395e-01 1.08211110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5271056809999 meters 0.025188033980010464 Centerline is valid? [True, True] Translation: X:186.90, Y:155.54, Z:10.82 [[-5.47112890e-01 -8.36649419e-01 2.61769975e-02 1.86898317e+02] [ 8.35762790e-01 -5.47738168e-01 -3.85156776e-02 1.55544516e+02] [ 4.65622600e-02 8.05336830e-04 9.98915065e-01 1.08226312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55710568099994 meters 0.025188033980010464 Centerline is valid? [True, True] Translation: X:186.88, Y:155.57, Z:10.82 [[-5.47481990e-01 -8.36407423e-01 2.61933825e-02 1.86883478e+02] [ 8.35521051e-01 -5.48107631e-01 -3.85045325e-02 1.55565749e+02] [ 4.65622696e-02 8.04584393e-04 9.98915065e-01 1.08235868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5871056809999 meters 0.026779806097694935 Centerline is valid? [True, True] Translation: X:186.86, Y:155.58, Z:10.83 [[-5.41960448e-01 -8.40032024e-01 2.50014221e-02 1.86864261e+02] [ 8.39229758e-01 -5.42535741e-01 -3.67203491e-02 1.55584861e+02] [ 4.44104342e-02 1.08096055e-03 9.99012785e-01 1.08261182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61710568099994 meters 0.028382963811592613 Centerline is valid? [True, True] Translation: X:186.85, Y:155.60, Z:10.83 [[-5.38622964e-01 -8.42182866e-01 2.47653518e-02 1.86845172e+02] [ 8.41399041e-01 -5.39190536e-01 -3.63485810e-02 1.55603816e+02] [ 4.39653955e-02 1.25936280e-03 9.99032261e-01 1.08263141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.6471056809999 meters 0.032961982856030095 Centerline is valid? [True, True] Translation: X:186.82, Y:155.62, Z:10.82 [[-5.31773631e-01 -8.46544962e-01 2.40506080e-02 1.86821487e+02] [ 8.45811191e-01 -5.32314867e-01 -3.52747996e-02 1.55619567e+02] [ 4.26642001e-02 1.58406508e-03 9.99088213e-01 1.08245331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67710568099994 meters 0.0329139820866516 Centerline is valid? [True, True] Translation: X:186.81, Y:155.64, Z:10.83 [[-5.28373202e-01 -8.48681988e-01 2.36778770e-02 1.86806134e+02] [ 8.47974245e-01 -5.28900591e-01 -3.46964666e-02 1.55641378e+02] [ 4.19695094e-02 1.74554677e-03 9.99117367e-01 1.08255274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.7071056809999 meters 0.03679125706816205 Centerline is valid? [True, True] Translation: X:186.79, Y:155.66, Z:10.83 [[-5.23115689e-01 -8.51957538e-01 2.27668456e-02 1.86785348e+02] [ 8.51307511e-01 -5.23607265e-01 -3.33309832e-02 1.55658957e+02] [ 4.03174681e-02 1.94562642e-03 9.99185026e-01 1.08257835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73710568099995 meters 0.03788584364699705 Centerline is valid? [True, True] Translation: X:186.77, Y:155.68, Z:10.83 [[-5.22034521e-01 -8.52661741e-01 2.11639949e-02 1.86768819e+02] [ 8.52101632e-01 -5.22459996e-01 -3.09574146e-02 1.55680010e+02] [ 3.74535437e-02 1.87303547e-03 9.99296615e-01 1.08274719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.7671056809999 meters 0.03708257073989598 Centerline is valid? [True, True] Translation: X:186.76, Y:155.70, Z:10.83 [[-5.22631252e-01 -8.52282559e-01 2.17028736e-02 1.86755107e+02] [ 8.51694376e-01 -5.23078194e-01 -3.17158210e-02 1.55702279e+02] [ 3.83831410e-02 1.90853614e-03 9.99261273e-01 1.08269350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79710568099995 meters 0.03839957770825629 Centerline is valid? [True, True] Translation: X:186.74, Y:155.72, Z:10.82 [[-5.23227929e-01 -8.51875638e-01 2.32471952e-02 1.86739659e+02] [ 8.51201785e-01 -5.23740177e-01 -3.39374213e-02 1.55722271e+02] [ 4.10859525e-02 2.03104738e-03 9.99153551e-01 1.08238676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.8271056809999 meters 0.03669004676331404 Centerline is valid? [True, True] Translation: X:186.73, Y:155.75, Z:10.82 [[-5.24277870e-01 -8.51221454e-01 2.35531848e-02 1.86726632e+02] [ 8.50530516e-01 -5.24802764e-01 -3.43496714e-02 1.55746132e+02] [ 4.15999537e-02 2.02392987e-03 9.99132297e-01 1.08235681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85710568099995 meters 0.036005986839036726 Centerline is valid? [True, True] Translation: X:186.71, Y:155.77, Z:10.83 [[-5.25084991e-01 -8.50735603e-01 2.31232943e-02 1.86712724e+02] [ 8.50070390e-01 -5.25590216e-01 -3.36935687e-02 1.55768435e+02] [ 4.08176957e-02 1.96444059e-03 9.99164679e-01 1.08254457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.8871056809999 meters 0.038772265792698275 Centerline is valid? [True, True] Translation: X:186.70, Y:155.79, Z:10.83 [[-5.26135418e-01 -8.50128869e-01 2.15041490e-02 1.86695779e+02] [ 8.49554151e-01 -5.26571623e-01 -3.13060795e-02 1.55788207e+02] [ 3.79376766e-02 1.79770186e-03 9.99278490e-01 1.08301817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91710568099995 meters 0.03649294623502038 Centerline is valid? [True, True] Translation: X:186.68, Y:155.81, Z:10.83 [[-5.25894859e-01 -8.50290700e-01 2.09838880e-02 1.86684027e+02] [ 8.49744334e-01 -5.26310338e-01 -3.05286070e-02 1.55813408e+02] [ 3.70022278e-02 1.77610240e-03 9.99313605e-01 1.08325310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.9471056809999 meters 0.036672082008144924 Centerline is valid? [True, True] Translation: X:186.67, Y:155.84, Z:10.83 [[-5.25960296e-01 -8.50243580e-01 2.12514087e-02 1.86668472e+02] [ 8.49684165e-01 -5.26386341e-01 -3.08907783e-02 1.55835097e+02] [ 3.74511372e-02 1.80966255e-03 9.99296821e-01 1.08325978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97710568099995 meters 0.03714423905646883 Centerline is valid? [True, True] Translation: X:186.65, Y:155.86, Z:10.83 [[-5.25406769e-01 -8.50584999e-01 2.12811314e-02 1.86653017e+02] [ 8.50025409e-01 -5.25834317e-01 -3.09042928e-02 1.55857439e+02] [ 3.74770771e-02 1.85217775e-03 9.99295771e-01 1.08336599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.0071056809999 meters 0.03905408005038889 Centerline is valid? [True, True] Translation: X:186.64, Y:155.88, Z:10.83 [[-5.24961630e-01 -8.50854095e-01 2.15080423e-02 1.86636855e+02] [ 8.50283751e-01 -5.25398589e-01 -3.12068208e-02 1.55877715e+02] [ 3.78527464e-02 1.90555535e-03 9.99281511e-01 1.08346098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.0371056809999 meters 0.03855519088354749 Centerline is valid? [True, True] Translation: X:186.62, Y:155.90, Z:10.84 [[-5.23819296e-01 -8.51554803e-01 2.16278364e-02 1.86624110e+02] [ 8.50979476e-01 -5.24261867e-01 -3.13596158e-02 1.55901775e+02] [ 3.80430813e-02 1.97807299e-03 9.99274142e-01 1.08350309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.06710568099993 meters 0.03891549061621447 Centerline is valid? [True, True] Translation: X:186.61, Y:155.92, Z:10.83 [[-5.23936993e-01 -8.51470215e-01 2.21020673e-02 1.86608633e+02] [ 8.50870382e-01 -5.24399040e-01 -3.20193526e-02 1.55923672e+02] [ 3.88538279e-02 2.02987112e-03 9.99242843e-01 1.08346547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.0971056809999 meters 0.040128982832124314 Centerline is valid? [True, True] Translation: X:186.59, Y:155.95, Z:10.83 [[-5.23508765e-01 -8.51723558e-01 2.24845075e-02 1.86592259e+02] [ 8.51104218e-01 -5.23987185e-01 -3.25428928e-02 1.55945610e+02] [ 3.94991423e-02 2.10016951e-03 9.99217397e-01 1.08329626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.12710568099993 meters 0.04260908987179169 Centerline is valid? [True, True] Translation: X:186.58, Y:155.97, Z:10.83 [[-5.22579196e-01 -8.52281454e-01 2.29631820e-02 1.86577254e+02] [ 8.51637120e-01 -5.23078839e-01 -3.32075746e-02 1.55967283e+02] [ 4.03137546e-02 2.20271056e-03 9.99184642e-01 1.08318040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.1571056809999 meters 0.040924964690211375 Centerline is valid? [True, True] Translation: X:186.57, Y:155.99, Z:10.83 [[-5.21762224e-01 -8.52773439e-01 2.32732299e-02 1.86568690e+02] [ 8.52113277e-01 -5.22276013e-01 -3.36263207e-02 1.55994488e+02] [ 4.08306829e-02 2.28648434e-03 9.99163464e-01 1.08340840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.18710568099993 meters 0.0434734010591467 Centerline is valid? [True, True] Translation: X:186.55, Y:156.01, Z:10.84 [[-5.21380746e-01 -8.53003009e-01 2.34090801e-02 1.86552399e+02] [ 8.52336488e-01 -5.21900783e-01 -3.37947365e-02 1.56014674e+02] [ 4.10442291e-02 2.33248822e-03 9.99154608e-01 1.08364278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2171056809999 meters 0.04064816957611903 Centerline is valid? [True, True] Translation: X:186.54, Y:156.04, Z:10.84 [[-5.20620774e-01 -8.53485995e-01 2.27082712e-02 1.86543449e+02] [ 8.52860094e-01 -5.21110658e-01 -3.27618915e-02 1.56041099e+02] [ 3.97953377e-02 2.31045698e-03 9.99205181e-01 1.08387033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.24710568099994 meters 0.04174627843579234 Centerline is valid? [True, True] Translation: X:186.53, Y:156.06, Z:10.84 [[-5.20387708e-01 -8.53654754e-01 2.16839738e-02 1.86528199e+02] [ 8.53085187e-01 -5.20834504e-01 -3.12583494e-02 1.56063723e+02] [ 3.79776003e-02 2.23181599e-03 9.99276098e-01 1.08415771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2771056809999 meters 0.0399008225372202 Centerline is valid? [True, True] Translation: X:186.52, Y:156.09, Z:10.85 [[-5.20788442e-01 -8.53442635e-01 2.03731908e-02 1.86518635e+02] [ 8.52940537e-01 -5.21182581e-01 -2.93454835e-02 1.56089694e+02] [ 3.56628389e-02 2.09433167e-03 9.99361684e-01 1.08466329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.30710568099994 meters 0.0436969454272104 Centerline is valid? [True, True] Translation: X:186.50, Y:156.11, Z:10.85 [[-5.21774926e-01 -8.52851461e-01 1.98824335e-02 1.86499848e+02] [ 8.52373695e-01 -5.22149707e-01 -2.86141267e-02 1.56108179e+02] [ 3.47852066e-02 2.01712943e-03 9.99392776e-01 1.08484446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3371056809999 meters 0.04065921412810879 Centerline is valid? [True, True] Translation: X:186.49, Y:156.13, Z:10.85 [[-5.22435801e-01 -8.52428371e-01 2.06568775e-02 1.86490702e+02] [ 8.51913345e-01 -5.22839881e-01 -2.97003637e-02 1.56134548e+02] [ 3.61176720e-02 2.08133631e-03 9.99345377e-01 1.08476622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.36710568099994 meters 0.0463081609686432 Centerline is valid? [True, True] Translation: X:186.47, Y:156.15, Z:10.85 [[-5.23011463e-01 -8.52061916e-01 2.12014124e-02 1.86470736e+02] [ 8.51520167e-01 -5.23436693e-01 -3.04537908e-02 1.56151433e+02] [ 3.70461125e-02 2.12574859e-03 9.99311296e-01 1.08475995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3971056809999 meters 0.03893228929445964 Centerline is valid? [True, True] Translation: X:186.47, Y:156.18, Z:10.85 [[-5.23302105e-01 -8.51898978e-01 2.05678747e-02 1.86466201e+02] [ 8.51390015e-01 -5.23702076e-01 -2.95157267e-02 1.56181893e+02] [ 3.59158561e-02 2.06564123e-03 9.99352683e-01 1.08489613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.42710568099994 meters 0.040895388844632834 Centerline is valid? [True, True] Translation: X:186.45, Y:156.20, Z:10.85 [[-5.24782367e-01 -8.51005468e-01 1.98282808e-02 1.86449967e+02] [ 8.50532656e-01 -5.25153227e-01 -2.84304211e-02 1.56202387e+02] [ 3.46073294e-02 1.94481669e-03 9.99399095e-01 1.08509151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.4571056809999 meters 0.04010489889620779 Centerline is valid? [True, True] Translation: X:186.44, Y:156.23, Z:10.85 [[-5.25666078e-01 -8.50469128e-01 1.94277162e-02 1.86435835e+02] [ 8.50015729e-01 -5.26021589e-01 -2.78307002e-02 1.56225838e+02] [ 3.38885495e-02 1.88420933e-03 9.99423842e-01 1.08513576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.48710568099995 meters 0.0388490677396932 Centerline is valid? [True, True] Translation: X:186.42, Y:156.25, Z:10.85 [[-5.26360191e-01 -8.50035404e-01 1.96153068e-02 1.86422825e+02] [ 8.49573717e-01 -5.26722177e-01 -2.80757577e-02 1.56249610e+02] [ 3.41972051e-02 1.88668790e-03 9.99413324e-01 1.08518554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.5171056809999 meters 0.040126949706027516 Centerline is valid? [True, True] Translation: X:186.41, Y:156.27, Z:10.85 [[-5.28609160e-01 -8.48592898e-01 2.15046554e-02 1.86409161e+02] [ 8.48037907e-01 -5.29042687e-01 -3.07496885e-02 1.56271901e+02] [ 3.74708480e-02 1.98219598e-03 9.99295755e-01 1.08510075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.54710568099995 meters 0.03688439401450297 Centerline is valid? [True, True] Translation: X:186.40, Y:156.30, Z:10.85 [[-5.32305085e-01 -8.46256672e-01 2.23817295e-02 1.86401035e+02] [ 8.45654549e-01 -5.32772005e-01 -3.19745891e-02 1.56298906e+02] [ 3.89830682e-02 1.90697500e-03 9.99238052e-01 1.08502279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.5771056809999 meters 0.03570616466283665 Centerline is valid? [True, True] Translation: X:186.39, Y:156.32, Z:10.85 [[-5.36132636e-01 -8.43832589e-01 2.25468154e-02 1.86388435e+02] [ 8.43220505e-01 -5.36603645e-01 -3.21824241e-02 1.56322133e+02] [ 3.92552816e-02 1.75788918e-03 9.99227668e-01 1.08500712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.60710568099995 meters 0.03130407483373465 Centerline is valid? [True, True] Translation: X:186.38, Y:156.35, Z:10.85 [[-5.43790799e-01 -8.38923648e-01 2.23311523e-02 1.86380295e+02] [ 8.38320140e-01 -5.44247320e-01 -3.18464558e-02 1.56349121e+02] [ 3.88704146e-02 1.40284508e-03 9.99243275e-01 1.08497211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.6371056809999 meters 0.02900603319851516 Centerline is valid? [True, True] Translation: X:186.37, Y:156.37, Z:10.85 [[-5.48350686e-01 -8.35958449e-01 2.20226491e-02 1.86368958e+02] [ 8.35370141e-01 -5.48791450e-01 -3.13794917e-02 1.56373823e+02] [ 3.83177927e-02 1.19009773e-03 9.99264895e-01 1.08517014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.66710568099995 meters 0.026751912797131742 Centerline is valid? [True, True] Translation: X:186.36, Y:156.40, Z:10.85 [[-5.53088000e-01 -8.32844588e-01 2.15303856e-02 1.86358354e+02] [ 8.32280882e-01 -5.53506062e-01 -3.06524637e-02 1.56399413e+02] [ 3.74459374e-02 9.65818464e-04 9.99298188e-01 1.08549889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.6971056809999 meters 0.022289513668118335 Centerline is valid? [True, True] Translation: X:186.36, Y:156.43, Z:10.86 [[-5.64499405e-01 -8.25176541e-01 2.05936369e-02 1.86355923e+02] [ 8.24656468e-01 -5.64874745e-01 -2.92955947e-02 1.56428883e+02] [ 3.58068629e-02 4.45330090e-04 9.99358629e-01 1.08613861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.72710568099995 meters 0.020400506834041182 Centerline is valid? [True, True] Translation: X:186.35, Y:156.45, Z:10.86 [[-5.74103351e-01 -8.18526830e-01 2.04736826e-02 1.86348049e+02] [ 8.18009435e-01 -5.74468300e-01 -2.90987502e-02 1.56454818e+02] [ 3.55795894e-02 4.19755218e-05 9.99366845e-01 1.08636941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.7571056809999 meters 0.02033906633204104 Centerline is valid? [True, True] Translation: X:186.33, Y:156.48, Z:10.86 [[-5.76993714e-01 -8.16484905e-01 2.07522247e-02 1.86332667e+02] [ 8.15952968e-01 -5.77366777e-01 -2.94679258e-02 1.56475845e+02] [ 3.60417617e-02 -6.99686110e-05 9.99350282e-01 1.08631188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.7871056809999 meters 0.0206074397746696 Centerline is valid? [True, True] Translation: X:186.31, Y:156.50, Z:10.86 [[-5.79867336e-01 -8.14453226e-01 2.04893898e-02 1.86314976e+02] [ 8.13934309e-01 -5.80229187e-01 -2.90694179e-02 1.56496162e+02] [ 3.55642232e-02 -1.79388567e-04 9.99367377e-01 1.08628138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.81710568099993 meters 0.02061669127768127 Centerline is valid? [True, True] Translation: X:186.30, Y:156.52, Z:10.86 [[-5.80074361e-01 -8.14299550e-01 2.07359104e-02 1.86298039e+02] [ 8.13768913e-01 -5.80444839e-01 -2.93929373e-02 1.56516884e+02] [ 3.59707078e-02 -1.75850003e-04 9.99352829e-01 1.08640842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.8471056809999 meters 0.020591640473977223 Centerline is valid? [True, True] Translation: X:186.28, Y:156.54, Z:10.86 [[-5.80194676e-01 -8.14181249e-01 2.19780026e-02 1.86278616e+02] [ 8.13586157e-01 -5.80610767e-01 -3.11239742e-02 1.56535015e+02] [ 3.81012212e-02 -1.76965438e-04 9.99273869e-01 1.08648586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.87710568099993 meters 0.020635662158802776 Centerline is valid? [True, True] Translation: X:186.26, Y:156.55, Z:10.86 [[-5.79009960e-01 -8.14982173e-01 2.34845673e-02 1.86256775e+02] [ 8.14304695e-01 -5.79486018e-01 -3.32237525e-02 1.56551337e+02] [ 4.06857444e-02 -1.13290193e-04 9.99171986e-01 1.08612913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.9071056809999 meters 0.020526696783511857 Centerline is valid? [True, True] Translation: X:186.24, Y:156.57, Z:10.86 [[-5.77960991e-01 -8.15706260e-01 2.41741737e-02 1.86236524e+02] [ 8.14990474e-01 -5.78466331e-01 -3.41647566e-02 1.56569861e+02] [ 4.18523514e-02 -4.41753392e-05 9.99123806e-01 1.08613169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.93710568099993 meters 0.020689866534168357 Centerline is valid? [True, True] Translation: X:186.22, Y:156.59, Z:10.86 [[-5.76500310e-01 -8.16729616e-01 2.44974967e-02 1.86216144e+02] [ 8.15996859e-01 -5.77020565e-01 -3.45889243e-02 1.56587464e+02] [ 4.23853582e-02 4.93547550e-05 9.99101336e-01 1.08615817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.9671056809999 meters 0.021573191828088468 Centerline is valid? [True, True] Translation: X:186.19, Y:156.60, Z:10.86 [[-5.71065885e-01 -8.20564062e-01 2.36299673e-02 1.86191887e+02] [ 8.19886794e-01 -5.71554465e-01 -3.33337473e-02 1.56601849e+02] [ 4.08582884e-02 3.38132237e-04 9.99164894e-01 1.08645279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99710568099994 meters 0.02332308768437532 Centerline is valid? [True, True] Translation: X:186.17, Y:156.62, Z:10.87 [[-5.65492285e-01 -8.24389546e-01 2.45020859e-02 1.86168656e+02] [ 8.23666357e-01 -5.66022480e-01 -3.45294889e-02 1.56616174e+02] [ 4.23344811e-02 6.55384257e-04 9.99103279e-01 1.08664599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0271056809999 meters 0.025103927064508626 Centerline is valid? [True, True] Translation: X:186.15, Y:156.63, Z:10.86 [[-5.62201392e-01 -8.26623728e-01 2.49560996e-02 1.86147382e+02] [ 8.25877117e-01 -5.62754366e-01 -3.51355996e-02 1.56633280e+02] [ 4.30880744e-02 8.57388567e-04 9.99070910e-01 1.08648219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05710568099994 meters 0.02758000920271954 Centerline is valid? [True, True] Translation: X:186.12, Y:156.65, Z:10.86 [[-5.57646803e-01 -8.29701604e-01 2.50058372e-02 1.86123178e+02] [ 8.28956407e-01 -5.58206063e-01 -3.51748109e-02 1.56646759e+02] [ 4.31430070e-02 1.11362811e-03 9.99068286e-01 1.08627140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0871056809999 meters 0.028478361759965883 Centerline is valid? [True, True] Translation: X:186.11, Y:156.67, Z:10.86 [[-5.56726586e-01 -8.30339960e-01 2.43116842e-02 1.86105385e+02] [ 8.29637267e-01 -5.57255990e-01 -3.41726015e-02 1.56665585e+02] [ 4.19227082e-02 1.14508348e-03 9.99120201e-01 1.08649635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11710568099994 meters 0.02987462476459368 Centerline is valid? [True, True] Translation: X:186.09, Y:156.68, Z:10.87 [[-5.55247306e-01 -8.31318720e-01 2.46903892e-02 1.86086638e+02] [ 8.30596287e-01 -5.55794575e-01 -3.46727299e-02 1.56683799e+02] [ 4.25468738e-02 1.25580571e-03 9.99093683e-01 1.08663740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.1471056809999 meters 0.029935475859997042 Centerline is valid? [True, True] Translation: X:186.07, Y:156.70, Z:10.87 [[-5.55701561e-01 -8.31001945e-01 2.51305265e-02 1.86070484e+02] [ 8.30254606e-01 -5.56268056e-01 -3.52581789e-02 1.56703195e+02] [ 4.32789243e-02 1.27171038e-03 9.99062219e-01 1.08657335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17710568099994 meters 0.027184135464374422 Centerline is valid? [True, True] Translation: X:186.06, Y:156.73, Z:10.87 [[-5.55831804e-01 -8.30924722e-01 2.48014381e-02 1.86057189e+02] [ 8.30198148e-01 -5.56383411e-01 -3.47639935e-02 1.56725889e+02] [ 4.26853704e-02 1.26717480e-03 9.99087761e-01 1.08700860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.2071056809999 meters 0.02789428711778523 Centerline is valid? [True, True] Translation: X:186.04, Y:156.74, Z:10.87 [[-5.55537416e-01 -8.31126805e-01 2.46254538e-02 1.86038546e+02] [ 8.30412102e-01 -5.56081437e-01 -3.44844305e-02 1.56744662e+02] [ 4.23546923e-02 1.29188342e-03 9.99101802e-01 1.08717643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23710568099995 meters 0.034217981972449546 Centerline is valid? [True, True] Translation: X:186.01, Y:156.76, Z:10.87 [[-5.51808423e-01 -8.33604424e-01 2.47210326e-02 1.86009587e+02] [ 8.32887957e-01 -5.52359848e-01 -3.45868497e-02 1.56756439e+02] [ 4.24866567e-02 1.50453540e-03 9.99095901e-01 1.08715390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.2671056809999 meters 0.032808449600445946 Centerline is valid? [True, True] Translation: X:185.99, Y:156.78, Z:10.87 [[-5.46685214e-01 -8.36976841e-01 2.45976545e-02 1.85992644e+02] [ 8.36272172e-01 -5.47235437e-01 -3.43835842e-02 1.56776942e+02] [ 4.22389719e-02 1.77333683e-03 9.99105963e-01 1.08723060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29710568099995 meters 0.03472760899033955 Centerline is valid? [True, True] Translation: X:185.97, Y:156.80, Z:10.87 [[-5.44010336e-01 -8.38687249e-01 2.56213477e-02 1.85973303e+02] [ 8.37926021e-01 -5.44609663e-01 -3.57812418e-02 1.56796666e+02] [ 4.39629048e-02 2.00342858e-03 9.99031155e-01 1.08716272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.3271056809999 meters 0.03717890364025814 Centerline is valid? [True, True] Translation: X:185.95, Y:156.82, Z:10.87 [[-5.38861357e-01 -8.41951908e-01 2.73024202e-02 1.85952337e+02] [ 8.41093190e-01 -5.39547078e-01 -3.80945740e-02 1.56815392e+02] [ 4.68047403e-02 2.43618587e-03 9.98901087e-01 1.08696210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35710568099995 meters 0.03875859223934738 Centerline is valid? [True, True] Translation: X:185.94, Y:156.83, Z:10.87 [[-5.37512191e-01 -8.42812999e-01 2.73293634e-02 1.85935101e+02] [ 8.41955276e-01 -5.38200556e-01 -3.80982085e-02 1.56834703e+02] [ 4.68183440e-02 2.53185021e-03 9.98900211e-01 1.08692516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.3871056809999 meters 0.04046033404150979 Centerline is valid? [True, True] Translation: X:185.92, Y:156.86, Z:10.87 [[-5.35333577e-01 -8.44199130e-01 2.73091727e-02 1.85919968e+02] [ 8.43346032e-01 -5.36023046e-01 -3.80363573e-02 1.56857704e+02] [ 4.67486057e-02 2.66894323e-03 9.98903121e-01 1.08697832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41710568099995 meters 0.039549538033698615 Centerline is valid? [True, True] Translation: X:185.91, Y:156.88, Z:10.87 [[-5.36285699e-01 -8.43592501e-01 2.73740958e-02 1.85906633e+02] [ 8.42736076e-01 -5.36977396e-01 -3.80943818e-02 1.56882087e+02] [ 4.68354055e-02 2.63966600e-03 9.98899133e-01 1.08706344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.4471056809999 meters 0.039549538033698615 Centerline is valid? [True, True] Translation: X:185.89, Y:156.90, Z:10.87 [[-5.36662572e-01 -8.43352288e-01 2.73898239e-02 1.85891251e+02] [ 8.42496125e-01 -5.37354594e-01 -3.80830710e-02 1.56902962e+02] [ 4.68354927e-02 2.63806166e-03 9.98899133e-01 1.08715915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47710568099995 meters 0.03722432591694291 Centerline is valid? [True, True] Translation: X:185.88, Y:156.93, Z:10.87 [[-5.39010085e-01 -8.41885842e-01 2.63885786e-02 1.85882773e+02] [ 8.41090904e-01 -5.39650158e-01 -3.66578552e-02 1.56930124e+02] [ 4.51023299e-02 2.43623975e-03 9.98979401e-01 1.08749093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.5071056809999 meters 0.038287311824271766 Centerline is valid? [True, True] Translation: X:185.87, Y:156.95, Z:10.88 [[-5.40656720e-01 -8.40851226e-01 2.56812391e-02 1.85867928e+02] [ 8.40098477e-01 -5.41261410e-01 -3.56459782e-02 1.56951587e+02] [ 4.38732281e-02 2.30253220e-03 9.99034453e-01 1.08771832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.5371056809999 meters 0.038186085427866896 Centerline is valid? [True, True] Translation: X:185.86, Y:156.98, Z:10.88 [[-5.42615503e-01 -8.39597129e-01 2.53983706e-02 1.85857233e+02] [ 8.38860577e-01 -5.43205178e-01 -3.52287886e-02 1.56975915e+02] [ 4.33745162e-02 2.19000500e-03 9.99056482e-01 1.08789544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.56710568099993 meters 0.03768977264877995 Centerline is valid? [True, True] Translation: X:185.84, Y:157.00, Z:10.88 [[-5.43893913e-01 -8.38775457e-01 2.52020732e-02 1.85843494e+02] [ 8.38050665e-01 -5.44473343e-01 -3.49265166e-02 1.56999252e+02] [ 4.30173619e-02 2.12429441e-03 9.99072066e-01 1.08804444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.5971056809999 meters 0.03736511514620272 Centerline is valid? [True, True] Translation: X:185.83, Y:157.02, Z:10.88 [[-5.46658501e-01 -8.37003374e-01 2.42865170e-02 1.85830938e+02] [ 8.36329682e-01 -5.47194333e-01 -3.36307259e-02 1.57022150e+02] [ 4.14384755e-02 1.92701287e-03 9.99139199e-01 1.08819796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.62710568099993 meters 0.033477064435920086 Centerline is valid? [True, True] Translation: X:185.82, Y:157.05, Z:10.88 [[-5.48895312e-01 -8.35542849e-01 2.41264317e-02 1.85820699e+02] [ 8.34877828e-01 -5.49422272e-01 -3.33793245e-02 1.57048238e+02] [ 4.11454549e-02 1.82086818e-03 9.99151508e-01 1.08836992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.6571056809999 meters 0.031265986903168806 Centerline is valid? [True, True] Translation: X:185.81, Y:157.07, Z:10.88 [[-5.54271643e-01 -8.31996270e-01 2.37729361e-02 1.85809596e+02] [ 8.31348435e-01 -5.54779062e-01 -3.28629140e-02 1.57071781e+02] [ 4.05305491e-02 1.54861192e-03 9.99177100e-01 1.08837816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.68710568099993 meters 0.02885543135934585 Centerline is valid? [True, True] Translation: X:185.80, Y:157.10, Z:10.88 [[-5.60334728e-01 -8.27928593e-01 2.36482196e-02 1.85798470e+02] [ 8.27284885e-01 -5.60832112e-01 -3.26659072e-02 1.57095469e+02] [ 4.03077195e-02 1.25997245e-03 9.99186519e-01 1.08833422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7171056809999 meters 0.027241254306925637 Centerline is valid? [True, True] Translation: X:185.79, Y:157.12, Z:10.88 [[-5.64429641e-01 -8.25131028e-01 2.40409315e-02 1.85785524e+02] [ 8.24464476e-01 -5.64940340e-01 -3.31774053e-02 1.57119484e+02] [ 4.09573986e-02 1.09458299e-03 9.99160294e-01 1.08841504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.74710568099994 meters 0.02437675261188494 Centerline is valid? [True, True] Translation: X:185.77, Y:157.14, Z:10.88 [[-5.71533409e-01 -8.20187098e-01 2.53512710e-02 1.85774510e+02] [ 8.19442276e-01 -5.72094827e-01 -3.49551847e-02 1.57144323e+02] [ 4.31731225e-02 7.95847357e-04 9.99067289e-01 1.08819245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7771056809999 meters 0.02330039043331043 Centerline is valid? [True, True] Translation: X:185.76, Y:157.17, Z:10.88 [[-5.74929945e-01 -8.17807328e-01 2.54309226e-02 1.85760093e+02] [ 8.17056737e-01 -5.75491764e-01 -3.50359544e-02 1.57168046e+02] [ 4.32879468e-02 6.35287302e-04 9.99062436e-01 1.08814326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.80710568099994 meters 0.022078974883588346 Centerline is valid? [True, True] Translation: X:185.75, Y:157.19, Z:10.88 [[-5.80701906e-01 -8.13756862e-01 2.41881403e-02 1.85747793e+02] [ 8.13075143e-01 -5.81205354e-01 -3.33038873e-02 1.57191666e+02] [ 4.11595434e-02 3.27144811e-04 9.99152533e-01 1.08840175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8371056809999 meters 0.021737698608105926 Centerline is valid? [True, True] Translation: X:185.73, Y:157.21, Z:10.89 [[-5.82972014e-01 -8.12144111e-01 2.37818107e-02 1.85733349e+02] [ 8.11484944e-01 -5.83456847e-01 -3.27153310e-02 1.57213526e+02] [ 4.04452237e-02 2.26458889e-04 9.99181732e-01 1.08861278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.86710568099994 meters 0.021746675063092337 Centerline is valid? [True, True] Translation: X:185.72, Y:157.23, Z:10.89 [[-5.84451382e-01 -8.11055651e-01 2.46030856e-02 1.85715481e+02] [ 8.10350501e-01 -5.84968973e-01 -3.38136972e-02 1.57233759e+02] [ 4.18168319e-02 1.74660635e-04 9.99125278e-01 1.08859446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8971056809999 meters 0.021736850464389123 Centerline is valid? [True, True] Translation: X:185.70, Y:157.25, Z:10.89 [[-5.84516510e-01 -8.11010898e-01 2.45310416e-02 1.85697385e+02] [ 8.10311109e-01 -5.85031014e-01 -3.36841056e-02 1.57253015e+02] [ 4.16695969e-02 1.88859627e-04 9.99131427e-01 1.08861948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.92710568099994 meters 0.022190438020444594 Centerline is valid? [True, True] Translation: X:185.68, Y:157.27, Z:10.89 [[-5.82033562e-01 -8.12805145e-01 2.41811548e-02 1.85675376e+02] [ 8.12127961e-01 -5.82535567e-01 -3.31736184e-02 1.57269231e+02] [ 4.10500704e-02 3.30032671e-04 9.99157036e-01 1.08895109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.9571056809999 meters 0.022695620276556253 Centerline is valid? [True, True] Translation: X:185.66, Y:157.29, Z:10.89 [[-5.80514298e-01 -8.13889023e-01 2.42447765e-02 1.85656184e+02] [ 8.13210484e-01 -5.81020204e-01 -3.32299737e-02 1.57286108e+02] [ 4.11322158e-02 4.25631575e-04 9.99153622e-01 1.08895900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.98710568099995 meters 0.023020108040319936 Centerline is valid? [True, True] Translation: X:185.63, Y:157.30, Z:10.89 [[-5.78994393e-01 -8.14956276e-01 2.47337936e-02 1.85633166e+02] [ 8.14252195e-01 -5.79522208e-01 -3.38728930e-02 1.57303324e+02] [ 4.19387094e-02 5.27330553e-04 9.99120046e-01 1.08881961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.0171056809999 meters 0.02319016602636022 Centerline is valid? [True, True] Translation: X:185.61, Y:157.32, Z:10.89 [[-5.79296095e-01 -8.14723066e-01 2.53448013e-02 1.85614828e+02] [ 8.13984784e-01 -5.79850009e-01 -3.46805203e-02 1.57321165e+02] [ 4.29512031e-02 5.39992595e-04 9.99077025e-01 1.08875863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.04710568099995 meters 0.02325346032077887 Centerline is valid? [True, True] Translation: X:185.59, Y:157.34, Z:10.89 [[-5.78747499e-01 -8.15089168e-01 2.60956051e-02 1.85594209e+02] [ 8.14308093e-01 -5.79335212e-01 -3.56797169e-02 1.57339028e+02] [ 4.42002537e-02 6.00315550e-04 9.99022511e-01 1.08864251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.0771056809999 meters 0.023489490698893133 Centerline is valid? [True, True] Translation: X:185.58, Y:157.36, Z:10.89 [[-5.78525079e-01 -8.15249647e-01 2.60143288e-02 1.85575372e+02] [ 8.14475063e-01 -5.79109330e-01 -3.55352904e-02 1.57357464e+02] [ 4.40352735e-02 6.29965413e-04 9.99029778e-01 1.08876613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.10710568099995 meters 0.02484273480036179 Centerline is valid? [True, True] Translation: X:185.55, Y:157.37, Z:10.89 [[-5.76002903e-01 -8.17077807e-01 2.45868535e-02 1.85552752e+02] [ 8.16388820e-01 -5.76526932e-01 -3.35557888e-02 1.57372834e+02] [ 4.15926735e-02 7.44200577e-04 9.99134373e-01 1.08926814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.1371056809999 meters 0.026667033266427262 Centerline is valid? [True, True] Translation: X:185.53, Y:157.39, Z:10.89 [[-5.72504780e-01 -8.19533876e-01 2.45459322e-02 1.85529752e+02] [ 8.18850662e-01 -5.73029970e-01 -3.34700842e-02 1.57386650e+02] [ 4.14954226e-02 9.37669616e-04 9.99138254e-01 1.08948793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.16710568099995 meters 0.028103086581421247 Centerline is valid? [True, True] Translation: X:185.51, Y:157.40, Z:10.89 [[-5.70092319e-01 -8.21197595e-01 2.50850283e-02 1.85509311e+02] [ 8.20487102e-01 -5.70642880e-01 -3.41704333e-02 1.57403892e+02] [ 4.23752704e-02 1.10164064e-03 9.99101157e-01 1.08943431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.1971056809999 meters 0.031175046615188755 Centerline is valid? [True, True] Translation: X:185.48, Y:157.42, Z:10.89 [[-5.64973860e-01 -8.24702116e-01 2.59028601e-02 1.85484167e+02] [ 8.23949658e-01 -5.65565543e-01 -3.52502246e-02 1.57417556e+02] [ 4.37206999e-02 1.42719722e-03 9.99042774e-01 1.08919334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.22710568099995 meters 0.033235326805194844 Centerline is valid? [True, True] Translation: X:185.46, Y:157.43, Z:10.89 [[-5.62778622e-01 -8.26174169e-01 2.67668572e-02 1.85464536e+02] [ 8.25373888e-01 -5.63412497e-01 -3.63909829e-02 1.57434064e+02] [ 4.51460720e-02 1.61259780e-03 9.98979095e-01 1.08908500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.2571056809999 meters 0.03461556178968339 Centerline is valid? [True, True] Translation: X:185.45, Y:157.45, Z:10.89 [[-5.61127232e-01 -8.27270252e-01 2.75710033e-02 1.85445874e+02] [ 8.26424175e-01 -5.61801378e-01 -3.74472364e-02 1.57452107e+02] [ 4.64684124e-02 1.77267957e-03 9.98918187e-01 1.08895128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.2871056809999 meters 0.03661575741167216 Centerline is valid? [True, True] Translation: X:185.43, Y:157.47, Z:10.89 [[-5.59183328e-01 -8.28553384e-01 2.85183418e-02 1.85426998e+02] [ 8.27651533e-01 -5.59906628e-01 -3.86976464e-02 1.57470733e+02] [ 4.80306745e-02 1.96417062e-03 9.98843930e-01 1.08898839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.31710568099993 meters 0.03567633594994849 Centerline is valid? [True, True] Translation: X:185.41, Y:157.49, Z:10.89 [[-5.58941709e-01 -8.28730957e-01 2.80921259e-02 1.85412588e+02] [ 8.27857657e-01 -5.59643751e-01 -3.80863738e-02 1.57492183e+02] [ 4.72849397e-02 1.96821864e-03 9.98879503e-01 1.08935562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.3471056809999 meters 0.03361519439824875 Centerline is valid? [True, True] Translation: X:185.40, Y:157.52, Z:10.90 [[-5.59838287e-01 -8.28122256e-01 2.81890399e-02 1.85399279e+02] [ 8.27243801e-01 -5.60544160e-01 -3.81829634e-02 1.57515025e+02] [ 4.74213635e-02 1.94292367e-03 9.98873085e-01 1.08955939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.37710568099993 meters 0.036801303289557566 Centerline is valid? [True, True] Translation: X:185.38, Y:157.53, Z:10.89 [[-5.61155542e-01 -8.27221301e-01 2.84495495e-02 1.85379349e+02] [ 8.26327012e-01 -5.61873025e-01 -3.85015846e-02 1.57532605e+02] [ 4.78343653e-02 1.90325365e-03 9.98853468e-01 1.08939140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.4071056809999 meters 0.03175460729331793 Centerline is valid? [True, True] Translation: X:185.37, Y:157.56, Z:10.89 [[-5.64071037e-01 -8.25231859e-01 2.85699812e-02 1.85370045e+02] [ 8.24328716e-01 -5.64791371e-01 -3.86377422e-02 1.57560197e+02] [ 4.80211746e-02 1.75662461e-03 9.98844773e-01 1.08943392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.43710568099993 meters 0.03160701981337634 Centerline is valid? [True, True] Translation: X:185.35, Y:157.58, Z:10.89 [[-5.69646264e-01 -8.21372694e-01 2.91552945e-02 1.85354767e+02] [ 8.20428654e-01 -5.70389967e-01 -3.93968264e-02 1.57581361e+02] [ 4.89893649e-02 1.47758400e-03 9.98798207e-01 1.08919437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.4671056809999 meters 0.02756623155781762 Centerline is valid? [True, True] Translation: X:185.35, Y:157.61, Z:10.90 [[-5.73758646e-01 -8.18514255e-01 2.89037983e-02 1.85345248e+02] [ 8.17584466e-01 -5.74484875e-01 -3.90226788e-02 1.57606881e+02] [ 4.85454138e-02 1.24169706e-03 9.98820205e-01 1.08952783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49710568099994 meters 0.024250475509216426 Centerline is valid? [True, True] Translation: X:185.34, Y:157.63, Z:10.90 [[-5.82316283e-01 -8.12501114e-01 2.73803925e-02 1.85336673e+02] [ 8.11661560e-01 -5.82959197e-01 -3.69335345e-02 1.57632056e+02] [ 4.59701895e-02 7.16613636e-04 9.98942555e-01 1.09011881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5271056809999 meters 0.022756768489518076 Centerline is valid? [True, True] Translation: X:185.32, Y:157.65, Z:10.90 [[-5.86980876e-01 -8.09147934e-01 2.70753014e-02 1.85324488e+02] [ 8.08324834e-01 -5.87604802e-01 -3.64905251e-02 1.57654262e+02] [ 4.54358101e-02 4.66398121e-04 9.98967151e-01 1.09031666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55710568099994 meters 0.021439309719938286 Centerline is valid? [True, True] Translation: X:185.31, Y:157.68, Z:10.90 [[-5.96481395e-01 -8.02159374e-01 2.73913008e-02 1.85312994e+02] [ 8.01310724e-01 -5.97109986e-01 -3.68888659e-02 1.57679241e+02] [ 4.59463688e-02 -5.45790966e-05 9.98943906e-01 1.09026726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5871056809999 meters 0.02201677074222387 Centerline is valid? [True, True] Translation: X:185.30, Y:157.70, Z:10.90 [[-6.01701188e-01 -7.98273262e-01 2.67484449e-02 1.85300696e+02] [ 7.97461518e-01 -6.02295353e-01 -3.59921476e-02 1.57701232e+02] [ 4.48420331e-02 -3.25662484e-04 9.98994037e-01 1.09042055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61710568099994 meters 0.024044918522252875 Centerline is valid? [True, True] Translation: X:185.29, Y:157.72, Z:10.91 [[-6.10825390e-01 -7.91378122e-01 2.47590557e-02 1.85287539e+02] [ 7.90678238e-01 -6.11326508e-01 -3.32840099e-02 1.57724965e+02] [ 4.14761044e-02 -7.54271790e-04 9.99139211e-01 1.09104206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.6471056809999 meters 0.025882849285106965 Centerline is valid? [True, True] Translation: X:185.27, Y:157.75, Z:10.91 [[-6.15322956e-01 -7.87901275e-01 2.42742795e-02 1.85273468e+02] [ 7.87226956e-01 -6.15800838e-01 -3.26043962e-02 1.57747315e+02] [ 4.06371670e-02 -9.52866290e-04 9.99173515e-01 1.09131111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67710568099994 meters 0.028968857685731538 Centerline is valid? [True, True] Translation: X:185.26, Y:157.77, Z:10.92 [[-6.23916205e-01 -7.81114108e-01 2.42759111e-02 1.85258578e+02] [ 7.80435442e-01 -6.24386768e-01 -3.25835089e-02 1.57770445e+02] [ 4.06089961e-02 -1.38359781e-03 9.99174157e-01 1.09153936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.7071056809999 meters 0.03205243227409112 Centerline is valid? [True, True] Translation: X:185.25, Y:157.79, Z:10.92 [[-6.27519712e-01 -7.78204291e-01 2.48413587e-02 1.85245131e+02] [ 7.77492631e-01 -6.28009199e-01 -3.33114727e-02 1.57792589e+02] [ 4.15237327e-02 -1.58963240e-03 9.99136253e-01 1.09154695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73710568099995 meters 0.03686071471454179 Centerline is valid? [True, True] Translation: X:185.23, Y:157.81, Z:10.91 [[-6.31787107e-01 -7.74699901e-01 2.61746920e-02 1.85228113e+02] [ 7.73908329e-01 -6.32326237e-01 -3.50631970e-02 1.57811926e+02] [ 4.37143997e-02 -1.89566365e-03 9.99042270e-01 1.09113290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.7671056809999 meters 0.0363602603117812 Centerline is valid? [True, True] Translation: X:185.21, Y:157.83, Z:10.91 [[-6.32136110e-01 -7.74419018e-01 2.60600083e-02 1.85207303e+02] [ 7.73635598e-01 -6.32670238e-01 -3.48759370e-02 1.57828882e+02] [ 4.34959805e-02 -1.88538905e-03 9.99051823e-01 1.09122038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79710568099995 meters 0.035197971779702325 Centerline is valid? [True, True] Translation: X:185.18, Y:157.84, Z:10.92 [[-6.32533664e-01 -7.74097795e-01 2.59570610e-02 1.85180672e+02] [ 7.73321719e-01 -6.33063246e-01 -3.47051262e-02 1.57842172e+02] [ 4.32976229e-02 -1.87900162e-03 9.99060451e-01 1.09150439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.8271056809999 meters 0.033241700349460376 Centerline is valid? [True, True] Translation: X:185.16, Y:157.86, Z:10.92 [[-6.32283396e-01 -7.74313555e-01 2.56169172e-02 1.85157185e+02] [ 7.73559281e-01 -6.32799503e-01 -3.42173704e-02 1.57858489e+02] [ 4.27053462e-02 -1.81887108e-03 9.99086055e-01 1.09178640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85710568099995 meters 0.03331739321378413 Centerline is valid? [True, True] Translation: X:185.13, Y:157.87, Z:10.92 [[-6.30996291e-01 -7.75370806e-01 2.53731038e-02 1.85131998e+02] [ 7.74632992e-01 -6.31503908e-01 -3.38606227e-02 1.57872923e+02] [ 4.22777525e-02 -1.71108401e-03 9.99104431e-01 1.09208871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.8871056809999 meters 0.03237000457562389 Centerline is valid? [True, True] Translation: X:185.11, Y:157.89, Z:10.92 [[-6.29328028e-01 -7.76721472e-01 2.54948569e-02 1.85109563e+02] [ 7.75978993e-01 -6.29842177e-01 -3.39916804e-02 1.57888479e+02] [ 4.24598042e-02 -1.60844375e-03 9.99096881e-01 1.09220831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91710568099995 meters 0.030824455450883487 Centerline is valid? [True, True] Translation: X:185.08, Y:157.90, Z:10.92 [[-6.26501984e-01 -7.78974226e-01 2.63518438e-02 1.85078266e+02] [ 7.78184446e-01 -6.27054187e-01 -3.51000628e-02 1.57896936e+02] [ 4.38660783e-02 -1.48366399e-03 9.99036319e-01 1.09212361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.9471056809999 meters 0.0299944458333463 Centerline is valid? [True, True] Translation: X:185.05, Y:157.91, Z:10.92 [[-6.25218892e-01 -7.80021070e-01 2.58547402e-02 1.85054898e+02] [ 7.79263192e-01 -6.25751768e-01 -3.44035238e-02 1.57910946e+02] [ 4.30141229e-02 -1.36208562e-03 9.99073536e-01 1.09224844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97710568099995 meters 0.026231920425199954 Centerline is valid? [True, True] Translation: X:185.02, Y:157.92, Z:10.93 [[-6.19463134e-01 -7.84612476e-01 2.54693569e-02 1.85021038e+02] [ 7.83882279e-01 -6.19985682e-01 -3.38574498e-02 1.57918871e+02] [ 4.23556141e-02 -1.00846438e-03 9.99102089e-01 1.09261013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.0071056809999 meters 0.023789263625899428 Centerline is valid? [True, True] Translation: X:184.99, Y:157.93, Z:10.93 [[-6.15776024e-01 -7.87494359e-01 2.59330689e-02 1.84993538e+02] [ 7.86741244e-01 -6.16321333e-01 -3.44416827e-02 1.57932034e+02] [ 4.31057344e-02 -8.05747545e-04 9.99070191e-01 1.09270680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.0371056809999 meters 0.02149328826299148 Centerline is valid? [True, True] Translation: X:184.96, Y:157.94, Z:10.93 [[-6.07386559e-01 -7.93938789e-01 2.72537598e-02 1.84957400e+02] [ 7.93114940e-01 -6.07997598e-01 -3.61609264e-02 1.57938128e+02] [ 4.52797826e-02 -3.48296565e-04 9.98974284e-01 1.09259366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.06710568099993 meters 0.02130425172071326 Centerline is valid? [True, True] Translation: X:184.92, Y:157.94, Z:10.93 [[-5.99020935e-01 -8.00265119e-01 2.73799026e-02 1.84922491e+02] [ 7.99441697e-01 -5.99646327e-01 -3.62940037e-02 1.57942997e+02] [ 4.54630832e-02 1.47767814e-04 9.98966009e-01 1.09256038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.0971056809999 meters 0.02192828829666389 Centerline is valid? [True, True] Translation: X:184.90, Y:157.96, Z:10.93 [[-5.95134816e-01 -8.03162430e-01 2.72884756e-02 1.84897029e+02] [ 8.02349200e-01 -5.95759984e-01 -3.61358829e-02 1.57958037e+02] [ 4.52803653e-02 3.89164544e-04 9.98974242e-01 1.09277097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.12710568099993 meters 0.024303532386895425 Centerline is valid? [True, True] Translation: X:184.87, Y:157.97, Z:10.93 [[-5.88278520e-01 -8.08181853e-01 2.77574376e-02 1.84866396e+02] [ 8.07347493e-01 -5.88932459e-01 -3.67230743e-02 1.57967991e+02] [ 4.60261782e-02 8.06501848e-04 9.98939908e-01 1.09293478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.1571056809999 meters 0.025335784498744622 Centerline is valid? [True, True] Translation: X:184.84, Y:157.99, Z:10.93 [[-5.86072979e-01 -8.09748612e-01 2.87340974e-02 1.84844641e+02] [ 8.08858064e-01 -5.86776123e-01 -3.79791215e-02 1.57986091e+02] [ 4.76140232e-02 9.83269502e-04 9.98865325e-01 1.09287157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.18710568099993 meters 0.026304334542080306 Centerline is valid? [True, True] Translation: X:184.82, Y:158.00, Z:10.92 [[-5.84323144e-01 -8.10946024e-01 3.05452264e-02 1.84820990e+02] [ 8.09942987e-01 -5.85119799e-01 -4.03382972e-02 1.58001315e+02] [ 5.05847984e-02 1.16929127e-03 9.98719085e-01 1.09247289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2171056809999 meters 0.02614974961916612 Centerline is valid? [True, True] Translation: X:184.80, Y:158.02, Z:10.92 [[-5.84546079e-01 -8.10782593e-01 3.06181100e-02 1.84803149e+02] [ 8.09776081e-01 -5.85346227e-01 -4.04041270e-02 1.58020766e+02] [ 5.06811580e-02 1.17573917e-03 9.98714192e-01 1.09247295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.24710568099994 meters 0.025764906674948695 Centerline is valid? [True, True] Translation: X:184.79, Y:158.04, Z:10.93 [[-5.85587788e-01 -8.10051260e-01 3.00649107e-02 1.84786104e+02] [ 8.09081734e-01 -5.86358009e-01 -3.96362579e-02 1.58041340e+02] [ 4.97362018e-02 1.11446146e-03 9.98761767e-01 1.09264703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2771056809999 meters 0.024477343323546577 Centerline is valid? [True, True] Translation: X:184.77, Y:158.06, Z:10.93 [[-5.89095246e-01 -8.07529475e-01 2.93758005e-02 1.84772563e+02] [ 8.06602510e-01 -5.89826529e-01 -3.86918091e-02 1.58064719e+02] [ 4.85714028e-02 9.01433652e-04 9.98819306e-01 1.09295197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.30710568099994 meters 0.022910220421079066 Centerline is valid? [True, True] Translation: X:184.76, Y:158.09, Z:10.93 [[-5.93796266e-01 -8.04078433e-01 2.93916433e-02 1.84761541e+02] [ 8.03147878e-01 -5.94522890e-01 -3.86784062e-02 1.58088797e+02] [ 4.85744769e-02 6.38742748e-04 9.98819359e-01 1.09299577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3371056809999 meters 0.022698237327451246 Centerline is valid? [True, True] Translation: X:184.75, Y:158.11, Z:10.93 [[-5.95361500e-01 -8.02915778e-01 2.95116524e-02 1.84746541e+02] [ 8.01977949e-01 -5.96092217e-01 -3.87999744e-02 1.58109556e+02] [ 4.87447779e-02 5.67683587e-04 9.98811105e-01 1.09309851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.36710568099994 meters 0.022698237327451246 Centerline is valid? [True, True] Translation: X:184.73, Y:158.13, Z:10.93 [[-5.95723724e-01 -8.02646391e-01 2.95299076e-02 1.84730622e+02] [ 8.01708920e-01 -5.96454900e-01 -3.87860774e-02 1.58129872e+02] [ 4.87447631e-02 5.68603889e-04 9.98811106e-01 1.09319404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3971056809999 meters 0.022300493986365685 Centerline is valid? [True, True] Translation: X:184.72, Y:158.15, Z:10.93 [[-5.97323057e-01 -8.01452580e-01 2.96467366e-02 1.84715272e+02] [ 8.00507991e-01 -5.98058123e-01 -3.89029366e-02 1.58150924e+02] [ 4.89093305e-02 4.94828539e-04 9.98803100e-01 1.09315569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.42710568099994 meters 0.022067222181079694 Centerline is valid? [True, True] Translation: X:184.70, Y:158.17, Z:10.93 [[-5.97864591e-01 -8.01040824e-01 2.98584819e-02 1.84700162e+02] [ 8.00084014e-01 -5.98609523e-01 -3.91434497e-02 1.58172780e+02] [ 4.92290728e-02 4.86811457e-04 9.98787395e-01 1.09327583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.4571056809999 meters 0.021773847569228132 Centerline is valid? [True, True] Translation: X:184.69, Y:158.19, Z:10.93 [[-5.99212321e-01 -8.00053548e-01 2.93072421e-02 1.84686952e+02] [ 7.99132385e-01 -5.99928449e-01 -3.83834411e-02 1.58194638e+02] [ 4.82910565e-02 4.20535468e-04 9.98833218e-01 1.09344085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.48710568099995 meters 0.021529843814842915 Centerline is valid? [True, True] Translation: X:184.67, Y:158.22, Z:10.94 [[-6.00567036e-01 -7.99024106e-01 2.96599528e-02 1.84672912e+02] [ 7.98081290e-01 -6.01298881e-01 -3.88060620e-02 1.58216894e+02] [ 4.88414755e-02 3.65411759e-04 9.98806476e-01 1.09351381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.5171056809999 meters 0.021231888116110334 Centerline is valid? [True, True] Translation: X:184.66, Y:158.24, Z:10.93 [[-6.02988557e-01 -7.97149652e-01 3.09391765e-02 1.84660425e+02] [ 7.96123305e-01 -6.03781725e-01 -4.04389865e-02 1.58239808e+02] [ 5.09164334e-02 2.47153296e-04 9.98702887e-01 1.09324588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.54710568099995 meters 0.021087740477038083 Centerline is valid? [True, True] Translation: X:184.65, Y:158.26, Z:10.93 [[-6.04060093e-01 -7.96336228e-01 3.09841309e-02 1.84645978e+02] [ 7.95307871e-01 -6.04854174e-01 -4.04576212e-02 1.58261380e+02] [ 5.09587503e-02 2.03088692e-04 9.98700738e-01 1.09333511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.5771056809999 meters 0.02099517323610981 Centerline is valid? [True, True] Translation: X:184.63, Y:158.28, Z:10.93 [[-6.04759081e-01 -7.95751035e-01 3.23534310e-02 1.84631594e+02] [ 7.94631116e-01 -6.05623857e-01 -4.22034771e-02 1.58282888e+02] [ 5.31774703e-02 1.86106914e-04 9.98585060e-01 1.09319741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.60710568099995 meters 0.021060407309532386 Centerline is valid? [True, True] Translation: X:184.62, Y:158.30, Z:10.93 [[-6.05135148e-01 -7.95423222e-01 3.33669183e-02 1.84615162e+02] [ 7.94233868e-01 -6.06054340e-01 -4.34821908e-02 1.58303297e+02] [ 5.48089099e-02 1.88534577e-04 9.98496844e-01 1.09310362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.6371056809999 meters 0.02080968223900401 Centerline is valid? [True, True] Translation: X:184.60, Y:158.33, Z:10.93 [[-6.07175798e-01 -7.93876720e-01 3.31255908e-02 1.84601690e+02] [ 7.92704388e-01 -6.08078736e-01 -4.31277703e-02 1.58325719e+02] [ 5.43811002e-02 7.26628885e-05 9.98520251e-01 1.09309574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.66710568099995 meters 0.02070548809153548 Centerline is valid? [True, True] Translation: X:184.59, Y:158.35, Z:10.93 [[-6.10421720e-01 -7.91409928e-01 3.24907740e-02 1.84590035e+02] [ 7.90280743e-01 -6.11285786e-01 -4.22615127e-02 1.58348368e+02] [ 5.33073290e-02 -1.20512271e-04 9.98578146e-01 1.09336618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.6971056809999 meters 0.022463338222961978 Centerline is valid? [True, True] Translation: X:184.58, Y:158.38, Z:10.94 [[-6.19655443e-01 -7.84272273e-01 3.07267622e-02 1.84584476e+02] [ 7.83255481e-01 -6.20416430e-01 -3.99287603e-02 1.58377286e+02] [ 5.03784077e-02 -6.75168752e-04 9.98729974e-01 1.09400557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.72710568099995 meters 0.024840088017287466 Centerline is valid? [True, True] Translation: X:184.58, Y:158.40, Z:10.94 [[-6.25780495e-01 -7.79431580e-01 2.97520557e-02 1.84575823e+02] [ 7.78474575e-01 -6.26486546e-01 -3.86256882e-02 1.58402164e+02] [ 4.87453438e-02 -1.00998336e-03 9.98810729e-01 1.09427824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.7571056809999 meters 0.03181896789932597 Centerline is valid? [True, True] Translation: X:184.57, Y:158.43, Z:10.95 [[-6.37889099e-01 -7.69602699e-01 2.84461404e-02 1.84573364e+02] [ 7.68719603e-01 -6.38520871e-01 -3.68953807e-02 1.58433525e+02] [ 4.65582389e-02 -1.66805534e-03 9.98914184e-01 1.09463149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.7871056809999 meters 0.03589924402352063 Centerline is valid? [True, True] Translation: X:184.56, Y:158.46, Z:10.95 [[-6.46722200e-01 -7.62212044e-01 2.79856525e-02 1.84563949e+02] [ 7.61351848e-01 -6.47323869e-01 -3.62652986e-02 1.58459922e+02] [ 4.57576283e-02 -2.14664543e-03 9.98950265e-01 1.09487827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.81710568099993 meters 0.03997564359383512 Centerline is valid? [True, True] Translation: X:184.55, Y:158.48, Z:10.95 [[-6.49059319e-01 -7.60214553e-01 2.82105303e-02 1.84552800e+02] [ 7.59340121e-01 -6.49668080e-01 -3.65235116e-02 1.58484503e+02] [ 4.60931861e-02 -2.28453804e-03 9.98934532e-01 1.09482014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.8471056809999 meters 0.036907758656272924 Centerline is valid? [True, True] Translation: X:184.53, Y:158.50, Z:10.95 [[-6.49990072e-01 -7.59401258e-01 2.86816207e-02 1.84531123e+02] [ 7.58498163e-01 -6.50618293e-01 -3.70995149e-02 1.58502300e+02] [ 4.68342054e-02 -2.35935971e-03 9.98899890e-01 1.09490132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.87710568099993 meters 0.03767865776221734 Centerline is valid? [True, True] Translation: X:184.51, Y:158.52, Z:10.95 [[-6.49641183e-01 -7.59670186e-01 2.94540466e-02 1.84511389e+02] [ 7.58719723e-01 -6.50304192e-01 -3.80636405e-02 1.58519855e+02] [ 4.80699028e-02 -2.38034240e-03 9.98841138e-01 1.09472122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.9071056809999 meters 0.040814258438850136 Centerline is valid? [True, True] Translation: X:184.50, Y:158.54, Z:10.95 [[-6.48815361e-01 -7.60414852e-01 2.84232227e-02 1.84496233e+02] [ 7.59532109e-01 -6.49433845e-01 -3.66968280e-02 1.58540133e+02] [ 4.63638158e-02 -2.22111541e-03 9.98922151e-01 1.09478902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.93710568099993 meters 0.03756290106103447 Centerline is valid? [True, True] Translation: X:184.48, Y:158.56, Z:10.95 [[-6.48760734e-01 -7.60493774e-01 2.75450597e-02 1.84475380e+02] [ 7.59666363e-01 -6.49341748e-01 -3.55290103e-02 1.58556642e+02] [ 4.49057483e-02 -2.12477142e-03 9.98988968e-01 1.09520321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.9671056809999 meters 0.0369719928656193 Centerline is valid? [True, True] Translation: X:184.45, Y:158.57, Z:10.96 [[-6.49533689e-01 -7.59870827e-01 2.65011972e-02 1.84454197e+02] [ 7.59105786e-01 -6.50070812e-01 -3.41518058e-02 1.58573697e+02] [ 4.31786156e-02 -2.06553626e-03 9.99065233e-01 1.09563576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99710568099994 meters 0.036846824978800596 Centerline is valid? [True, True] Translation: X:184.43, Y:158.59, Z:10.96 [[-6.49812044e-01 -7.59652072e-01 2.59429556e-02 1.84433820e+02] [ 7.58920072e-01 -6.50326583e-01 -3.34014876e-02 1.58591698e+02] [ 4.22449029e-02 -2.01605920e-03 9.99105252e-01 1.09578821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0271056809999 meters 0.03755289735092009 Centerline is valid? [True, True] Translation: X:184.41, Y:158.61, Z:10.96 [[-6.50088952e-01 -7.59428129e-01 2.55591769e-02 1.84414735e+02] [ 7.58718738e-01 -6.50588191e-01 -3.28767802e-02 1.58609250e+02] [ 4.15960503e-02 -1.98060513e-03 9.99132547e-01 1.09588808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05710568099994 meters 0.038020663771606726 Centerline is valid? [True, True] Translation: X:184.39, Y:158.62, Z:10.96 [[-6.50315492e-01 -7.59205759e-01 2.63889432e-02 1.84392162e+02] [ 7.58450813e-01 -6.50847497e-01 -3.39101842e-02 1.58623372e+02] [ 4.29199848e-02 -2.03760271e-03 9.99076435e-01 1.09559893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0871056809999 meters 0.0365220079951426 Centerline is valid? [True, True] Translation: X:184.37, Y:158.64, Z:10.96 [[-6.50628250e-01 -7.58914414e-01 2.70516817e-02 1.84371242e+02] [ 7.58122297e-01 -6.51187039e-01 -3.47278379e-02 1.58639977e+02] [ 4.39711612e-02 -2.08642931e-03 9.99030622e-01 1.09554312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11710568099994 meters 0.03941057767398285 Centerline is valid? [True, True] Translation: X:184.35, Y:158.66, Z:10.96 [[-6.51525751e-01 -7.58146067e-01 2.69951203e-02 1.84353694e+02] [ 7.57358041e-01 -6.52081343e-01 -3.46225191e-02 1.58658220e+02] [ 4.38519410e-02 -2.11249129e-03 9.99035807e-01 1.09557799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.1471056809999 meters 0.03746779891235365 Centerline is valid? [True, True] Translation: X:184.33, Y:158.67, Z:10.96 [[-6.51732118e-01 -7.57970142e-01 2.69538649e-02 1.84328480e+02] [ 7.57185837e-01 -6.52285871e-01 -3.45362306e-02 1.58671244e+02] [ 4.37590568e-02 -2.09928602e-03 9.99039908e-01 1.09579817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17710568099994 meters 0.03785156184239002 Centerline is valid? [True, True] Translation: X:184.31, Y:158.69, Z:10.96 [[-6.52046806e-01 -7.57700546e-01 2.69229545e-02 1.84309002e+02] [ 7.56919207e-01 -6.52599033e-01 -3.44647019e-02 1.58688226e+02] [ 4.36838175e-02 -2.09409743e-03 9.99043212e-01 1.09585713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.2071056809999 meters 0.03824451049859919 Centerline is valid? [True, True] Translation: X:184.29, Y:158.70, Z:10.96 [[-6.52052096e-01 -7.57669491e-01 2.76587477e-02 1.84286142e+02] [ 7.56846385e-01 -6.52634969e-01 -3.53715667e-02 1.58701179e+02] [ 4.48510229e-02 -2.13068101e-03 9.98991414e-01 1.09588131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23710568099995 meters 0.037984035999485376 Centerline is valid? [True, True] Translation: X:184.27, Y:158.72, Z:10.96 [[-6.51707757e-01 -7.57952569e-01 2.80160968e-02 1.84266777e+02] [ 7.57109984e-01 -6.52306241e-01 -3.57916230e-02 1.58717530e+02] [ 4.54034274e-02 -2.11441178e-03 9.98966495e-01 1.09588630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.2671056809999 meters 0.03329025294936001 Centerline is valid? [True, True] Translation: X:184.24, Y:158.73, Z:10.96 [[-6.51003063e-01 -7.58560523e-01 2.79453876e-02 1.84238169e+02] [ 7.57724273e-01 -6.51599380e-01 -3.56675562e-02 1.58729034e+02] [ 4.52651973e-02 -2.04478985e-03 9.98972913e-01 1.09605821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29710568099995 meters 0.03603630552578377 Centerline is valid? [True, True] Translation: X:184.22, Y:158.75, Z:10.96 [[-6.50017135e-01 -7.59411214e-01 2.77908679e-02 1.84222906e+02] [ 7.58586294e-01 -6.50608012e-01 -3.54407803e-02 1.58749994e+02] [ 4.49950873e-02 -1.95534295e-03 9.98985295e-01 1.09607439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.3271056809999 meters 0.03493620256788829 Centerline is valid? [True, True] Translation: X:184.20, Y:158.76, Z:10.96 [[-6.48037213e-01 -7.61096650e-01 2.79224044e-02 1.84198924e+02] [ 7.60266598e-01 -6.48635906e-01 -3.55831717e-02 1.58763964e+02] [ 4.51937069e-02 -1.83074801e-03 9.98976565e-01 1.09605041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35710568099995 meters 0.03405927595725534 Centerline is valid? [True, True] Translation: X:184.18, Y:158.78, Z:10.96 [[-6.46836910e-01 -7.62107533e-01 2.81801132e-02 1.84178147e+02] [ 7.61264477e-01 -6.47448086e-01 -3.58799629e-02 1.58780758e+02] [ 4.55895504e-02 -1.75596520e-03 9.98958713e-01 1.09602106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.3871056809999 meters 0.02701175539688202 Centerline is valid? [True, True] Translation: X:184.15, Y:158.79, Z:10.96 [[-6.42719746e-01 -7.65594891e-01 2.78530184e-02 1.84145409e+02] [ 7.64775943e-01 -6.43321301e-01 -3.54324859e-02 1.58788336e+02] [ 4.50453703e-02 -1.47183991e-03 9.98983858e-01 1.09641486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41710568099995 meters 0.02891271276530729 Centerline is valid? [True, True] Translation: X:184.13, Y:158.81, Z:10.96 [[-6.39821792e-01 -7.68034944e-01 2.73934259e-02 1.84127439e+02] [ 7.67246480e-01 -6.40406701e-01 -3.48151709e-02 1.58808091e+02] [ 4.42822014e-02 -1.25799540e-03 9.99018270e-01 1.09646794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.4471056809999 meters 0.022453962804139804 Centerline is valid? [True, True] Translation: X:184.09, Y:158.81, Z:10.97 [[-6.32575164e-01 -7.74044769e-01 2.65208962e-02 1.84091891e+02] [ 7.73312222e-01 -6.33130369e-01 -3.36770370e-02 1.58814199e+02] [ 4.28587192e-02 -7.94324021e-04 9.99080827e-01 1.09687829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47710568099995 meters 0.021492915932239055 Centerline is valid? [True, True] Translation: X:184.07, Y:158.83, Z:10.97 [[-6.29500990e-01 -7.76583836e-01 2.54175088e-02 1.84070300e+02] [ 7.75914242e-01 -6.30013660e-01 -3.22471313e-02 1.58829854e+02] [ 4.10559787e-02 -5.77794014e-04 9.99156681e-01 1.09710181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.5071056809999 meters 0.020874081768464697 Centerline is valid? [True, True] Translation: X:184.05, Y:158.84, Z:10.98 [[-6.26190837e-01 -7.79344853e-01 2.25085559e-02 1.84045478e+02] [ 7.78822417e-01 -6.26595153e-01 -2.85334487e-02 1.58843089e+02] [ 3.63411484e-02 -3.37216266e-04 9.99339385e-01 1.09778435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.5371056809999 meters 0.02088235710803074 Centerline is valid? [True, True] Translation: X:184.03, Y:158.86, Z:10.98 [[-6.27110653e-01 -7.78640270e-01 2.12499351e-02 1.84026081e+02] [ 7.78175017e-01 -6.27470488e-01 -2.69152416e-02 1.58861497e+02] [ 3.42909981e-02 -3.42666174e-04 9.99411832e-01 1.09798901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.56710568099993 meters 0.02132852959332556 Centerline is valid? [True, True] Translation: X:184.01, Y:158.88, Z:10.98 [[-6.29546419e-01 -7.76646700e-01 2.21632662e-02 1.84005257e+02] [ 7.76140350e-01 -6.29936266e-01 -2.80438705e-02 1.58879452e+02] [ 3.57416246e-02 -4.53113066e-04 9.99360961e-01 1.09802994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.5971056809999 meters 0.021435085952584816 Centerline is valid? [True, True] Translation: X:183.99, Y:158.90, Z:10.98 [[-6.30115124e-01 -7.76173305e-01 2.25816488e-02 1.83987634e+02] [ 7.75648279e-01 -6.30519450e-01 -2.85476864e-02 1.58897869e+02] [ 3.63961209e-02 -4.72911953e-04 9.99337330e-01 1.09795972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.62710568099993 meters 0.0205248805689765 Centerline is valid? [True, True] Translation: X:183.97, Y:158.91, Z:10.98 [[-6.28112498e-01 -7.77748220e-01 2.41328943e-02 1.83966095e+02] [ 7.77150988e-01 -6.28575816e-01 -3.04759661e-02 1.58914459e+02] [ 3.88719822e-02 -3.87432520e-04 9.99244124e-01 1.09766538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.6571056809999 meters 0.020208259517169758 Centerline is valid? [True, True] Translation: X:183.95, Y:158.93, Z:10.98 [[-6.25878070e-01 -7.79506098e-01 2.54339365e-02 1.83946850e+02] [ 7.78845463e-01 -6.26394579e-01 -3.20870164e-02 1.58932187e+02] [ 4.09437049e-02 -2.73453811e-04 9.99161418e-01 1.09752162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.68710568099993 meters 0.019820656131743147 Centerline is valid? [True, True] Translation: X:183.92, Y:158.95, Z:10.98 [[-6.20033317e-01 -7.84156587e-01 2.56346048e-02 1.83923427e+02] [ 7.83490688e-01 -6.20563006e-01 -3.23094008e-02 1.58946953e+02] [ 4.12435169e-02 5.15691999e-05 9.99149123e-01 1.09764278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7171056809999 meters 0.020328443357824022 Centerline is valid? [True, True] Translation: X:183.90, Y:158.96, Z:10.98 [[-6.16546514e-01 -7.86922505e-01 2.49673441e-02 1.83903664e+02] [ 7.86294288e-01 -6.17051789e-01 -3.14385654e-02 1.58962803e+02] [ 4.01458589e-02 2.48342176e-04 9.99193799e-01 1.09794618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.74710568099994 meters 0.022094746464261555 Centerline is valid? [True, True] Translation: X:183.88, Y:158.98, Z:10.98 [[-6.09999852e-01 -7.92026367e-01 2.43806158e-02 1.83882275e+02] [ 7.91432543e-01 -6.10486600e-01 -3.06698688e-02 1.58980122e+02] [ 3.91753840e-02 5.86997331e-04 9.99232178e-01 1.09833083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7771056809999 meters 0.02416483411817373 Centerline is valid? [True, True] Translation: X:183.86, Y:159.00, Z:10.98 [[-6.05057006e-01 -7.95781053e-01 2.52692725e-02 1.83864127e+02] [ 7.95147550e-01 -6.05583807e-01 -3.17588727e-02 1.59000888e+02] [ 4.05757714e-02 8.76871643e-04 9.99176080e-01 1.09808606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.80710568099994 meters 0.025029490510339703 Centerline is valid? [True, True] Translation: X:183.85, Y:159.02, Z:10.98 [[-6.03413333e-01 -7.97019245e-01 2.55474688e-02 1.83847452e+02] [ 7.96373984e-01 -6.03953100e-01 -3.20800616e-02 1.59022208e+02] [ 4.09978995e-02 9.87802643e-04 9.99158744e-01 1.09808153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8371056809999 meters 0.026929098017529306 Centerline is valid? [True, True] Translation: X:183.83, Y:159.04, Z:10.98 [[-6.01963927e-01 -7.98104672e-01 2.58527242e-02 1.83829979e+02] [ 7.97446093e-01 -6.02517835e-01 -3.24343556e-02 1.59041924e+02] [ 4.14627381e-02 1.09184189e-03 9.99139454e-01 1.09808824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.86710568099994 meters 0.028328949722117816 Centerline is valid? [True, True] Translation: X:183.81, Y:159.06, Z:10.98 [[-5.99167998e-01 -8.00203312e-01 2.59300941e-02 1.83814959e+02] [ 7.99543977e-01 -5.99727501e-01 -3.25015778e-02 1.59064810e+02] [ 4.15588607e-02 1.25834525e-03 9.99135265e-01 1.09804512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8971056809999 meters 0.027424758756398895 Centerline is valid? [True, True] Translation: X:183.80, Y:159.09, Z:10.98 [[-5.98590285e-01 -8.00619896e-01 2.64093259e-02 1.83801610e+02] [ 7.99937602e-01 -5.99171108e-01 -3.30729052e-02 1.59088271e+02] [ 4.23025310e-02 1.32869305e-03 9.99103964e-01 1.09806101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.92710568099994 meters 0.030392483548067915 Centerline is valid? [True, True] Translation: X:183.79, Y:159.11, Z:10.98 [[-5.96752260e-01 -8.01983728e-01 2.66240562e-02 1.83785405e+02] [ 8.01293019e-01 -5.97344105e-01 -3.33094382e-02 1.59108864e+02] [ 4.26173505e-02 1.45618786e-03 9.99090407e-01 1.09793869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.9571056809999 meters 0.03095446786097954 Centerline is valid? [True, True] Translation: X:183.78, Y:159.14, Z:10.98 [[-5.96948520e-01 -8.01844487e-01 2.64174855e-02 1.83776580e+02] [ 8.01165642e-01 -5.97531008e-01 -3.30198054e-02 1.59135054e+02] [ 4.22620157e-02 1.45365773e-03 9.99105504e-01 1.09796661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.98710568099995 meters 0.030290956369439896 Centerline is valid? [True, True] Translation: X:183.76, Y:159.16, Z:10.98 [[-5.98614640e-01 -8.00617782e-01 2.59167836e-02 1.83764331e+02] [ 7.99964531e-01 -5.99173865e-01 -3.23640088e-02 1.59158874e+02] [ 4.14398603e-02 1.35893817e-03 9.99140076e-01 1.09824917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.0171056809999 meters 0.02709154137631695 Centerline is valid? [True, True] Translation: X:183.76, Y:159.19, Z:10.99 [[-6.03241137e-01 -7.97181370e-01 2.45355704e-02 1.83757170e+02] [ 7.96594112e-01 -6.03738935e-01 -3.06124031e-02 1.59188084e+02] [ 3.92167165e-02 1.07823007e-03 9.99230147e-01 1.09875998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.04710568099995 meters 0.025464726767428367 Centerline is valid? [True, True] Translation: X:183.75, Y:159.21, Z:10.99 [[-6.06749507e-01 -7.94526269e-01 2.41462789e-02 1.83745802e+02] [ 7.93956131e-01 -6.07229110e-01 -3.01076510e-02 1.59214404e+02] [ 3.85836431e-02 9.03283721e-04 9.99254966e-01 1.09891789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.0771056809999 meters 0.022772062082025656 Centerline is valid? [True, True] Translation: X:183.74, Y:159.25, Z:10.99 [[-6.13315742e-01 -7.89461696e-01 2.43727767e-02 1.83742383e+02] [ 7.88877533e-01 -6.13799536e-01 -3.03705087e-02 1.59246336e+02] [ 3.89363523e-02 6.00424904e-04 9.99241512e-01 1.09886295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.10710568099995 meters 0.021555365543021128 Centerline is valid? [True, True] Translation: X:183.73, Y:159.27, Z:10.99 [[-6.16919579e-01 -7.86640895e-01 2.46238719e-02 1.83732802e+02] [ 7.86043423e-01 -6.17410646e-01 -3.06566565e-02 1.59273099e+02] [ 3.93188204e-02 4.42740890e-04 9.99226618e-01 1.09902179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.1371056809999 meters 0.02075934456410004 Centerline is valid? [True, True] Translation: X:183.72, Y:159.30, Z:10.99 [[-6.20798397e-01 -7.83587392e-01 2.44979722e-02 1.83722855e+02] [ 7.82994650e-01 -6.21281522e-01 -3.04737353e-02 1.59300188e+02] [ 3.90989722e-02 2.63735184e-04 9.99235308e-01 1.09914494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.16710568099995 meters 0.0201809289749506 Centerline is valid? [True, True] Translation: X:183.72, Y:159.33, Z:10.99 [[-6.26794745e-01 -7.78793620e-01 2.46747975e-02 1.83718151e+02] [ 7.78189585e-01 -6.27280238e-01 -3.06671285e-02 1.59330358e+02] [ 3.93613768e-02 -2.03245620e-05 9.99225041e-01 1.09930282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.1971056809999 meters 0.020132826032648217 Centerline is valid? [True, True] Translation: X:183.71, Y:159.36, Z:10.99 [[-6.28648144e-01 -7.77220077e-01 2.70270743e-02 1.83707708e+02] [ 7.76495357e-01 -6.29228845e-01 -3.35562221e-02 1.59355518e+02] [ 4.30867843e-02 -1.08659009e-04 9.99071327e-01 1.09897960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.22710568099995 meters 0.020051060007830634 Centerline is valid? [True, True] Translation: X:183.69, Y:159.38, Z:10.99 [[-6.28131789e-01 -7.77581586e-01 2.85890328e-02 1.83692669e+02] [ 7.76772639e-01 -6.28782055e-01 -3.54597583e-02 1.59377107e+02] [ 4.55491259e-02 -6.62229733e-05 9.98962098e-01 1.09880416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.2571056809999 meters 0.020051060007830634 Centerline is valid? [True, True] Translation: X:183.68, Y:159.40, Z:10.99 [[-6.28504195e-01 -7.77279983e-01 2.86060158e-02 1.83676202e+02] [ 7.76471348e-01 -6.29154849e-01 -3.54460538e-02 1.59396962e+02] [ 4.55491216e-02 -6.62419301e-05 9.98962098e-01 1.09889969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.2871056809999 meters 0.02043687796597964 Centerline is valid? [True, True] Translation: X:183.66, Y:159.42, Z:10.99 [[-6.24074618e-01 -7.80727708e-01 3.15454672e-02 1.83660449e+02] [ 7.79750653e-01 -6.24871341e-01 -3.90477514e-02 1.59418427e+02] [ 5.01975199e-02 2.28888115e-04 9.98739284e-01 1.09855248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.31710568099993 meters 0.020920432274012527 Centerline is valid? [True, True] Translation: X:183.64, Y:159.44, Z:10.99 [[-6.21498475e-01 -7.82775835e-01 3.16486636e-02 1.83642236e+02] [ 7.81796814e-01 -6.22303638e-01 -3.91398043e-02 1.59439024e+02] [ 5.03327715e-02 4.17495714e-04 9.98732416e-01 1.09876445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.3471056809999 meters 0.022837219659019192 Centerline is valid? [True, True] Translation: X:183.62, Y:159.46, Z:10.99 [[-6.15714671e-01 -7.87413344e-01 2.95917164e-02 1.83622782e+02] [ 7.86564238e-01 -6.16424891e-01 -3.65657308e-02 1.59458100e+02] [ 4.70334149e-02 7.61728923e-04 9.98893026e-01 1.09939070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.37710568099993 meters 0.023772516765413778 Centerline is valid? [True, True] Translation: X:183.61, Y:159.48, Z:11.00 [[-6.13475344e-01 -7.89206717e-01 2.82976938e-02 1.83605062e+02] [ 7.88433514e-01 -6.14127012e-01 -3.49371800e-02 1.59477834e+02] [ 4.49510353e-02 8.77751658e-04 9.98988806e-01 1.09986144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.4071056809999 meters 0.02626250448248775 Centerline is valid? [True, True] Translation: X:183.59, Y:159.50, Z:11.00 [[-6.08775321e-01 -7.92864167e-01 2.75503502e-02 1.83585168e+02] [ 7.92136345e-01 -6.09397345e-01 -3.39836185e-02 1.59495691e+02] [ 4.37335036e-02 1.13524546e-03 9.99042588e-01 1.10029867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.43710568099993 meters 0.027052940358824096 Centerline is valid? [True, True] Translation: X:183.57, Y:159.52, Z:11.00 [[-6.06776382e-01 -7.94415993e-01 2.69379266e-02 1.83568147e+02] [ 7.93722991e-01 -6.07372784e-01 -3.31981316e-02 1.59516106e+02] [ 4.27344901e-02 1.23740947e-03 9.99085698e-01 1.10043510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.4671056809999 meters 0.031073154223827587 Centerline is valid? [True, True] Translation: X:183.55, Y:159.53, Z:11.00 [[-6.01925270e-01 -7.98051056e-01 2.82927655e-02 1.83549537e+02] [ 7.97292069e-01 -6.02587738e-01 -3.48335152e-02 1.59534315e+02] [ 4.48477972e-02 1.59042452e-03 9.98992565e-01 1.10012082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49710568099994 meters 0.030717897414675267 Centerline is valid? [True, True] Translation: X:183.53, Y:159.56, Z:11.00 [[-6.00148044e-01 -7.99344167e-01 2.95165829e-02 1.83534637e+02] [ 7.98521297e-01 -6.00870809e-01 -3.63044029e-02 1.59557386e+02] [ 4.67553657e-02 1.78160368e-03 9.98904781e-01 1.09995363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5271056809999 meters 0.031764668670100436 Centerline is valid? [True, True] Translation: X:183.52, Y:159.58, Z:11.00 [[-5.99466582e-01 -7.99803303e-01 3.08948892e-02 1.83520122e+02] [ 7.98904081e-01 -6.00259091e-01 -3.79643554e-02 1.59579856e+02] [ 4.89089549e-02 1.92369069e-03 9.98801388e-01 1.09957201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55710568099994 meters 0.03072968781328926 Centerline is valid? [True, True] Translation: X:183.51, Y:159.60, Z:11.00 [[-6.01053994e-01 -7.98618274e-01 3.07074636e-02 1.83505829e+02] [ 7.97730040e-01 -6.01835093e-01 -3.77001793e-02 1.59603791e+02] [ 4.85888813e-02 1.83642281e-03 9.98817175e-01 1.09974000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5871056809999 meters 0.027465324360741405 Centerline is valid? [True, True] Translation: X:183.50, Y:159.63, Z:11.00 [[-6.06405928e-01 -7.94597041e-01 2.97891317e-02 1.83498076e+02] [ 7.93757716e-01 -6.07135351e-01 -3.65425024e-02 1.59632373e+02] [ 4.71225992e-02 1.48576302e-03 9.98888008e-01 1.09998752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61710568099994 meters 0.02623269967702204 Centerline is valid? [True, True] Translation: X:183.49, Y:159.66, Z:11.00 [[-6.10042735e-01 -7.91829426e-01 2.92236411e-02 1.83485856e+02] [ 7.91019975e-01 -6.10740989e-01 -3.58168139e-02 1.59656210e+02] [ 4.62088827e-02 1.26669676e-03 9.98930996e-01 1.10015673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.6471056809999 meters 0.023138458182217134 Centerline is valid? [True, True] Translation: X:183.48, Y:159.68, Z:11.00 [[-6.17039427e-01 -7.86407301e-01 2.87385292e-02 1.83477921e+02] [ 7.85620039e-01 -6.17707707e-01 -3.51901008e-02 1.59684737e+02] [ 4.54257631e-02 8.63884843e-04 9.98967344e-01 1.10028093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67710568099994 meters 0.022168074658958977 Centerline is valid? [True, True] Translation: X:183.47, Y:159.71, Z:11.00 [[-6.20471254e-01 -7.83699095e-01 2.88297045e-02 1.83465951e+02] [ 7.82905345e-01 -6.21140287e-01 -3.52698848e-02 1.59708252e+02] [ 4.55482677e-02 6.86980150e-04 9.98961903e-01 1.10038382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.7071056809999 meters 0.020616941678631418 Centerline is valid? [True, True] Translation: X:183.46, Y:159.74, Z:11.00 [[-6.25838116e-01 -7.79396373e-01 2.94609140e-02 1.83458088e+02] [ 7.78564231e-01 -6.26531030e-01 -3.60084157e-02 1.59736824e+02] [ 4.65230055e-02 4.01774824e-04 9.98917138e-01 1.10045838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73710568099995 meters 0.019961847442440568 Centerline is valid? [True, True] Translation: X:183.45, Y:159.76, Z:11.00 [[-6.29260135e-01 -7.76573685e-01 3.10643544e-02 1.83446133e+02] [ 7.75646764e-01 -6.30026397e-01 -3.79320061e-02 1.59759938e+02] [ 4.90283610e-02 2.25866634e-04 9.98797361e-01 1.10009479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.7671056809999 meters 0.01981261720768098 Centerline is valid? [True, True] Translation: X:183.43, Y:159.78, Z:11.00 [[-6.30612215e-01 -7.75446113e-01 3.18050525e-02 1.83430849e+02] [ 7.74475010e-01 -6.31413730e-01 -3.87963967e-02 1.59781699e+02] [ 5.01666618e-02 1.66736769e-04 9.98740846e-01 1.10000237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79710568099995 meters 0.019777410468037628 Centerline is valid? [True, True] Translation: X:183.42, Y:159.80, Z:11.00 [[-6.31255527e-01 -7.74841489e-01 3.37213157e-02 1.83417159e+02] [ 7.73751138e-01 -6.32155553e-01 -4.10917550e-02 1.59804142e+02] [ 5.31567136e-02 1.52508950e-04 9.98586171e-01 1.09975507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.8271056809999 meters 0.01979173123153144 Centerline is valid? [True, True] Translation: X:183.40, Y:159.82, Z:11.00 [[-6.31190234e-01 -7.74872290e-01 3.42318973e-02 1.83400639e+02] [ 7.73750875e-01 -6.32117790e-01 -4.16735193e-02 1.59824731e+02] [ 5.39302466e-02 1.83042097e-04 9.98544689e-01 1.09982183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85710568099995 meters 0.020025947986900612 Centerline is valid? [True, True] Translation: X:183.38, Y:159.84, Z:11.00 [[-6.30074491e-01 -7.75786069e-01 3.40897452e-02 1.83383157e+02] [ 7.74677537e-01 -6.30995953e-01 -4.14586719e-02 1.59843395e+02] [ 5.36735514e-02 2.86508201e-04 9.98558495e-01 1.09997926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.8871056809999 meters 0.019906334466860996 Centerline is valid? [True, True] Translation: X:183.37, Y:159.86, Z:11.00 [[-6.29835666e-01 -7.76010985e-01 3.33764103e-02 1.83366133e+02] [ 7.74950843e-01 -6.30719308e-01 -4.05505337e-02 1.59862851e+02] [ 5.25188060e-02 3.24904873e-04 9.98619882e-01 1.10026187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91710568099995 meters 0.020002840486422806 Centerline is valid? [True, True] Translation: X:183.35, Y:159.88, Z:11.01 [[-6.29847575e-01 -7.76100278e-01 3.09901738e-02 1.83348106e+02] [ 7.75188159e-01 -6.30609427e-01 -3.76173859e-02 1.59882090e+02] [ 4.87375594e-02 3.29996507e-04 9.98811565e-01 1.10084201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.9471056809999 meters 0.019786750030681005 Centerline is valid? [True, True] Translation: X:183.33, Y:159.90, Z:11.01 [[-6.30699692e-01 -7.75465554e-01 2.95139466e-02 1.83330871e+02] [ 7.74639088e-01 -6.31389809e-01 -3.57937442e-02 1.59902315e+02] [ 4.63916208e-02 2.87553211e-04 9.98923288e-01 1.10131719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97710568099995 meters 0.019401426286775145 Centerline is valid? [True, True] Translation: X:183.32, Y:159.93, Z:11.02 [[-6.35770219e-01 -7.71429717e-01 2.63138845e-02 1.83316788e+02] [ 7.70770468e-01 -6.36314538e-01 -3.18856344e-02 1.59926348e+02] [ 4.13414332e-02 1.00283614e-05 9.99145077e-01 1.10194011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.0071056809999 meters 0.02009907156219781 Centerline is valid? [True, True] Translation: X:183.30, Y:159.95, Z:11.02 [[-6.43008357e-01 -7.65465708e-01 2.45459253e-02 1.83304962e+02] [ 7.64888601e-01 -6.43476602e-01 -2.97202171e-02 1.59950840e+02] [ 3.85445356e-02 -3.35449503e-04 9.99256827e-01 1.10231881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.0371056809999 meters 0.020954455513397387 Centerline is valid? [True, True] Translation: X:183.29, Y:159.97, Z:11.02 [[-6.46743361e-01 -7.62328939e-01 2.40335969e-02 1.83289672e+02] [ 7.61774554e-01 -6.47189574e-01 -2.90720536e-02 1.59973426e+02] [ 3.77167611e-02 -4.93975081e-04 9.99288348e-01 1.10248498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.06710568099993 meters 0.02374673442446565 Centerline is valid? [True, True] Translation: X:183.28, Y:160.00, Z:11.02 [[-6.54293317e-01 -7.55868696e-01 2.37227471e-02 1.83278407e+02] [ 7.55325224e-01 -6.54722695e-01 -2.86705257e-02 1.59998088e+02] [ 3.72029738e-02 -8.40544116e-04 9.99307376e-01 1.10247588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.0971056809999 meters 0.025558865959800982 Centerline is valid? [True, True] Translation: X:183.26, Y:160.02, Z:11.02 [[-6.57903954e-01 -7.52731538e-01 2.36139629e-02 1.83263646e+02] [ 7.52192001e-01 -6.58326849e-01 -2.85123435e-02 1.60020666e+02] [ 3.70078460e-02 -9.96149519e-04 9.99314479e-01 1.10242684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.12710568099993 meters 0.028368659126106997 Centerline is valid? [True, True] Translation: X:183.25, Y:160.04, Z:11.02 [[-6.61440489e-01 -7.49610823e-01 2.40851235e-02 1.83250011e+02] [ 7.49048491e-01 -6.61877806e-01 -2.90538977e-02 1.60043429e+02] [ 3.77205248e-02 -1.17649887e-03 9.99287635e-01 1.10235343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.1571056809999 meters 0.029830890077600147 Centerline is valid? [True, True] Translation: X:183.23, Y:160.06, Z:11.02 [[-6.65812716e-01 -7.45698761e-01 2.50356699e-02 1.83231815e+02] [ 7.45089220e-01 -6.66281686e-01 -3.01789427e-02 1.60062993e+02] [ 3.91852085e-02 -1.43971604e-03 9.99230928e-01 1.10221427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.18710568099993 meters 0.03099821050528279 Centerline is valid? [True, True] Translation: X:183.21, Y:160.08, Z:11.02 [[-6.67029229e-01 -7.44616480e-01 2.48657371e-02 1.83214569e+02] [ 7.44015503e-01 -6.67490915e-01 -2.99467820e-02 1.60082174e+02] [ 3.88965210e-02 -1.47488502e-03 9.99242156e-01 1.10233939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2171056809999 meters 0.031323492747470386 Centerline is valid? [True, True] Translation: X:183.19, Y:160.10, Z:11.03 [[-6.66633399e-01 -7.45029183e-01 2.30527338e-02 1.83193376e+02] [ 7.44513759e-01 -6.67030546e-01 -2.77401128e-02 1.60097921e+02] [ 3.60440712e-02 -1.32940819e-03 9.99349317e-01 1.10276645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.24710568099994 meters 0.030785441835904776 Centerline is valid? [True, True] Translation: X:183.17, Y:160.11, Z:11.03 [[-6.66135635e-01 -7.45501916e-01 2.21406772e-02 1.83169670e+02] [ 7.45027564e-01 -6.66502337e-01 -2.66188574e-02 1.60112106e+02] [ 3.46012223e-02 -1.23635461e-03 9.99400434e-01 1.10296655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2771056809999 meters 0.03040657125291221 Centerline is valid? [True, True] Translation: X:183.15, Y:160.13, Z:11.03 [[-6.65755955e-01 -7.45818883e-01 2.28736035e-02 1.83149397e+02] [ 7.45313721e-01 -6.66147618e-01 -2.74737712e-02 1.60129398e+02] [ 3.57276539e-02 -1.24281625e-03 9.99360791e-01 1.10285651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.30710568099994 meters 0.02802533488677278 Centerline is valid? [True, True] Translation: X:183.12, Y:160.14, Z:11.02 [[-6.63975902e-01 -7.47331154e-01 2.51425568e-02 1.83123241e+02] [ 7.46723023e-01 -6.64450575e-01 -3.01688746e-02 1.60142826e+02] [ 3.92521262e-02 -1.25687967e-03 9.99228548e-01 1.10225900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3371056809999 meters 0.027875741034497012 Centerline is valid? [True, True] Translation: X:183.10, Y:160.16, Z:11.02 [[-6.63003442e-01 -7.48146190e-01 2.65276031e-02 1.83102918e+02] [ 7.47471030e-01 -6.63532743e-01 -3.18018705e-02 1.60160140e+02] [ 4.13943815e-02 -1.25613475e-03 9.99142096e-01 1.10212113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.36710568099994 meters 0.026912908117687814 Centerline is valid? [True, True] Translation: X:183.08, Y:160.17, Z:11.02 [[-6.60250092e-01 -7.50538613e-01 2.75972312e-02 1.83078130e+02] [ 7.49811302e-01 -6.60825630e-01 -3.30529707e-02 1.60172209e+02] [ 4.30444885e-02 -1.13051108e-03 9.99072517e-01 1.10199469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3971056809999 meters 0.025330241495868516 Centerline is valid? [True, True] Translation: X:183.05, Y:160.18, Z:11.02 [[-6.58326484e-01 -7.52176889e-01 2.89165763e-02 1.83051731e+02] [ 7.51381474e-01 -6.58960413e-01 -3.45984830e-02 1.60184067e+02] [ 4.50790584e-02 -1.04971802e-03 9.98982871e-01 1.10189255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.42710568099994 meters 0.024552298769141008 Centerline is valid? [True, True] Translation: X:183.03, Y:160.20, Z:11.02 [[-6.56835155e-01 -7.53468856e-01 2.91935373e-02 1.83029899e+02] [ 7.52660889e-01 -6.57482915e-01 -3.48970225e-02 1.60200411e+02] [ 4.54880716e-02 -9.48757461e-04 9.98964431e-01 1.10204870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.4571056809999 meters 0.023594964040340876 Centerline is valid? [True, True] Translation: X:183.01, Y:160.22, Z:11.02 [[-6.55186240e-01 -7.54935339e-01 2.83482654e-02 1.83007303e+02] [ 7.54176217e-01 -6.55798742e-01 -3.38562367e-02 1.60217099e+02] [ 4.41500263e-02 -8.02552927e-04 9.99024590e-01 1.10234956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.48710568099995 meters 0.023139440640001604 Centerline is valid? [True, True] Translation: X:182.98, Y:160.23, Z:11.03 [[-6.52424287e-01 -7.57352661e-01 2.75589815e-02 1.82982980e+02] [ 7.56638534e-01 -6.53005806e-01 -3.28868677e-02 1.60229606e+02] [ 4.29031317e-02 -6.04003796e-04 9.99079054e-01 1.10273318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.5171056809999 meters 0.022914390330666112 Centerline is valid? [True, True] Translation: X:182.96, Y:160.25, Z:11.03 [[-6.51404976e-01 -7.58232248e-01 2.74848304e-02 1.82961642e+02] [ 7.57523829e-01 -6.51984340e-01 -3.27729930e-02 1.60245044e+02] [ 4.27692191e-02 -5.28076763e-04 9.99084839e-01 1.10294954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.54710568099995 meters 0.022725400662725652 Centerline is valid? [True, True] Translation: X:182.94, Y:160.26, Z:11.03 [[-6.50082864e-01 -7.59419883e-01 2.59559379e-02 1.82936701e+02] [ 7.58790192e-01 -6.50600703e-01 -3.09219885e-02 1.60258104e+02] [ 4.03697243e-02 -4.06743749e-04 9.99184728e-01 1.10334242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.5771056809999 meters 0.022477937851983692 Centerline is valid? [True, True] Translation: X:182.92, Y:160.28, Z:11.03 [[-6.50099831e-01 -7.59395120e-01 2.62537848e-02 1.82916928e+02] [ 7.58752028e-01 -6.50629615e-01 -3.12484283e-02 1.60275287e+02] [ 4.08113938e-02 -3.94485518e-04 9.99166790e-01 1.10339758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.60710568099995 meters 0.02346605219349549 Centerline is valid? [True, True] Translation: X:182.90, Y:160.30, Z:11.03 [[-6.52059793e-01 -7.57652800e-01 2.79331657e-02 1.82900904e+02] [ 7.56924529e-01 -6.52657620e-01 -3.32157914e-02 1.60295097e+02] [ 4.33968308e-02 -5.15383812e-04 9.99057781e-01 1.10305638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.6371056809999 meters 0.023803744200755803 Centerline is valid? [True, True] Translation: X:182.88, Y:160.31, Z:11.04 [[-6.54526795e-01 -7.55546226e-01 2.72868926e-02 1.82881698e+02] [ 7.54850454e-01 -6.55095039e-01 -3.24234801e-02 1.60314563e+02] [ 4.23729460e-02 -6.24513250e-04 9.99101668e-01 1.10362134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.66710568099995 meters 0.023700241209419822 Centerline is valid? [True, True] Translation: X:182.86, Y:160.33, Z:11.04 [[-6.55138001e-01 -7.55025654e-01 2.70270594e-02 1.82863365e+02] [ 7.54343790e-01 -6.55694945e-01 -3.20871597e-02 1.60333789e+02] [ 4.19481349e-02 -6.33823182e-04 9.99119589e-01 1.10387692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.6971056809999 meters 0.023573037404153847 Centerline is valid? [True, True] Translation: X:182.84, Y:160.35, Z:11.04 [[-6.54272450e-01 -7.55745423e-01 2.78642662e-02 1.82844852e+02] [ 7.55022749e-01 -6.54865265e-01 -3.30474483e-02 1.60350765e+02] [ 4.32227978e-02 -5.83880131e-04 9.99065288e-01 1.10400065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.72710568099995 meters 0.023675317429288363 Centerline is valid? [True, True] Translation: X:182.83, Y:160.37, Z:11.04 [[-6.53298986e-01 -7.56578034e-01 2.81089656e-02 1.82827658e+02] [ 7.55844875e-01 -6.53903217e-01 -3.33032723e-02 1.60369839e+02] [ 4.35770673e-02 -5.10976455e-04 9.99049938e-01 1.10399024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.7571056809999 meters 0.02254799859339386 Centerline is valid? [True, True] Translation: X:182.80, Y:160.39, Z:11.04 [[-6.48289099e-01 -7.60814467e-01 2.97084245e-02 1.82803601e+02] [ 7.60001528e-01 -6.48969414e-01 -3.51621661e-02 1.60385432e+02] [ 4.60317435e-02 -2.16801009e-04 9.98939954e-01 1.10410950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.7871056809999 meters 0.022449364649310202 Centerline is valid? [True, True] Translation: X:182.78, Y:160.40, Z:11.04 [[-6.44842110e-01 -7.63714091e-01 3.03222680e-02 1.82784657e+02] [ 7.62871905e-01 -6.45554635e-01 -3.58562288e-02 1.60401965e+02] [ 4.69585879e-02 1.04001036e-05 9.98896837e-01 1.10409580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.81710568099993 meters 0.024218034994969048 Centerline is valid? [True, True] Translation: X:182.76, Y:160.42, Z:11.04 [[-6.36415520e-01 -7.70759959e-01 3.00727706e-02 1.82759954e+02] [ 7.69940934e-01 -6.37125411e-01 -3.55270284e-02 1.60416833e+02] [ 4.65429373e-02 5.44304835e-04 9.98916142e-01 1.10433542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.8471056809999 meters 0.02553692738240987 Centerline is valid? [True, True] Translation: X:182.74, Y:160.43, Z:11.05 [[-6.32493238e-01 -7.74005586e-01 2.94560270e-02 1.82739018e+02] [ 7.73224653e-01 -6.33178282e-01 -3.47692188e-02 1.60434312e+02] [ 4.55624862e-02 7.84830496e-04 9.98961182e-01 1.10457967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.87710568099993 meters 0.029106835123817627 Centerline is valid? [True, True] Translation: X:182.72, Y:160.45, Z:11.05 [[-6.25076634e-01 -7.80006907e-01 2.94690878e-02 1.82716178e+02] [ 7.79233244e-01 -6.25769678e-01 -3.47543167e-02 1.60450687e+02] [ 4.55494686e-02 1.23918157e-03 9.98961316e-01 1.10469091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.9071056809999 meters 0.030940214216795544 Centerline is valid? [True, True] Translation: X:182.70, Y:160.47, Z:11.05 [[-6.22677098e-01 -7.81900465e-01 3.00814629e-02 1.82697774e+02] [ 7.81097963e-01 -6.23401660e-01 -3.54449222e-02 1.60469560e+02] [ 4.64672351e-02 1.42582818e-03 9.98918797e-01 1.10465932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.93710568099993 meters 0.0343241451704678 Centerline is valid? [True, True] Translation: X:182.68, Y:160.49, Z:11.04 [[-6.18317127e-01 -7.85298613e-01 3.14645716e-02 1.82680092e+02] [ 7.84426529e-01 -6.19114632e-01 -3.70417657e-02 1.60487938e+02] [ 4.85690238e-02 1.77808655e-03 9.98818246e-01 1.10449148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.9671056809999 meters 0.03432279388465273 Centerline is valid? [True, True] Translation: X:182.66, Y:160.51, Z:11.05 [[-6.16894564e-01 -7.86391967e-01 3.20744709e-02 1.82663436e+02] [ 7.85488600e-01 -6.17724855e-01 -3.77314454e-02 1.60509778e+02] [ 4.94849034e-02 1.91780768e-03 9.98773030e-01 1.10461430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99710568099994 meters 0.036772019491214336 Centerline is valid? [True, True] Translation: X:182.65, Y:160.53, Z:11.05 [[-6.14030505e-01 -7.88637369e-01 3.19004628e-02 1.82646756e+02] [ 7.87748356e-01 -6.14854994e-01 -3.74948661e-02 1.60531022e+02] [ 4.91840114e-02 2.10654556e-03 9.98787513e-01 1.10479324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0271056809999 meters 0.038129266819176236 Centerline is valid? [True, True] Translation: X:182.63, Y:160.55, Z:11.05 [[-6.13104377e-01 -7.89400481e-01 3.08205005e-02 1.82631864e+02] [ 7.88572975e-01 -6.13874924e-01 -3.61972594e-02 1.60552303e+02] [ 4.74940664e-02 2.11151562e-03 9.98869288e-01 1.10519120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05710568099994 meters 0.03761900770699643 Centerline is valid? [True, True] Translation: X:182.62, Y:160.58, Z:11.06 [[-6.12840259e-01 -7.89695825e-01 2.84133934e-02 1.82622446e+02] [ 7.88993856e-01 -6.13495379e-01 -3.33483902e-02 1.60578748e+02] [ 4.37665700e-02 1.98075675e-03 9.99039821e-01 1.10599758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0871056809999 meters 0.03791308102806598 Centerline is valid? [True, True] Translation: X:182.61, Y:160.60, Z:11.06 [[-6.13237020e-01 -7.89401650e-01 2.80248685e-02 1.82610743e+02] [ 7.88719787e-01 -6.13873949e-01 -3.28614123e-02 1.60602563e+02] [ 4.31445898e-02 1.95193376e-03 9.99066932e-01 1.10618692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11710568099994 meters 0.037838707282066564 Centerline is valid? [True, True] Translation: X:182.60, Y:160.63, Z:11.06 [[-6.14327865e-01 -7.88542376e-01 2.83230526e-02 1.82596954e+02] [ 7.87846409e-01 -6.14977390e-01 -3.31789808e-02 1.60626567e+02] [ 4.35810694e-02 1.93144287e-03 9.99048027e-01 1.10615294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.1471056809999 meters 0.03721236015374314 Centerline is valid? [True, True] Translation: X:182.59, Y:160.66, Z:11.06 [[-6.16564402e-01 -7.86737831e-01 2.98651007e-02 1.82591087e+02] [ 7.85963287e-01 -6.17284290e-01 -3.49544874e-02 1.60655635e+02] [ 4.59352751e-02 1.92118013e-03 9.98942571e-01 1.10597736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17710568099994 meters 0.03721236015374314 Centerline is valid? [True, True] Translation: X:182.57, Y:160.68, Z:11.06 [[-6.16920010e-01 -7.86458410e-01 2.98809481e-02 1.82574048e+02] [ 7.85684194e-01 -6.17640250e-01 -3.49409362e-02 1.60675026e+02] [ 4.59352694e-02 1.92122586e-03 9.98942571e-01 1.10607297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.2071056809999 meters 0.03665254078457414 Centerline is valid? [True, True] Translation: X:182.56, Y:160.70, Z:11.06 [[-6.18369980e-01 -7.85287769e-01 3.06869383e-02 1.82562464e+02] [ 7.84471344e-01 -6.19128010e-01 -3.58499200e-02 1.60699384e+02] [ 4.71516467e-02 1.90450939e-03 9.98885927e-01 1.10602061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23710568099995 meters 0.036086200602622125 Centerline is valid? [True, True] Translation: X:182.55, Y:160.73, Z:11.06 [[-6.19506259e-01 -7.84336012e-01 3.20782684e-02 1.82554754e+02] [ 7.83444298e-01 -6.20333191e-01 -3.74401416e-02 1.60727878e+02] [ 4.92648660e-02 1.93713437e-03 9.98783871e-01 1.10595265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.2671056809999 meters 0.03710545840908319 Centerline is valid? [True, True] Translation: X:182.54, Y:160.75, Z:11.06 [[-6.18831678e-01 -7.84798306e-01 3.37486677e-02 1.82540120e+02] [ 7.83813845e-01 -6.19747698e-01 -3.93528680e-02 1.60749835e+02] [ 5.17997233e-02 2.09987164e-03 9.98655285e-01 1.10575857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29710568099995 meters 0.03957223897794907 Centerline is valid? [True, True] Translation: X:182.53, Y:160.77, Z:11.05 [[-6.15418035e-01 -7.87365319e-01 3.62835715e-02 1.82526799e+02] [ 7.86233902e-01 -6.16481578e-01 -4.22695644e-02 1.60773861e+02] [ 5.56497425e-02 2.51392173e-03 9.98447188e-01 1.10537070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.3271056809999 meters 0.04299550421407622 Centerline is valid? [True, True] Translation: X:182.51, Y:160.80, Z:11.05 [[-6.11955527e-01 -7.90027189e-01 3.69793550e-02 1.82514446e+02] [ 7.88858930e-01 -6.13065266e-01 -4.30414768e-02 1.60796382e+02] [ 5.66746950e-02 2.83202485e-03 9.98388681e-01 1.10541599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35710568099995 meters 0.040466374594835895 Centerline is valid? [True, True] Translation: X:182.50, Y:160.82, Z:11.06 [[-6.11039003e-01 -7.90733338e-01 3.70422011e-02 1.82504144e+02] [ 7.89564673e-01 -6.12153755e-01 -4.30744365e-02 1.60822578e+02] [ 5.67359155e-02 2.92705263e-03 9.98384930e-01 1.10590436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.3871056809999 meters 0.04147636296046611 Centerline is valid? [True, True] Translation: X:182.49, Y:160.85, Z:11.06 [[-6.09249496e-01 -7.92172288e-01 3.57507786e-02 1.82492912e+02] [ 7.91088133e-01 -6.10290270e-01 -4.15373635e-02 1.60848394e+02] [ 5.47231006e-02 2.97539892e-03 9.98497135e-01 1.10641837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41710568099995 meters 0.042094692105264585 Centerline is valid? [True, True] Translation: X:182.48, Y:160.87, Z:11.07 [[-6.08867734e-01 -7.92498585e-01 3.50153551e-02 1.82478403e+02] [ 7.91460970e-01 -6.09866551e-01 -4.06487814e-02 1.60870950e+02] [ 5.35687956e-02 2.96355549e-03 9.98559764e-01 1.10665219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.4471056809999 meters 0.043044412288195166 Centerline is valid? [True, True] Translation: X:182.47, Y:160.90, Z:11.07 [[-6.08359721e-01 -7.92895689e-01 3.48550687e-02 1.82467053e+02] [ 7.91870090e-01 -6.09349972e-01 -4.04273690e-02 1.60895450e+02] [ 5.32936217e-02 3.00630349e-03 9.98574360e-01 1.10675659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47710568099995 meters 0.04145250461271697 Centerline is valid? [True, True] Translation: X:182.45, Y:160.92, Z:11.07 [[-6.08916247e-01 -7.92462027e-01 3.49991548e-02 1.82454885e+02] [ 7.91429158e-01 -6.09913862e-01 -4.05582064e-02 1.60919511e+02] [ 5.34873081e-02 3.00280075e-03 9.98564015e-01 1.10688380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.5071056809999 meters 0.040568015760041334 Centerline is valid? [True, True] Translation: X:182.45, Y:160.95, Z:11.07 [[-6.11800713e-01 -7.90263337e-01 3.44056093e-02 1.82447234e+02] [ 7.89263664e-01 -6.12761050e-01 -3.98342056e-02 1.60947593e+02] [ 5.25619296e-02 2.78450184e-03 9.98613784e-01 1.10694198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.5371056809999 meters 0.039834886643136905 Centerline is valid? [True, True] Translation: X:182.43, Y:160.97, Z:11.07 [[-6.13876519e-01 -7.88642409e-01 3.46232544e-02 1.82434749e+02] [ 7.87629274e-01 -6.14846282e-01 -4.00521716e-02 1.60973376e+02] [ 5.28748203e-02 2.68320102e-03 9.98597543e-01 1.10708216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.56710568099993 meters 0.03705145188560961 Centerline is valid? [True, True] Translation: X:182.43, Y:161.00, Z:11.07 [[-6.19082937e-01 -7.84554045e-01 3.48032619e-02 1.82429512e+02] [ 7.83525590e-01 -6.20055931e-01 -4.02280065e-02 1.61004487e+02] [ 5.31410142e-02 2.36477385e-03 9.98584218e-01 1.10712559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.5971056809999 meters 0.035482779148636866 Centerline is valid? [True, True] Translation: X:182.42, Y:161.03, Z:11.07 [[-6.21961593e-01 -7.82277869e-01 3.47147276e-02 1.82417299e+02] [ 7.81252942e-01 -6.22925804e-01 -4.00909298e-02 1.61029500e+02] [ 5.29869467e-02 2.18596456e-03 9.98592812e-01 1.10726832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.62710568099993 meters 0.033622393556674006 Centerline is valid? [True, True] Translation: X:182.41, Y:161.06, Z:11.07 [[-6.26462997e-01 -7.78660537e-01 3.50981554e-02 1.82408850e+02] [ 7.77608941e-01 -6.27442490e-01 -4.05000820e-02 1.61055881e+02] [ 5.35578896e-02 1.92083672e-03 9.98562899e-01 1.10721198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.6571056809999 meters 0.03214269197217582 Centerline is valid? [True, True] Translation: X:182.40, Y:161.08, Z:11.07 [[-6.28559070e-01 -7.76923186e-01 3.61089784e-02 1.82395568e+02] [ 7.75809079e-01 -6.29592694e-01 -4.16330673e-02 1.61079221e+02] [ 5.50796443e-02 1.84483123e-03 9.98480260e-01 1.10718840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.68710568099993 meters 0.0316049353879765 Centerline is valid? [True, True] Translation: X:182.38, Y:161.10, Z:11.07 [[-6.30651643e-01 -7.75159212e-01 3.75060066e-02 1.82384249e+02] [ 7.73956390e-01 -6.31763421e-01 -4.32028512e-02 1.61103323e+02] [ 5.71840111e-02 1.78206441e-03 9.98362065e-01 1.10692212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7171056809999 meters 0.031520975146847714 Centerline is valid? [True, True] Translation: X:182.37, Y:161.13, Z:11.07 [[-6.31675971e-01 -7.74293036e-01 3.81544467e-02 1.82369496e+02] [ 7.73049051e-01 -6.32824777e-01 -4.39086125e-02 1.61125073e+02] [ 5.81432122e-02 1.75924336e-03 9.98306702e-01 1.10686741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.74710568099994 meters 0.03099517121477534 Centerline is valid? [True, True] Translation: X:182.36, Y:161.15, Z:11.07 [[-6.32901783e-01 -7.73220424e-01 3.95665069e-02 1.82355686e+02] [ 7.71882987e-01 -6.34134937e-01 -4.54921654e-02 1.61148497e+02] [ 6.02659758e-02 1.74864092e-03 9.98180823e-01 1.10697656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7771056809999 meters 0.030528532949979263 Centerline is valid? [True, True] Translation: X:182.34, Y:161.17, Z:11.07 [[-6.33824908e-01 -7.72497646e-01 3.89020997e-02 1.82339196e+02] [ 7.71205768e-01 -6.35015414e-01 -4.46887830e-02 1.61169178e+02] [ 5.92254126e-02 1.67665989e-03 9.98243227e-01 1.10724272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.80710568099994 meters 0.030468070961500424 Centerline is valid? [True, True] Translation: X:182.32, Y:161.19, Z:11.07 [[-6.34036202e-01 -7.72343696e-01 3.85137718e-02 1.82321040e+02] [ 7.71079518e-01 -6.35202665e-01 -4.42035323e-02 1.61188744e+02] [ 5.86043700e-02 1.67054082e-03 9.98279889e-01 1.10748443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8371056809999 meters 0.03038088094632657 Centerline is valid? [True, True] Translation: X:182.30, Y:161.21, Z:11.08 [[-6.34004065e-01 -7.72340205e-01 3.91082280e-02 1.82303495e+02] [ 7.71039115e-01 -6.35206771e-01 -4.48446381e-02 1.61207738e+02] [ 5.94771282e-02 1.72229059e-03 9.98228183e-01 1.10751895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.86710568099994 meters 0.030558762998299054 Centerline is valid? [True, True] Translation: X:182.28, Y:161.23, Z:11.07 [[-6.32194147e-01 -7.73751296e-01 4.04906566e-02 1.82284592e+02] [ 7.72362019e-01 -6.33486495e-01 -4.63872013e-02 1.61227397e+02] [ 6.15424412e-02 1.94772815e-03 9.98102567e-01 1.10744801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8971056809999 meters 0.0335755188840919 Centerline is valid? [True, True] Translation: X:182.26, Y:161.24, Z:11.07 [[-6.31377510e-01 -7.74372330e-01 4.13513542e-02 1.82262142e+02] [ 7.72927206e-01 -6.32726782e-01 -4.73323737e-02 1.61242456e+02] [ 6.28169898e-02 2.07699046e-03 9.98022901e-01 1.10712288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.92710568099994 meters 0.0341001465676812 Centerline is valid? [True, True] Translation: X:182.24, Y:161.26, Z:11.07 [[-6.30029901e-01 -7.75429906e-01 4.20806969e-02 1.82243594e+02] [ 7.73938357e-01 -6.31429655e-01 -4.81249555e-02 1.61261207e+02] [ 6.38885296e-02 2.24770449e-03 9.97954510e-01 1.10731107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.9571056809999 meters 0.03352700703879809 Centerline is valid? [True, True] Translation: X:182.23, Y:161.28, Z:11.08 [[-6.27799381e-01 -7.77232472e-01 4.21618425e-02 1.82226012e+02] [ 7.75741809e-01 -6.29208730e-01 -4.81769552e-02 1.61281687e+02] [ 6.39732934e-02 2.46124137e-03 9.97948576e-01 1.10800549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.98710568099995 meters 0.036195291455764694 Centerline is valid? [True, True] Translation: X:182.21, Y:161.30, Z:11.08 [[-6.26188265e-01 -7.78605465e-01 4.07650263e-02 1.82205301e+02] [ 7.77217425e-01 -6.27508627e-01 -4.65402814e-02 1.61296465e+02] [ 6.18169232e-02 2.54031071e-03 9.98084272e-01 1.10829144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.0171056809999 meters 0.038509757975864436 Centerline is valid? [True, True] Translation: X:182.18, Y:161.31, Z:11.09 [[-6.23465639e-01 -7.80872485e-01 3.90993613e-02 1.82183593e+02] [ 7.79602485e-01 -6.24684719e-01 -4.45978413e-02 1.61312405e+02] [ 5.92500007e-02 2.67673757e-03 9.98239587e-01 1.10882019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.04710568099995 meters 0.03586408233300635 Centerline is valid? [True, True] Translation: X:182.17, Y:161.34, Z:11.09 [[-6.22633036e-01 -7.81575406e-01 3.83143244e-02 1.82169358e+02] [ 7.80359417e-01 -6.23804884e-01 -4.36651753e-02 1.61335462e+02] [ 5.80282898e-02 2.71156317e-03 9.98311257e-01 1.10940601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.0771056809999 meters 0.03582629739015422 Centerline is valid? [True, True] Translation: X:182.15, Y:161.36, Z:11.10 [[-6.22294366e-01 -7.81878155e-01 3.76333998e-02 1.82152802e+02] [ 7.80707723e-01 -6.23425363e-01 -4.28517088e-02 1.61355326e+02] [ 5.69664309e-02 2.71430894e-03 9.98372405e-01 1.10964191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.10710568099995 meters 0.037478948111388265 Centerline is valid? [True, True] Translation: X:182.14, Y:161.38, Z:11.09 [[-6.21772862e-01 -7.82266732e-01 3.81741746e-02 1.82136696e+02] [ 7.81065475e-01 -6.22937265e-01 -4.34268179e-02 1.61376488e+02] [ 5.77514708e-02 2.81491294e-03 9.98327023e-01 1.10938380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.1371056809999 meters 0.03839676519583029 Centerline is valid? [True, True] Translation: X:182.12, Y:161.40, Z:11.09 [[-6.21930013e-01 -7.82055015e-01 3.99125614e-02 1.82121708e+02] [ 7.80743584e-01 -6.23202434e-01 -4.53671997e-02 1.61398337e+02] [ 6.03532514e-02 2.94625314e-03 9.98172733e-01 1.10910912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.16710568099995 meters 0.037769408778579996 Centerline is valid? [True, True] Translation: X:182.11, Y:161.42, Z:11.09 [[-6.22511428e-01 -7.81582452e-01 4.01047645e-02 1.82106586e+02] [ 7.80259461e-01 -6.23795039e-01 -4.55513106e-02 1.61420485e+02] [ 6.06192582e-02 2.93591050e-03 9.98156644e-01 1.10908714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.1971056809999 meters 0.04007504232382194 Centerline is valid? [True, True] Translation: X:182.09, Y:161.44, Z:11.09 [[-6.21179691e-01 -7.82587941e-01 4.11327941e-02 1.82090358e+02] [ 7.81200770e-01 -6.22532152e-01 -4.66805767e-02 1.61441346e+02] [ 6.21381432e-02 3.13594424e-03 9.98062632e-01 1.10895009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.22710568099995 meters 0.03989263082214024 Centerline is valid? [True, True] Translation: X:182.07, Y:161.46, Z:11.09 [[-6.20432377e-01 -7.83142121e-01 4.18579151e-02 1.82074027e+02] [ 7.81708989e-01 -6.21834167e-01 -4.74691998e-02 1.61462920e+02] [ 6.32038115e-02 3.26928002e-03 9.97995286e-01 1.10901743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.2571056809999 meters 0.04362080761630525 Centerline is valid? [True, True] Translation: X:182.06, Y:161.48, Z:11.08 [[-6.17540695e-01 -7.85315874e-01 4.38459647e-02 1.82056056e+02] [ 7.83751224e-01 -6.19084342e-01 -4.96849656e-02 1.61481211e+02] [ 6.61627424e-02 3.68184033e-03 9.97802052e-01 1.10847780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.2871056809999 meters 0.04360974452827755 Centerline is valid? [True, True] Translation: X:182.04, Y:161.50, Z:11.09 [[-6.15974300e-01 -7.86528561e-01 4.41416325e-02 1.82040152e+02] [ 7.84948275e-01 -6.17541834e-01 -4.99828742e-02 1.61503167e+02] [ 6.65722628e-02 3.86073232e-03 9.97774137e-01 1.10856385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.31710568099993 meters 0.04473028941046786 Centerline is valid? [True, True] Translation: X:182.02, Y:161.52, Z:11.09 [[-6.13643012e-01 -7.88336547e-01 4.43592381e-02 1.82024146e+02] [ 7.86747784e-01 -6.15230593e-01 -5.01920553e-02 1.61524872e+02] [ 6.68593919e-02 4.09952833e-03 9.97753985e-01 1.10862933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.3471056809999 meters 0.043997706616765254 Centerline is valid? [True, True] Translation: X:182.01, Y:161.55, Z:11.09 [[-6.13509256e-01 -7.88466007e-01 4.39061193e-02 1.82008828e+02] [ 7.86912406e-01 -6.15064702e-01 -4.96414885e-02 1.61546472e+02] [ 6.61457304e-02 4.09475725e-03 9.97801571e-01 1.10871387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.37710568099993 meters 0.04558968882487 Centerline is valid? [True, True] Translation: X:181.99, Y:161.57, Z:11.09 [[-6.14465569e-01 -7.87756761e-01 4.32591001e-02 1.81992506e+02] [ 7.86249743e-01 -6.15973538e-01 -4.88665736e-02 1.61567338e+02] [ 6.51414347e-02 3.98562941e-03 9.97868082e-01 1.10864711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.4071056809999 meters 0.043847966399863526 Centerline is valid? [True, True] Translation: X:181.98, Y:161.59, Z:11.09 [[-6.16277987e-01 -7.86340495e-01 4.32442827e-02 1.81978808e+02] [ 7.84833670e-01 -6.17781297e-01 -4.88096184e-02 1.61592049e+02] [ 6.50964886e-02 3.85927570e-03 9.97871511e-01 1.10880486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.43710568099993 meters 0.04079717419174504 Centerline is valid? [True, True] Translation: X:181.97, Y:161.62, Z:11.09 [[-6.23103625e-01 -7.80975801e-01 4.26458801e-02 1.81970288e+02] [ 7.79500342e-01 -6.24552702e-01 -4.80951011e-02 1.61618879e+02] [ 6.41957097e-02 3.27424630e-03 9.97931957e-01 1.10893164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.4671056809999 meters 0.03537517191272864 Centerline is valid? [True, True] Translation: X:181.96, Y:161.65, Z:11.09 [[-6.28009790e-01 -7.77078920e-01 4.18575618e-02 1.81960697e+02] [ 7.75651486e-01 -6.29396733e-01 -4.71648809e-02 1.61646412e+02] [ 6.29958474e-02 2.84687302e-03 9.98009729e-01 1.10927035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49710568099994 meters 0.029558925434894346 Centerline is valid? [True, True] Translation: X:181.95, Y:161.68, Z:11.10 [[-6.39022172e-01 -7.68153258e-01 3.98902997e-02 1.81953881e+02] [ 7.66841617e-01 -6.40263224e-01 -4.49103384e-02 1.61676279e+02] [ 6.00383147e-02 1.89083994e-03 9.98194282e-01 1.10955353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5271056809999 meters 0.025189898072352595 Centerline is valid? [True, True] Translation: X:181.95, Y:161.71, Z:11.10 [[-6.49010232e-01 -7.59882689e-01 3.69326019e-02 1.81947025e+02] [ 7.58746811e-01 -6.50059365e-01 -4.15463518e-02 1.61706116e+02] [ 5.55787373e-02 1.05848646e-03 9.98453746e-01 1.11027047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55710568099994 meters 0.02384282818650197 Centerline is valid? [True, True] Translation: X:181.93, Y:161.73, Z:11.11 [[-6.53272100e-01 -7.56266192e-01 3.60140363e-02 1.81933671e+02] [ 7.55182495e-01 -6.54263616e-01 -4.04786383e-02 1.61730810e+02] [ 5.41752993e-02 7.53604710e-04 9.98531156e-01 1.11065438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5871056809999 meters 0.02265577543337125 Centerline is valid? [True, True] Translation: X:181.92, Y:161.75, Z:11.11 [[-6.59149135e-01 -7.51151923e-01 3.59611763e-02 1.81920350e+02] [ 7.50065627e-01 -6.60129278e-01 -4.03842972e-02 1.61754274e+02] [ 5.40737678e-02 3.53967707e-04 9.98536881e-01 1.11067231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61710568099994 meters 0.022430359715476453 Centerline is valid? [True, True] Translation: X:181.90, Y:161.77, Z:11.10 [[-6.60865305e-01 -7.49627247e-01 3.62772537e-02 1.81903142e+02] [ 7.48521479e-01 -6.61860201e-01 -4.07022228e-02 1.61774001e+02] [ 5.45219656e-02 2.55616669e-04 9.98512539e-01 1.11044451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.6471056809999 meters 0.022281447104321943 Centerline is valid? [True, True] Translation: X:181.89, Y:161.79, Z:11.10 [[-6.63034130e-01 -7.47645065e-01 3.75845588e-02 1.81886906e+02] [ 7.46457132e-01 -6.64098518e-01 -4.21296699e-02 1.61794834e+02] [ 5.64578896e-02 1.21852899e-04 9.98404974e-01 1.11011680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67710568099994 meters 0.022215081239065387 Centerline is valid? [True, True] Translation: X:181.87, Y:161.81, Z:11.10 [[-6.64623465e-01 -7.46222843e-01 3.77772285e-02 1.81869971e+02] [ 7.45022535e-01 -6.65696228e-01 -4.23078492e-02 1.61814746e+02] [ 5.67192421e-02 2.60972252e-05 9.98390168e-01 1.11009218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.7071056809999 meters 0.022164984321248287 Centerline is valid? [True, True] Translation: X:181.85, Y:161.83, Z:11.10 [[-6.67906738e-01 -7.43308947e-01 3.73148516e-02 1.81852335e+02] [ 7.42135413e-01 -6.68948258e-01 -4.17523300e-02 1.61834687e+02] [ 5.59965854e-02 -1.93989748e-04 9.98430941e-01 1.11023888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73710568099995 meters 0.02220704860228094 Centerline is valid? [True, True] Translation: X:181.83, Y:161.85, Z:11.10 [[-6.69638527e-01 -7.41771809e-01 3.68622703e-02 1.81833965e+02] [ 7.40626323e-01 -6.70652293e-01 -4.12086453e-02 1.61854273e+02] [ 5.52891775e-02 -2.93728847e-04 9.98470340e-01 1.11034558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.7671056809999 meters 0.022996551062611455 Centerline is valid? [True, True] Translation: X:181.82, Y:161.87, Z:11.10 [[-6.72243076e-01 -7.39368107e-01 3.77365759e-02 1.81816048e+02] [ 7.38166044e-01 -6.73301251e-01 -4.21463716e-02 1.61873174e+02] [ 5.65697668e-02 -4.76747507e-04 9.98398535e-01 1.11003583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79710568099995 meters 0.022986135833092634 Centerline is valid? [True, True] Translation: X:181.79, Y:161.89, Z:11.10 [[-6.72454624e-01 -7.39088987e-01 3.93985765e-02 1.81792440e+02] [ 7.37780463e-01 -6.73607618e-01 -4.39632218e-02 1.61889269e+02] [ 5.90319144e-02 -4.95771832e-04 9.98255973e-01 1.10980739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.8271056809999 meters 0.023122227760794804 Centerline is valid? [True, True] Translation: X:181.77, Y:161.91, Z:11.10 [[-6.71502233e-01 -7.39928136e-01 3.98886556e-02 1.81772050e+02] [ 7.38590692e-01 -6.72685806e-01 -4.44701833e-02 1.61905118e+02] [ 5.97372723e-02 -4.00437687e-04 9.98214054e-01 1.10969996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85710568099995 meters 0.022557395835467235 Centerline is valid? [True, True] Translation: X:181.75, Y:161.92, Z:11.10 [[-6.68928361e-01 -7.42299288e-01 3.90719197e-02 1.81748206e+02] [ 7.41022438e-01 -6.70068460e-01 -4.35201629e-02 1.61920378e+02] [ 5.84858471e-02 -1.58702038e-04 9.98288225e-01 1.11017291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.8871056809999 meters 0.02314765337681964 Centerline is valid? [True, True] Translation: X:181.72, Y:161.93, Z:11.11 [[-6.62261101e-01 -7.48296100e-01 3.82515402e-02 1.81717591e+02] [ 7.47084338e-01 -6.63364755e-01 -4.25698675e-02 1.61927631e+02] [ 5.72295894e-02 3.84759275e-04 9.98360970e-01 1.11064385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91710568099995 meters 0.024053816752507715 Centerline is valid? [True, True] Translation: X:181.69, Y:161.94, Z:11.11 [[-6.58565289e-01 -7.51587395e-01 3.75252987e-02 1.81692453e+02] [ 7.50428663e-01 -6.59633173e-01 -4.17240953e-02 1.61941038e+02] [ 5.61122359e-02 6.82018819e-04 9.98424234e-01 1.11087254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.9471056809999 meters 0.027056889813676654 Centerline is valid? [True, True] Translation: X:181.66, Y:161.95, Z:11.11 [[-6.52343690e-01 -7.57073598e-01 3.58786537e-02 1.81660666e+02] [ 7.56024405e-01 -6.53328636e-01 -3.98596669e-02 1.61947440e+02] [ 5.36172534e-02 1.12293563e-03 9.98560929e-01 1.11101774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97710568099995 meters 0.02889545814995837 Centerline is valid? [True, True] Translation: X:181.63, Y:161.96, Z:11.11 [[-6.49702527e-01 -7.59325768e-01 3.62077976e-02 1.81633950e+02] [ 7.58262708e-01 -6.50709282e-01 -4.01882489e-02 1.61956956e+02] [ 5.40767230e-02 1.34461586e-03 9.98535878e-01 1.11081951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.0071056809999 meters 0.027145043654550293 Centerline is valid? [True, True] Translation: X:181.62, Y:161.98, Z:11.11 [[-6.50060508e-01 -7.59003255e-01 3.65430595e-02 1.81616597e+02] [ 7.57922055e-01 -6.51085417e-01 -4.05208256e-02 1.61977423e+02] [ 5.45480917e-02 1.35580235e-03 9.98510224e-01 1.11098942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.0371056809999 meters 0.02765658605029515 Centerline is valid? [True, True] Translation: X:181.60, Y:162.00, Z:11.11 [[-6.52412597e-01 -7.56955260e-01 3.71017307e-02 1.81596774e+02] [ 7.55839418e-01 -6.53465555e-01 -4.11040495e-02 1.61995351e+02] [ 5.53586295e-02 1.22615094e-03 9.98465782e-01 1.11079312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.06710568099993 meters 0.02765658605029515 Centerline is valid? [True, True] Translation: X:181.58, Y:162.01, Z:11.11 [[-6.52747680e-01 -7.56665580e-01 3.71169416e-02 1.81579178e+02] [ 7.55550051e-01 -6.53800969e-01 -4.10903111e-02 1.62014315e+02] [ 5.53587165e-02 1.22210187e-03 9.98465783e-01 1.11088874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.0971056809999 meters 0.025924858783405735 Centerline is valid? [True, True] Translation: X:181.56, Y:162.04, Z:11.11 [[-6.54705915e-01 -7.54965288e-01 3.72502190e-02 1.81563497e+02] [ 7.53840998e-01 -6.55763823e-01 -4.12014296e-02 1.62036451e+02] [ 5.55329952e-02 1.10592258e-03 9.98456240e-01 1.11115933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.12710568099993 meters 0.02526406644922213 Centerline is valid? [True, True] Translation: X:181.55, Y:162.06, Z:11.11 [[-6.57764987e-01 -7.52276970e-01 3.77436377e-02 1.81546110e+02] [ 7.51120313e-01 -6.58846359e-01 -4.17103268e-02 1.62056471e+02] [ 5.62449766e-02 9.14420381e-04 9.98416580e-01 1.11099103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.1571056809999 meters 0.025351473046997246 Centerline is valid? [True, True] Translation: X:181.53, Y:162.07, Z:11.11 [[-6.58027341e-01 -7.52074348e-01 3.72047518e-02 1.81527703e+02] [ 7.50952102e-01 -6.59077653e-01 -4.10802532e-02 1.62074166e+02] [ 5.54162251e-02 9.07056814e-04 9.98462928e-01 1.11101979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.18710568099993 meters 0.028153311297367613 Centerline is valid? [True, True] Translation: X:181.50, Y:162.09, Z:11.11 [[-6.53010728e-01 -7.56447695e-01 3.69306656e-02 1.81504971e+02] [ 7.55350690e-01 -6.54052921e-01 -4.07444720e-02 1.62087894e+02] [ 5.49756717e-02 1.28902637e-03 9.98486862e-01 1.11103061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2171056809999 meters 0.030357964231439365 Centerline is valid? [True, True] Translation: X:181.48, Y:162.10, Z:11.11 [[-6.49073503e-01 -7.59808099e-01 3.73529159e-02 1.81483974e+02] [ 7.58693539e-01 -6.50145400e-01 -4.11712560e-02 1.62104379e+02] [ 5.55670802e-02 1.61624463e-03 9.98453648e-01 1.11107892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.24710568099994 meters 0.035271407364704244 Centerline is valid? [True, True] Translation: X:181.46, Y:162.12, Z:11.11 [[-6.39048729e-01 -7.68265336e-01 3.72168686e-02 1.81460549e+02] [ 7.67174822e-01 -6.40127183e-01 -4.09875894e-02 1.62118729e+02] [ 5.53128734e-02 2.35877763e-03 9.98466285e-01 1.11122902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2771056809999 meters 0.0431249080291795 Centerline is valid? [True, True] Translation: X:181.43, Y:162.13, Z:11.11 [[-6.30494700e-01 -7.75290247e-01 3.74361485e-02 1.81434572e+02] [ 7.74200523e-01 -6.31597971e-01 -4.12013736e-02 1.62130411e+02] [ 5.55876186e-02 3.00583799e-03 9.98449288e-01 1.11095951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.30710568099994 meters 0.04496176907709746 Centerline is valid? [True, True] Translation: X:181.42, Y:162.15, Z:11.11 [[-6.27605626e-01 -7.77603149e-01 3.80068400e-02 1.81415210e+02] [ 7.76485861e-01 -6.28746842e-01 -4.17985212e-02 1.62148986e+02] [ 5.63993424e-02 3.27878680e-03 9.98402907e-01 1.11090909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3371056809999 meters 0.0463066158475377 Centerline is valid? [True, True] Translation: X:181.40, Y:162.17, Z:11.11 [[-6.26434327e-01 -7.78540869e-01 3.81333132e-02 1.81396933e+02] [ 7.77419893e-01 -6.27584716e-01 -4.19014801e-02 1.62167894e+02] [ 5.65538993e-02 3.39707077e-03 9.98393768e-01 1.11084937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.36710568099994 meters 0.046465509092275245 Centerline is valid? [True, True] Translation: X:181.38, Y:162.19, Z:11.11 [[-6.26288934e-01 -7.78714084e-01 3.69668322e-02 1.81382498e+02] [ 7.77662901e-01 -6.27370136e-01 -4.05847768e-02 1.62190944e+02] [ 5.47958239e-02 3.32993737e-03 9.98492028e-01 1.11112387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3971056809999 meters 0.04541085344733569 Centerline is valid? [True, True] Translation: X:181.37, Y:162.22, Z:11.12 [[-6.28989029e-01 -7.76622499e-01 3.50755701e-02 1.81369871e+02] [ 7.75674623e-01 -6.29959092e-01 -3.84762407e-02 1.62215878e+02] [ 5.19776885e-02 3.00609631e-03 9.98643722e-01 1.11151205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.42710568099994 meters 0.04033837608840312 Centerline is valid? [True, True] Translation: X:181.36, Y:162.24, Z:11.12 [[-6.31422256e-01 -7.74671201e-01 3.45031064e-02 1.81359314e+02] [ 7.73752733e-01 -6.32357958e-01 -3.78169417e-02 1.62243033e+02] [ 5.11140095e-02 2.81841422e-03 9.98688848e-01 1.11193706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.4571056809999 meters 0.03909499732356471 Centerline is valid? [True, True] Translation: X:181.35, Y:162.27, Z:11.12 [[-6.35522773e-01 -7.71279742e-01 3.51904070e-02 1.81348367e+02] [ 7.70320879e-01 -6.36490934e-01 -3.85361487e-02 1.62267830e+02] [ 5.21205259e-02 2.61730520e-03 9.98637372e-01 1.11193194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.48710568099995 meters 0.03780601185276281 Centerline is valid? [True, True] Translation: X:181.33, Y:162.29, Z:11.12 [[-6.37453546e-01 -7.69647612e-01 3.59934775e-02 1.81333276e+02] [ 7.68643613e-01 -6.38463775e-01 -3.93827927e-02 1.62291523e+02] [ 5.32914038e-02 2.56145572e-03 9.98575718e-01 1.11194938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.5171056809999 meters 0.03788247411837021 Centerline is valid? [True, True] Translation: X:181.32, Y:162.31, Z:11.12 [[-6.38682721e-01 -7.68589801e-01 3.67980834e-02 1.81317936e+02] [ 7.67540143e-01 -6.39736847e-01 -4.02355042e-02 1.62313533e+02] [ 5.44656880e-02 2.54628492e-03 9.98512396e-01 1.11180834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.54710568099995 meters 0.038661751409912425 Centerline is valid? [True, True] Translation: X:181.30, Y:162.33, Z:11.12 [[-6.38275825e-01 -7.68959331e-01 3.61319689e-02 1.81299280e+02] [ 7.67949705e-01 -6.39292605e-01 -3.94742443e-02 1.62333702e+02] [ 5.34529890e-02 2.55207902e-03 9.98567106e-01 1.11199675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.5771056809999 meters 0.03892793966166289 Centerline is valid? [True, True] Translation: X:181.28, Y:162.35, Z:11.12 [[-6.35767618e-01 -7.71040393e-01 3.60034522e-02 1.81282245e+02] [ 7.70042955e-01 -6.36780354e-01 -3.93017710e-02 1.62354712e+02] [ 5.32295440e-02 2.73741138e-03 9.98578551e-01 1.11217188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.60710568099995 meters 0.04151797692717618 Centerline is valid? [True, True] Translation: X:181.26, Y:162.37, Z:11.12 [[-6.35398734e-01 -7.71349573e-01 3.58926999e-02 1.81262129e+02] [ 7.70360522e-01 -6.36405634e-01 -3.91476185e-02 1.62372167e+02] [ 5.30388153e-02 2.77597183e-03 9.98588593e-01 1.11216497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.6371056809999 meters 0.04217860897996888 Centerline is valid? [True, True] Translation: X:181.25, Y:162.39, Z:11.12 [[-6.35694963e-01 -7.71136295e-01 3.52239937e-02 1.81247013e+02] [ 7.70185178e-01 -6.36664256e-01 -3.83851204e-02 1.62393734e+02] [ 5.20260172e-02 2.72777018e-03 9.98642004e-01 1.11241942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.66710568099995 meters 0.038052568032829914 Centerline is valid? [True, True] Translation: X:181.24, Y:162.42, Z:11.13 [[-6.38784717e-01 -7.68664994e-01 3.32898098e-02 1.81237016e+02] [ 7.67813656e-01 -6.39647041e-01 -3.62471223e-02 1.62421138e+02] [ 4.91556224e-02 2.40626276e-03 9.98788233e-01 1.11277057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.6971056809999 meters 0.03635686553051959 Centerline is valid? [True, True] Translation: X:181.22, Y:162.44, Z:11.13 [[-6.41535029e-01 -7.66411755e-01 3.23392650e-02 1.81222340e+02] [ 7.65606914e-01 -6.42345883e-01 -3.51826678e-02 1.62444662e+02] [ 4.77374039e-02 2.18825108e-03 9.98857523e-01 1.11294154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.72710568099995 meters 0.03320002903342161 Centerline is valid? [True, True] Translation: X:181.21, Y:162.47, Z:11.13 [[-6.47790355e-01 -7.61160527e-01 3.16592367e-02 1.81212525e+02] [ 7.60384240e-01 -6.48561086e-01 -3.44140109e-02 1.62470769e+02] [ 4.67275357e-02 1.78012030e-03 9.98906086e-01 1.11316497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.7571056809999 meters 0.03094143069645498 Centerline is valid? [True, True] Translation: X:181.20, Y:162.50, Z:11.13 [[-6.50590113e-01 -7.58772439e-01 3.15735607e-02 1.81198174e+02] [ 7.57998875e-01 -6.51353784e-01 -3.42921698e-02 1.62495205e+02] [ 4.65855116e-02 1.62257684e-03 9.98912988e-01 1.11326641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.7871056809999 meters 0.028781764513688135 Centerline is valid? [True, True] Translation: X:181.19, Y:162.52, Z:11.13 [[-6.56295725e-01 -7.53851491e-01 3.13663825e-02 1.81186174e+02] [ 7.53083421e-01 -6.57043603e-01 -3.40450372e-02 1.62519823e+02] [ 4.62739830e-02 1.27789028e-03 9.98927968e-01 1.11324292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.81710568099993 meters 0.027611992974730954 Centerline is valid? [True, True] Translation: X:181.17, Y:162.54, Z:11.13 [[-6.58907029e-01 -7.51549737e-01 3.18515387e-02 1.81171325e+02] [ 7.50756472e-01 -6.59675422e-01 -3.45406664e-02 1.62542328e+02] [ 4.69707059e-02 1.15366095e-03 9.98895601e-01 1.11319394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.8471056809999 meters 0.025347763358367442 Centerline is valid? [True, True] Translation: X:181.16, Y:162.57, Z:11.13 [[-6.63984155e-01 -7.47052946e-01 3.22015361e-02 1.81157941e+02] [ 7.46238223e-01 -6.64763982e-01 -3.48907316e-02 1.62566398e+02] [ 4.74716451e-02 8.63124139e-04 9.98872213e-01 1.11322614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.87710568099993 meters 0.024394974317246895 Centerline is valid? [True, True] Translation: X:181.14, Y:162.59, Z:11.13 [[-6.66840071e-01 -7.44533525e-01 3.15301328e-02 1.81142163e+02] [ 7.43750932e-01 -6.67584718e-01 -3.41349515e-02 1.62587111e+02] [ 4.64636506e-02 6.88012186e-04 9.98919744e-01 1.11334693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.9071056809999 meters 0.02280694018005747 Centerline is valid? [True, True] Translation: X:181.13, Y:162.61, Z:11.13 [[-6.72717940e-01 -7.39227693e-01 3.15117655e-02 1.81131328e+02] [ 7.38441542e-01 -6.73455494e-01 -3.40849907e-02 1.62611201e+02] [ 4.64183407e-02 3.40011966e-04 9.98922030e-01 1.11343600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.93710568099993 meters 0.02221314302504931 Centerline is valid? [True, True] Translation: X:181.12, Y:162.64, Z:11.13 [[-6.79296065e-01 -7.33148546e-01 3.24047093e-02 1.81119800e+02] [ 7.32311750e-01 -6.80068530e-01 -3.50185045e-02 1.62637064e+02] [ 4.77111887e-02 -5.75829734e-05 9.98861171e-01 1.11332615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.9671056809999 meters 0.022655250490921368 Centerline is valid? [True, True] Translation: X:181.10, Y:162.66, Z:11.13 [[-6.84188937e-01 -7.28547860e-01 3.32191811e-02 1.81104337e+02] [ 7.27664546e-01 -6.84994804e-01 -3.58668044e-02 1.62660531e+02] [ 4.88856500e-02 -3.67250500e-04 9.98804314e-01 1.11315818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99710568099994 meters 0.022822882194817175 Centerline is valid? [True, True] Translation: X:181.09, Y:162.68, Z:11.13 [[-6.85602614e-01 -7.27201199e-01 3.35778512e-02 1.81086516e+02] [ 7.26298611e-01 -6.86424224e-01 -3.62230819e-02 1.62679799e+02] [ 4.93901191e-02 -4.47092886e-04 9.98779463e-01 1.11323169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0271056809999 meters 0.023326743704528082 Centerline is valid? [True, True] Translation: X:181.07, Y:162.70, Z:11.13 [[-6.85864697e-01 -7.26932228e-01 3.40463400e-02 1.81069462e+02] [ 7.26005708e-01 -6.86709061e-01 -3.66930092e-02 1.62699168e+02] [ 5.00532611e-02 -4.48602409e-04 9.98746449e-01 1.11307494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05710568099994 meters 0.022671231562011677 Centerline is valid? [True, True] Translation: X:181.05, Y:162.71, Z:11.13 [[-6.83866480e-01 -7.28740433e-01 3.55530294e-02 1.81048218e+02] [ 7.27734479e-01 -6.84789959e-01 -3.82784545e-02 1.62714884e+02] [ 5.22414151e-02 -3.04186584e-04 9.98634439e-01 1.11329285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0871056809999 meters 0.022527944660785726 Centerline is valid? [True, True] Translation: X:181.03, Y:162.73, Z:11.13 [[-6.82250036e-01 -7.30219736e-01 3.62494843e-02 1.81027578e+02] [ 7.29178044e-01 -6.83212345e-01 -3.89906627e-02 1.62731798e+02] [ 5.32378466e-02 -1.69053013e-04 9.98581846e-01 1.11343675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11710568099994 meters 0.02289811541742544 Centerline is valid? [True, True] Translation: X:181.00, Y:162.74, Z:11.14 [[-6.75351121e-01 -7.36676816e-01 3.47581917e-02 1.81000234e+02] [ 7.35729392e-01 -6.76244888e-01 -3.73512280e-02 1.62741219e+02] [ 5.10208332e-02 3.47429525e-04 9.98697529e-01 1.11363270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.1471056809999 meters 0.024684593105297508 Centerline is valid? [True, True] Translation: X:180.97, Y:162.75, Z:11.14 [[-6.68208570e-01 -7.43258453e-01 3.26217507e-02 1.80973005e+02] [ 7.42433210e-01 -6.69003891e-01 -3.50245954e-02 1.62752124e+02] [ 4.78564047e-02 8.15736280e-04 9.98853893e-01 1.11412996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17710568099994 meters 0.026641536161120895 Centerline is valid? [True, True] Translation: X:180.95, Y:162.77, Z:11.14 [[-6.64907783e-01 -7.46202464e-01 3.28561032e-02 1.80950057e+02] [ 7.45370119e-01 -6.65718242e-01 -3.52506351e-02 1.62766498e+02] [ 4.81770180e-02 1.05153592e-03 9.98838260e-01 1.11418453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.2071056809999 meters 0.029528422205415576 Centerline is valid? [True, True] Translation: X:180.93, Y:162.78, Z:11.14 [[-6.58485706e-01 -7.51845558e-01 3.35385029e-02 1.80925930e+02] [ 7.50987091e-01 -6.59337519e-01 -3.59503314e-02 1.62780102e+02] [ 4.91422902e-02 1.51420333e-03 9.98790640e-01 1.11444539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23710568099995 meters 0.03150040773195842 Centerline is valid? [True, True] Translation: X:180.90, Y:162.80, Z:11.15 [[-6.55918532e-01 -7.54134856e-01 3.24268098e-02 1.80903094e+02] [ 7.53336557e-01 -6.56717520e-01 -3.47293920e-02 1.62795559e+02] [ 4.74858991e-02 1.64864941e-03 9.98870548e-01 1.11469250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.2671056809999 meters 0.03116133500804243 Centerline is valid? [True, True] Translation: X:180.88, Y:162.81, Z:11.15 [[-6.56675047e-01 -7.53502890e-01 3.18005981e-02 1.80884319e+02] [ 7.52735713e-01 -6.57442671e-01 -3.40305863e-02 1.62813701e+02] [ 4.65492153e-02 1.59040908e-03 9.98914732e-01 1.11483466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29710568099995 meters 0.03025751011994982 Centerline is valid? [True, True] Translation: X:180.86, Y:162.83, Z:11.15 [[-6.58797440e-01 -7.51710331e-01 3.02904324e-02 1.80864753e+02] [ 7.51013661e-01 -6.59491913e-01 -3.23866943e-02 1.62832391e+02] [ 4.43217079e-02 1.41225723e-03 9.99016312e-01 1.11488921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.3271056809999 meters 0.029544658849425448 Centerline is valid? [True, True] Translation: X:180.85, Y:162.85, Z:11.15 [[-6.60553344e-01 -7.50188844e-01 2.97653814e-02 1.80846874e+02] [ 7.49515696e-01 -6.61222351e-01 -3.17997469e-02 1.62852645e+02] [ 4.35373509e-02 1.30419139e-03 9.99050949e-01 1.11498360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35710568099995 meters 0.029883869409182705 Centerline is valid? [True, True] Translation: X:180.83, Y:162.87, Z:11.15 [[-6.61879715e-01 -7.49022428e-01 2.96756668e-02 1.80829052e+02] [ 7.48353293e-01 -6.62543479e-01 -3.16778736e-02 1.62872130e+02] [ 4.33888573e-02 1.24094107e-03 9.99057489e-01 1.11498029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.3871056809999 meters 0.03149905146276766 Centerline is valid? [True, True] Translation: X:180.81, Y:162.89, Z:11.15 [[-6.59696360e-01 -7.50950041e-01 2.95761537e-02 1.80806091e+02] [ 7.50288479e-01 -6.60357577e-01 -3.15447080e-02 1.62886862e+02] [ 4.32193370e-02 1.38071833e-03 9.99064654e-01 1.11489111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41710568099995 meters 0.031053767150378712 Centerline is valid? [True, True] Translation: X:180.79, Y:162.91, Z:11.15 [[-6.57504351e-01 -7.52862835e-01 2.97587050e-02 1.80786101e+02] [ 7.52196231e-01 -6.58175660e-01 -3.17116712e-02 1.62905623e+02] [ 4.34609940e-02 1.53382393e-03 9.99053947e-01 1.11492238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.4471056809999 meters 0.0312813080773668 Centerline is valid? [True, True] Translation: X:180.77, Y:162.92, Z:11.15 [[-6.55441067e-01 -7.54642342e-01 3.01983985e-02 1.80766150e+02] [ 7.53958981e-01 -6.56134182e-01 -3.21526150e-02 1.62923617e+02] [ 4.40779262e-02 1.69420949e-03 9.99026659e-01 1.11480636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.4771056809999 meters 0.032960834712281735 Centerline is valid? [True, True] Translation: X:180.75, Y:162.94, Z:11.14 [[-6.52160445e-01 -7.57387983e-01 3.24067340e-02 1.80745179e+02] [ 7.56605868e-01 -6.52961935e-01 -3.44713400e-02 1.62941704e+02] [ 4.72685425e-02 2.03828066e-03 9.98880138e-01 1.11431788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.5071056809999 meters 0.035277653831669954 Centerline is valid? [True, True] Translation: X:180.72, Y:162.96, Z:11.14 [[-6.50386147e-01 -7.58939765e-01 3.17536179e-02 1.80724873e+02] [ 7.58192039e-01 -6.51157364e-01 -3.37478933e-02 1.62958798e+02] [ 4.62892203e-02 2.12617803e-03 9.98925817e-01 1.11433610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.5371056809999 meters 0.03481891429983408 Centerline is valid? [True, True] Translation: X:180.71, Y:162.98, Z:11.15 [[-6.50231825e-01 -7.59093262e-01 3.12408910e-02 1.80708118e+02] [ 7.58371029e-01 -6.50978431e-01 -3.31732595e-02 1.62979787e+02] [ 4.55187439e-02 2.12187753e-03 9.98961231e-01 1.11456336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.56710568099993 meters 0.03450177026506585 Centerline is valid? [True, True] Translation: X:180.69, Y:163.00, Z:11.15 [[-6.52260059e-01 -7.57381200e-01 3.05046244e-02 1.80693542e+02] [ 7.56692067e-01 -6.52969999e-01 -3.23619495e-02 1.63002078e+02] [ 4.44289367e-02 1.97420020e-03 9.99010597e-01 1.11473361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.5971056809999 meters 0.034389128192189734 Centerline is valid? [True, True] Translation: X:180.68, Y:163.02, Z:11.15 [[-6.54289922e-01 -7.55638079e-01 3.02620476e-02 1.80676911e+02] [ 7.54959240e-01 -6.54986746e-01 -3.20766181e-02 1.63022172e+02] [ 4.40595542e-02 1.85920450e-03 9.99027176e-01 1.11479688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.62710568099993 meters 0.030927157354766636 Centerline is valid? [True, True] Translation: X:180.66, Y:163.05, Z:11.15 [[-6.58874427e-01 -7.51695387e-01 2.89574765e-02 1.80664482e+02] [ 7.51071104e-01 -6.59508655e-01 -3.06680878e-02 1.63047056e+02] [ 4.21507665e-02 1.54270511e-03 9.99110070e-01 1.11482055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.6571056809999 meters 0.028181508297791206 Centerline is valid? [True, True] Translation: X:180.65, Y:163.07, Z:11.15 [[-6.62778286e-01 -7.48261863e-01 2.87945906e-02 1.80652752e+02] [ 7.47642465e-01 -6.63402144e-01 -3.04686603e-02 1.63073604e+02] [ 4.19009297e-02 1.33409228e-03 9.99120880e-01 1.11493141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.68710568099993 meters 0.02763237335589194 Centerline is valid? [True, True] Translation: X:180.64, Y:163.10, Z:11.15 [[-6.64245248e-01 -7.46950657e-01 2.90338776e-02 1.80636633e+02] [ 7.46320726e-01 -6.64878245e-01 -3.06967878e-02 1.63095329e+02] [ 4.22329794e-02 1.27838923e-03 9.99106972e-01 1.11500045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7171056809999 meters 0.02691607662081142 Centerline is valid? [True, True] Translation: X:180.62, Y:163.12, Z:11.15 [[-6.65837154e-01 -7.45605850e-01 2.70702919e-02 1.80620652e+02] [ 7.45058043e-01 -6.66386259e-01 -2.85983731e-02 1.63117134e+02] [ 3.93623849e-02 1.12707936e-03 9.99224365e-01 1.11530026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.74710568099994 meters 0.027169621497255974 Centerline is valid? [True, True] Translation: X:180.60, Y:163.14, Z:11.15 [[-6.66271176e-01 -7.45231144e-01 2.67069704e-02 1.80603025e+02] [ 7.44698556e-01 -6.66805309e-01 -2.81911421e-02 1.63135749e+02] [ 3.88172668e-02 1.10569688e-03 9.99245714e-01 1.11546282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7771056809999 meters 0.027917133090788963 Centerline is valid? [True, True] Translation: X:180.58, Y:163.16, Z:11.16 [[-6.64955879e-01 -7.46430023e-01 2.59980650e-02 1.80584147e+02] [ 7.45927228e-01 -6.65462900e-01 -2.74171199e-02 1.63155869e+02] [ 3.77657092e-02 1.16148951e-03 9.99285946e-01 1.11567506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.80710568099994 meters 0.028650799613639335 Centerline is valid? [True, True] Translation: X:180.56, Y:163.17, Z:11.16 [[-6.64014152e-01 -7.47280647e-01 2.56289019e-02 1.80563437e+02] [ 7.46793492e-01 -6.64507470e-01 -2.70056141e-02 1.63173783e+02] [ 3.72113695e-02 1.20738715e-03 9.99306688e-01 1.11580372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8371056809999 meters 0.030447239452203668 Centerline is valid? [True, True] Translation: X:180.54, Y:163.19, Z:11.16 [[-6.61376875e-01 -7.49649186e-01 2.46318305e-02 1.80542036e+02] [ 7.49201582e-01 -6.61834121e-01 -2.59342760e-02 1.63190280e+02] [ 3.57437948e-02 1.30187595e-03 9.99360138e-01 1.11580344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.86710568099994 meters 0.030846537652903176 Centerline is valid? [True, True] Translation: X:180.52, Y:163.21, Z:11.16 [[-6.60460902e-01 -7.50458853e-01 2.45541705e-02 1.80523859e+02] [ 7.50015431e-01 -6.60915782e-01 -2.58298809e-02 1.63210226e+02] [ 3.56125016e-02 1.35638035e-03 9.99364753e-01 1.11609160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8971056809999 meters 0.03211076880389897 Centerline is valid? [True, True] Translation: X:180.51, Y:163.23, Z:11.16 [[-6.60331204e-01 -7.50540445e-01 2.55292402e-02 1.80507538e+02] [ 7.50062016e-01 -6.60822968e-01 -2.68323958e-02 1.63230058e+02] [ 3.70091065e-02 1.43024515e-03 9.99313905e-01 1.11617578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.92710568099994 meters 0.031001248900865013 Centerline is valid? [True, True] Translation: X:180.49, Y:163.25, Z:11.16 [[-6.62156879e-01 -7.48939562e-01 2.52547219e-02 1.80491127e+02] [ 7.48470908e-01 -6.62636960e-01 -2.65247048e-02 1.63252474e+02] [ 3.66001129e-02 1.33890884e-03 9.99329094e-01 1.11609005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.9571056809999 meters 0.030098177813669587 Centerline is valid? [True, True] Translation: X:180.47, Y:163.27, Z:11.16 [[-6.63773953e-01 -7.47513680e-01 2.50487060e-02 1.80474396e+02] [ 7.47052394e-01 -6.64245211e-01 -2.62872706e-02 1.63274750e+02] [ 3.62885774e-02 1.26389029e-03 9.99340553e-01 1.11618486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.98710568099995 meters 0.030098177813669587 Centerline is valid? [True, True] Translation: X:180.46, Y:163.29, Z:11.16 [[-6.64104966e-01 -7.47219284e-01 2.50586301e-02 1.80456292e+02] [ 7.46758145e-01 -6.64576368e-01 -2.62778068e-02 1.63293279e+02] [ 3.62886574e-02 1.26151413e-03 9.99340554e-01 1.11628048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.0171056809999 meters 0.02871144342049334 Centerline is valid? [True, True] Translation: X:180.44, Y:163.32, Z:11.17 [[-6.65836890e-01 -7.45715350e-01 2.38715995e-02 1.80441231e+02] [ 7.45296642e-01 -6.66263704e-01 -2.50118274e-02 1.63316208e+02] [ 3.45564839e-02 1.13762559e-03 9.99402099e-01 1.11652544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.04710568099995 meters 0.027666512526728717 Centerline is valid? [True, True] Translation: X:180.43, Y:163.34, Z:11.17 [[-6.69839337e-01 -7.42162192e-01 2.25952090e-02 1.80429559e+02] [ 7.41785636e-01 -6.70219698e-01 -2.36564177e-02 1.63341086e+02] [ 3.27006530e-02 9.14802360e-04 9.99464772e-01 1.11695340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.0771056809999 meters 0.02659526003834127 Centerline is valid? [True, True] Translation: X:180.41, Y:163.36, Z:11.17 [[-6.72117601e-01 -7.40116263e-01 2.20419539e-02 1.80414544e+02] [ 7.39757418e-01 -6.72478449e-01 -2.30585863e-02 1.63363162e+02] [ 3.18887737e-02 8.07617145e-04 9.99491097e-01 1.11720770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.10710568099995 meters 0.023853367465599868 Centerline is valid? [True, True] Translation: X:180.40, Y:163.39, Z:11.17 [[-6.75719265e-01 -7.36838714e-01 2.17297873e-02 1.80402769e+02] [ 7.36488838e-01 -6.76068250e-01 -2.27137034e-02 1.63389500e+02] [ 3.14271553e-02 6.55658819e-04 9.99505830e-01 1.11734703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.1371056809999 meters 0.02273315075140366 Centerline is valid? [True, True] Translation: X:180.39, Y:163.41, Z:11.17 [[-6.78663141e-01 -7.34106681e-01 2.24437478e-02 1.80385990e+02] [ 7.33732590e-01 -6.79033922e-01 -2.34396790e-02 1.63411089e+02] [ 3.24472910e-02 5.60063042e-04 9.99473291e-01 1.11740513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.16710568099995 meters 0.0232624342814174 Centerline is valid? [True, True] Translation: X:180.37, Y:163.43, Z:11.17 [[-6.79915466e-01 -7.32943060e-01 2.25705576e-02 1.80366777e+02] [ 7.32564747e-01 -6.80289791e-01 -2.35519069e-02 1.63428200e+02] [ 3.26167267e-02 5.21089058e-04 9.99467797e-01 1.11749250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.1971056809999 meters 0.022102380934503313 Centerline is valid? [True, True] Translation: X:180.35, Y:163.45, Z:11.18 [[-6.80450777e-01 -7.32424810e-01 2.32516065e-02 1.80350110e+02] [ 7.32023621e-01 -6.80847724e-01 -2.42445010e-02 1.63449187e+02] [ 3.35880775e-02 5.23535623e-04 9.99435624e-01 1.11761440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.2271056809999 meters 0.022376058138107946 Centerline is valid? [True, True] Translation: X:180.33, Y:163.47, Z:11.18 [[-6.79905729e-01 -7.32924097e-01 2.34620469e-02 1.80330385e+02] [ 7.32516691e-01 -6.80310182e-01 -2.44408165e-02 1.63467904e+02] [ 3.38747328e-02 5.68889736e-04 9.99425925e-01 1.11774158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.2571056809999 meters 0.02395533588508456 Centerline is valid? [True, True] Translation: X:180.31, Y:163.48, Z:11.18 [[-6.76442080e-01 -7.36086535e-01 2.45504804e-02 1.80306279e+02] [ 7.35643316e-01 -6.76887000e-01 -2.55519084e-02 1.63481379e+02] [ 3.54263167e-02 7.76010718e-04 9.99371990e-01 1.11767539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.2871056809999 meters 0.02499555674051128 Centerline is valid? [True, True] Translation: X:180.28, Y:163.50, Z:11.18 [[-6.73687297e-01 -7.38597602e-01 2.48798881e-02 1.80284808e+02] [ 7.38144946e-01 -6.74145910e-01 -2.58714288e-02 1.63497753e+02] [ 3.58812501e-02 9.35710726e-04 9.99355623e-01 1.11764525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.31710568099993 meters 0.02863322718569853 Centerline is valid? [True, True] Translation: X:180.26, Y:163.51, Z:11.18 [[-6.67679595e-01 -7.43996785e-01 2.59372815e-02 1.80260367e+02] [ 7.43509799e-01 -6.68181945e-01 -2.69456336e-02 1.63509840e+02] [ 3.73782879e-02 1.29357323e-03 9.99300350e-01 1.11761213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.3471056809999 meters 0.02991006469172792 Centerline is valid? [True, True] Translation: X:180.24, Y:163.53, Z:11.18 [[-6.65436077e-01 -7.45974655e-01 2.67701692e-02 1.80240305e+02] [ 7.45458492e-01 -6.65972719e-01 -2.77844398e-02 1.63527671e+02] [ 3.85546902e-02 1.46728135e-03 9.99255414e-01 1.11770510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.37710568099993 meters 0.03167241098513881 Centerline is valid? [True, True] Translation: X:180.22, Y:163.55, Z:11.18 [[-6.62779337e-01 -7.48243647e-01 2.92402962e-02 1.80220155e+02] [ 7.47631199e-01 -6.63421681e-01 -3.03193631e-02 1.63545469e+02] [ 4.20849173e-02 1.76591035e-03 9.99112477e-01 1.11755600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.4071056809999 meters 0.03307062381362848 Centerline is valid? [True, True] Translation: X:180.20, Y:163.56, Z:11.17 [[-6.62047419e-01 -7.48775902e-01 3.20603045e-02 1.80201849e+02] [ 7.48041629e-01 -6.62820240e-01 -3.32122070e-02 1.63564031e+02] [ 4.61187190e-02 1.99438645e-03 9.98933975e-01 1.11700318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.43710568099993 meters 0.032850457198872904 Centerline is valid? [True, True] Translation: X:180.18, Y:163.58, Z:11.17 [[-6.62650240e-01 -7.48199862e-01 3.30397601e-02 1.80184123e+02] [ 7.47420746e-01 -6.63470292e-01 -3.41965023e-02 1.63584283e+02] [ 4.75067176e-02 2.03428170e-03 9.98868847e-01 1.11697200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.4671056809999 meters 0.03084897598507655 Centerline is valid? [True, True] Translation: X:180.17, Y:163.61, Z:11.17 [[-6.66923216e-01 -7.44360974e-01 3.37663253e-02 1.80171388e+02] [ 7.43543813e-01 -6.67774983e-01 -3.49166152e-02 1.63608455e+02] [ 4.85388730e-02 1.82004099e-03 9.98819636e-01 1.11706409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49710568099994 meters 0.029223385027786552 Centerline is valid? [True, True] Translation: X:180.16, Y:163.63, Z:11.17 [[-6.70578400e-01 -7.41067532e-01 3.38160102e-02 1.80157314e+02] [ 7.40245208e-01 -6.71428584e-01 -3.49383693e-02 1.63630679e+02] [ 4.85967269e-02 1.60322365e-03 9.98817194e-01 1.11724650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5271056809999 meters 0.025863788478660846 Centerline is valid? [True, True] Translation: X:180.15, Y:163.66, Z:11.18 [[-6.77582884e-01 -7.34713166e-01 3.28328928e-02 1.80148369e+02] [ 7.33931776e-01 -6.78376950e-01 -3.38948669e-02 1.63657247e+02] [ 4.71760826e-02 1.13052166e-03 9.98885949e-01 1.11764067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55710568099994 meters 0.02319436382804898 Centerline is valid? [True, True] Translation: X:180.14, Y:163.68, Z:11.18 [[-6.84201234e-01 -7.28615696e-01 3.14298894e-02 1.80138322e+02] [ 7.27894442e-01 -6.84922391e-01 -3.24191066e-02 1.63683015e+02] [ 4.51481049e-02 6.96449081e-04 9.98980062e-01 1.11825552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5871056809999 meters 0.021757889868419707 Centerline is valid? [True, True] Translation: X:180.12, Y:163.71, Z:11.19 [[-6.87730733e-01 -7.25334869e-01 3.02616401e-02 1.80123684e+02] [ 7.24664188e-01 -6.88396033e-01 -3.11884228e-02 1.63706912e+02] [ 4.34540436e-02 4.80289964e-04 9.99055311e-01 1.11862801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61710568099994 meters 0.021284529952169538 Centerline is valid? [True, True] Translation: X:180.11, Y:163.73, Z:11.19 [[-6.90985635e-01 -7.22255734e-01 2.97574701e-02 1.80108407e+02] [ 7.21605432e-01 -6.91626030e-01 -3.06436954e-02 1.63728616e+02] [ 4.27136256e-02 2.98798730e-04 9.99087312e-01 1.11879093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.6471056809999 meters 0.0207949270384193 Centerline is valid? [True, True] Translation: X:180.10, Y:163.75, Z:11.19 [[-6.96080044e-01 -7.17373577e-01 2.91156918e-02 1.80095855e+02] [ 7.16747803e-01 -6.96688705e-01 -2.99572174e-02 1.63751651e+02] [ 4.17750898e-02 1.59869447e-05 9.99127040e-01 1.11913787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67710568099994 meters 0.020924583304061186 Centerline is valid? [True, True] Translation: X:180.08, Y:163.77, Z:11.20 [[-6.97107842e-01 -7.16356913e-01 2.95538324e-02 1.80077001e+02] [ 7.15712439e-01 -6.97734027e-01 -3.03798037e-02 1.63771201e+02] [ 4.23834969e-02 -2.59539582e-05 9.99101416e-01 1.11953723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.7071056809999 meters 0.020872800211859596 Centerline is valid? [True, True] Translation: X:180.06, Y:163.79, Z:11.20 [[-6.96235821e-01 -7.17171287e-01 3.03484092e-02 1.80056840e+02] [ 7.16493625e-01 -6.96896939e-01 -3.11695760e-02 1.63788134e+02] [ 4.35036384e-02 4.30663741e-05 9.99053268e-01 1.11954294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73710568099995 meters 0.021786778048853827 Centerline is valid? [True, True] Translation: X:180.03, Y:163.80, Z:11.19 [[-6.91678928e-01 -7.21495101e-01 3.20168611e-02 1.80031127e+02] [ 7.20746804e-01 -6.92419451e-01 -3.28534461e-02 1.63801572e+02] [ 4.58726978e-02 3.52013921e-04 9.98947232e-01 1.11943199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.7671056809999 meters 0.02235514819547946 Centerline is valid? [True, True] Translation: X:180.01, Y:163.82, Z:11.20 [[-6.89462122e-01 -7.23614685e-01 3.19964085e-02 1.80008765e+02] [ 7.22870819e-01 -6.90203975e-01 -3.28062890e-02 1.63818237e+02] [ 4.58231608e-02 5.10576413e-04 9.98949437e-01 1.11954892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79710568099995 meters 0.023789278400207215 Centerline is valid? [True, True] Translation: X:179.98, Y:163.83, Z:11.20 [[-6.85472501e-01 -7.27342873e-01 3.31631695e-02 1.79984517e+02] [ 7.26549450e-01 -6.86273775e-01 -3.39735517e-02 1.63832106e+02] [ 4.74694343e-02 8.06747097e-04 9.98872365e-01 1.11952633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.8271056809999 meters 0.024394115130771374 Centerline is valid? [True, True] Translation: X:179.96, Y:163.85, Z:11.20 [[-6.83939032e-01 -7.28718304e-01 3.45981776e-02 1.79964251e+02] [ 7.27858027e-01 -6.84812899e-01 -3.54116818e-02 1.63849646e+02] [ 4.94984190e-02 9.63129846e-04 9.98773738e-01 1.11952622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85710568099995 meters 0.025900649278748997 Centerline is valid? [True, True] Translation: X:179.94, Y:163.87, Z:11.19 [[-6.80687375e-01 -7.31621439e-01 3.73465756e-02 1.79941206e+02] [ 7.30625174e-01 -6.81709911e-01 -3.81896827e-02 1.63865589e+02] [ 5.33999213e-02 1.29111346e-03 9.98572372e-01 1.11945332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.8871056809999 meters 0.02710124017847132 Centerline is valid? [True, True] Translation: X:179.92, Y:163.88, Z:11.19 [[-6.79578828e-01 -7.32622853e-01 3.78994922e-02 1.79919724e+02] [ 7.31600218e-01 -6.80633351e-01 -3.87216039e-02 1.63881425e+02] [ 5.41639903e-02 1.41289456e-03 9.98531054e-01 1.11940597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91710568099995 meters 0.02826012859062988 Centerline is valid? [True, True] Translation: X:179.90, Y:163.90, Z:11.19 [[-6.77387174e-01 -7.34642846e-01 3.80329382e-02 1.79896499e+02] [ 7.33617989e-01 -6.78452150e-01 -3.88243002e-02 1.63896735e+02] [ 5.43255231e-02 1.60256457e-03 9.98521992e-01 1.11940977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.9471056809999 meters 0.02837768335995852 Centerline is valid? [True, True] Translation: X:179.88, Y:163.92, Z:11.20 [[-6.77326735e-01 -7.34723986e-01 3.75387600e-02 1.79878436e+02] [ 7.33727472e-01 -6.78364262e-01 -3.82873978e-02 1.63915344e+02] [ 5.35956227e-02 1.61014131e-03 9.98561424e-01 1.11974577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.9771056809999 meters 0.02894286357966421 Centerline is valid? [True, True] Translation: X:179.86, Y:163.94, Z:11.20 [[-6.78466378e-01 -7.33756233e-01 3.58491815e-02 1.79862003e+02] [ 7.32847754e-01 -6.79411202e-01 -3.65320104e-02 1.63935185e+02] [ 5.11619259e-02 1.48625134e-03 9.98689265e-01 1.12029915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.0071056809999 meters 0.028305331543950256 Centerline is valid? [True, True] Translation: X:179.84, Y:163.96, Z:11.21 [[-6.78968254e-01 -7.33338961e-01 3.48723215e-02 1.79844558e+02] [ 7.32480321e-01 -6.79861682e-01 -3.55059543e-02 1.63955386e+02] [ 4.97462548e-02 1.43587349e-03 9.98760856e-01 1.12067413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.0371056809999 meters 0.02953259568806403 Centerline is valid? [True, True] Translation: X:179.82, Y:163.97, Z:11.21 [[-6.77601521e-01 -7.34628561e-01 3.43082534e-02 1.79824151e+02] [ 7.33800635e-01 -6.78467794e-01 -3.49010007e-02 1.63971346e+02] [ 4.89163169e-02 1.52644697e-03 9.98801714e-01 1.12081666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.06710568099993 meters 0.03261804676486972 Centerline is valid? [True, True] Translation: X:179.80, Y:163.99, Z:11.21 [[-6.73517842e-01 -7.38439271e-01 3.28810095e-02 1.79801587e+02] [ 7.37684519e-01 -6.74317730e-01 -3.34237877e-02 1.63985183e+02] [ 4.68536851e-02 1.74429432e-03 9.98900240e-01 1.12096425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.0971056809999 meters 0.034120778874109255 Centerline is valid? [True, True] Translation: X:179.78, Y:164.00, Z:11.21 [[-6.71777553e-01 -7.40067018e-01 3.18705082e-02 1.79780160e+02] [ 7.39360773e-01 -6.72530680e-01 -3.23748777e-02 1.64002335e+02] [ 4.53934737e-02 1.81508746e-03 9.98967536e-01 1.12116814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.12710568099993 meters 0.03761362467343502 Centerline is valid? [True, True] Translation: X:179.76, Y:164.02, Z:11.21 [[-6.67669538e-01 -7.43781836e-01 3.17170072e-02 1.79756747e+02] [ 7.43087683e-01 -6.68419239e-01 -3.21934145e-02 1.64016234e+02] [ 4.51451347e-02 2.07395518e-03 9.98978286e-01 1.12103731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.1571056809999 meters 0.03887092731007646 Centerline is valid? [True, True] Translation: X:179.74, Y:164.03, Z:11.21 [[-6.66389501e-01 -7.44894552e-01 3.25136829e-02 1.79736758e+02] [ 7.44167695e-01 -6.67178513e-01 -3.29738207e-02 1.64032902e+02] [ 4.62544500e-02 2.22222457e-03 9.98927218e-01 1.12094829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.18710568099993 meters 0.041114004597037936 Centerline is valid? [True, True] Translation: X:179.72, Y:164.05, Z:11.21 [[-6.64527215e-01 -7.46520763e-01 3.33216170e-02 1.79718732e+02] [ 7.45760747e-01 -6.65357744e-01 -3.37635978e-02 1.64050172e+02] [ 4.73760227e-02 2.41312438e-03 9.98874211e-01 1.12106171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2171056809999 meters 0.041493465180991354 Centerline is valid? [True, True] Translation: X:179.70, Y:164.07, Z:11.21 [[-6.64297827e-01 -7.46716596e-01 3.35070473e-02 1.79700871e+02] [ 7.45949555e-01 -6.65137794e-01 -3.39260495e-02 1.64070180e+02] [ 4.76199478e-02 2.45756605e-03 9.98862504e-01 1.12119206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.24710568099994 meters 0.04177082931224497 Centerline is valid? [True, True] Translation: X:179.68, Y:164.09, Z:11.21 [[-6.64895931e-01 -7.46143467e-01 3.43995361e-02 1.79684251e+02] [ 7.45335707e-01 -6.65780498e-01 -3.47996085e-02 1.64089522e+02] [ 4.88680408e-02 2.50108449e-03 9.98802112e-01 1.12098972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2771056809999 meters 0.04146104089209992 Centerline is valid? [True, True] Translation: X:179.67, Y:164.11, Z:11.21 [[-6.65833908e-01 -7.45252208e-01 3.55577478e-02 1.79666823e+02] [ 7.44389484e-01 -6.66777847e-01 -3.59388291e-02 1.64108662e+02] [ 5.04926103e-02 2.53952253e-03 9.98721206e-01 1.12075875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.30710568099994 meters 0.040928402672958775 Centerline is valid? [True, True] Translation: X:179.65, Y:164.13, Z:11.20 [[-6.67491859e-01 -7.43676454e-01 3.74159029e-02 1.79652012e+02] [ 7.42720547e-01 -6.68534759e-01 -3.77818176e-02 1.64129719e+02] [ 5.31112798e-02 2.57050422e-03 9.98585292e-01 1.12036649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.3371056809999 meters 0.03706982918405627 Centerline is valid? [True, True] Translation: X:179.64, Y:164.16, Z:11.21 [[-6.70852581e-01 -7.40644546e-01 3.74495805e-02 1.79641475e+02] [ 7.39683888e-01 -6.71892937e-01 -3.77839452e-02 1.64156848e+02] [ 5.31465816e-02 2.35339417e-03 9.98583949e-01 1.12050663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.36710568099994 meters 0.03615086389923151 Centerline is valid? [True, True] Translation: X:179.63, Y:164.18, Z:11.21 [[-6.74620642e-01 -7.37231525e-01 3.71034636e-02 1.79627011e+02] [ 7.36284978e-01 -6.75636982e-01 -3.74045421e-02 1.64178750e+02] [ 5.26442798e-02 2.08484664e-03 9.98611152e-01 1.12065563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.3971056809999 meters 0.026513111520255817 Centerline is valid? [True, True] Translation: X:179.63, Y:164.22, Z:11.21 [[-6.84575850e-01 -7.28028735e-01 3.64700653e-02 1.79625023e+02] [ 7.27102609e-01 -6.85545247e-01 -3.67356673e-02 1.64215122e+02] [ 5.17465014e-02 1.36912895e-03 9.98659314e-01 1.12109473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.42710568099994 meters 0.02537826808649842 Centerline is valid? [True, True] Translation: X:179.61, Y:164.24, Z:11.21 [[-6.90221992e-01 -7.22667613e-01 3.66759210e-02 1.79609551e+02] [ 7.21724980e-01 -6.91195006e-01 -3.69122961e-02 1.64236605e+02] [ 5.20255343e-02 9.92249782e-04 9.98645262e-01 1.12083325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.4571056809999 meters 0.022105883022380503 Centerline is valid? [True, True] Translation: X:179.60, Y:164.26, Z:11.21 [[-6.98788479e-01 -7.14396976e-01 3.64913984e-02 1.79599511e+02] [ 7.13453981e-01 -6.99740529e-01 -3.66961799e-02 1.64262689e+02] [ 5.17501503e-02 3.92065675e-04 9.98659986e-01 1.12064044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.48710568099995 meters 0.021304601140152243 Centerline is valid? [True, True] Translation: X:179.58, Y:164.29, Z:11.21 [[-7.01928388e-01 -7.11298870e-01 3.67485386e-02 1.79584478e+02] [ 7.10339891e-01 -7.02889666e-01 -3.69236618e-02 1.64286576e+02] [ 5.20939269e-02 1.86186532e-04 9.98642172e-01 1.12122675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.5171056809999 meters 0.02135758254772056 Centerline is valid? [True, True] Translation: X:179.57, Y:164.31, Z:11.22 [[-7.06539820e-01 -7.06831275e-01 3.45113319e-02 1.79568365e+02] [ 7.05981486e-01 -7.07382171e-01 -3.46497560e-02 1.64307917e+02] [ 4.89042321e-02 -1.17070987e-04 9.98803465e-01 1.12192085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.54710568099995 meters 0.021319233659487898 Centerline is valid? [True, True] Translation: X:179.55, Y:164.32, Z:11.22 [[-7.07702230e-01 -7.05710618e-01 3.36166243e-02 1.79549129e+02] [ 7.04904406e-01 -7.08500173e-01 -3.37236334e-02 1.64323903e+02] [ 4.76165103e-02 -1.69783975e-04 9.98865676e-01 1.12227190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.5771056809999 meters 0.02127893546543809 Centerline is valid? [True, True] Translation: X:179.53, Y:164.34, Z:11.22 [[-7.06049502e-01 -7.07381122e-01 3.32573266e-02 1.79525409e+02] [ 7.06595289e-01 -7.06832333e-01 -3.33339113e-02 1.64336181e+02] [ 4.70871334e-02 -3.59211625e-05 9.98890785e-01 1.12242015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.60710568099995 meters 0.02131019748558284 Centerline is valid? [True, True] Translation: X:179.50, Y:164.35, Z:11.23 [[-7.05105481e-01 -7.08312109e-01 3.34696333e-02 1.79504943e+02] [ 7.07518378e-01 -7.05899394e-01 -3.35229879e-02 1.64351236e+02] [ 4.73709321e-02 4.31381810e-05 9.98877366e-01 1.12252823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.6371056809999 meters 0.021493264502472992 Centerline is valid? [True, True] Translation: X:179.48, Y:164.37, Z:11.23 [[-7.03614584e-01 -7.09847537e-01 3.22953596e-02 1.79481931e+02] [ 7.09111221e-01 -7.04355343e-01 -3.23237894e-02 1.64365727e+02] [ 4.56923714e-02 1.57512217e-04 9.98955546e-01 1.12296385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.66710568099995 meters 0.021743886107756974 Centerline is valid? [True, True] Translation: X:179.46, Y:164.38, Z:11.23 [[-7.02730889e-01 -7.10749446e-01 3.16941976e-02 1.79461535e+02] [ 7.10042485e-01 -7.03445215e-01 -3.16938377e-02 1.64381160e+02] [ 4.48215093e-02 2.31988102e-04 9.98994984e-01 1.12314664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.6971056809999 meters 0.022033131527657672 Centerline is valid? [True, True] Translation: X:179.12, Y:164.00, Z:11.47 [[-7.60034337e-01 6.49589665e-01 -1.95210833e-02 1.79115740e+02] [ 6.49275809e-01 7.60279761e-01 2.03864807e-02 1.64002974e+02] [ 2.80843318e-02 2.81985818e-03 -9.99601580e-01 1.14681765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.7271056809999 meters 0.022086361084074864 Centerline is valid? [True, True] Translation: X:179.45, Y:164.38, Z:11.22 [[-7.03370308e-01 -7.09905539e-01 3.61155743e-02 1.79447064e+02] [ 7.09121384e-01 -7.04293768e-01 -3.34238127e-02 1.64380194e+02] [ 4.91637237e-02 2.10100864e-03 9.98788523e-01 1.12225402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.7571056809999 meters 0.022209176260611606 Centerline is valid? [True, True] Translation: X:179.10, Y:164.03, Z:11.48 [[-7.63232021e-01 6.45938774e-01 -1.54913611e-02 1.79096086e+02] [ 6.45726908e-01 7.63384074e-01 1.67784051e-02 1.64027147e+02] [ 2.26636808e-02 2.80262736e-03 -9.99739217e-01 1.14789164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.7871056809999 meters 0.02226057468245294 Centerline is valid? [True, True] Translation: X:179.12, Y:164.02, Z:11.48 [[-8.07994797e-01 5.88996403e-01 -1.50879468e-02 1.79121399e+02] [ 5.88825278e-01 8.08130772e-01 1.44722743e-02 1.64024156e+02] [ 2.07171516e-02 2.80935789e-03 -9.99781430e-01 1.14786412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.81710568099993 meters 0.02302700358107947 Centerline is valid? [True, True] Translation: X:179.41, Y:164.42, Z:11.22 [[-7.51457917e-01 -6.58486654e-01 4.13076943e-02 1.79407276e+02] [ 6.57650909e-01 -7.52589220e-01 -3.32377633e-02 1.64422588e+02] [ 5.29743490e-02 2.18926231e-03 9.98593474e-01 1.12194842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.8471056809999 meters 0.023358066218575994 Centerline is valid? [True, True] Translation: X:179.11, Y:164.04, Z:11.48 [[-8.12835857e-01 5.82268479e-01 -1.61644166e-02 1.79108127e+02] [ 5.82078070e-01 8.12991305e-01 1.51742677e-02 1.64044498e+02] [ 2.19770279e-02 2.92523642e-03 -9.99754196e-01 1.14766749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.87710568099993 meters 0.023358066218575994 Centerline is valid? [True, True] Translation: X:179.12, Y:164.05, Z:11.48 [[-8.52040140e-01 5.23196193e-01 -1.71272504e-02 1.79121104e+02] [ 5.23018767e-01 8.52207286e-01 1.39323856e-02 1.64051331e+02] [ 2.18853387e-02 2.91307839e-03 -9.99756243e-01 1.14770798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.9071056809999 meters 0.023916389854344675 Centerline is valid? [True, True] Translation: X:179.14, Y:164.06, Z:11.48 [[-8.87725834e-01 4.59939049e-01 -1.99728342e-02 1.79135275e+02] [ 4.59744582e-01 8.87945486e-01 1.37015873e-02 1.64063277e+02] [ 2.40366830e-02 2.98085066e-03 -9.99706633e-01 1.14752417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.93710568099993 meters 0.026590301965890954 Centerline is valid? [True, True] Translation: X:179.16, Y:164.08, Z:11.47 [[-9.19767389e-01 3.91832469e-01 -2.22545700e-02 1.79156982e+02] [ 3.91633806e-01 9.20031326e-01 1.28577077e-02 1.64079456e+02] [ 2.55129689e-02 3.11045832e-03 -9.99669652e-01 1.14748031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.9671056809999 meters 0.02550066809508987 Centerline is valid? [True, True] Translation: X:179.17, Y:164.09, Z:11.47 [[-9.45812255e-01 3.23851516e-01 -2.36511067e-02 1.79174573e+02] [ 3.23664909e-01 9.46102630e-01 1.14385262e-02 1.64085772e+02] [ 2.60807583e-02 3.16366494e-03 -9.99654833e-01 1.14715157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99710568099994 meters 0.027921582971278502 Centerline is valid? [True, True] Translation: X:179.20, Y:164.10, Z:11.47 [[-9.67758723e-01 2.50365844e-01 -2.75680707e-02 1.79197097e+02] [ 2.50162635e-01 9.68145315e-01 1.06444477e-02 1.64102505e+02] [ 2.93549047e-02 3.40475589e-03 -9.99563253e-01 1.14679845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0271056809999 meters 0.03243184271009822 Centerline is valid? [True, True] Translation: X:179.31, Y:164.50, Z:11.23 [[-9.25958393e-01 -3.75154520e-01 4.31293453e-02 1.79305003e+02] [ 3.74935939e-01 -9.26954490e-01 -1.33571915e-02 1.64501820e+02] [ 4.49899511e-02 3.80253802e-03 9.98980203e-01 1.12314465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05710568099994 meters 0.033531995851819825 Centerline is valid? [True, True] Translation: X:179.18, Y:164.13, Z:11.48 [[-9.71703318e-01 2.35129093e-01 -2.25160115e-02 1.79177971e+02] [ 2.34980252e-01 9.71957731e-01 9.08019255e-03 1.64126690e+02] [ 2.40196289e-02 3.53243517e-03 -9.99705246e-01 1.14760846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0871056809999 meters 0.03729584272124079 Centerline is valid? [True, True] Translation: X:179.20, Y:164.15, Z:11.48 [[-9.87498787e-01 1.56371923e-01 -1.98486340e-02 1.79200022e+02] [ 1.56266476e-01 9.87691756e-01 6.76638498e-03 1.64145449e+02] [ 2.06624048e-02 3.58012087e-03 -9.99780100e-01 1.14789900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11710568099994 meters 0.03907068376718483 Centerline is valid? [True, True] Translation: X:179.27, Y:164.50, Z:11.23 [[-9.45743638e-01 -3.21183124e-01 4.90955449e-02 1.79271849e+02] [ 3.21000500e-01 -9.47005821e-01 -1.17751612e-02 1.64504858e+02] [ 5.02757499e-02 4.62341068e-03 9.98724673e-01 1.12261094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.1471056809999 meters 0.03988355158263876 Centerline is valid? [True, True] Translation: X:179.19, Y:164.15, Z:11.48 [[-9.88793152e-01 1.47689056e-01 -2.18184570e-02 1.79188202e+02] [ 1.47567458e-01 9.89026575e-01 7.09073555e-03 1.64151310e+02] [ 2.26262579e-02 3.79157651e-03 -9.99736804e-01 1.14772868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17710568099994 meters 0.03913068844436764 Centerline is valid? [True, True] Translation: X:179.19, Y:164.16, Z:11.48 [[-9.96623173e-01 7.86747946e-02 -2.35059279e-02 1.79185873e+02] [ 7.85622679e-02 9.96893060e-01 5.67431387e-03 1.64163693e+02] [ 2.38793218e-02 3.80847369e-03 -9.99707594e-01 1.14771884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.2071056809999 meters 0.03626967096031267 Centerline is valid? [True, True] Translation: X:179.19, Y:164.17, Z:11.48 [[-9.99618347e-01 1.30723658e-02 -2.43366684e-02 1.79189303e+02] [ 1.29784406e-02 9.99907722e-01 4.01337715e-03 1.64171123e+02] [ 2.43868870e-02 3.69599342e-03 -9.99695763e-01 1.14788817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23710568099995 meters 0.033286596988939786 Centerline is valid? [True, True] Translation: X:179.17, Y:164.18, Z:11.48 [[-9.98452732e-01 -5.00992155e-02 -2.41290543e-02 1.79172628e+02] [-5.01684664e-02 9.98738183e-01 2.27289620e-03 1.64176446e+02] [ 2.39847376e-02 3.47989707e-03 -9.99706268e-01 1.14820467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.2671056809999 meters 0.030289788460698776 Centerline is valid? [True, True] Translation: X:179.17, Y:164.18, Z:11.48 [[-9.93251995e-01 -1.13659064e-01 -2.30671035e-02 1.79166739e+02] [-1.13704064e-01 9.93514454e-01 6.44464249e-04 1.64178427e+02] [ 2.28442516e-02 3.26293883e-03 -9.99733711e-01 1.14846833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29710568099995 meters 0.028527263199428835 Centerline is valid? [True, True] Translation: X:179.12, Y:164.60, Z:11.23 [[-9.98740094e-01 -1.42610196e-02 4.81128637e-02 1.79124033e+02] [ 1.44078909e-02 -9.99892536e-01 2.70720243e-03 1.64602880e+02] [ 4.80690859e-02 3.39699650e-03 9.98838237e-01 1.12273325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.3271056809999 meters 0.027283838857226735 Centerline is valid? [True, True] Translation: X:179.11, Y:164.16, Z:11.49 [[-9.93475724e-01 -1.11732144e-01 -2.28454313e-02 1.79113367e+02] [-1.11774722e-01 9.93733396e-01 5.91387830e-04 1.64163506e+02] [ 2.26361910e-02 3.14107120e-03 -9.99738834e-01 1.14876619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35710568099995 meters 0.024758223622084467 Centerline is valid? [True, True] Translation: X:179.06, Y:164.61, Z:11.23 [[-9.98914648e-01 2.70188427e-03 4.64997450e-02 1.79058863e+02] [-2.58009287e-03 -9.99993083e-01 2.67900434e-03 1.64611537e+02] [ 4.65066617e-02 2.55612302e-03 9.98914709e-01 1.12281706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.3871056809999 meters 0.023844502950405133 Centerline is valid? [True, True] Translation: X:179.06, Y:164.15, Z:11.49 [[-9.93825983e-01 -1.08403516e-01 -2.36345635e-02 1.79058258e+02] [-1.08442967e-01 9.94102596e-01 3.90168755e-04 1.64147250e+02] [ 2.34528853e-02 2.95076204e-03 -9.99720589e-01 1.14923654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41710568099995 meters 0.0230793265650975 Centerline is valid? [True, True] Translation: X:179.06, Y:164.16, Z:11.49 [[-9.84105789e-01 -1.75801006e-01 -2.50958659e-02 1.79059861e+02] [-1.75815199e-01 9.84421795e-01 -1.65713846e-03 1.64156694e+02] [ 2.49962440e-02 2.78143510e-03 -9.99683676e-01 1.14923567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.4471056809999 meters 0.02317453879467604 Centerline is valid? [True, True] Translation: X:179.05, Y:164.17, Z:11.49 [[-9.69005382e-01 -2.45709068e-01 -2.56051453e-02 1.79053135e+02] [-2.45698313e-01 9.69339608e-01 -3.61426537e-03 1.64168016e+02] [ 2.57081393e-02 2.78889843e-03 -9.99665601e-01 1.14922643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.4771056809999 meters 0.023085347033957915 Centerline is valid? [True, True] Translation: X:178.93, Y:164.63, Z:11.23 [[-9.86554926e-01 1.57161841e-01 4.48278352e-02 1.78926268e+02] [-1.56869474e-01 -9.87568828e-01 9.98894051e-03 1.64625715e+02] [ 4.58404529e-02 2.82251954e-03 9.98944786e-01 1.12309179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.5071056809999 meters 0.0229403880304191 Centerline is valid? [True, True] Translation: X:178.98, Y:164.15, Z:11.50 [[-9.67552113e-01 -2.51668687e-01 -2.24895551e-02 1.78976836e+02] [-2.51667843e-01 9.67809281e-01 -2.91413541e-03 1.64152727e+02] [ 2.24989968e-02 2.84031997e-03 -9.99742831e-01 1.14980880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.5371056809999 meters 0.022398330758323766 Centerline is valid? [True, True] Translation: X:178.96, Y:164.16, Z:11.50 [[-9.48281009e-01 -3.16538434e-01 -2.38022676e-02 1.78964019e+02] [-3.16507231e-01 9.48576028e-01 -5.16651424e-03 1.64161345e+02] [ 2.42136608e-02 2.63428245e-03 -9.99703336e-01 1.14984911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.56710568099993 meters 0.02201656385411547 Centerline is valid? [True, True] Translation: X:178.94, Y:164.16, Z:11.50 [[-9.23575142e-01 -3.82692094e-01 -2.35736628e-02 1.78936233e+02] [-3.82638113e-01 9.23872251e-01 -6.93812049e-03 1.64162556e+02] [ 2.44342168e-02 2.61230622e-03 -9.99698027e-01 1.14981862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.5971056809999 meters 0.022438055222629462 Centerline is valid? [True, True] Translation: X:178.90, Y:164.15, Z:11.50 [[-8.95617442e-01 -4.44205417e-01 -2.34722183e-02 1.78895627e+02] [-4.44122881e-01 8.95921622e-01 -8.90580706e-03 1.64152751e+02] [ 2.49852756e-02 2.44835308e-03 -9.99684821e-01 1.14994623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.62710568099993 meters 0.02266875743081346 Centerline is valid? [True, True] Translation: X:178.86, Y:164.15, Z:11.50 [[-8.61337258e-01 -5.07508868e-01 -2.30841124e-02 1.78864971e+02] [-5.07399222e-01 8.61643204e-01 -1.08174897e-02 1.64149090e+02] [ 2.53802406e-02 2.39535376e-03 -9.99675000e-01 1.14993026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.6571056809999 meters 0.023627166406790436 Centerline is valid? [True, True] Translation: X:178.82, Y:164.13, Z:11.50 [[-8.23574704e-01 -5.66684946e-01 -2.43491026e-02 1.78816386e+02] [-5.66514789e-01 8.23931594e-01 -1.40613719e-02 1.64131753e+02] [ 2.80303627e-02 2.21353648e-03 -9.99604621e-01 1.14985906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.68710568099993 meters 0.023759649889901854 Centerline is valid? [True, True] Translation: X:178.78, Y:164.12, Z:11.50 [[-7.79104235e-01 -6.26440131e-01 -2.38611147e-02 1.78782565e+02] [-6.26229385e-01 7.79466515e-01 -1.63923539e-02 1.64121805e+02] [ 2.88677682e-02 2.17117883e-03 -9.99580881e-01 1.14986683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7171056809999 meters 0.024458154158580735 Centerline is valid? [True, True] Translation: X:178.74, Y:164.10, Z:11.50 [[-7.29086445e-01 -6.84060259e-01 -2.22377538e-02 1.78735696e+02] [-6.83829759e-01 7.29422289e-01 -1.78881346e-02 1.64099779e+02] [ 2.84572752e-02 2.16484140e-03 -9.99592666e-01 1.15005683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.74710568099994 meters 0.023232896701564597 Centerline is valid? [True, True] Translation: X:178.69, Y:164.09, Z:11.50 [[-6.71054984e-01 -7.41108449e-01 -2.10588468e-02 1.78692769e+02] [-7.40846450e-01 6.71381430e-01 -1.98371860e-02 1.64088719e+02] [ 2.88400248e-02 2.28952938e-03 -9.99581418e-01 1.15015897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7771056809999 meters 0.022508411871193817 Centerline is valid? [True, True] Translation: X:178.65, Y:164.07, Z:11.50 [[-6.08027257e-01 -7.93680385e-01 -1.93468738e-02 1.78652304e+02] [-7.93399616e-01 6.08330125e-01 -2.12487066e-02 1.64070194e+02] [ 2.86339678e-02 2.43000951e-03 -9.99587010e-01 1.15030611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.80710568099994 meters 0.022895459760403268 Centerline is valid? [True, True] Translation: X:178.61, Y:164.07, Z:11.50 [[-5.32207999e-01 -8.46457130e-01 -1.62779744e-02 1.78613941e+02] [-8.46212611e-01 5.32449293e-01 -2.05418584e-02 1.64070208e+02] [ 2.60549984e-02 2.84208587e-03 -9.99656471e-01 1.15042543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.8371056809999 meters 0.024463266179323206 Centerline is valid? [True, True] Translation: X:178.57, Y:164.04, Z:11.51 [[-4.58646756e-01 -8.88513261e-01 -1.36871517e-02 1.78568101e+02] [-8.88293575e-01 4.58841176e-01 -1.99825058e-02 1.64040523e+02] [ 2.40349502e-02 2.99329749e-03 -9.99706638e-01 1.15086057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.86710568099994 meters 0.029452259901833186 Centerline is valid? [True, True] Translation: X:178.52, Y:164.03, Z:11.52 [[-3.74700584e-01 -9.27075424e-01 -1.14293842e-02 1.78523015e+02] [-9.26877402e-01 3.74860261e-01 -1.94439260e-02 1.64029209e+02] [ 2.23104078e-02 3.30798748e-03 -9.99745619e-01 1.15158398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.8971056809999 meters 0.03283463610169441 Centerline is valid? [True, True] Translation: X:178.49, Y:164.00, Z:11.52 [[-2.96927866e-01 -9.54852038e-01 -9.56183037e-03 1.78486739e+02] [-9.54662445e-01 2.97062445e-01 -1.93266632e-02 1.64003431e+02] [ 2.12945644e-02 3.38969551e-03 -9.99767499e-01 1.15204277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.92710568099994 meters 0.03602022181074451 Centerline is valid? [True, True] Translation: X:178.45, Y:163.97, Z:11.52 [[-2.16553770e-01 -9.76237910e-01 -8.00049444e-03 1.78451827e+02] [-9.76042114e-01 2.16673122e-01 -1.98632698e-02 1.63971445e+02] [ 2.11247691e-02 3.50735353e-03 -9.99770695e-01 1.15236862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.9571056809999 meters 0.03745661118707868 Centerline is valid? [True, True] Translation: X:178.43, Y:163.93, Z:11.53 [[-1.40026919e-01 -9.90125920e-01 -6.56695915e-03 1.78425543e+02] [-9.89912661e-01 1.40135102e-01 -2.08584848e-02 1.63929128e+02] [ 2.15727880e-02 3.57996664e-03 -9.99760871e-01 1.15254696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.98710568099995 meters 0.0368542185918659 Centerline is valid? [True, True] Translation: X:178.41, Y:163.88, Z:11.52 [[-6.47378471e-02 -9.97889130e-01 -5.12798465e-03 1.78407271e+02] [-9.97633311e-01 6.48388506e-02 -2.28845092e-02 1.63884930e+02] [ 2.31686956e-02 3.63435445e-03 -9.99724964e-01 1.15246731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.0171056809999 meters 0.035910096752490586 Centerline is valid? [True, True] Translation: X:178.39, Y:163.81, Z:11.53 [[ 9.35913068e-03 -9.99950707e-01 -3.31528971e-03 1.78390110e+02] [-9.99716690e-01 -9.28427656e-03 -2.19167081e-02 1.63814683e+02] [ 2.18848477e-02 3.51947179e-03 -9.99754303e-01 1.15296555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.04710568099995 meters 0.035562905674918655 Centerline is valid? [True, True] Translation: X:178.38, Y:163.76, Z:11.54 [[ 8.47052808e-02 -9.96404577e-01 -1.71308550e-03 1.78377849e+02] [-9.96208166e-01 -8.46540706e-02 -2.00742991e-02 1.63756047e+02] [ 1.98571038e-02 3.40698891e-03 -9.99797023e-01 1.15357635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.0771056809999 meters 0.0338602802390601 Centerline is valid? [True, True] Translation: X:178.37, Y:163.71, Z:11.54 [[ 1.56908292e-01 -9.87613049e-01 -5.03327868e-04 1.78374581e+02] [-9.87466090e-01 -1.56876108e-01 -1.73380472e-02 1.63710229e+02] [ 1.70443216e-02 3.21750259e-03 -9.99849558e-01 1.15426809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.10710568099995 meters 0.032909668334239535 Centerline is valid? [True, True] Translation: X:178.38, Y:163.65, Z:11.55 [[ 2.29777372e-01 -9.73243044e-01 5.79356093e-04 1.78375222e+02] [-9.73116294e-01 -2.29756979e-01 -1.60127652e-02 1.63651415e+02] [ 1.57174234e-02 3.11559025e-03 -9.99871620e-01 1.15454615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.1371056809999 meters 0.030695772692408765 Centerline is valid? [True, True] Translation: X:178.39, Y:163.57, Z:11.55 [[ 2.98165914e-01 -9.54512423e-01 1.76705673e-03 1.78391072e+02] [-9.54387026e-01 -2.98155924e-01 -1.57622953e-02 1.63570369e+02] [ 1.55721651e-02 3.01332316e-03 -9.99874206e-01 1.15491122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.16710568099995 meters 0.02904516626367312 Centerline is valid? [True, True] Translation: X:178.40, Y:163.52, Z:11.55 [[ 3.67090880e-01 -9.30180789e-01 2.82599524e-03 1.78399585e+02] [-9.30061672e-01 -3.67089971e-01 -1.51736255e-02 1.63518942e+02] [ 1.51516095e-02 2.94174969e-03 -9.99880880e-01 1.15520458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.1971056809999 meters 0.026060478378518867 Centerline is valid? [True, True] Translation: X:178.42, Y:163.47, Z:11.56 [[ 4.30964510e-01 -9.02360509e-01 3.88629096e-03 1.78418019e+02] [-9.02245573e-01 -4.30972819e-01 -1.46750103e-02 1.63466057e+02] [ 1.49170355e-02 2.81801981e-03 -9.99884764e-01 1.15551721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.2271056809999 meters 0.025056136120162942 Centerline is valid? [True, True] Translation: X:178.44, Y:163.40, Z:11.56 [[ 4.96598192e-01 -8.67963095e-01 5.50458566e-03 1.78438383e+02] [-8.67834094e-01 -4.96620911e-01 -1.52202680e-02 1.63404277e+02] [ 1.59443233e-02 2.78129047e-03 -9.99869013e-01 1.15570835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.2571056809999 meters 0.024241499272560068 Centerline is valid? [True, True] Translation: X:178.45, Y:163.37, Z:11.56 [[ 5.60051936e-01 -8.28416429e-01 8.24919062e-03 1.78449829e+02] [-8.28243162e-01 -5.60105769e-01 -1.71694970e-02 1.63365166e+02] [ 1.88439127e-02 2.78347434e-03 -9.99818563e-01 1.15558661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.2871056809999 meters 0.023650521565088244 Centerline is valid? [True, True] Translation: X:178.47, Y:163.32, Z:11.56 [[ 6.20615786e-01 -7.84050251e-01 1.00622909e-02 1.78473470e+02] [-7.83867949e-01 -6.20691296e-01 -1.71275883e-02 1.63315435e+02] [ 1.96744663e-02 2.74214434e-03 -9.99802679e-01 1.15560169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.31710568099993 meters 0.023313586191420325 Centerline is valid? [True, True] Translation: X:178.50, Y:163.26, Z:11.56 [[ 6.78061518e-01 -7.34920268e-01 1.11703676e-02 1.78501975e+02] [-7.34749188e-01 -6.78148151e-01 -1.60846363e-02 1.63264536e+02] [ 1.93960893e-02 2.69895438e-03 -9.99808235e-01 1.15577107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.3471056809999 meters 0.022333849941369503 Centerline is valid? [True, True] Translation: X:178.53, Y:163.22, Z:11.56 [[ 7.29638327e-01 -6.83706645e-01 1.31580964e-02 1.78531773e+02] [-6.83526458e-01 -7.29752272e-01 -1.59123144e-02 1.63216863e+02] [ 2.04815059e-02 2.61632744e-03 -9.99786809e-01 1.15592258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.37710568099993 meters 0.021807738136012573 Centerline is valid? [True, True] Translation: X:178.57, Y:163.24, Z:11.56 [[ 7.79264056e-01 -6.26510894e-01 1.52193899e-02 1.78565640e+02] [-6.26322627e-01 -7.79408304e-01 -1.55776600e-02 1.63236117e+02] [ 2.16216926e-02 2.60686224e-03 -9.99762825e-01 1.15596126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.4071056809999 meters 0.021349360031841652 Centerline is valid? [True, True] Translation: X:178.60, Y:163.26, Z:11.56 [[ 8.20860286e-01 -5.70860391e-01 1.75158740e-02 1.78596188e+02] [-5.70665624e-01 -8.21043632e-01 -1.51029720e-02 1.63255631e+02] [ 2.30029853e-02 2.40172272e-03 -9.99732511e-01 1.15563316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.43710568099993 meters 0.022277606903133847 Centerline is valid? [True, True] Translation: X:178.62, Y:163.28, Z:11.56 [[ 8.60188406e-01 -5.09609055e-01 1.93524640e-02 1.78623170e+02] [-5.09419352e-01 -8.60403110e-01 -1.40858691e-02 1.63278739e+02] [ 2.38292066e-02 2.25798161e-03 -9.99713494e-01 1.15562102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.4671056809999 meters 0.02441375697366289 Centerline is valid? [True, True] Translation: X:178.65, Y:163.30, Z:11.55 [[ 8.92743319e-01 -4.50043065e-01 2.16934424e-02 1.78650103e+02] [-4.49855625e-01 -8.93004684e-01 -1.31358313e-02 1.63299637e+02] [ 2.52840355e-02 1.96800857e-03 -9.99678371e-01 1.15525330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49710568099994 meters 0.02740849455834948 Centerline is valid? [True, True] Translation: X:178.67, Y:163.32, Z:11.55 [[ 9.22134155e-01 -3.86131690e-01 2.38938830e-02 1.78674441e+02] [-3.85953021e-01 -9.22442054e-01 -1.18710724e-02 1.63319971e+02] [ 2.66245198e-02 1.72480502e-03 -9.99644017e-01 1.15536912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5271056809999 meters 0.02809916106691583 Centerline is valid? [True, True] Translation: X:178.70, Y:163.34, Z:11.56 [[ 9.48572568e-01 -3.15605717e-01 2.45583973e-02 1.78696169e+02] [-3.15454636e-01 -9.48888994e-01 -9.90199145e-03 1.63339661e+02] [ 2.64283180e-02 1.64569716e-03 -9.99649356e-01 1.15558237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55710568099994 meters 0.030212821143034592 Centerline is valid? [True, True] Translation: X:178.72, Y:163.36, Z:11.56 [[ 9.69515932e-01 -2.43780206e-01 2.46995519e-02 1.78715801e+02] [-2.43659650e-01 -9.69829239e-01 -7.82441763e-03 1.63361217e+02] [ 2.58617857e-02 1.56761340e-03 -9.99664299e-01 1.15599661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5871056809999 meters 0.030013979570217588 Centerline is valid? [True, True] Translation: X:178.73, Y:163.38, Z:11.56 [[ 9.85568947e-01 -1.67427353e-01 2.49385913e-02 1.78734638e+02] [-1.67333406e-01 -9.85883173e-01 -5.82234739e-03 1.63383859e+02] [ 2.55613577e-02 1.56526537e-03 -9.99672030e-01 1.15618491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61710568099994 meters 0.03094925101340139 Centerline is valid? [True, True] Translation: X:178.75, Y:163.41, Z:11.56 [[ 9.95511840e-01 -9.13331938e-02 2.47875980e-02 1.78747848e+02] [-9.12663739e-02 -9.95819204e-01 -3.81612352e-03 1.63407466e+02] [ 2.50325049e-02 1.53672196e-03 -9.99685457e-01 1.15645276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.6471056809999 meters 0.03216616386279777 Centerline is valid? [True, True] Translation: X:178.76, Y:163.43, Z:11.57 [[ 9.99596971e-01 -1.54501825e-02 2.38157030e-02 1.78760550e+02] [-1.54097254e-02 -9.99879493e-01 -1.88135615e-03 1.63434507e+02] [ 2.38419003e-02 1.51360446e-03 -9.99714596e-01 1.15668593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67710568099994 meters 0.03381286970678642 Centerline is valid? [True, True] Translation: X:178.77, Y:163.45, Z:11.57 [[ 9.97968098e-01 5.87323481e-02 2.47019701e-02 1.78771717e+02] [ 5.87482993e-02 -9.98272824e-01 8.00947324e-05 1.63453490e+02] [ 2.46640096e-02 1.37126674e-03 -9.99694857e-01 1.15677571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.7071056809999 meters 0.03445834143328411 Centerline is valid? [True, True] Translation: X:178.78, Y:163.48, Z:11.57 [[ 9.90418371e-01 1.35741789e-01 2.54089883e-02 1.78781611e+02] [ 1.35730706e-01 -9.90743394e-01 2.16837121e-03 1.63479413e+02] [ 2.54681259e-02 1.30118523e-03 -9.99674788e-01 1.15689373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73710568099995 meters 0.034444192408068584 Centerline is valid? [True, True] Translation: X:178.79, Y:163.50, Z:11.57 [[ 9.77151743e-01 2.11073068e-01 2.49525706e-02 1.78791566e+02] [ 2.11036827e-01 -9.77469483e-01 4.10695207e-03 1.63497961e+02] [ 2.52572433e-02 1.25279595e-03 -9.99680200e-01 1.15703828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.7671056809999 meters 0.03613224313250795 Centerline is valid? [True, True] Translation: X:178.80, Y:163.52, Z:11.57 [[ 9.58353636e-01 2.84560093e-01 2.41632228e-02 1.78799523e+02] [ 2.84500993e-01 -9.58657455e-01 5.92193830e-03 1.63519010e+02] [ 2.48494010e-02 1.19914977e-03 -9.99690487e-01 1.15713997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79710568099995 meters 0.03613224313250795 Centerline is valid? [True, True] Translation: X:178.80, Y:163.55, Z:11.57 [[ 9.33114847e-01 3.58807437e-01 2.35351898e-02 1.78802808e+02] [ 3.58725353e-01 -9.33410839e-01 7.76702604e-03 1.63550574e+02] [ 2.47548680e-02 1.19514195e-03 -9.99692837e-01 1.15722297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.8271056809999 meters 0.03698829995322915 Centerline is valid? [True, True] Translation: X:178.81, Y:163.58, Z:11.57 [[ 9.03020648e-01 4.28995303e-01 2.27319015e-02 1.78806533e+02] [ 4.28890974e-01 -9.03305995e-01 9.52952964e-03 1.63577562e+02] [ 2.46219863e-02 1.14414532e-03 -9.99696178e-01 1.15734947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85710568099995 meters 0.03840751250391477 Centerline is valid? [True, True] Translation: X:178.81, Y:163.60, Z:11.57 [[ 8.67943970e-01 4.96141921e-01 2.27257259e-02 1.78810835e+02] [ 4.96002260e-01 -8.68240842e-01 1.18151712e-02 1.63600145e+02] [ 2.55934052e-02 1.01710478e-03 -9.99671918e-01 1.15735835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.8871056809999 meters 0.0383384875480003 Centerline is valid? [True, True] Translation: X:178.81, Y:163.63, Z:11.57 [[ 8.26634429e-01 5.62328532e-01 2.14975021e-02 1.78812804e+02] [ 5.62170001e-01 -8.26913290e-01 1.33903389e-02 1.63626583e+02] [ 2.53063398e-02 1.01633566e-03 -9.99679227e-01 1.15748334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.91710568099995 meters 0.038424022752875396 Centerline is valid? [True, True] Translation: X:178.82, Y:163.65, Z:11.58 [[ 7.79037041e-01 6.26666965e-01 1.97434488e-02 1.78816192e+02] [ 6.26500847e-01 -7.79286412e-01 1.44698474e-02 1.63647402e+02] [ 2.44535767e-02 1.09674032e-03 -9.99700365e-01 1.15765032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.9471056809999 meters 0.03600897431788703 Centerline is valid? [True, True] Translation: X:178.82, Y:163.67, Z:11.58 [[ 7.23881929e-01 6.89667292e-01 1.88143310e-02 1.78820101e+02] [ 6.89476609e-01 -7.24125392e-01 1.62610811e-02 1.63667969e+02] [ 2.48386706e-02 1.20093837e-03 -9.99690751e-01 1.15772406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.9771056809999 meters 0.03463830878437375 Centerline is valid? [True, True] Translation: X:178.82, Y:163.70, Z:11.58 [[ 6.65049164e-01 7.46600973e-01 1.72219502e-02 1.78815636e+02] [ 7.46399876e-01 -6.65270847e-01 1.73760008e-02 1.63695768e+02] [ 2.44302005e-02 1.29856668e-03 -9.99700695e-01 1.15774492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.0071056809999 meters 0.030765683248262787 Centerline is valid? [True, True] Translation: X:178.81, Y:163.72, Z:11.58 [[ 6.00495733e-01 7.99477384e-01 1.55172901e-02 1.78814752e+02] [ 7.99269946e-01 -6.00694480e-01 1.82673452e-02 1.63721691e+02] [ 2.39254799e-02 1.43304080e-03 -9.99712718e-01 1.15789566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.0371056809999 meters 0.025412823258021622 Centerline is valid? [True, True] Translation: X:178.82, Y:163.74, Z:11.58 [[ 5.27857593e-01 8.49220449e-01 1.38199249e-02 1.78820373e+02] [ 8.49007953e-01 -5.28035840e-01 1.90695285e-02 1.63743842e+02] [ 2.34916492e-02 1.66723076e-03 -9.99722643e-01 1.15796966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.06710568099993 meters 0.0229797200214764 Centerline is valid? [True, True] Translation: X:178.82, Y:163.77, Z:11.58 [[ 4.53966648e-01 8.90929602e-01 1.25986416e-02 1.78820074e+02] [ 8.90689356e-01 -4.54137891e-01 2.07665016e-02 1.63768715e+02] [ 2.42230116e-02 1.79417683e-03 -9.99704970e-01 1.15799786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.0971056809999 meters 0.02223214955039122 Centerline is valid? [True, True] Translation: X:178.81, Y:163.80, Z:11.58 [[ 3.81015523e-01 9.24504898e-01 1.08565284e-02 1.78810892e+02] [ 9.24256247e-01 -3.81165745e-01 2.15189389e-02 1.63798090e+02] [ 2.40325012e-02 1.83516443e-03 -9.99709493e-01 1.15801150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.12710568099993 meters 0.022439618105865963 Centerline is valid? [True, True] Translation: X:178.80, Y:163.83, Z:11.58 [[ 3.07545572e-01 9.51484933e-01 9.59917080e-03 1.78800281e+02] [ 9.51187165e-01 -3.07690137e-01 2.38695757e-02 1.63825740e+02] [ 2.56651118e-02 1.78962575e-03 -9.99668995e-01 1.15814158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.1571056809999 meters 0.022463017543928515 Centerline is valid? [True, True] Translation: X:178.78, Y:163.86, Z:11.58 [[ 2.32612970e-01 9.72537668e-01 7.85430081e-03 1.78781539e+02] [ 9.72210120e-01 -2.32738947e-01 2.52995000e-02 1.63855483e+02] [ 2.64327185e-02 1.75103890e-03 -9.99649061e-01 1.15822407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.18710568099993 meters 0.02274424227507994 Centerline is valid? [True, True] Translation: X:178.76, Y:163.88, Z:11.58 [[ 1.56129562e-01 9.87718593e-01 5.96156150e-03 1.78759293e+02] [ 9.87358068e-01 -1.56233964e-01 2.67393797e-02 1.63883104e+02] [ 2.73423808e-02 1.71138822e-03 -9.99624662e-01 1.15820041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2171056809999 meters 0.020860975369301274 Centerline is valid? [True, True] Translation: X:178.74, Y:163.91, Z:11.58 [[ 7.31588555e-02 9.97313178e-01 3.76930715e-03 1.78743652e+02] [ 9.96979674e-01 -7.32321167e-02 2.58570540e-02 1.63909303e+02] [ 2.60636151e-02 1.86625013e-03 -9.99658544e-01 1.15849817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.24710568099994 meters 0.019108934342431213 Centerline is valid? [True, True] Translation: X:178.72, Y:163.94, Z:11.59 [[-1.12046920e-02 9.99935667e-01 1.76567311e-03 1.78724357e+02] [ 9.99645478e-01 1.11587536e-02 2.41743823e-02 1.63935209e+02] [ 2.41531244e-02 2.03591365e-03 -9.99706198e-01 1.15882515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2771056809999 meters 0.018247546387484877 Centerline is valid? [True, True] Translation: X:178.72, Y:163.96, Z:11.59 [[-1.05540566e-01 9.94414990e-01 1.25343142e-04 1.78715002e+02] [ 9.94183522e-01 1.05513279e-01 2.15886975e-02 1.63961445e+02] [ 2.14548990e-02 2.40309744e-03 -9.99766929e-01 1.15940656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.30710568099994 meters 0.020225608440099407 Centerline is valid? [True, True] Translation: X:178.69, Y:163.99, Z:11.60 [[-1.91161002e-01 9.81557533e-01 -1.50995910e-03 1.78690210e+02] [ 9.81332658e-01 1.91149766e-01 2.11655796e-02 1.63986363e+02] [ 2.10638624e-02 2.56426122e-03 -9.99774844e-01 1.15958715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3371056809999 meters 0.022968334791601586 Centerline is valid? [True, True] Translation: X:178.64, Y:164.01, Z:11.30 [[-1.57612039e-01 -9.87480031e-01 6.45245240e-03 1.78636957e+02] [ 9.86836171e-01 -1.57742294e-01 -3.56614573e-02 1.64013035e+02] [ 3.62328016e-02 7.46838406e-04 9.99343097e-01 1.13030140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.36710568099994 meters 0.02745620430613965 Centerline is valid? [True, True] Translation: X:178.62, Y:164.04, Z:11.31 [[-1.48952545e-01 -9.88826116e-01 6.00423493e-03 1.78622953e+02] [ 9.88272140e-01 -1.49070143e-01 -3.31099688e-02 1.64037278e+02] [ 3.36350540e-02 1.00200399e-03 9.99433679e-01 1.13069428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3971056809999 meters 0.02856612717170945 Centerline is valid? [True, True] Translation: X:178.62, Y:164.06, Z:11.31 [[-1.46886894e-01 -9.89134691e-01 6.06657199e-03 1.78616799e+02] [ 9.88572200e-01 -1.47008037e-01 -3.33712786e-02 1.64063531e+02] [ 3.39005242e-02 1.09544095e-03 9.99424612e-01 1.13080432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.42710568099994 meters 0.0293803571653046 Centerline is valid? [True, True] Translation: X:178.61, Y:164.09, Z:11.31 [[-1.47205722e-01 -9.89086444e-01 6.20331558e-03 1.78613115e+02] [ 9.88501013e-01 -1.47332109e-01 -3.40440333e-02 1.64089085e+02] [ 3.45864394e-02 1.12050723e-03 9.99401082e-01 1.13065373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.4571056809999 meters 0.026039600647921712 Centerline is valid? [True, True] Translation: X:178.62, Y:164.12, Z:11.31 [[-1.51380737e-01 -9.88457158e-01 6.02651424e-03 1.78618991e+02] [ 9.87906398e-01 -1.51497625e-01 -3.30063377e-02 1.64117413e+02] [ 3.35383534e-02 9.57108237e-04 9.99436973e-01 1.13078876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.48710568099995 meters 0.026441325274076777 Centerline is valid? [True, True] Translation: X:178.62, Y:164.14, Z:11.31 [[-1.53776431e-01 -9.88087593e-01 5.97649837e-03 1.78616718e+02] [ 9.87548230e-01 -1.53890006e-01 -3.26551703e-02 1.64143671e+02] [ 3.31858920e-02 8.80484851e-04 9.99448809e-01 1.13098113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.5171056809999 meters 0.025915297430777116 Centerline is valid? [True, True] Translation: X:178.62, Y:164.17, Z:11.31 [[-1.55523752e-01 -9.87814508e-01 5.90425117e-03 1.78620539e+02] [ 9.87290427e-01 -1.55633605e-01 -3.21837394e-02 1.64169670e+02] [ 3.27104646e-02 8.23874754e-04 9.99464530e-01 1.13139388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.54710568099995 meters 0.026661323676339485 Centerline is valid? [True, True] Translation: X:178.62, Y:164.20, Z:11.32 [[-1.54837124e-01 -9.87922997e-01 5.79809485e-03 1.78617459e+02] [ 9.87419657e-01 -1.54943362e-01 -3.15432383e-02 1.64195195e+02] [ 3.20606668e-02 8.41088538e-04 9.99485571e-01 1.13155196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.5771056809999 meters 0.02813409416810156 Centerline is valid? [True, True] Translation: X:178.62, Y:164.22, Z:11.32 [[-1.51099555e-01 -9.88500539e-01 5.96737967e-03 1.78615288e+02] [ 9.87970299e-01 -1.51214026e-01 -3.23883595e-02 1.64222479e+02] [ 3.29182623e-02 1.00172715e-03 9.99457545e-01 1.13153265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.60710568099995 meters 0.029503167171276202 Centerline is valid? [True, True] Translation: X:178.61, Y:164.25, Z:11.31 [[-1.48584186e-01 -9.88879775e-01 6.28725019e-03 1.78611787e+02] [ 9.88294231e-01 -1.48712661e-01 -3.40449421e-02 1.64249420e+02] [ 3.46013484e-02 1.15511306e-03 9.99400527e-01 1.13139887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.6371056809999 meters 0.030527431734590844 Centerline is valid? [True, True] Translation: X:178.61, Y:164.28, Z:11.31 [[-1.43282219e-01 -9.89658968e-01 6.73295782e-03 1.78613187e+02] [ 9.88991430e-01 -1.43433023e-01 -3.63719454e-02 1.64277540e+02] [ 3.69615505e-02 1.44738453e-03 9.99315640e-01 1.13121933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.66710568099995 meters 0.03345780967077143 Centerline is valid? [True, True] Translation: X:178.61, Y:164.30, Z:11.31 [[-1.38941323e-01 -9.90279463e-01 6.47259863e-03 1.78610790e+02] [ 9.89665850e-01 -1.39083279e-01 -3.48904864e-02 1.64303361e+02] [ 3.54515623e-02 1.55797950e-03 9.99370181e-01 1.13135856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.6971056809999 meters 0.0354207796093836 Centerline is valid? [True, True] Translation: X:178.61, Y:164.33, Z:11.32 [[-1.37707030e-01 -9.90452656e-01 6.34896512e-03 1.78606649e+02] [ 9.89864798e-01 -1.37844245e-01 -3.41561926e-02 1.64329296e+02] [ 3.47052600e-02 1.58106922e-03 9.99396340e-01 1.13155806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.7271056809999 meters 0.035565978776866354 Centerline is valid? [True, True] Translation: X:178.61, Y:164.36, Z:11.32 [[-1.36763562e-01 -9.90582757e-01 6.44430150e-03 1.78605260e+02] [ 9.89980189e-01 -1.36905367e-01 -3.45853426e-02 1.64357041e+02] [ 3.51419035e-02 1.64971616e-03 9.99380971e-01 1.13167891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.7571056809999 meters 0.0369779441674204 Centerline is valid? [True, True] Translation: X:178.61, Y:164.38, Z:11.31 [[-1.35621281e-01 -9.90736913e-01 6.87287459e-03 1.78606842e+02] [ 9.90055011e-01 -1.35783200e-01 -3.67967226e-02 1.64384112e+02] [ 3.73890923e-02 1.81410527e-03 9.99299137e-01 1.13132489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.7871056809999 meters 0.036575207481087044 Centerline is valid? [True, True] Translation: X:178.61, Y:164.41, Z:11.31 [[-1.37765572e-01 -9.90436418e-01 7.50656859e-03 1.78610912e+02] [ 9.89626601e-01 -1.37956766e-01 -4.00889240e-02 1.64411237e+02] [ 4.07411123e-02 1.90582642e-03 9.99167919e-01 1.13100192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.81710568099993 meters 0.03585325487025367 Centerline is valid? [True, True] Translation: X:178.61, Y:164.44, Z:11.31 [[-1.39653600e-01 -9.90169616e-01 7.81049072e-03 1.78610964e+02] [ 9.89296607e-01 -1.39858727e-01 -4.16144222e-02 1.64438948e+02] [ 4.22977018e-02 1.91528808e-03 9.99103216e-01 1.13091998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.8471056809999 meters 0.03287102618221217 Centerline is valid? [True, True] Translation: X:178.62, Y:164.47, Z:11.31 [[-1.45818496e-01 -9.89277086e-01 8.23488261e-03 1.78617477e+02] [ 9.88309641e-01 -1.46040288e-01 -4.37754241e-02 1.64467882e+02] [ 4.45086486e-02 1.75534740e-03 9.99007457e-01 1.13064462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.87710568099993 meters 0.03054288124505589 Centerline is valid? [True, True] Translation: X:178.62, Y:164.50, Z:11.31 [[-1.49686579e-01 -9.88698949e-01 8.26539669e-03 1.78619552e+02] [ 9.87727739e-01 -1.49906051e-01 -4.38416428e-02 1.64496473e+02] [ 4.45852192e-02 1.60145605e-03 9.99004301e-01 1.13073276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.9071056809999 meters 0.026992876105681626 Centerline is valid? [True, True] Translation: X:178.63, Y:164.52, Z:11.31 [[-1.57678192e-01 -9.87457193e-01 8.11667766e-03 1.78627843e+02] [ 9.86522996e-01 -1.57882144e-01 -4.29605297e-02 1.64524276e+02] [ 4.37031625e-02 1.23335054e-03 9.99043799e-01 1.13094878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.93710568099993 meters 0.024452324041533843 Centerline is valid? [True, True] Translation: X:178.63, Y:164.55, Z:11.31 [[-1.63023910e-01 -9.86590382e-01 7.91345128e-03 1.78630308e+02] [ 9.85705414e-01 -1.63212875e-01 -4.17898931e-02 1.64552542e+02] [ 4.25210837e-02 9.87580016e-04 9.99095082e-01 1.13118151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.9671056809999 meters 0.01925186395223444 Centerline is valid? [True, True] Translation: X:178.64, Y:164.58, Z:11.32 [[-1.75738726e-01 -9.84407167e-01 7.64395802e-03 1.78644322e+02] [ 9.83582853e-01 -1.75904339e-01 -4.02794625e-02 1.64582083e+02] [ 4.09959969e-02 4.39804626e-04 9.99159214e-01 1.13180879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99710568099994 meters 0.018205588718401357 Centerline is valid? [True, True] Translation: X:178.65, Y:164.61, Z:11.32 [[-1.83341991e-01 -9.83021168e-01 7.42281440e-03 1.78648336e+02] [ 9.82246269e-01 -1.83492139e-01 -3.90243661e-02 1.64610633e+02] [ 3.97238060e-02 1.36226787e-04 9.99210689e-01 1.13205632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0271056809999 meters 0.019351024114641627 Centerline is valid? [True, True] Translation: X:178.66, Y:164.64, Z:11.33 [[-1.96553190e-01 -9.80469385e-01 6.82857200e-03 1.78659977e+02] [ 9.79814660e-01 -1.96671458e-01 -3.58269449e-02 1.64638435e+02] [ 3.64702078e-02 -3.51165351e-04 9.99334679e-01 1.13254436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05710568099994 meters 0.02118461951855548 Centerline is valid? [True, True] Translation: X:178.66, Y:164.67, Z:11.33 [[-2.02912146e-01 -9.79176259e-01 6.36516708e-03 1.78662021e+02] [ 9.78608903e-01 -2.03011253e-01 -3.33323569e-02 1.64666085e+02] [ 3.39304531e-02 -5.34530910e-04 9.99424053e-01 1.13310245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0871056809999 meters 0.021683965045791277 Centerline is valid? [True, True] Translation: X:178.66, Y:164.69, Z:11.33 [[-2.04168168e-01 -9.78915648e-01 6.28592775e-03 1.78658528e+02] [ 9.78364671e-01 -2.04264155e-01 -3.28439445e-02 1.64690916e+02] [ 3.34354409e-02 -5.55758357e-04 9.99440725e-01 1.13330611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11710568099994 meters 0.022056240976826853 Centerline is valid? [True, True] Translation: X:178.65, Y:164.72, Z:11.33 [[-2.04786061e-01 -9.78786341e-01 6.32200045e-03 1.78654369e+02] [ 9.78231778e-01 -2.04882848e-01 -3.29485480e-02 1.64716666e+02] [ 3.35448582e-02 -5.63021599e-04 9.99437054e-01 1.13342502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.1471056809999 meters 0.022173492839328467 Centerline is valid? [True, True] Translation: X:178.65, Y:164.74, Z:11.34 [[-2.05343364e-01 -9.78669434e-01 6.34369530e-03 1.78648561e+02] [ 9.78113648e-01 -2.05440544e-01 -3.29829515e-02 1.64742031e+02] [ 3.35826586e-02 -5.67975275e-04 9.99435782e-01 1.13353281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17710568099994 meters 0.020999166807791562 Centerline is valid? [True, True] Translation: X:178.64, Y:164.77, Z:11.34 [[-2.04021954e-01 -9.78948518e-01 5.90261239e-03 1.78636764e+02] [ 9.78469572e-01 -2.04106776e-01 -3.06222283e-02 1.64767492e+02] [ 3.11823482e-02 -4.72080245e-04 9.99513601e-01 1.13388558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.2071056809999 meters 0.020962777367712727 Centerline is valid? [True, True] Translation: X:178.63, Y:164.79, Z:11.34 [[-2.03244601e-01 -9.79112662e-01 5.47970122e-03 1.78629092e+02] [ 9.78701680e-01 -2.03318058e-01 -2.83688175e-02 1.64791905e+02] [ 2.88903907e-02 -4.02816212e-04 9.99582504e-01 1.13416826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23710568099995 meters 0.021000262895159046 Centerline is valid? [True, True] Translation: X:178.62, Y:164.82, Z:11.34 [[-2.05368750e-01 -9.78670256e-01 5.31097197e-03 1.78620588e+02] [ 9.78285507e-01 -2.05436939e-01 -2.74432299e-02 1.64818125e+02] [ 2.79489427e-02 -4.40334903e-04 9.99609255e-01 1.13439760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.2671056809999 meters 0.022123570405428734 Centerline is valid? [True, True] Translation: X:178.62, Y:164.84, Z:11.34 [[-2.08885615e-01 -9.77923232e-01 5.74045163e-03 1.78617801e+02] [ 9.77475681e-01 -2.08963702e-01 -2.95882622e-02 1.64844319e+02] [ 3.01345950e-02 -5.69410472e-04 9.99545688e-01 1.13420593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29710568099995 meters 0.02727960967428666 Centerline is valid? [True, True] Translation: X:178.62, Y:164.87, Z:11.34 [[-2.18767523e-01 -9.75754192e-01 6.67283764e-03 1.78620361e+02] [ 9.75151553e-01 -2.18866994e-01 -3.43028884e-02 1.64871140e+02] [ 3.49316511e-02 -9.97329942e-04 9.99389206e-01 1.13352249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.3271056809999 meters 0.033827751877093526 Centerline is valid? [True, True] Translation: X:178.62, Y:164.90, Z:11.33 [[-2.27219626e-01 -9.73817478e-01 7.12471284e-03 1.78619800e+02] [ 9.73132156e-01 -2.27327157e-01 -3.65536718e-02 1.64897384e+02] [ 3.72162452e-02 -1.37242444e-03 9.99306293e-01 1.13311273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35710568099995 meters 0.0354597832422661 Centerline is valid? [True, True] Translation: X:178.61, Y:164.92, Z:11.33 [[-2.29530244e-01 -9.73274220e-01 7.29103856e-03 1.78614680e+02] [ 9.72559048e-01 -2.29641258e-01 -3.73335010e-02 1.64922341e+02] [ 3.80100574e-02 -1.47820209e-03 9.99276263e-01 1.13311677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.3871056809999 meters 0.033853886895558453 Centerline is valid? [True, True] Translation: X:178.60, Y:164.95, Z:11.33 [[-2.32904383e-01 -9.72471834e-01 7.35395578e-03 1.78603044e+02] [ 9.71747234e-01 -2.33014937e-01 -3.75679700e-02 1.64948046e+02] [ 3.82473743e-02 -1.60355871e-03 9.99267015e-01 1.13332203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41710568099995 meters 0.03435107830325873 Centerline is valid? [True, True] Translation: X:178.60, Y:164.97, Z:11.33 [[-2.34059907e-01 -9.72193960e-01 7.40704421e-03 1.78595963e+02] [ 9.71461927e-01 -2.34171326e-01 -3.77559813e-02 1.64974326e+02] [ 3.84406544e-02 -1.64150004e-03 9.99259537e-01 1.13336608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.4471056809999 meters 0.032773063779014795 Centerline is valid? [True, True] Translation: X:178.58, Y:165.00, Z:11.33 [[-2.33862107e-01 -9.72240172e-01 7.58702621e-03 1.78583256e+02] [ 9.71475638e-01 -2.33979307e-01 -3.85845688e-02 1.64998820e+02] [ 3.92886750e-02 -1.65285743e-03 9.99226535e-01 1.13349248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.4771056809999 meters 0.032749248380839056 Centerline is valid? [True, True] Translation: X:178.58, Y:165.02, Z:11.34 [[-2.33404301e-01 -9.72350907e-01 7.49303782e-03 1.78575211e+02] [ 9.71608850e-01 -2.33519117e-01 -3.80139950e-02 1.65024274e+02] [ 3.87127101e-02 -1.59232808e-03 9.99249113e-01 1.13366017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.5071056809999 meters 0.031704809722041497 Centerline is valid? [True, True] Translation: X:178.56, Y:165.05, Z:11.34 [[-2.32976856e-01 -9.72454854e-01 7.30356727e-03 1.78562229e+02] [ 9.71753086e-01 -2.33086380e-01 -3.69686183e-02 1.65049414e+02] [ 3.76526744e-02 -1.51556842e-03 9.99289737e-01 1.13386699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.5371056809999 meters 0.03240553274573817 Centerline is valid? [True, True] Translation: X:178.56, Y:165.07, Z:11.34 [[-2.33660080e-01 -9.72289944e-01 7.43186331e-03 1.78555056e+02] [ 9.71566609e-01 -2.33773111e-01 -3.75294095e-02 1.65073533e+02] [ 3.82268373e-02 -1.54857462e-03 9.99267887e-01 1.13385910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.56710568099993 meters 0.031814948927191854 Centerline is valid? [True, True] Translation: X:178.54, Y:165.10, Z:11.34 [[-2.32937446e-01 -9.72460120e-01 7.83970553e-03 1.78541977e+02] [ 9.71659491e-01 -2.33063980e-01 -3.94843621e-02 1.65097381e+02] [ 4.02241205e-02 -1.57986221e-03 9.99189434e-01 1.13383645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.5971056809999 meters 0.03071813563982638 Centerline is valid? [True, True] Translation: X:178.53, Y:165.12, Z:11.34 [[-2.29800771e-01 -9.73207634e-01 7.64896352e-03 1.78526701e+02] [ 9.72449401e-01 -2.29923809e-01 -3.84344104e-02 1.65121363e+02] [ 3.91633404e-02 -1.39402715e-03 9.99231850e-01 1.13420387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.62710568099993 meters 0.028346607242475282 Centerline is valid? [True, True] Translation: X:178.51, Y:165.15, Z:11.35 [[-2.27043737e-01 -9.73857219e-01 7.29776877e-03 1.78512661e+02] [ 9.73170190e-01 -2.27157788e-01 -3.65940102e-02 1.65146529e+02] [ 3.72950861e-02 -1.20646983e-03 9.99303568e-01 1.13472226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.6571056809999 meters 0.02362759040534095 Centerline is valid? [True, True] Translation: X:178.49, Y:165.17, Z:11.35 [[-2.16781143e-01 -9.76196531e-01 6.80215495e-03 1.78490971e+02] [ 9.75603121e-01 -2.16886563e-01 -3.40406947e-02 1.65168073e+02] [ 3.47057040e-02 -7.43177105e-04 9.99397299e-01 1.13534120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.68710568099993 meters 0.02362759040534095 Centerline is valid? [True, True] Translation: X:178.49, Y:165.19, Z:11.35 [[-2.17232935e-01 -9.76095984e-01 6.81771834e-03 1.78485551e+02] [ 9.75502623e-01 -2.17338622e-01 -3.40375779e-02 1.65193338e+02] [ 3.47056966e-02 -7.43380822e-04 9.99397299e-01 1.13541612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7171056809999 meters 0.021063984210428845 Centerline is valid? [True, True] Translation: X:178.47, Y:165.22, Z:11.36 [[-2.10711563e-01 -9.77523380e-01 6.97696232e-03 1.78470767e+02] [ 9.76905696e-01 -2.10826433e-01 -3.47487705e-02 1.65218320e+02] [ 3.54386637e-02 -5.06133516e-04 9.99371725e-01 1.13554309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.74710568099994 meters 0.01903996307012705 Centerline is valid? [True, True] Translation: X:178.45, Y:165.24, Z:11.35 [[-1.98559878e-01 -9.80059533e-01 7.56881587e-03 1.78447808e+02] [ 9.79337697e-01 -1.98704075e-01 -3.76080619e-02 1.65241311e+02] [ 3.83620941e-02 -5.50254947e-05 9.99263902e-01 1.13526249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7771056809999 meters 0.01916946158967438 Centerline is valid? [True, True] Translation: X:178.43, Y:165.27, Z:11.35 [[-1.94099527e-01 -9.80951187e-01 7.75521063e-03 1.78434766e+02] [ 9.80197567e-01 -1.94254344e-01 -3.84445026e-02 1.65265034e+02] [ 3.92186638e-02 1.39578818e-04 9.99230643e-01 1.13520150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.80710568099994 meters 0.020369507025482493 Centerline is valid? [True, True] Translation: X:178.42, Y:165.29, Z:11.35 [[-1.87457161e-01 -9.82239460e-01 8.09052658e-03 1.78419943e+02] [ 9.81424497e-01 -1.87631153e-01 -4.00063317e-02 1.65289443e+02] [ 4.08138325e-02 4.40767613e-04 9.99166671e-01 1.13499676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8371056809999 meters 0.020999900269857336 Centerline is valid? [True, True] Translation: X:178.41, Y:165.31, Z:11.35 [[-1.85783270e-01 -9.82554677e-01 8.41926436e-03 1.78414272e+02] [ 9.81676392e-01 -1.85973136e-01 -4.15385727e-02 1.65314911e+02] [ 4.23796758e-02 5.47821188e-04 9.99101428e-01 1.13487751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.86710568099994 meters 0.020777519005130855 Centerline is valid? [True, True] Translation: X:178.41, Y:165.34, Z:11.35 [[-1.87277554e-01 -9.82271169e-01 8.39456147e-03 1.78411112e+02] [ 9.81401718e-01 -1.87464934e-01 -4.13227057e-02 1.65340824e+02] [ 4.21637884e-02 4.99621782e-04 9.99110587e-01 1.13491536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8971056809999 meters 0.020091238023303096 Centerline is valid? [True, True] Translation: X:178.41, Y:165.37, Z:11.35 [[-1.91135058e-01 -9.81526989e-01 8.49467418e-03 1.78409458e+02] [ 9.80640110e-01 -1.91323399e-01 -4.17172751e-02 1.65366962e+02] [ 4.25718613e-02 3.56584428e-04 9.99093344e-01 1.13500215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.92710568099994 meters 0.020027116497425054 Centerline is valid? [True, True] Translation: X:178.41, Y:165.39, Z:11.35 [[-1.92428289e-01 -9.81272543e-01 8.69197863e-03 1.78405269e+02] [ 9.80348123e-01 -1.92624221e-01 -4.25848185e-02 1.65391601e+02] [ 4.34615987e-02 3.26641161e-04 9.99055045e-01 1.13501983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.9571056809999 meters 0.019709228232409583 Centerline is valid? [True, True] Translation: X:178.40, Y:165.42, Z:11.35 [[-1.94287720e-01 -9.80905952e-01 8.70605179e-03 1.78404550e+02] [ 9.79982571e-01 -1.94482502e-01 -4.25525307e-02 1.65418229e+02] [ 4.34332054e-02 2.64344862e-04 9.99056298e-01 1.13506668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.98710568099995 meters 0.019602070493779926 Centerline is valid? [True, True] Translation: X:178.40, Y:165.44, Z:11.35 [[-1.95216848e-01 -9.80722729e-01 8.56218383e-03 1.78401977e+02] [ 9.79833522e-01 -1.95404380e-01 -4.17540097e-02 1.65444138e+02] [ 4.26221946e-02 2.38428582e-04 9.99091233e-01 1.13528710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.0171056809999 meters 0.01933358995701564 Centerline is valid? [True, True] Translation: X:178.40, Y:165.47, Z:11.36 [[-1.97987034e-01 -9.80170756e-01 8.15004212e-03 1.78402745e+02] [ 9.79368104e-01 -1.98154667e-01 -3.96591077e-02 1.65471434e+02] [ 4.04876664e-02 1.29902187e-04 9.99180030e-01 1.13593630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.04710568099995 meters 0.019394304976211075 Centerline is valid? [True, True] Translation: X:178.40, Y:165.50, Z:11.36 [[-1.99430459e-01 -9.79879402e-01 7.99060675e-03 1.78399781e+02] [ 9.79110859e-01 -1.99590457e-01 -3.88017446e-02 1.65496321e+02] [ 3.96158791e-02 8.54401099e-05 9.99214979e-01 1.13620493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.0771056809999 meters 0.019322862992782765 Centerline is valid? [True, True] Translation: X:178.40, Y:165.52, Z:11.37 [[-2.01143108e-01 -9.79533245e-01 7.48808703e-03 1.78395299e+02] [ 9.78861049e-01 -2.01282440e-01 -3.62826014e-02 1.65522606e+02] [ 3.70472347e-02 3.18014892e-05 9.99313515e-01 1.13672160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.10710568099995 meters 0.019408967393975893 Centerline is valid? [True, True] Translation: X:178.39, Y:165.55, Z:11.37 [[-2.01719512e-01 -9.79411349e-01 7.91499819e-03 1.78390170e+02] [ 9.78663550e-01 -2.01874733e-01 -3.82655076e-02 1.65547271e+02] [ 3.90755106e-02 2.72207231e-05 9.99236260e-01 1.13661036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.1371056809999 meters 0.019387751233578495 Centerline is valid? [True, True] Translation: X:178.39, Y:165.57, Z:11.37 [[-2.02587741e-01 -9.79228661e-01 8.33288343e-03 1.78386380e+02] [ 9.78403502e-01 -2.02759043e-01 -4.01915057e-02 1.65574056e+02] [ 4.10462418e-02 1.06159843e-05 9.99157248e-01 1.13665781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.16710568099995 meters 0.019588633954242558 Centerline is valid? [True, True] Translation: X:178.38, Y:165.60, Z:11.37 [[-2.03998514e-01 -9.78930713e-01 8.90307610e-03 1.78383244e+02] [ 9.77992747e-01 -2.04192697e-01 -4.28430834e-02 1.65601154e+02] [ 4.37583533e-02 -3.27814847e-05 9.99042144e-01 1.13650610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.1971056809999 meters 0.019550123382119367 Centerline is valid? [True, True] Translation: X:178.38, Y:165.63, Z:11.37 [[-2.04418758e-01 -9.78841493e-01 9.07212115e-03 1.78376977e+02] [ 9.77871815e-01 -2.04619967e-01 -4.35589502e-02 1.65627347e+02] [ 4.44936450e-02 -3.28949325e-05 9.99009667e-01 1.13654101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.2271056809999 meters 0.01975102900766419 Centerline is valid? [True, True] Translation: X:178.37, Y:165.65, Z:11.36 [[-2.04311676e-01 -9.78860575e-01 9.41882977e-03 1.78369064e+02] [ 9.77820128e-01 -2.04528666e-01 -4.51200743e-02 1.65652504e+02] [ 4.60926825e-02 -8.63667209e-06 9.98937167e-01 1.13646235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.2571056809999 meters 0.019884312852390663 Centerline is valid? [True, True] Translation: X:178.36, Y:165.68, Z:11.37 [[-2.04396267e-01 -9.78843279e-01 9.38086137e-03 1.78362659e+02] [ 9.77815993e-01 -2.04611423e-01 -4.48335642e-02 1.65676871e+02] [ 4.58044644e-02 8.94310402e-06 9.98950425e-01 1.13652141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.2871056809999 meters 0.01994840099978553 Centerline is valid? [True, True] Translation: X:178.36, Y:165.70, Z:11.37 [[-2.05984138e-01 -9.78512473e-01 9.15835174e-03 1.78358733e+02] [ 9.77537583e-01 -2.06187630e-01 -4.36684621e-02 1.65702893e+02] [ 4.46184737e-02 -4.23775078e-05 9.99004099e-01 1.13693505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.31710568099993 meters 0.01999525660512071 Centerline is valid? [True, True] Translation: X:178.36, Y:165.73, Z:11.37 [[-2.07908351e-01 -9.78106551e-01 9.03842356e-03 1.78355525e+02] [ 9.77160925e-01 -2.08104695e-01 -4.29995655e-02 1.65729397e+02] [ 4.39390951e-02 -1.07974449e-04 9.99034206e-01 1.13720376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.3471056809999 meters 0.020489181607084503 Centerline is valid? [True, True] Translation: X:178.36, Y:165.76, Z:11.38 [[-2.11947627e-01 -9.77237802e-01 9.19134711e-03 1.78355137e+02] [ 9.76263455e-01 -2.12146653e-01 -4.36286955e-02 1.65756756e+02] [ 4.45855240e-02 -2.73822197e-04 9.99005534e-01 1.13751126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.37710568099993 meters 0.020905447344807107 Centerline is valid? [True, True] Translation: X:178.35, Y:165.78, Z:11.37 [[-2.13598818e-01 -9.76875623e-01 9.46376220e-03 1.78350904e+02] [ 9.75846439e-01 -2.13808096e-01 -4.48310754e-02 1.65782880e+02] [ 4.58178137e-02 -3.40686097e-04 9.98949754e-01 1.13742637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.4071056809999 meters 0.020664767528073297 Centerline is valid? [True, True] Translation: X:178.34, Y:165.81, Z:11.38 [[-2.12721011e-01 -9.77067838e-01 9.39209164e-03 1.78342810e+02] [ 9.76058080e-01 -2.12928067e-01 -4.44101766e-02 1.65809364e+02] [ 4.53915951e-02 -2.79750727e-04 9.98969231e-01 1.13766604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.43710568099993 meters 0.020487635473002704 Centerline is valid? [True, True] Translation: X:178.33, Y:165.83, Z:11.38 [[-2.08588394e-01 -9.77959608e-01 9.26757209e-03 1.78333379e+02] [ 9.76981704e-01 -2.08794161e-01 -4.37235549e-02 1.65832782e+02] [ 4.46948855e-02 -6.59777277e-05 9.99000682e-01 1.13794863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.4671056809999 meters 0.020548144047593125 Centerline is valid? [True, True] Translation: X:178.32, Y:165.86, Z:11.38 [[-2.06423739e-01 -9.78419781e-01 9.16360352e-03 1.78324912e+02] [ 9.77468703e-01 -2.06627028e-01 -4.31301039e-02 1.65858213e+02] [ 4.40927950e-02 5.40583478e-05 9.99027438e-01 1.13832730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49710568099994 meters 0.020942757250053116 Centerline is valid? [True, True] Translation: X:178.31, Y:165.88, Z:11.39 [[-2.02443321e-01 -9.79256533e-01 8.56418178e-03 1.78313326e+02] [ 9.78430258e-01 -2.02624251e-01 -4.02199320e-02 1.65881731e+02] [ 4.11209421e-02 2.37198004e-04 9.99154148e-01 1.13896169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5271056809999 meters 0.02131665764548963 Centerline is valid? [True, True] Translation: X:178.30, Y:165.91, Z:11.39 [[-2.00391378e-01 -9.79679308e-01 8.47044267e-03 1.78304663e+02] [ 9.78875137e-01 -2.00570034e-01 -3.96878699e-02 1.65907072e+02] [ 4.05803019e-02 3.38398771e-04 9.99176223e-01 1.13922590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55710568099994 meters 0.02256342481198428 Centerline is valid? [True, True] Translation: X:178.29, Y:165.93, Z:11.39 [[-1.95672962e-01 -9.80632430e-01 8.49293759e-03 1.78293944e+02] [ 9.79828419e-01 -1.95856410e-01 -3.97056293e-02 1.65931705e+02] [ 4.06000240e-02 5.52303494e-04 9.99175326e-01 1.13930996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5871056809999 meters 0.023591680950634367 Centerline is valid? [True, True] Translation: X:178.29, Y:165.96, Z:11.39 [[-1.93001288e-01 -9.81160402e-01 8.64686298e-03 1.78285396e+02] [ 9.80330979e-01 -1.93193654e-01 -4.03408400e-02 1.65958090e+02] [ 4.12513538e-02 6.90953572e-04 9.99148562e-01 1.13921937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61710568099994 meters 0.025795985410953997 Centerline is valid? [True, True] Translation: X:178.28, Y:165.98, Z:11.39 [[-1.88217916e-01 -9.82086162e-01 8.98817196e-03 1.78275734e+02] [ 9.81194628e-01 -1.88430047e-01 -4.18475695e-02 1.65983106e+02] [ 4.27915606e-02 9.42683704e-04 9.99083577e-01 1.13920588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.6471056809999 meters 0.02730654855514316 Centerline is valid? [True, True] Translation: X:178.27, Y:166.01, Z:11.39 [[-1.85950325e-01 -9.82518432e-01 8.94466211e-03 1.78269298e+02] [ 9.81639607e-01 -1.86162356e-01 -4.15603097e-02 1.66008079e+02] [ 4.24989297e-02 1.05228152e-03 9.99095958e-01 1.13937184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67710568099994 meters 0.025946099647653226 Centerline is valid? [True, True] Translation: X:178.27, Y:166.04, Z:11.39 [[-1.86746850e-01 -9.82366357e-01 9.05286427e-03 1.78268177e+02] [ 9.81469765e-01 -1.86963219e-01 -4.19744530e-02 1.66035033e+02] [ 4.29268431e-02 1.04651570e-03 9.99077670e-01 1.13946747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.7071056809999 meters 0.025929080553413413 Centerline is valid? [True, True] Translation: X:178.27, Y:166.06, Z:11.39 [[-1.90465350e-01 -9.81647697e-01 9.52627627e-03 1.78268814e+02] [ 9.80658452e-01 -1.90701076e-01 -4.40692721e-02 1.66061974e+02] [ 4.50771706e-02 9.48353986e-04 9.98983058e-01 1.13903924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73710568099995 meters 0.023915371894368275 Centerline is valid? [True, True] Translation: X:178.27, Y:166.09, Z:11.39 [[-1.93303025e-01 -9.81090058e-01 9.81016899e-03 1.78270947e+02] [ 9.80044683e-01 -1.93549887e-01 -4.52864374e-02 1.66090254e+02] [ 4.63288306e-02 8.60398606e-04 9.98925873e-01 1.13928291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.7671056809999 meters 0.021532737718683 Centerline is valid? [True, True] Translation: X:178.28, Y:166.12, Z:11.40 [[-2.03323439e-01 -9.79062069e-01 9.85112652e-03 1.78281171e+02] [ 9.78009705e-01 -2.03561539e-01 -4.53841043e-02 1.66120878e+02] [ 4.64391656e-02 4.06845153e-04 9.98921037e-01 1.13955199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79710568099995 meters 0.021030269835243517 Centerline is valid? [True, True] Translation: X:178.29, Y:166.15, Z:11.40 [[-2.15192843e-01 -9.76524478e-01 9.59087191e-03 1.78290495e+02] [ 9.75528324e-01 -2.15406422e-01 -4.40971859e-02 1.66149357e+02] [ 4.51279168e-02 -1.33231608e-04 9.98981208e-01 1.13997235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.8271056809999 meters 0.021611663236704534 Centerline is valid? [True, True] Translation: X:178.29, Y:166.18, Z:11.40 [[-2.20451205e-01 -9.75352927e-01 9.37735914e-03 1.78290268e+02] [ 9.74403671e-01 -2.20650285e-01 -4.30225165e-02 1.66175878e+02] [ 4.40312544e-02 -3.47032436e-04 9.99030094e-01 1.14012400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85710568099995 meters 0.023571773037260782 Centerline is valid? [True, True] Translation: X:178.30, Y:166.20, Z:11.40 [[-2.28707473e-01 -9.73451897e-01 9.18127176e-03 1.78295895e+02] [ 9.72544301e-01 -2.28890665e-01 -4.20314970e-02 1.66203634e+02] [ 4.30171479e-02 -6.83723958e-04 9.99074100e-01 1.14028508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.8871056809999 meters 0.024347042739160843 Centerline is valid? [True, True] Translation: X:178.29, Y:166.23, Z:11.41 [[-2.31548769e-01 -9.72780791e-01 9.09396189e-03 1.78293972e+02] [ 9.71893519e-01 -2.31725963e-01 -4.15459524e-02 1.66231321e+02] [ 4.25224115e-02 -7.81551514e-04 9.99095208e-01 1.14057686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91710568099995 meters 0.02528048297376184 Centerline is valid? [True, True] Translation: X:178.29, Y:166.26, Z:11.41 [[-2.34124949e-01 -9.72166368e-01 8.83525485e-03 1.78290838e+02] [ 9.71331813e-01 -2.34290060e-01 -4.02824621e-02 1.66257757e+02] [ 4.12312672e-02 -8.49165255e-04 9.99149269e-01 1.14094823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.9471056809999 meters 0.02515685580770312 Centerline is valid? [True, True] Translation: X:178.28, Y:166.28, Z:11.41 [[-2.34004895e-01 -9.72195834e-01 8.77321320e-03 1.78283298e+02] [ 9.71376505e-01 -2.34167870e-01 -3.99135905e-02 1.66283551e+02] [ 4.08582310e-02 -8.17882372e-04 9.99164619e-01 1.14107857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.9771056809999 meters 0.02352537410263969 Centerline is valid? [True, True] Translation: X:178.27, Y:166.31, Z:11.41 [[-2.29073346e-01 -9.73369114e-01 8.83002047e-03 1.78269346e+02] [ 9.72543402e-01 -2.29242693e-01 -4.00888833e-02 1.66307354e+02] [ 4.10454985e-02 -5.95716497e-04 9.99157101e-01 1.14115526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.0071056809999 meters 0.022564698646116228 Centerline is valid? [True, True] Translation: X:178.26, Y:166.33, Z:11.41 [[-2.25177424e-01 -9.74276790e-01 8.93661576e-03 1.78257028e+02] [ 9.73435118e-01 -2.25354300e-01 -4.04908760e-02 1.66332475e+02] [ 4.14632255e-02 -4.18415561e-04 9.99139943e-01 1.14123564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.0371056809999 meters 0.02160272244252937 Centerline is valid? [True, True] Translation: X:178.24, Y:166.36, Z:11.41 [[-2.17963294e-01 -9.75909160e-01 9.65990963e-03 1.78240503e+02] [ 9.74931303e-01 -2.18177224e-01 -4.36766822e-02 1.66356127e+02] [ 4.47320465e-02 -1.02165246e-04 9.98999016e-01 1.14099123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.06710568099993 meters 0.021692763049099485 Centerline is valid? [True, True] Translation: X:178.23, Y:166.38, Z:11.41 [[-2.15053401e-01 -9.76551911e-01 9.91967635e-03 1.78231247e+02] [ 9.75525814e-01 -2.15282053e-01 -4.47551597e-02 1.66381140e+02] [ 4.58412651e-02 5.21510331e-05 9.98948735e-01 1.14088691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.0971056809999 meters 0.022263404382156758 Centerline is valid? [True, True] Translation: X:178.22, Y:166.41, Z:11.41 [[-2.09282468e-01 -9.77803882e-01 1.00208071e-02 1.78219254e+02] [ 9.76762468e-01 -2.09521953e-01 -4.51179748e-02 1.66406507e+02] [ 4.62161100e-02 3.45547133e-04 9.98931405e-01 1.14127982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.12710568099993 meters 0.0230742716663724 Centerline is valid? [True, True] Translation: X:178.21, Y:166.43, Z:11.41 [[-2.07162861e-01 -9.78257160e-01 9.82228481e-03 1.78209204e+02] [ 9.77261240e-01 -2.07395082e-01 -4.41333160e-02 1.66430025e+02] [ 4.52108260e-02 4.56154210e-04 9.98977364e-01 1.14126690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.1571056809999 meters 0.02494191168082747 Centerline is valid? [True, True] Translation: X:178.20, Y:166.45, Z:11.41 [[-2.02039105e-01 -9.79329494e-01 9.69240556e-03 1.78195929e+02] [ 9.78364795e-01 -2.02270242e-01 -4.34635112e-02 1.66453305e+02] [ 4.45255837e-02 7.01379462e-04 9.99007998e-01 1.14129910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.18710568099993 meters 0.02745515597157571 Centerline is valid? [True, True] Translation: X:178.18, Y:166.48, Z:11.41 [[-1.96840150e-01 -9.80383029e-01 1.01523840e-02 1.78184902e+02] [ 9.79329333e-01 -1.97099276e-01 -4.54525349e-02 1.66477121e+02] [ 4.65619214e-02 9.95643677e-04 9.98914909e-01 1.14101912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2171056809999 meters 0.02714065198820774 Centerline is valid? [True, True] Translation: X:178.18, Y:166.50, Z:11.41 [[-1.95647874e-01 -9.80619021e-01 1.04040606e-02 1.78181325e+02] [ 9.79516699e-01 -1.95921255e-01 -4.64962157e-02 1.66504138e+02] [ 4.76334502e-02 1.09406533e-03 9.98864284e-01 1.14110388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.24710568099994 meters 0.026870980879177764 Centerline is valid? [True, True] Translation: X:178.18, Y:166.53, Z:11.41 [[-1.96896148e-01 -9.80364638e-01 1.08205082e-02 1.78179873e+02] [ 9.79176685e-01 -1.97190218e-01 -4.82601053e-02 1.66530759e+02] [ 4.94461990e-02 1.09296052e-03 9.98776191e-01 1.14098960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2771056809999 meters 0.027565352816799647 Centerline is valid? [True, True] Translation: X:178.17, Y:166.56, Z:11.41 [[-1.99028188e-01 -9.79936155e-01 1.06259934e-02 1.78173618e+02] [ 9.78794100e-01 -1.99309209e-01 -4.73069557e-02 1.66556575e+02] [ 4.84756546e-02 9.85242001e-04 9.98823878e-01 1.14089596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.30710568099994 meters 0.024279046703203966 Centerline is valid? [True, True] Translation: X:178.18, Y:166.59, Z:11.41 [[-2.04440806e-01 -9.78822807e-01 1.04818610e-02 1.78175618e+02] [ 9.77713209e-01 -2.04708066e-01 -4.65992394e-02 1.66585191e+02] [ 4.77581198e-02 7.21467903e-04 9.98858669e-01 1.14132279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3371056809999 meters 0.023809894288640093 Centerline is valid? [True, True] Translation: X:178.17, Y:166.61, Z:11.42 [[-2.06518845e-01 -9.78386043e-01 1.05222147e-02 1.78171475e+02] [ 9.77271160e-01 -2.06785739e-01 -4.66983798e-02 1.66611528e+02] [ 4.78648870e-02 6.38961566e-04 9.98853615e-01 1.14150589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.36710568099994 meters 0.023426033983269125 Centerline is valid? [True, True] Translation: X:178.17, Y:166.64, Z:11.42 [[-2.10463763e-01 -9.77548419e-01 1.02025583e-02 1.78170771e+02] [ 9.76503708e-01 -2.10710423e-01 -4.51843442e-02 1.66638005e+02] [ 4.63196696e-02 4.53168901e-04 9.98926565e-01 1.14184421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3971056809999 meters 0.023007913351893425 Centerline is valid? [True, True] Translation: X:178.17, Y:166.66, Z:11.42 [[-2.12140706e-01 -9.77188391e-01 9.95835761e-03 1.78168065e+02] [ 9.76196753e-01 -2.12373963e-01 -4.40136271e-02 1.66664709e+02] [ 4.51245014e-02 3.84234436e-04 9.98981297e-01 1.14224873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.42710568099994 meters 0.02337088655628176 Centerline is valid? [True, True] Translation: X:178.16, Y:166.69, Z:11.42 [[-2.11709664e-01 -9.77282970e-01 9.84959820e-03 1.78160980e+02] [ 9.76316917e-01 -2.11938249e-01 -4.34448559e-02 1.66690553e+02] [ 4.45454244e-02 4.18633510e-04 9.99007272e-01 1.14248031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.4571056809999 meters 0.024108119754930445 Centerline is valid? [True, True] Translation: X:178.15, Y:166.72, Z:11.42 [[-2.09350484e-01 -9.77787304e-01 1.02158335e-02 1.78152183e+02] [ 9.76753055e-01 -2.09598829e-01 -4.49644421e-02 1.66715485e+02] [ 4.61068874e-02 5.65018891e-04 9.98936352e-01 1.14242049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.48710568099995 meters 0.024353102714515268 Centerline is valid? [True, True] Translation: X:178.15, Y:166.74, Z:11.43 [[-2.09205578e-01 -9.77818867e-01 1.01631236e-02 1.78146163e+02] [ 9.76799706e-01 -2.09451464e-01 -4.46365099e-02 1.66741440e+02] [ 4.57751027e-02 5.89129331e-04 9.98951597e-01 1.14261098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.5171056809999 meters 0.023835674696362413 Centerline is valid? [True, True] Translation: X:178.15, Y:166.77, Z:11.43 [[-2.12544975e-01 -9.77105701e-01 9.43837275e-03 1.78145737e+02] [ 9.76229615e-01 -2.12754017e-01 -4.13698834e-02 1.66768749e+02] [ 4.24308007e-02 4.21058172e-04 9.99099319e-01 1.14310569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.54710568099995 meters 0.02350219062656661 Centerline is valid? [True, True] Translation: X:178.14, Y:166.80, Z:11.43 [[-2.16100136e-01 -9.76326085e-01 9.38655023e-03 1.78143964e+02] [ 9.75462263e-01 -2.16303713e-01 -4.10618702e-02 1.66796714e+02] [ 4.21201206e-02 2.82749780e-04 9.99112514e-01 1.14324633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.5771056809999 meters 0.023195413048063707 Centerline is valid? [True, True] Translation: X:178.15, Y:166.82, Z:11.43 [[-2.23467169e-01 -9.74662456e-01 9.77354888e-03 1.78148018e+02] [ 9.73728022e-01 -2.23680794e-01 -4.26689894e-02 1.66824429e+02] [ 4.37740171e-02 -1.83398304e-05 9.99041458e-01 1.14318228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.60710568099995 meters 0.023195413048063707 Centerline is valid? [True, True] Translation: X:178.14, Y:166.85, Z:11.43 [[-2.23934308e-01 -9.74555035e-01 9.79331683e-03 1.78141903e+02] [ 9.73620697e-01 -2.24148351e-01 -4.26644534e-02 1.66849549e+02] [ 4.37740137e-02 -1.90589075e-05 9.99041458e-01 1.14325720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.6371056809999 meters 0.023447911263608623 Centerline is valid? [True, True] Translation: X:178.14, Y:166.88, Z:11.43 [[-2.28335169e-01 -9.73533222e-01 9.80384947e-03 1.78140977e+02] [ 9.72599733e-01 -2.28545457e-01 -4.26231557e-02 1.66875037e+02] [ 4.37356834e-02 -1.97144107e-04 9.99043118e-01 1.14331017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.66710568099995 meters 0.02458162815053087 Centerline is valid? [True, True] Translation: X:178.14, Y:166.90, Z:11.43 [[-2.36869518e-01 -9.71492440e-01 9.76061076e-03 1.78143804e+02] [ 9.70568709e-01 -2.37069873e-01 -4.23586559e-02 1.66903506e+02] [ 4.34650607e-02 -5.60131030e-04 9.99054791e-01 1.14340850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.6971056809999 meters 0.0252980465730664 Centerline is valid? [True, True] Translation: X:178.14, Y:166.93, Z:11.44 [[-2.40381548e-01 -9.70630349e-01 9.66628733e-03 1.78140711e+02] [ 9.69727189e-01 -2.40574830e-01 -4.18680029e-02 1.66931011e+02] [ 4.29638197e-02 -6.90633698e-04 9.99076390e-01 1.14355054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.7271056809999 meters 0.026429765524247282 Centerline is valid? [True, True] Translation: X:178.14, Y:166.96, Z:11.44 [[-2.44064649e-01 -9.69709582e-01 9.78637186e-03 1.78138176e+02] [ 9.68786442e-01 -2.44259310e-01 -4.23109890e-02 1.66957156e+02] [ 4.34197839e-02 -8.45712315e-04 9.99056559e-01 1.14355360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.7571056809999 meters 0.02667462216323163 Centerline is valid? [True, True] Translation: X:178.13, Y:166.98, Z:11.44 [[-2.44747821e-01 -9.69535504e-01 9.97050140e-03 1.78132194e+02] [ 9.68580508e-01 -2.44949264e-01 -4.30308907e-02 1.66982297e+02] [ 4.41622433e-02 -8.74483394e-04 9.99023989e-01 1.14356191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.7871056809999 meters 0.025316585986694628 Centerline is valid? [True, True] Translation: X:178.12, Y:167.01, Z:11.44 [[-2.42364007e-01 -9.70133991e-01 9.98641618e-03 1.78119310e+02] [ 9.69180501e-01 -2.42568517e-01 -4.30078099e-02 1.67007454e+02] [ 4.41457284e-02 -7.44905313e-04 9.99024824e-01 1.14385116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.81710568099993 meters 0.024627796224401213 Centerline is valid? [True, True] Translation: X:178.11, Y:167.03, Z:11.44 [[-2.39663743e-01 -9.70806512e-01 9.79828950e-03 1.78108108e+02] [ 9.69892473e-01 -2.39863224e-01 -4.21215526e-02 1.67031938e+02] [ 4.32421269e-02 -5.91721747e-04 9.99064447e-01 1.14397938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.8471056809999 meters 0.023113779661943255 Centerline is valid? [True, True] Translation: X:178.09, Y:167.05, Z:11.44 [[-2.29512209e-01 -9.73259637e-01 9.47763486e-03 1.78087261e+02] [ 9.72408990e-01 -2.29707781e-01 -4.06828213e-02 1.67053681e+02] [ 4.17720344e-02 -1.21066837e-04 9.99127160e-01 1.14413087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.87710568099993 meters 0.02317103626369994 Centerline is valid? [True, True] Translation: X:178.07, Y:167.08, Z:11.44 [[-2.23435169e-01 -9.74674490e-01 9.29325236e-03 1.78072729e+02] [ 9.73860532e-01 -2.23628299e-01 -3.98252123e-02 1.67077224e+02] [ 4.08948527e-02 1.51978651e-04 9.99163444e-01 1.14435199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.9071056809999 meters 0.025523002941492796 Centerline is valid? [True, True] Translation: X:178.05, Y:167.10, Z:11.45 [[-2.11623744e-01 -9.77309075e-01 9.07539454e-03 1.78051603e+02] [ 9.76538327e-01 -2.11817257e-01 -3.88116599e-02 1.67099381e+02] [ 3.98533126e-02 6.49001828e-04 9.99205330e-01 1.14454750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.93710568099993 meters 0.028641537950275908 Centerline is valid? [True, True] Translation: X:178.03, Y:167.12, Z:11.45 [[-2.02077043e-01 -9.79324944e-01 9.35536135e-03 1.78034456e+02] [ 9.78511281e-01 -2.02290571e-01 -3.99274205e-02 1.67122568e+02] [ 4.09944202e-02 1.08591154e-03 9.99158785e-01 1.14453818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.9671056809999 meters 0.02983737588890105 Centerline is valid? [True, True] Translation: X:178.02, Y:167.15, Z:11.45 [[-1.99260101e-01 -9.79900562e-01 9.50267669e-03 1.78024639e+02] [ 9.79065050e-01 -1.99482718e-01 -4.04755774e-02 1.67148092e+02] [ 4.15576608e-02 1.23857099e-03 9.99135340e-01 1.14456130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99710568099994 meters 0.03204035759947989 Centerline is valid? [True, True] Translation: X:178.02, Y:167.17, Z:11.45 [[-1.95568151e-01 -9.80644038e-01 9.50626886e-03 1.78015499e+02] [ 9.79811961e-01 -1.95793974e-01 -4.04133798e-02 1.67173026e+02] [ 4.14924101e-02 1.41078598e-03 9.99137823e-01 1.14457230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0271056809999 meters 0.03242274372539382 Centerline is valid? [True, True] Translation: X:178.01, Y:167.20, Z:11.45 [[-1.95293173e-01 -9.80698843e-01 9.50556912e-03 1.78010070e+02] [ 9.79870284e-01 -1.95519082e-01 -4.03300701e-02 1.67199100e+02] [ 4.14101732e-02 1.43803736e-03 9.99141196e-01 1.14464068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05710568099994 meters 0.03231197836206685 Centerline is valid? [True, True] Translation: X:178.01, Y:167.23, Z:11.44 [[-1.96246050e-01 -9.80504474e-01 9.92290844e-03 1.78006586e+02] [ 9.79605086e-01 -1.96491218e-01 -4.20128103e-02 1.67225741e+02] [ 4.31435128e-02 1.47568352e-03 9.99067795e-01 1.14447465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0871056809999 meters 0.03203088083348771 Centerline is valid? [True, True] Translation: X:178.00, Y:167.25, Z:11.44 [[-1.96775647e-01 -9.80399895e-01 9.76681792e-03 1.78001863e+02] [ 9.79531956e-01 -1.97012576e-01 -4.12697383e-02 1.67252152e+02] [ 4.23850330e-02 1.44603081e-03 9.99100304e-01 1.14449921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11710568099994 meters 0.032473796252470204 Centerline is valid? [True, True] Translation: X:178.00, Y:167.28, Z:11.44 [[-1.96883904e-01 -9.80378718e-01 9.71067886e-03 1.77998979e+02] [ 9.79524208e-01 -1.97117903e-01 -4.09494487e-02 1.67277248e+02] [ 4.20601167e-02 1.44955769e-03 9.99114030e-01 1.14441534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.1471056809999 meters 0.031245855865773966 Centerline is valid? [True, True] Translation: X:178.00, Y:167.31, Z:11.44 [[-1.97715254e-01 -9.80209028e-01 9.94688227e-03 1.78000945e+02] [ 9.79316027e-01 -1.97959882e-01 -4.18569457e-02 1.67305240e+02] [ 4.29976397e-02 1.46538458e-03 9.99074099e-01 1.14448033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17710568099994 meters 0.031059986066647127 Centerline is valid? [True, True] Translation: X:178.00, Y:167.33, Z:11.44 [[-1.98577088e-01 -9.80032414e-01 1.01787620e-02 1.77998233e+02] [ 9.79100864e-01 -1.98832300e-01 -4.27459397e-02 1.67332817e+02] [ 4.39162732e-02 1.47767041e-03 9.99034122e-01 1.14445976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.2071056809999 meters 0.03147689450432746 Centerline is valid? [True, True] Translation: X:178.00, Y:167.36, Z:11.44 [[-1.99037319e-01 -9.79936921e-01 1.03815201e-02 1.77997673e+02] [ 9.78971624e-01 -1.99302212e-01 -4.35107865e-02 1.67358998e+02] [ 4.47068861e-02 1.50294323e-03 9.98999017e-01 1.14447900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23710568099995 meters 0.03146161413955676 Centerline is valid? [True, True] Translation: X:177.99, Y:167.39, Z:11.45 [[-1.99880421e-01 -9.79769852e-01 9.94252546e-03 1.77993293e+02] [ 9.78887832e-01 -2.00122513e-01 -4.15883685e-02 1.67385697e+02] [ 4.27367528e-02 1.41991660e-03 9.99085359e-01 1.14479318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.2671056809999 meters 0.030429726438442738 Centerline is valid? [True, True] Translation: X:177.99, Y:167.41, Z:11.45 [[-2.02317244e-01 -9.79279605e-01 8.89881282e-03 1.77993255e+02] [ 9.78574827e-01 -2.02509364e-01 -3.71653751e-02 1.67414049e+02] [ 3.81973868e-02 1.18895796e-03 9.99269506e-01 1.14537026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29710568099995 meters 0.02979277774588844 Centerline is valid? [True, True] Translation: X:177.99, Y:167.44, Z:11.45 [[-2.03705663e-01 -9.78991780e-01 8.89369220e-03 1.77991806e+02] [ 9.78289611e-01 -2.03896502e-01 -3.70897943e-02 1.67440488e+02] [ 3.81239964e-02 1.14520556e-03 9.99272360e-01 1.14542838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.3271056809999 meters 0.02797662982947577 Centerline is valid? [True, True] Translation: X:178.00, Y:167.47, Z:11.45 [[-2.08182543e-01 -9.78046045e-01 9.27159609e-03 1.77996908e+02] [ 9.77284874e-01 -2.08386371e-01 -3.85926788e-02 1.67470240e+02] [ 3.96774911e-02 1.02666862e-03 9.99212011e-01 1.14535841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35710568099995 meters 0.02692772953572684 Centerline is valid? [True, True] Translation: X:178.00, Y:167.50, Z:11.45 [[-2.11327832e-01 -9.77369608e-01 9.44442177e-03 1.77996407e+02] [ 9.76581443e-01 -2.11536732e-01 -3.92542521e-02 1.67497996e+02] [ 4.03637551e-02 9.27731035e-04 9.99184621e-01 1.14532157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.3871056809999 meters 0.024339050181185175 Centerline is valid? [True, True] Translation: X:178.00, Y:167.53, Z:11.45 [[-2.20172712e-01 -9.75414611e-01 9.50337792e-03 1.78003764e+02] [ 9.74617635e-01 -2.20376947e-01 -3.94267285e-02 1.67526446e+02] [ 4.05517324e-02 5.81469999e-04 9.99177271e-01 1.14522508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41710568099995 meters 0.022629484057841164 Centerline is valid? [True, True] Translation: X:178.01, Y:167.55, Z:11.45 [[-2.28315671e-01 -9.73539501e-01 9.63297014e-03 1.78008178e+02] [ 9.72721998e-01 -2.28518644e-01 -3.98891416e-02 1.67554897e+02] [ 4.10349683e-02 2.62885818e-04 9.99157676e-01 1.14498447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.4471056809999 meters 0.02210427047477132 Centerline is valid? [True, True] Translation: X:178.01, Y:167.58, Z:11.45 [[-2.31521943e-01 -9.72783951e-01 9.43264935e-03 1.78006330e+02] [ 9.72002441e-01 -2.31713972e-01 -3.89857608e-02 1.67581639e+02] [ 4.01103991e-02 1.42499096e-04 9.99195244e-01 1.14520333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.4771056809999 meters 0.021879626486876826 Centerline is valid? [True, True] Translation: X:178.01, Y:167.61, Z:11.45 [[-2.37718435e-01 -9.71290009e-01 9.25547653e-03 1.78009628e+02] [ 9.70539455e-01 -2.37898528e-01 -3.81766607e-02 1.67609378e+02] [ 3.92824734e-02 -9.24908814e-05 9.99228141e-01 1.14533105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.5071056809999 meters 0.02200071106190911 Centerline is valid? [True, True] Translation: X:178.01, Y:167.64, Z:11.46 [[-2.41074915e-01 -9.70464140e-01 9.06858606e-03 1.78008377e+02] [ 9.69745950e-01 -2.41245336e-01 -3.73293421e-02 1.67635890e+02] [ 3.84145420e-02 -2.04943381e-04 9.99261868e-01 1.14554230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.5371056809999 meters 0.022388805684285584 Centerline is valid? [True, True] Translation: X:178.01, Y:167.66, Z:11.46 [[-2.44699952e-01 -9.69556588e-01 9.05296146e-03 1.78007562e+02] [ 9.68843087e-01 -2.44867135e-01 -3.71908480e-02 1.67661348e+02] [ 3.82754044e-02 -3.29699584e-04 9.99267174e-01 1.14560915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.56710568099993 meters 0.022340658544136992 Centerline is valid? [True, True] Translation: X:178.00, Y:167.69, Z:11.46 [[-2.45338403e-01 -9.69394690e-01 9.11059642e-03 1.77999746e+02] [ 9.68674520e-01 -2.45507268e-01 -3.73611454e-02 1.67686709e+02] [ 3.84544136e-02 -3.40921143e-04 9.99260297e-01 1.14573135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.5971056809999 meters 0.02174889822771701 Centerline is valid? [True, True] Translation: X:177.99, Y:167.71, Z:11.46 [[-2.40969572e-01 -9.70489899e-01 9.11156416e-03 1.77989388e+02] [ 9.69773345e-01 -2.41141728e-01 -3.72870756e-02 1.67710104e+02] [ 3.83839086e-02 -1.48898584e-04 9.99263055e-01 1.14568049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.62710568099993 meters 0.021652494797887622 Centerline is valid? [True, True] Translation: X:177.98, Y:167.73, Z:11.46 [[-2.34940835e-01 -9.71966410e-01 9.17074214e-03 1.77976906e+02] [ 9.71244691e-01 -2.35119728e-01 -3.74494786e-02 1.67733921e+02] [ 3.85558576e-02 1.08622858e-04 9.99256441e-01 1.14574288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.6571056809999 meters 0.021975485829724424 Centerline is valid? [True, True] Translation: X:177.97, Y:167.76, Z:11.46 [[-2.32748819e-01 -9.72495336e-01 8.98935558e-03 1.77967463e+02] [ 9.71805099e-01 -2.32922256e-01 -3.66342969e-02 1.67757524e+02] [ 3.77205039e-02 2.09312253e-04 9.99288307e-01 1.14582596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.68710568099993 meters 0.022542773202546017 Centerline is valid? [True, True] Translation: X:177.96, Y:167.78, Z:11.46 [[-2.29183259e-01 -9.73346109e-01 8.50802168e-03 1.77957599e+02] [ 9.72730887e-01 -2.29340867e-01 -3.46032879e-02 1.67782353e+02] [ 3.56322127e-02 3.45521167e-04 9.99364911e-01 1.14621623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7171056809999 meters 0.02270019015967545 Centerline is valid? [True, True] Translation: X:177.95, Y:167.81, Z:11.46 [[-2.28338384e-01 -9.73546089e-01 8.34233465e-03 1.77949883e+02] [ 9.72957077e-01 -2.28490403e-01 -3.38624097e-02 1.67807085e+02] [ 3.48727599e-02 3.84645621e-04 9.99391686e-01 1.14649949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.74710568099994 meters 0.022743336160257945 Centerline is valid? [True, True] Translation: X:177.94, Y:167.83, Z:11.47 [[-2.28414328e-01 -9.73529485e-01 8.19979902e-03 1.77941900e+02] [ 9.72962663e-01 -2.28561128e-01 -3.32184720e-02 1.67832224e+02] [ 3.42133173e-02 3.90523340e-04 9.99414477e-01 1.14651453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7771056809999 meters 0.022791925117321032 Centerline is valid? [True, True] Translation: X:177.93, Y:167.86, Z:11.46 [[-2.27822209e-01 -9.73662617e-01 8.84023080e-03 1.77932365e+02] [ 9.73006598e-01 -2.27993196e-01 -3.57388107e-02 1.67856806e+02] [ 3.68130564e-02 4.59508108e-04 9.99322064e-01 1.14619526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.80710568099994 meters 0.02346009767413294 Centerline is valid? [True, True] Translation: X:177.92, Y:167.88, Z:11.46 [[-2.24897293e-01 -9.74340731e-01 9.01934625e-03 1.77923860e+02] [ 9.73660948e-01 -2.25077286e-01 -3.63946987e-02 1.67882548e+02] [ 3.74908873e-02 5.96716013e-04 9.99296791e-01 1.14618690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8371056809999 meters 0.02469492100764857 Centerline is valid? [True, True] Translation: X:177.91, Y:167.91, Z:11.46 [[-2.22686815e-01 -9.74848015e-01 9.05157393e-03 1.77914047e+02] [ 9.74166300e-01 -2.22869602e-01 -3.64576535e-02 1.67907170e+02] [ 3.75579918e-02 6.99099550e-04 9.99294205e-01 1.14622759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.86710568099994 meters 0.02772658211550556 Centerline is valid? [True, True] Translation: X:177.90, Y:167.93, Z:11.46 [[-2.15937020e-01 -9.76361188e-01 9.48858879e-03 1.77901675e+02] [ 9.75616304e-01 -2.16142983e-01 -3.81449721e-02 1.67932426e+02] [ 3.92941622e-02 1.02031032e-03 9.99227165e-01 1.14616211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8971056809999 meters 0.02939452497131471 Centerline is valid? [True, True] Translation: X:177.89, Y:167.96, Z:11.46 [[-2.12828076e-01 -9.77042172e-01 9.63352523e-03 1.77892164e+02] [ 9.76277669e-01 -2.13042742e-01 -3.86613890e-02 1.67958290e+02] [ 3.98261601e-02 1.17676650e-03 9.99205931e-01 1.14621947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.92710568099994 meters 0.032521380472827835 Centerline is valid? [True, True] Translation: X:177.88, Y:167.98, Z:11.46 [[-2.07818727e-01 -9.78124860e-01 9.11782394e-03 1.77882168e+02] [ 9.77443254e-01 -2.08014460e-01 -3.65331169e-02 1.67983743e+02] [ 3.76305890e-02 1.31988968e-03 9.99290847e-01 1.14641685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.9571056809999 meters 0.0345831766013802 Centerline is valid? [True, True] Translation: X:177.88, Y:168.01, Z:11.46 [[-2.04759287e-01 -9.78768330e-01 9.28391689e-03 1.77875157e+02] [ 9.78064553e-01 -2.04964337e-01 -3.71396005e-02 1.68009685e+02] [ 3.82539366e-02 1.47559190e-03 9.99266961e-01 1.14637447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.98710568099995 meters 0.03574630163162084 Centerline is valid? [True, True] Translation: X:177.87, Y:168.04, Z:11.46 [[-2.03282893e-01 -9.79073004e-01 9.59786531e-03 1.77868397e+02] [ 9.78323260e-01 -2.03503090e-01 -3.83417762e-02 1.68035984e+02] [ 3.94925933e-02 1.59558769e-03 9.99218589e-01 1.14621754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.0171056809999 meters 0.03299147866252917 Centerline is valid? [True, True] Translation: X:177.87, Y:168.06, Z:11.46 [[-2.02085911e-01 -9.79317918e-01 9.88435875e-03 1.77871455e+02] [ 9.78525738e-01 -2.02320304e-01 -3.94192177e-02 1.68064565e+02] [ 4.06037526e-02 1.70603095e-03 9.99173871e-01 1.14610119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.04710568099995 meters 0.037758312185282604 Centerline is valid? [True, True] Translation: X:177.86, Y:168.09, Z:11.46 [[-2.02265501e-01 -9.79279887e-01 9.97848425e-03 1.77860697e+02] [ 9.78475530e-01 -2.02504103e-01 -3.97205977e-02 1.68087813e+02] [ 4.09182664e-02 1.72959605e-03 9.99161000e-01 1.14590922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.0771056809999 meters 0.03206424377639509 Centerline is valid? [True, True] Translation: X:177.87, Y:168.12, Z:11.46 [[-2.04149852e-01 -9.78890539e-01 9.80569612e-03 1.77868727e+02] [ 9.78116412e-01 -2.04378645e-01 -3.89570800e-02 1.68117843e+02] [ 4.01387919e-02 1.63803020e-03 9.99192771e-01 1.14629988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.10710568099995 meters 0.031924706533111455 Centerline is valid? [True, True] Translation: X:177.86, Y:168.15, Z:11.46 [[-2.05913943e-01 -9.78520685e-01 9.83446998e-03 1.77864549e+02] [ 9.77744341e-01 -2.06142569e-01 -3.90031272e-02 1.68145342e+02] [ 4.01926697e-02 1.58430964e-03 9.99190692e-01 1.14637726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.1371056809999 meters 0.02933026388294731 Centerline is valid? [True, True] Translation: X:177.87, Y:168.17, Z:11.46 [[-2.11412157e-01 -9.77347266e-01 9.86006116e-03 1.77866202e+02] [ 9.76568059e-01 -2.11637499e-01 -3.90435148e-02 1.68173945e+02] [ 4.02458312e-02 1.37474709e-03 9.99188863e-01 1.14645328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.16710568099995 meters 0.027837774336827128 Centerline is valid? [True, True] Translation: X:177.86, Y:168.20, Z:11.47 [[-2.14724489e-01 -9.76627151e-01 9.63332196e-03 1.77863606e+02] [ 9.75884800e-01 -2.14937000e-01 -3.80912424e-02 1.68201290e+02] [ 3.92714989e-02 1.22188992e-03 9.99227830e-01 1.14660923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.1971056809999 meters 0.02585548435134634 Centerline is valid? [True, True] Translation: X:177.86, Y:168.23, Z:11.47 [[-2.20508268e-01 -9.75343709e-01 8.98622076e-03 1.77864291e+02] [ 9.74698895e-01 -2.20689308e-01 -3.54724296e-02 1.68228959e+02] [ 3.65809739e-02 9.36895431e-04 9.99330253e-01 1.14700307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.2271056809999 meters 0.025260070847337134 Centerline is valid? [True, True] Translation: X:177.86, Y:168.26, Z:11.47 [[-2.23256901e-01 -9.74717543e-01 9.05908167e-03 1.77860132e+02] [ 9.74064091e-01 -2.23438985e-01 -3.56954742e-02 1.68255827e+02] [ 3.68171569e-02 8.54865211e-04 9.99321653e-01 1.14710812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.2571056809999 meters 0.023959089559400553 Centerline is valid? [True, True] Translation: X:177.86, Y:168.28, Z:11.47 [[-2.27237826e-01 -9.73793266e-01 9.46813464e-03 1.77855767e+02] [ 9.73081221e-01 -2.27433751e-01 -3.72401116e-02 1.68283066e+02] [ 3.84175432e-02 7.50902034e-04 9.99261492e-01 1.14692454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.2871056809999 meters 0.02347127812360094 Centerline is valid? [True, True] Translation: X:177.85, Y:168.31, Z:11.47 [[-2.29741031e-01 -9.73201195e-01 9.92436572e-03 1.77848989e+02] [ 9.72421266e-01 -2.29954223e-01 -3.89607179e-02 1.68307846e+02] [ 4.01987670e-02 6.99788776e-04 9.99191458e-01 1.14663402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.31710568099993 meters 0.023060376141322874 Centerline is valid? [True, True] Translation: X:177.84, Y:168.33, Z:11.47 [[-2.30962742e-01 -9.72910729e-01 1.00461560e-02 1.77842614e+02] [ 9.72114496e-01 -2.31180140e-01 -3.93592446e-02 1.68333593e+02] [ 4.06155031e-02 6.75494818e-04 9.99174622e-01 1.14679938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.3471056809999 meters 0.02230978196401873 Centerline is valid? [True, True] Translation: X:177.84, Y:168.36, Z:11.47 [[-2.33302354e-01 -9.72355036e-01 9.78238402e-03 1.77838071e+02] [ 9.71602414e-01 -2.33506632e-01 -3.82544250e-02 1.68360128e+02] [ 3.94811344e-02 5.79740542e-04 9.99220148e-01 1.14723392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.37710568099993 meters 0.022062414966284527 Centerline is valid? [True, True] Translation: X:177.83, Y:168.39, Z:11.47 [[-2.35528514e-01 -9.71819347e-01 9.66831973e-03 1.77832634e+02] [ 9.71086473e-01 -2.35726339e-01 -3.77379654e-02 1.68385060e+02] [ 3.89535625e-02 5.00407592e-04 9.99240897e-01 1.14741308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.4071056809999 meters 0.02162570412085395 Centerline is valid? [True, True] Translation: X:177.83, Y:168.41, Z:11.48 [[-2.38338233e-01 -9.71136911e-01 9.38015914e-03 1.77827249e+02] [ 9.70449203e-01 -2.38522422e-01 -3.65430926e-02 1.68409855e+02] [ 3.77257244e-02 3.93351843e-04 9.99288054e-01 1.14763010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.43710568099993 meters 0.021422946672740074 Centerline is valid? [True, True] Translation: X:177.82, Y:168.43, Z:11.48 [[-2.39364807e-01 -9.70887448e-01 9.05826451e-03 1.77820318e+02] [ 9.70248027e-01 -2.39535878e-01 -3.52325132e-02 1.68434914e+02] [ 3.63765842e-02 3.55339536e-04 9.99338090e-01 1.14786723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.4671056809999 meters 0.021408807599682 Centerline is valid? [True, True] Translation: X:177.81, Y:168.46, Z:11.48 [[-2.38919441e-01 -9.71001302e-01 8.60069632e-03 1.77812441e+02] [ 9.70427054e-01 -2.39073912e-01 -3.33915876e-02 1.68460744e+02] [ 3.44794772e-02 3.68448955e-04 9.99405338e-01 1.14815519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49710568099994 meters 0.021408807599682 Centerline is valid? [True, True] Translation: X:177.81, Y:168.49, Z:11.48 [[-2.39341385e-01 -9.70897255e-01 8.61526851e-03 1.77805507e+02] [ 9.70323074e-01 -2.39496107e-01 -3.33878280e-02 1.68486545e+02] [ 3.44794738e-02 3.68504845e-04 9.99405338e-01 1.14823251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5271056809999 meters 0.02208148014362488 Centerline is valid? [True, True] Translation: X:177.80, Y:168.51, Z:11.48 [[-2.37357718e-01 -9.71387795e-01 8.18941867e-03 1.77795986e+02] [ 9.70871069e-01 -2.37498562e-01 -3.16828148e-02 1.68510793e+02] [ 3.27212748e-02 4.30709049e-04 9.99464423e-01 1.14844616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55710568099994 meters 0.022688671448609875 Centerline is valid? [True, True] Translation: X:177.79, Y:168.54, Z:11.49 [[-2.34815865e-01 -9.72003619e-01 8.39483481e-03 1.77786234e+02] [ 9.71463089e-01 -2.34965250e-01 -3.24160256e-02 1.68536042e+02] [ 3.34809887e-02 5.43475054e-04 9.99439207e-01 1.14850925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5871056809999 meters 0.024794222749061505 Centerline is valid? [True, True] Translation: X:177.77, Y:168.56, Z:11.48 [[-2.27171213e-01 -9.73810887e-01 9.25184993e-03 1.77770113e+02] [ 9.73158289e-01 -2.27357737e-01 -3.56567654e-02 1.68559896e+02] [ 3.68264260e-02 9.03323804e-04 9.99321269e-01 1.14811926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61710568099994 meters 0.029895701717599983 Centerline is valid? [True, True] Translation: X:177.75, Y:168.58, Z:11.48 [[-2.23253421e-01 -9.74713624e-01 9.55307938e-03 1.77751178e+02] [ 9.74021311e-01 -2.23455004e-01 -3.67470673e-02 1.68582012e+02] [ 3.79525506e-02 1.10099442e-03 9.99278936e-01 1.14774102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.6471056809999 meters 0.031245070994355185 Centerline is valid? [True, True] Translation: X:177.74, Y:168.61, Z:11.48 [[-2.14827313e-01 -9.76597694e-01 1.03038710e-02 1.77739506e+02] [ 9.75797363e-01 -2.15068648e-01 -3.95598611e-02 1.68607364e+02] [ 4.08501087e-02 1.55595151e-03 9.99164074e-01 1.14762944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67710568099994 meters 0.0322414305209787 Centerline is valid? [True, True] Translation: X:177.73, Y:168.63, Z:11.48 [[-2.11730251e-01 -9.77271273e-01 1.05432573e-02 1.77730446e+02] [ 9.76436966e-01 -2.11985463e-01 -4.04105690e-02 1.68632938e+02] [ 4.17271055e-02 1.73868627e-03 9.99127532e-01 1.14758374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.7071056809999 meters 0.03333227705069655 Centerline is valid? [True, True] Translation: X:177.72, Y:168.66, Z:11.48 [[-2.07705856e-01 -9.78132313e-01 1.07449964e-02 1.77721754e+02] [ 9.77269900e-01 -2.07974349e-01 -4.11121996e-02 1.68658961e+02] [ 4.24478545e-02 1.96151695e-03 9.99096758e-01 1.14763774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73710568099995 meters 0.03585662070339064 Centerline is valid? [True, True] Translation: X:177.71, Y:168.68, Z:11.48 [[-2.06627129e-01 -9.78362984e-01 1.05404999e-02 1.77710818e+02] [ 9.77536314e-01 -2.06886278e-01 -4.02594487e-02 1.68683250e+02] [ 4.15690392e-02 1.98502716e-03 9.99133662e-01 1.14765463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.7671056809999 meters 0.03700494378526447 Centerline is valid? [True, True] Translation: X:177.70, Y:168.71, Z:11.48 [[-2.03916358e-01 -9.78928863e-01 1.07888945e-02 1.77704914e+02] [ 9.78066461e-01 -2.04190110e-01 -4.11387545e-02 1.68709434e+02] [ 4.24748997e-02 2.16339084e-03 9.99095192e-01 1.14767318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79710568099995 meters 0.03733250622260946 Centerline is valid? [True, True] Translation: X:177.70, Y:168.74, Z:11.48 [[-2.03534321e-01 -9.79006127e-01 1.09901657e-02 1.77700310e+02] [ 9.78113968e-01 -2.03818593e-01 -4.18455132e-02 1.68736423e+02] [ 4.32070139e-02 2.23263650e-03 9.99063646e-01 1.14771057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.8271056809999 meters 0.037252693724481985 Centerline is valid? [True, True] Translation: X:177.70, Y:168.76, Z:11.48 [[-2.04408301e-01 -9.78824687e-01 1.09306710e-02 1.77698747e+02] [ 9.77945008e-01 -2.04688559e-01 -4.15470363e-02 1.68763712e+02] [ 4.29046480e-02 2.19703601e-03 9.99076756e-01 1.14771872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85710568099995 meters 0.03654900586149236 Centerline is valid? [True, True] Translation: X:177.70, Y:168.79, Z:11.48 [[-2.07082036e-01 -9.78263075e-01 1.08805544e-02 1.77698606e+02] [ 9.77393795e-01 -2.07357197e-01 -4.12839145e-02 1.68792259e+02] [ 4.26426904e-02 2.08542925e-03 9.99088210e-01 1.14770339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.8871056809999 meters 0.03609206087409881 Centerline is valid? [True, True] Translation: X:177.70, Y:168.82, Z:11.48 [[-2.09043956e-01 -9.77846331e-01 1.08248496e-02 1.77695908e+02] [ 9.76988137e-01 -2.09314452e-01 -4.10078039e-02 1.68819728e+02] [ 4.23651281e-02 2.00331603e-03 9.99100186e-01 1.14789310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91710568099995 meters 0.03196595914985066 Centerline is valid? [True, True] Translation: X:177.70, Y:168.85, Z:11.48 [[-2.14503772e-01 -9.76669847e-01 1.02050263e-02 1.77702431e+02] [ 9.75908311e-01 -2.14739817e-01 -3.85976620e-02 1.68848917e+02] [ 3.98885981e-02 1.67982582e-03 9.99202721e-01 1.14835530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.9471056809999 meters 0.03235880007625241 Centerline is valid? [True, True] Translation: X:177.70, Y:168.88, Z:11.48 [[-2.17554292e-01 -9.75995097e-01 1.01833440e-02 1.77697796e+02] [ 9.75238741e-01 -2.17786860e-01 -3.84484338e-02 1.68875347e+02] [ 3.97432814e-02 1.56656973e-03 9.99208696e-01 1.14849385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.9771056809999 meters 0.03049719337039629 Centerline is valid? [True, True] Translation: X:177.70, Y:168.90, Z:11.49 [[-2.22832477e-01 -9.74805690e-01 9.97762383e-03 1.77698907e+02] [ 9.74080763e-01 -2.23051733e-01 -3.76110614e-02 1.68903427e+02] [ 3.88890029e-02 1.33804545e-03 9.99242641e-01 1.14870871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.0071056809999 meters 0.0293293500100301 Centerline is valid? [True, True] Translation: X:177.70, Y:168.93, Z:11.49 [[-2.26199925e-01 -9.74031263e-01 9.83319796e-03 1.77696644e+02] [ 9.73328623e-01 -2.26410378e-01 -3.70098868e-02 1.68930440e+02] [ 3.82751249e-02 1.19929942e-03 9.99266519e-01 1.14899784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.0371056809999 meters 0.026972084104676438 Centerline is valid? [True, True] Translation: X:177.70, Y:168.96, Z:11.49 [[-2.32085723e-01 -9.72649405e-01 9.45263784e-03 1.77699970e+02] [ 9.72001010e-01 -2.32276224e-01 -3.55217164e-02 1.68957815e+02] [ 3.67457994e-02 9.43890308e-04 9.99324199e-01 1.14940667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.06710568099993 meters 0.026022424734978518 Centerline is valid? [True, True] Translation: X:177.70, Y:168.99, Z:11.49 [[-2.35021796e-01 -9.71942613e-01 9.60789777e-03 1.77696015e+02] [ 9.71274431e-01 -2.35216529e-01 -3.60439172e-02 1.68985455e+02] [ 3.72925555e-02 8.60799264e-04 9.99304020e-01 1.14938163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.0971056809999 meters 0.026756662380825143 Centerline is valid? [True, True] Translation: X:177.69, Y:169.01, Z:11.49 [[-2.34348181e-01 -9.72102753e-01 9.85735500e-03 1.77688394e+02] [ 9.71401761e-01 -2.34553588e-01 -3.69219882e-02 1.69010310e+02] [ 3.82040444e-02 9.22851217e-04 9.99269533e-01 1.14926309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.12710568099993 meters 0.028711912923915246 Centerline is valid? [True, True] Translation: X:177.68, Y:169.03, Z:11.49 [[-2.31027887e-01 -9.72893750e-01 1.01914596e-02 1.77680311e+02] [ 9.72147959e-01 -2.31249930e-01 -3.81027131e-02 1.69034143e+02] [ 3.94266657e-02 1.10481734e-03 9.99221856e-01 1.14898773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.1571056809999 meters 0.028459813546160014 Centerline is valid? [True, True] Translation: X:177.68, Y:169.06, Z:11.49 [[-2.28294335e-01 -9.73533312e-01 1.07045197e-02 1.77675926e+02] [ 9.72714268e-01 -2.28541503e-01 -3.99466377e-02 1.69061218e+02] [ 4.13358096e-02 1.29284794e-03 9.99144474e-01 1.14918675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.18710568099993 meters 0.03049234253065348 Centerline is valid? [True, True] Translation: X:177.67, Y:169.09, Z:11.49 [[-2.21618615e-01 -9.75066696e-01 1.14073961e-02 1.77667901e+02] [ 9.74141642e-01 -2.21905539e-01 -4.24969835e-02 1.69087524e+02] [ 4.39687577e-02 1.69429697e-03 9.99031470e-01 1.14916906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2171056809999 meters 0.03181363944127365 Centerline is valid? [True, True] Translation: X:177.66, Y:169.11, Z:11.49 [[-2.19307324e-01 -9.75584533e-01 1.17947429e-02 1.77659621e+02] [ 9.74599664e-01 -2.19616262e-01 -4.38656306e-02 1.69113444e+02] [ 4.53849481e-02 1.87509838e-03 9.98967813e-01 1.14908350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.24710568099994 meters 0.033677426278440524 Centerline is valid? [True, True] Translation: X:177.65, Y:169.14, Z:11.49 [[-2.16117616e-01 -9.76292513e-01 1.20873808e-02 1.77651831e+02] [ 9.75262805e-01 -2.16445286e-01 -4.48764900e-02 1.69139208e+02] [ 4.64288378e-02 2.08977282e-03 9.98919414e-01 1.14881893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2771056809999 meters 0.03409918104493347 Centerline is valid? [True, True] Translation: X:177.65, Y:169.17, Z:11.49 [[-2.14296059e-01 -9.76689147e-01 1.24703468e-02 1.77645150e+02] [ 9.75597633e-01 -2.14646674e-01 -4.62175762e-02 1.69165774e+02] [ 4.78169235e-02 2.26179636e-03 9.98853556e-01 1.14874014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.30710568099994 meters 0.034957510887638474 Centerline is valid? [True, True] Translation: X:177.64, Y:169.19, Z:11.49 [[-2.11738103e-01 -9.77240998e-01 1.29231817e-02 1.77640329e+02] [ 9.76073690e-01 -2.12117502e-01 -4.78154425e-02 1.69193147e+02] [ 4.94684438e-02 2.48962662e-03 9.98772584e-01 1.14879074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3371056809999 meters 0.03953015412823748 Centerline is valid? [True, True] Translation: X:177.63, Y:169.22, Z:11.49 [[-2.10298794e-01 -9.77551771e-01 1.29209853e-02 1.77631598e+02] [ 9.76389400e-01 -2.10679575e-01 -4.77268957e-02 1.69217703e+02] [ 4.93776991e-02 2.57900450e-03 9.98776848e-01 1.14889572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.36710568099994 meters 0.03665572994184541 Centerline is valid? [True, True] Translation: X:177.63, Y:169.25, Z:11.49 [[-2.11008093e-01 -9.77401333e-01 1.27365484e-02 1.77630283e+02] [ 9.76275578e-01 -2.11377063e-01 -4.69652338e-02 1.69245883e+02] [ 4.85960963e-02 2.52433672e-03 9.98815322e-01 1.14927327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3971056809999 meters 0.03566273348891822 Centerline is valid? [True, True] Translation: X:177.63, Y:169.27, Z:11.49 [[-2.14432621e-01 -9.76662192e-01 1.22316259e-02 1.77627265e+02] [ 9.75626165e-01 -2.14769122e-01 -4.50312186e-02 1.69273443e+02] [ 4.66072642e-02 2.27733206e-03 9.98910695e-01 1.14944086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.42710568099994 meters 0.0342213806923836 Centerline is valid? [True, True] Translation: X:177.62, Y:169.30, Z:11.49 [[-2.17009665e-01 -9.76090947e-01 1.23801612e-02 1.77624169e+02] [ 9.75032214e-01 -2.17351418e-01 -4.55032156e-02 1.69300985e+02] [ 4.71061225e-02 2.19641843e-03 9.98887476e-01 1.14947214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.4571056809999 meters 0.03199747810081196 Centerline is valid? [True, True] Translation: X:177.63, Y:169.33, Z:11.49 [[-2.23053786e-01 -9.74719805e-01 1.29734313e-02 1.77626217e+02] [ 9.73558711e-01 -2.23421693e-01 -4.76044411e-02 1.69330370e+02] [ 4.92995375e-02 2.01204623e-03 9.98782012e-01 1.14942131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.48710568099995 meters 0.028867077766617042 Centerline is valid? [True, True] Translation: X:177.63, Y:169.36, Z:11.50 [[-2.30268657e-01 -9.73036784e-01 1.32575535e-02 1.77628126e+02] [ 9.71825456e-01 -2.30643719e-01 -4.85670539e-02 1.69358827e+02] [ 5.03153014e-02 1.70055765e-03 9.98731935e-01 1.14950858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.5171056809999 meters 0.028155615557447194 Centerline is valid? [True, True] Translation: X:177.62, Y:169.39, Z:11.50 [[-2.33324155e-01 -9.72308421e-01 1.32730141e-02 1.77622650e+02] [ 9.71097219e-01 -2.33696149e-01 -4.85417450e-02 1.69385891e+02] [ 5.02993997e-02 1.56342543e-03 9.98732960e-01 1.14952655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.54710568099995 meters 0.027789937412431936 Centerline is valid? [True, True] Translation: X:177.62, Y:169.41, Z:11.49 [[-2.36021079e-01 -9.71655854e-01 1.33772525e-02 1.77617080e+02] [ 9.70428723e-01 -2.36395400e-01 -4.88396288e-02 1.69411540e+02] [ 5.06176322e-02 1.45448818e-03 9.98717047e-01 1.14948189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.5771056809999 meters 0.026540891890122726 Centerline is valid? [True, True] Translation: X:177.61, Y:169.44, Z:11.50 [[-2.39145325e-01 -9.70888241e-01 1.36211680e-02 1.77614603e+02] [ 9.69619122e-01 -2.39529205e-01 -4.96439201e-02 1.69439349e+02] [ 5.14613658e-02 1.33523355e-03 9.98674093e-01 1.14966345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.60710568099995 meters 0.026072173300442373 Centerline is valid? [True, True] Translation: X:177.61, Y:169.47, Z:11.50 [[-2.43464634e-01 -9.69813118e-01 1.36926517e-02 1.77608909e+02] [ 9.68532852e-01 -2.43846754e-01 -4.98284656e-02 1.69465116e+02] [ 5.16632082e-02 1.13031388e-03 9.98663925e-01 1.14957798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.6371056809999 meters 0.024987215382094235 Centerline is valid? [True, True] Translation: X:177.60, Y:169.49, Z:11.50 [[-2.46875672e-01 -9.68948070e-01 1.38578899e-02 1.77604167e+02] [ 9.67639200e-01 -2.47262376e-01 -5.03556945e-02 1.69491787e+02] [ 5.22185877e-02 9.77841561e-04 9.98635200e-01 1.14967965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.66710568099995 meters 0.023574774501664935 Centerline is valid? [True, True] Translation: X:177.60, Y:169.52, Z:11.50 [[-2.54820057e-01 -9.66890284e-01 1.37810304e-02 1.77603352e+02] [ 9.65597099e-01 -2.55191803e-01 -4.99938581e-02 1.69519541e+02] [ 5.18553817e-02 5.67485211e-04 9.98654443e-01 1.14986738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.6971056809999 meters 0.022869925414558977 Centerline is valid? [True, True] Translation: X:177.60, Y:169.55, Z:11.50 [[-2.60417773e-01 -9.65402066e-01 1.34697836e-02 1.77600127e+02] [ 9.64168694e-01 -2.60765741e-01 -4.87848195e-02 1.69546819e+02] [ 5.06094236e-02 2.82709584e-04 9.98718482e-01 1.15013445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.7271056809999 meters 0.022787240098798435 Centerline is valid? [True, True] Translation: X:177.60, Y:169.57, Z:11.50 [[-2.70849234e-01 -9.62533080e-01 1.30676256e-02 1.77598299e+02] [ 9.61372720e-01 -2.71164185e-01 -4.72491025e-02 1.69573645e+02] [ 4.90222962e-02 -2.34524448e-04 9.98797657e-01 1.15036261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.7571056809999 meters 0.023442609756098937 Centerline is valid? [True, True] Translation: X:177.59, Y:169.60, Z:11.51 [[-2.77677412e-01 -9.60586128e-01 1.30209914e-02 1.77592099e+02] [ 9.59435797e-01 -2.77981978e-01 -4.69996992e-02 1.69600532e+02] [ 4.87668600e-02 -5.57949577e-04 9.98810033e-01 1.15072745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.7871056809999 meters 0.023879074862625457 Centerline is valid? [True, True] Translation: X:177.59, Y:169.63, Z:11.51 [[-2.80553663e-01 -9.59750621e-01 1.29764214e-02 1.77585413e+02] [ 9.58611058e-01 -2.80852779e-01 -4.67606164e-02 1.69626708e+02] [ 4.85229947e-02 -6.79521123e-04 9.98821835e-01 1.15083792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.81710568099993 meters 0.025022934497987523 Centerline is valid? [True, True] Translation: X:177.58, Y:169.65, Z:11.51 [[-2.85093229e-01 -9.58414578e-01 1.27807397e-02 1.77577870e+02] [ 9.57311509e-01 -2.85378231e-01 -4.59776098e-02 1.69652027e+02] [ 4.77129563e-02 -8.72756072e-04 9.98860707e-01 1.15101545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.8471056809999 meters 0.025737301243122686 Centerline is valid? [True, True] Translation: X:177.57, Y:169.68, Z:11.51 [[-2.88179621e-01 -9.57497280e-01 1.23071413e-02 1.77565577e+02] [ 9.56477193e-01 -2.88440684e-01 -4.41967387e-02 1.69675995e+02] [ 4.58681373e-02 -9.65099474e-04 9.98947037e-01 1.15122622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.87710568099993 meters 0.025702260518979017 Centerline is valid? [True, True] Translation: X:177.55, Y:169.70, Z:11.51 [[-2.88813745e-01 -9.57305425e-01 1.23670490e-02 1.77553771e+02] [ 9.56278961e-01 -2.89076753e-01 -4.43303373e-02 1.69700129e+02] [ 4.60126988e-02 -9.76861965e-04 9.98940377e-01 1.15126347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.9071056809999 meters 0.025745146874745994 Centerline is valid? [True, True] Translation: X:177.54, Y:169.72, Z:11.51 [[-2.88699301e-01 -9.57341760e-01 1.22257458e-02 1.77542579e+02] [ 9.56342191e-01 -2.88956530e-01 -4.37462788e-02 1.69724039e+02] [ 4.54128486e-02 -9.37523505e-04 9.98967864e-01 1.15144567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.93710568099993 meters 0.025270548514196876 Centerline is valid? [True, True] Translation: X:177.53, Y:169.75, Z:11.52 [[-2.87085513e-01 -9.57832623e-01 1.17717348e-02 1.77525494e+02] [ 9.56909387e-01 -2.87325621e-01 -4.20525051e-02 1.69747377e+02] [ 4.36615823e-02 -8.08181464e-04 9.99046052e-01 1.15172830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.9671056809999 meters 0.02483623063411092 Centerline is valid? [True, True] Translation: X:177.51, Y:169.77, Z:11.52 [[-2.86507112e-01 -9.58008369e-01 1.15603110e-02 1.77508404e+02] [ 9.57121116e-01 -2.86739267e-01 -4.12281832e-02 1.69769896e+02] [ 4.28117396e-02 -7.47549931e-04 9.99082878e-01 1.15198974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99710568099994 meters 0.024773492304607483 Centerline is valid? [True, True] Translation: X:177.50, Y:169.79, Z:11.52 [[-2.86857070e-01 -9.57904653e-01 1.14759579e-02 1.77495525e+02] [ 9.57033373e-01 -2.87085587e-01 -4.08532577e-02 1.69794153e+02] [ 4.24281077e-02 -7.36171100e-04 9.99099251e-01 1.15202206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0271056809999 meters 0.02437104029782113 Centerline is valid? [True, True] Translation: X:177.48, Y:169.82, Z:11.52 [[-2.85669852e-01 -9.58256831e-01 1.16867791e-02 1.77475404e+02] [ 9.57356830e-01 -2.85908009e-01 -4.15272303e-02 1.69815685e+02] [ 4.31350959e-02 -6.74659982e-04 9.99069021e-01 1.15175173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05710568099994 meters 0.024197482621591496 Centerline is valid? [True, True] Translation: X:177.46, Y:169.84, Z:11.52 [[-2.84764143e-01 -9.58520932e-01 1.21246417e-02 1.77462230e+02] [ 9.57556052e-01 -2.85021438e-01 -4.30021826e-02 1.69839697e+02] [ 4.46742749e-02 -6.35455616e-04 9.99001404e-01 1.15160280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0871056809999 meters 0.023944532686935614 Centerline is valid? [True, True] Translation: X:177.45, Y:169.86, Z:11.51 [[-2.83128322e-01 -9.58999794e-01 1.25597675e-02 1.77445097e+02] [ 9.57968704e-01 -2.83406219e-01 -4.44620791e-02 1.69862176e+02] [ 4.61986409e-02 -5.56609630e-04 9.98932118e-01 1.15144582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11710568099994 meters 0.024072712531695996 Centerline is valid? [True, True] Translation: X:177.43, Y:169.88, Z:11.51 [[-2.82085010e-01 -9.59304541e-01 1.27611013e-02 1.77430272e+02] [ 9.58244386e-01 -2.82373082e-01 -4.50903378e-02 1.69884878e+02] [ 4.68587573e-02 -4.91054699e-04 9.98901404e-01 1.15141390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.1471056809999 meters 0.023710336197626698 Centerline is valid? [True, True] Translation: X:177.42, Y:169.91, Z:11.52 [[-2.82279601e-01 -9.59245664e-01 1.28834166e-02 1.77417168e+02] [ 9.58169058e-01 -2.82573042e-01 -4.54371207e-02 1.69908197e+02] [ 4.72258673e-02 -4.81481145e-04 9.98884120e-01 1.15174980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17710568099994 meters 0.023344843182549483 Centerline is valid? [True, True] Translation: X:177.40, Y:169.93, Z:11.52 [[-2.80540622e-01 -9.59761757e-01 1.24229103e-02 1.77399927e+02] [ 9.58764715e-01 -2.80815313e-01 -4.37376291e-02 1.69931604e+02] [ 4.54662472e-02 -3.59533578e-04 9.98965811e-01 1.15192902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.2071056809999 meters 0.023008824498864742 Centerline is valid? [True, True] Translation: X:177.39, Y:169.95, Z:11.52 [[-2.79272667e-01 -9.60136373e-01 1.20383593e-02 1.77388813e+02] [ 9.59203674e-01 -2.79531881e-01 -4.23112217e-02 1.69954557e+02] [ 4.39896482e-02 -2.69129283e-04 9.99031951e-01 1.15223113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23710568099995 meters 0.023015997670191912 Centerline is valid? [True, True] Translation: X:177.37, Y:169.98, Z:11.53 [[-2.72746678e-01 -9.62016251e-01 1.15750830e-02 1.77370957e+02] [ 9.61158717e-01 -2.72992180e-01 -4.06102359e-02 1.69976477e+02] [ 4.22276140e-02 4.91850170e-05 9.99108015e-01 1.15258822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.2671056809999 meters 0.0231646248896744 Centerline is valid? [True, True] Translation: X:177.36, Y:170.00, Z:11.53 [[-2.68485490e-01 -9.63215041e-01 1.15032833e-02 1.77355498e+02] [ 9.62372081e-01 -2.68731687e-01 -4.02896871e-02 1.69999843e+02] [ 4.18989293e-02 2.53242352e-04 9.99121822e-01 1.15290384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29710568099995 meters 0.025227410250635417 Centerline is valid? [True, True] Translation: X:177.33, Y:170.02, Z:11.53 [[-2.58157696e-01 -9.66027507e-01 1.20606969e-02 1.77332188e+02] [ 9.65107081e-01 -2.58438169e-01 -4.21667474e-02 1.70021700e+02] [ 4.38511823e-02 7.54193622e-04 9.99037790e-01 1.15270988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.3271056809999 meters 0.02772193414007798 Centerline is valid? [True, True] Translation: X:177.31, Y:170.04, Z:11.53 [[-2.50835472e-01 -9.67951940e-01 1.22721964e-02 1.77314444e+02] [ 9.67004379e-01 -2.51132992e-01 -4.28339940e-02 1.70043323e+02] [ 4.45432010e-02 1.12298254e-03 9.99006828e-01 1.15282197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35710568099995 meters 0.028673840075717563 Centerline is valid? [True, True] Translation: X:177.30, Y:170.07, Z:11.53 [[-2.49249262e-01 -9.68363031e-01 1.21591534e-02 1.77302763e+02] [ 9.67436482e-01 -2.49542767e-01 -4.23681591e-02 1.70068436e+02] [ 4.40619878e-02 1.20297621e-03 9.99028075e-01 1.15299375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.3871056809999 meters 0.028346888783586762 Centerline is valid? [True, True] Translation: X:177.29, Y:170.09, Z:11.53 [[-2.47577358e-01 -9.68798812e-01 1.15893850e-02 1.77293018e+02] [ 9.67960200e-01 -2.47845386e-01 -4.03201561e-02 1.70093251e+02] [ 4.19344950e-02 1.23570568e-03 9.99119598e-01 1.15348617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41710568099995 meters 0.028346888783586762 Centerline is valid? [True, True] Translation: X:177.29, Y:170.12, Z:11.54 [[-2.47995439e-01 -9.68691658e-01 1.16074875e-02 1.77285372e+02] [ 9.67853172e-01 -2.48263857e-01 -4.03149454e-02 1.70118838e+02] [ 4.19344709e-02 1.23642105e-03 9.99119598e-01 1.15356352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.4471056809999 meters 0.02960656418978486 Centerline is valid? [True, True] Translation: X:177.28, Y:170.14, Z:11.54 [[-2.47390026e-01 -9.68847373e-01 1.15301134e-02 1.77275676e+02] [ 9.68022926e-01 -2.47655313e-01 -3.99807441e-02 1.70143624e+02] [ 4.15907327e-02 1.27057684e-03 9.99133923e-01 1.15360944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.4771056809999 meters 0.02964581834777543 Centerline is valid? [True, True] Translation: X:177.27, Y:170.17, Z:11.54 [[-2.46080730e-01 -9.69183980e-01 1.12555694e-02 1.77269846e+02] [ 9.68401282e-01 -2.46334516e-01 -3.89649031e-02 1.70170625e+02] [ 4.05367951e-02 1.31139599e-03 9.99177186e-01 1.15382429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.5071056809999 meters 0.03092940573741706 Centerline is valid? [True, True] Translation: X:177.26, Y:170.19, Z:11.54 [[-2.46049905e-01 -9.69192260e-01 1.12163733e-02 1.77259963e+02] [ 9.68417625e-01 -2.46301867e-01 -3.87646001e-02 1.70194322e+02] [ 4.03329641e-02 1.32410746e-03 9.99185418e-01 1.15376806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.5371056809999 meters 0.031002953685431683 Centerline is valid? [True, True] Translation: X:177.25, Y:170.22, Z:11.54 [[-2.42810404e-01 -9.70009441e-01 1.11710039e-02 1.77253118e+02] [ 9.69244684e-01 -2.43062797e-01 -3.85385516e-02 1.70220278e+02] [ 4.00980143e-02 1.46987481e-03 9.99194670e-01 1.15369446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.56710568099993 meters 0.032047636623062516 Centerline is valid? [True, True] Translation: X:177.25, Y:170.25, Z:11.54 [[-2.41519975e-01 -9.70327730e-01 1.14977485e-02 1.77245936e+02] [ 9.69520725e-01 -2.41788314e-01 -3.95976731e-02 1.70245341e+02] [ 4.12027414e-02 1.58367646e-03 9.99149551e-01 1.15350097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.5971056809999 meters 0.03266733618820339 Centerline is valid? [True, True] Translation: X:177.25, Y:170.27, Z:11.53 [[-2.41203531e-01 -9.70398810e-01 1.21246306e-02 1.77245339e+02] [ 9.69504517e-01 -2.41502091e-01 -4.16861128e-02 1.70273733e+02] [ 4.33802779e-02 1.70004656e-03 9.99057186e-01 1.15335228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.62710568099993 meters 0.03162065587192092 Centerline is valid? [True, True] Translation: X:177.25, Y:170.30, Z:11.53 [[-2.45729344e-01 -9.69263126e-01 1.20864424e-02 1.77247573e+02] [ 9.68375875e-01 -2.46021779e-01 -4.14903357e-02 1.70302062e+02] [ 4.31885805e-02 1.50882628e-03 9.99065799e-01 1.15324404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.6571056809999 meters 0.02937686466412416 Centerline is valid? [True, True] Translation: X:177.25, Y:170.33, Z:11.54 [[-2.49512803e-01 -9.68299876e-01 1.17776013e-02 1.77246454e+02] [ 9.67458946e-01 -2.49787116e-01 -4.03681028e-02 1.70329710e+02] [ 4.20303220e-02 1.32198731e-03 9.99115461e-01 1.15352039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.68710568099993 meters 0.027412097796362157 Centerline is valid? [True, True] Translation: X:177.25, Y:170.36, Z:11.54 [[-2.56030860e-01 -9.66604917e-01 1.10964985e-02 1.77248669e+02] [ 9.65859162e-01 -2.56269281e-01 -3.79754435e-02 1.70357251e+02] [ 3.95509421e-02 9.94769287e-04 9.99217060e-01 1.15373084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7171056809999 meters 0.02633873232240124 Centerline is valid? [True, True] Translation: X:177.24, Y:170.38, Z:11.54 [[-2.59256084e-01 -9.65744664e-01 1.11142912e-02 1.77244435e+02] [ 9.64998153e-01 -2.59492717e-01 -3.79749231e-02 1.70384717e+02] [ 3.95581570e-02 8.80040653e-04 9.99216882e-01 1.15388186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.74710568099994 meters 0.025224665774877995 Centerline is valid? [True, True] Translation: X:177.24, Y:170.41, Z:11.54 [[-2.63331178e-01 -9.64640296e-01 1.12155953e-02 1.77244223e+02] [ 9.63881470e-01 -2.63568888e-01 -3.82616392e-02 1.70412808e+02] [ 3.98648009e-02 7.35021902e-04 9.99204813e-01 1.15387844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7771056809999 meters 0.024913498654476604 Centerline is valid? [True, True] Translation: X:177.24, Y:170.44, Z:11.54 [[-2.65829211e-01 -9.63949076e-01 1.17051390e-02 1.77243577e+02] [ 9.63124571e-01 -2.66085932e-01 -3.98664888e-02 1.70439853e+02] [ 4.15438379e-02 6.75829665e-04 9.99136454e-01 1.15377990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.80710568099994 meters 0.024305173331965566 Centerline is valid? [True, True] Translation: X:177.24, Y:170.47, Z:11.54 [[-2.68109838e-01 -9.63312814e-01 1.20638972e-02 1.77237596e+02] [ 9.62439370e-01 -2.68380413e-01 -4.10172268e-02 1.70465506e+02] [ 4.27501339e-02 6.13647609e-04 9.99085607e-01 1.15377725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8371056809999 meters 0.023943948373779222 Centerline is valid? [True, True] Translation: X:177.23, Y:170.49, Z:11.54 [[-2.69985554e-01 -9.62785975e-01 1.22868556e-02 1.77230728e+02] [ 9.61882481e-01 -2.70264415e-01 -4.17041944e-02 1.70490688e+02] [ 4.34729133e-02 5.58981149e-04 9.99054450e-01 1.15366745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.86710568099994 meters 0.023217255528356077 Centerline is valid? [True, True] Translation: X:177.22, Y:170.52, Z:11.54 [[-2.72781235e-01 -9.61998939e-01 1.21835321e-02 1.77224638e+02] [ 9.61112657e-01 -2.73052817e-01 -4.12870447e-02 1.70517051e+02] [ 4.30448410e-02 4.47415844e-04 9.99073041e-01 1.15368774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8971056809999 meters 0.022944831354960084 Centerline is valid? [True, True] Translation: X:177.22, Y:170.54, Z:11.54 [[-2.75046125e-01 -9.61357190e-01 1.19156115e-02 1.77219538e+02] [ 9.60511495e-01 -2.75303879e-01 -4.03167633e-02 1.70542229e+02] [ 4.20392244e-02 3.56112292e-04 9.99115898e-01 1.15390415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.92710568099994 meters 0.022929461289713928 Centerline is valid? [True, True] Translation: X:177.21, Y:170.57, Z:11.54 [[-2.75750455e-01 -9.61155741e-01 1.18881816e-02 1.77213243e+02] [ 9.60316607e-01 -2.76006384e-01 -4.01558352e-02 1.70567418e+02] [ 4.18772255e-02 3.43428378e-04 9.99122705e-01 1.15414708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9571056809999 meters 0.022931310837935218 Centerline is valid? [True, True] Translation: X:177.21, Y:170.59, Z:11.54 [[-2.74879463e-01 -9.61398933e-01 1.23843330e-02 1.77207240e+02] [ 9.60491578e-01 -2.75157987e-01 -4.17613489e-02 1.70593457e+02] [ 4.35569644e-02 4.15710401e-04 9.99050859e-01 1.15438811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.98710568099995 meters 0.023594977240724554 Centerline is valid? [True, True] Translation: X:177.20, Y:170.62, Z:11.54 [[-2.73481782e-01 -9.61794386e-01 1.26203470e-02 1.77196933e+02] [ 9.60855677e-01 -2.73772353e-01 -4.24860892e-02 1.70617538e+02] [ 4.43179842e-02 5.07160622e-04 9.99017347e-01 1.15431568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.0171056809999 meters 0.02511813444633135 Centerline is valid? [True, True] Translation: X:177.18, Y:170.64, Z:11.55 [[-2.67432027e-01 -9.63501912e-01 1.20073302e-02 1.77181928e+02] [ 9.62656555e-01 -2.67700353e-01 -4.03593588e-02 1.70640931e+02] [ 4.21006859e-02 7.65550007e-04 9.99113080e-01 1.15463675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.04710568099995 meters 0.02677929566926975 Centerline is valid? [True, True] Translation: X:177.17, Y:170.67, Z:11.55 [[-2.61737610e-01 -9.65077419e-01 1.09086426e-02 1.77170253e+02] [ 9.64383097e-01 -2.61963160e-01 -3.66134555e-02 1.70665693e+02] [ 3.81924816e-02 9.36992222e-04 9.99269962e-01 1.15511930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.0771056809999 meters 0.027717038699478586 Centerline is valid? [True, True] Translation: X:177.16, Y:170.69, Z:11.55 [[-2.60432593e-01 -9.65434364e-01 1.05524479e-02 1.77161553e+02] [ 9.64786882e-01 -2.60644485e-01 -3.53655908e-02 1.70691909e+02] [ 3.68935940e-02 9.70510838e-04 9.99318728e-01 1.15531780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.10710568099995 meters 0.027761717960136077 Centerline is valid? [True, True] Translation: X:177.15, Y:170.72, Z:11.55 [[-2.59685755e-01 -9.65636714e-01 1.04424687e-02 1.77154742e+02] [ 9.65004727e-01 -2.59893693e-01 -3.49448772e-02 1.70717839e+02] [ 3.64579881e-02 1.00234481e-03 9.99334684e-01 1.15536913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.1371056809999 meters 0.02817921922462213 Centerline is valid? [True, True] Translation: X:177.15, Y:170.74, Z:11.55 [[-2.59513785e-01 -9.65681795e-01 1.05483074e-02 1.77146897e+02] [ 9.65038979e-01 -2.59726017e-01 -3.52443742e-02 1.70742534e+02] [ 3.67745204e-02 1.03312680e-03 9.99323055e-01 1.15545035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.16710568099995 meters 0.02970810940891516 Centerline is valid? [True, True] Translation: X:177.14, Y:170.77, Z:11.55 [[-2.57737362e-01 -9.66149091e-01 1.12865011e-02 1.77138251e+02] [ 9.65416024e-01 -2.57981608e-01 -3.76482436e-02 1.70767262e+02] [ 3.92855261e-02 1.19281006e-03 9.99227314e-01 1.15525780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.1971056809999 meters 0.029759778940071636 Centerline is valid? [True, True] Translation: X:177.13, Y:170.79, Z:11.55 [[-2.55732517e-01 -9.66676559e-01 1.17179308e-02 1.77130035e+02] [ 9.65889425e-01 -2.55997343e-01 -3.90253778e-02 1.70793305e+02] [ 4.07246771e-02 1.33816731e-03 9.99169510e-01 1.15516918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.2271056809999 meters 0.03207184575532824 Centerline is valid? [True, True] Translation: X:177.12, Y:170.82, Z:11.55 [[-2.52141219e-01 -9.67612297e-01 1.22982670e-02 1.77117299e+02] [ 9.66749094e-01 -2.52436032e-01 -4.08930174e-02 1.70816914e+02] [ 4.26731123e-02 1.57852322e-03 9.99087841e-01 1.15487322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.2571056809999 meters 0.033264268757997505 Centerline is valid? [True, True] Translation: X:177.11, Y:170.84, Z:11.55 [[-2.50635825e-01 -9.68004040e-01 1.22418013e-02 1.77108344e+02] [ 9.67151885e-01 -2.50929163e-01 -4.06421656e-02 1.70841054e+02] [ 4.24136055e-02 1.65329848e-03 9.99098770e-01 1.15497371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.2871056809999 meters 0.03656976361867193 Centerline is valid? [True, True] Translation: X:177.10, Y:170.87, Z:11.55 [[-2.47820390e-01 -9.68727761e-01 1.23117404e-02 1.77098682e+02] [ 9.67869315e-01 -2.48119484e-01 -4.08131328e-02 1.70865525e+02] [ 4.25915975e-02 1.80182921e-03 9.99090941e-01 1.15500829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.31710568099993 meters 0.03447783478036052 Centerline is valid? [True, True] Translation: X:177.10, Y:170.89, Z:11.55 [[-2.46735105e-01 -9.69001611e-01 1.25564891e-02 1.77097268e+02] [ 9.68111763e-01 -2.47047084e-01 -4.15614229e-02 1.70893515e+02] [ 4.33751298e-02 1.90142278e-03 9.99057047e-01 1.15509527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.3471056809999 meters 0.035006530633120446 Centerline is valid? [True, True] Translation: X:177.09, Y:170.92, Z:11.55 [[-2.46548904e-01 -9.69047046e-01 1.27066800e-02 1.77089927e+02] [ 9.68138599e-01 -2.46868442e-01 -4.19955379e-02 1.70920065e+02] [ 4.38325302e-02 1.94787351e-03 9.99036994e-01 1.15507769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.37710568099993 meters 0.03578814983534491 Centerline is valid? [True, True] Translation: X:177.09, Y:170.95, Z:11.55 [[-2.46328145e-01 -9.69093482e-01 1.34264331e-02 1.77086090e+02] [ 9.68082350e-01 -2.46684984e-01 -4.43066791e-02 1.70947142e+02] [ 4.62494133e-02 2.08391085e-03 9.98927750e-01 1.15465045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.4071056809999 meters 0.03975390891650885 Centerline is valid? [True, True] Translation: X:177.08, Y:170.97, Z:11.54 [[-2.46916526e-01 -9.68936033e-01 1.39711572e-02 1.77075411e+02] [ 9.67844292e-01 -2.47302079e-01 -4.60337841e-02 1.70971639e+02] [ 4.80588884e-02 2.15540275e-03 9.98842178e-01 1.15424715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.43710568099993 meters 0.03477982898035332 Centerline is valid? [True, True] Translation: X:177.08, Y:171.00, Z:11.55 [[-2.47992094e-01 -9.68663156e-01 1.38423860e-02 1.77080281e+02] [ 9.67594305e-01 -2.48369241e-01 -4.55409845e-02 1.71001309e+02] [ 4.75518967e-02 2.10000979e-03 9.98866561e-01 1.15461125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.4671056809999 meters 0.034654762308521 Centerline is valid? [True, True] Translation: X:177.08, Y:171.03, Z:11.55 [[-2.49258122e-01 -9.68339276e-01 1.37635413e-02 1.77075901e+02] [ 9.67285210e-01 -2.49629471e-01 -4.52155894e-02 1.71028348e+02] [ 4.72198166e-02 2.04291702e-03 9.98882433e-01 1.15481089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49710568099994 meters 0.03347779299010234 Centerline is valid? [True, True] Translation: X:177.08, Y:171.06, Z:11.55 [[-2.52849366e-01 -9.67411657e-01 1.34864111e-02 1.77078088e+02] [ 9.66401283e-01 -2.53202042e-01 -4.42412225e-02 1.71056218e+02] [ 4.62142612e-02 1.84691988e-03 9.98929843e-01 1.15519478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5271056809999 meters 0.028946024507473047 Centerline is valid? [True, True] Translation: X:177.08, Y:171.09, Z:11.56 [[-2.58677921e-01 -9.65880338e-01 1.26848790e-02 1.77083567e+02] [ 9.64987262e-01 -2.58984453e-01 -4.15528289e-02 1.71086701e+02] [ 4.34202469e-02 1.49194730e-03 9.99055782e-01 1.15583365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55710568099994 meters 0.028576373498460053 Centerline is valid? [True, True] Translation: X:177.08, Y:171.11, Z:11.56 [[-2.62521991e-01 -9.64846843e-01 1.23601931e-02 1.77077910e+02] [ 9.64000272e-01 -2.62809582e-01 -4.04301807e-02 1.71112697e+02] [ 4.22573094e-02 1.30141803e-03 9.99105913e-01 1.15590632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5871056809999 meters 0.025584461374131093 Centerline is valid? [True, True] Translation: X:177.08, Y:171.14, Z:11.56 [[-2.69475881e-01 -9.62930130e-01 1.21784348e-02 1.77081816e+02] [ 9.62108805e-01 -2.69749083e-01 -3.97753637e-02 1.71141761e+02] [ 4.15860177e-02 9.98478213e-04 9.99134428e-01 1.15605828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61710568099994 meters 0.024220795759019396 Centerline is valid? [True, True] Translation: X:177.08, Y:171.17, Z:11.56 [[-2.73565980e-01 -9.61775558e-01 1.22241806e-02 1.77080513e+02] [ 9.60949469e-01 -2.73837667e-01 -3.98629029e-02 1.71169775e+02] [ 4.16866068e-02 8.41685763e-04 9.99130381e-01 1.15625997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.6471056809999 meters 0.022534868931306413 Centerline is valid? [True, True] Translation: X:177.08, Y:171.20, Z:11.56 [[-2.82001022e-01 -9.59334159e-01 1.23852637e-02 1.77083096e+02] [ 9.58486323e-01 -2.82272426e-01 -4.03267355e-02 1.71198370e+02] [ 4.21828333e-02 4.98925241e-04 9.99109784e-01 1.15629559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67710568099994 meters 0.021866813619136265 Centerline is valid? [True, True] Translation: X:177.08, Y:171.22, Z:11.56 [[-2.85610946e-01 -9.58264737e-01 1.24531587e-02 1.77079743e+02] [ 9.57409225e-01 -2.85882081e-01 -4.04847127e-02 1.71224826e+02] [ 4.23552075e-02 3.59891950e-04 9.99102551e-01 1.15633347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.7071056809999 meters 0.021290754386294443 Centerline is valid? [True, True] Translation: X:177.08, Y:171.25, Z:11.56 [[-2.89938321e-01 -9.56965293e-01 1.23773029e-02 1.77076780e+02] [ 9.56121804e-01 -2.90202331e-01 -4.01709222e-02 1.71251604e+02] [ 4.20341005e-02 1.87119409e-04 9.99116159e-01 1.15637775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73710568099995 meters 0.021327202447942808 Centerline is valid? [True, True] Translation: X:177.07, Y:171.28, Z:11.57 [[-2.89402248e-01 -9.57129467e-01 1.22279563e-02 1.77068892e+02] [ 9.56309091e-01 -2.89660374e-01 -3.96205789e-02 1.71276851e+02] [ 4.14639780e-02 2.27421211e-04 9.99139974e-01 1.15659615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.7671056809999 meters 0.021730585722629703 Centerline is valid? [True, True] Translation: X:177.06, Y:171.30, Z:11.57 [[-2.87163400e-01 -9.57806505e-01 1.19949965e-02 1.77058796e+02] [ 9.57020258e-01 -2.87413613e-01 -3.88025980e-02 1.71301672e+02] [ 4.06129060e-02 3.36768675e-04 9.99174899e-01 1.15673036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79710568099995 meters 0.0232701804442985 Centerline is valid? [True, True] Translation: X:177.05, Y:171.33, Z:11.57 [[-2.80730797e-01 -9.59713104e-01 1.18734203e-02 1.77046338e+02] [ 9.58946856e-01 -2.80981091e-01 -3.83478133e-02 1.71325465e+02] [ 4.01391055e-02 6.20566836e-04 9.99193909e-01 1.15682743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.8271056809999 meters 0.024732912398235867 Centerline is valid? [True, True] Translation: X:177.03, Y:171.35, Z:11.57 [[-2.77063124e-01 -9.60774866e-01 1.21524747e-02 1.77034926e+02] [ 9.59975657e-01 -2.77328332e-01 -3.91884568e-02 1.71349036e+02] [ 4.10215099e-02 8.08403638e-04 9.99157937e-01 1.15682393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85710568099995 meters 0.027518292826279735 Centerline is valid? [True, True] Translation: X:177.02, Y:171.37, Z:11.57 [[-2.69741621e-01 -9.62851266e-01 1.25258754e-02 1.77019975e+02] [ 9.62006880e-01 -2.70029756e-01 -4.03322899e-02 1.71373151e+02] [ 4.22163555e-02 1.17068107e-03 9.99107806e-01 1.15662087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.8871056809999 meters 0.02903511461012903 Centerline is valid? [True, True] Translation: X:177.01, Y:171.40, Z:11.57 [[-2.66809919e-01 -9.63670031e-01 1.23506617e-02 1.77008140e+02] [ 9.62852152e-01 -2.67092482e-01 -3.97157455e-02 1.71397373e+02] [ 4.15716426e-02 1.29530634e-03 9.99134686e-01 1.15669771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91710568099995 meters 0.03145412241829121 Centerline is valid? [True, True] Translation: X:177.00, Y:171.42, Z:11.57 [[-2.62561675e-01 -9.64844646e-01 1.16694234e-02 1.76995751e+02] [ 9.64117378e-01 -2.62817088e-01 -3.74814613e-02 1.71420561e+02] [ 3.92307112e-02 1.40949860e-03 9.99229185e-01 1.15682530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.9471056809999 meters 0.03185170757492226 Centerline is valid? [True, True] Translation: X:176.99, Y:171.45, Z:11.57 [[-2.62659215e-01 -9.64817696e-01 1.17025968e-02 1.76988354e+02] [ 9.64088496e-01 -2.62915928e-01 -3.75311586e-02 1.71445938e+02] [ 3.92875251e-02 1.42443426e-03 9.99226932e-01 1.15707614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.9771056809999 meters 0.030386595880266837 Centerline is valid? [True, True] Translation: X:176.98, Y:171.47, Z:11.57 [[-2.66698905e-01 -9.63714162e-01 1.12565086e-02 1.76984851e+02] [ 9.63040497e-01 -2.66933532e-01 -3.60484337e-02 1.71472645e+02] [ 3.77451257e-02 1.22639582e-03 9.99286646e-01 1.15741462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.0071056809999 meters 0.028162567490826275 Centerline is valid? [True, True] Translation: X:176.98, Y:171.50, Z:11.57 [[-2.72325821e-01 -9.62139010e-01 1.12770410e-02 1.76981519e+02] [ 9.61463455e-01 -2.72557298e-01 -3.60630637e-02 1.71497953e+02] [ 3.77713203e-02 1.02155939e-03 9.99285887e-01 1.15740687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.0371056809999 meters 0.027109934452121773 Centerline is valid? [True, True] Translation: X:176.98, Y:171.52, Z:11.57 [[-2.75189531e-01 -9.61322703e-01 1.13746422e-02 1.76975811e+02] [ 9.60636830e-01 -2.75422932e-01 -3.63192790e-02 1.71524364e+02] [ 3.80473848e-02 9.32214831e-04 9.99275501e-01 1.15745574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.06710568099993 meters 0.026234577977218662 Centerline is valid? [True, True] Translation: X:176.97, Y:171.55, Z:11.57 [[-2.78142128e-01 -9.60470761e-01 1.15270888e-02 1.76969584e+02] [ 9.59767682e-01 -2.78379615e-01 -3.67530419e-02 1.71549617e+02] [ 3.85091286e-02 8.40757993e-04 9.99257895e-01 1.15745747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.0971056809999 meters 0.025504632507231312 Centerline is valid? [True, True] Translation: X:176.96, Y:171.57, Z:11.57 [[-2.80833161e-01 -9.59680249e-01 1.21060405e-02 1.76962837e+02] [ 9.58906476e-01 -2.81092873e-01 -3.85378690e-02 1.71573805e+02] [ 4.03869534e-02 7.85849042e-04 9.99183805e-01 1.15721521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.12710568099993 meters 0.025371536986894455 Centerline is valid? [True, True] Translation: X:176.95, Y:171.60, Z:11.57 [[-2.81506809e-01 -9.59480191e-01 1.23158527e-02 1.76954050e+02] [ 9.58681787e-01 -2.81774986e-01 -3.91419048e-02 1.71598962e+02] [ 4.10261815e-02 7.88270938e-04 9.99157761e-01 1.15712575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.1571056809999 meters 0.024917049610403665 Centerline is valid? [True, True] Translation: X:176.95, Y:171.62, Z:11.57 [[-2.83501944e-01 -9.58889743e-01 1.25343297e-02 1.76946260e+02] [ 9.58064707e-01 -2.83777951e-01 -3.97755181e-02 1.71622756e+02] [ 4.16973027e-02 7.32262213e-04 9.99130021e-01 1.15713758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.18710568099993 meters 0.02372336896529841 Centerline is valid? [True, True] Translation: X:176.94, Y:171.65, Z:11.57 [[-2.87726915e-01 -9.57626340e-01 1.28458108e-02 1.76940001e+02] [ 9.56761323e-01 -2.88012943e-01 -4.06978612e-02 1.71647897e+02] [ 4.26731037e-02 5.80504880e-04 9.99088920e-01 1.15698527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2171056809999 meters 0.02290957624314806 Centerline is valid? [True, True] Translation: X:176.93, Y:171.67, Z:11.57 [[-2.91078620e-01 -9.56611481e-01 1.29503785e-02 1.76934518e+02] [ 9.55733936e-01 -2.91366214e-01 -4.09679509e-02 1.71673519e+02] [ 4.29637149e-02 4.52221586e-04 9.99076531e-01 1.15705741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.24710568099994 meters 0.02193317084696255 Centerline is valid? [True, True] Translation: X:176.93, Y:171.70, Z:11.57 [[-2.95355602e-01 -9.55300689e-01 1.28709989e-02 1.76930068e+02] [ 9.54435162e-01 -2.95635786e-01 -4.06571509e-02 1.71699512e+02] [ 4.26449321e-02 2.76216638e-04 9.99090253e-01 1.15713443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2771056809999 meters 0.02141409519615967 Centerline is valid? [True, True] Translation: X:176.93, Y:171.73, Z:11.57 [[-3.05189553e-01 -9.52200969e-01 1.31397006e-02 1.76930668e+02] [ 9.51298695e-01 -3.05472246e-01 -4.14427244e-02 1.71726901e+02] [ 4.34756162e-02 -1.48106488e-04 9.99054477e-01 1.15746461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.30710568099994 meters 0.02141409519615967 Centerline is valid? [True, True] Translation: X:176.92, Y:171.75, Z:11.58 [[-3.05621392e-01 -9.52062193e-01 1.31584990e-02 1.76922511e+02] [ 9.51160048e-01 -3.05904493e-01 -4.14367564e-02 1.71751513e+02] [ 4.34756132e-02 -1.48120675e-04 9.99054478e-01 1.15753951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3371056809999 meters 0.02276601044172301 Centerline is valid? [True, True] Translation: X:176.92, Y:171.78, Z:11.57 [[-3.13344265e-01 -9.49545139e-01 1.33940242e-02 1.76919706e+02] [ 9.48610696e-01 -3.13630015e-01 -4.21184057e-02 1.71778285e+02] [ 4.41940954e-02 -4.91846242e-04 9.99022843e-01 1.15744653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.36710568099994 meters 0.02293799038963468 Centerline is valid? [True, True] Translation: X:176.91, Y:171.80, Z:11.58 [[-3.16296844e-01 -9.48567083e-01 1.32964640e-02 1.76907884e+02] [ 9.47647570e-01 -3.16575613e-01 -4.17607966e-02 1.71803516e+02] [ 4.38222532e-02 -6.08446325e-04 9.99039158e-01 1.15773308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3971056809999 meters 0.023238494637119297 Centerline is valid? [True, True] Translation: X:176.90, Y:171.83, Z:11.58 [[-3.16361676e-01 -9.48545973e-01 1.32599549e-02 1.76898420e+02] [ 9.47634071e-01 -3.16638891e-01 -4.15870244e-02 1.71827238e+02] [ 4.36458219e-02 -5.90955701e-04 9.99046892e-01 1.15769245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.42710568099994 meters 0.023079074630014018 Centerline is valid? [True, True] Translation: X:176.89, Y:171.85, Z:11.58 [[-3.16058124e-01 -9.48648492e-01 1.31643943e-02 1.76886406e+02] [ 9.47752076e-01 -3.16331677e-01 -4.12343580e-02 1.71851610e+02] [ 4.32812264e-02 -5.55871822e-04 9.99062774e-01 1.15786049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4571056809999 meters 0.022005501643976404 Centerline is valid? [True, True] Translation: X:176.87, Y:171.87, Z:11.58 [[-3.11955562e-01 -9.50013845e-01 1.25467737e-02 1.76868042e+02] [ 9.49202736e-01 -3.12207594e-01 -3.92502850e-02 1.71874624e+02] [ 4.12055122e-02 -3.34912776e-04 9.99150636e-01 1.15825356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.48710568099995 meters 0.02166800963049762 Centerline is valid? [True, True] Translation: X:176.85, Y:171.90, Z:11.59 [[-3.05481247e-01 -9.52122995e-01 1.19586484e-02 1.76847239e+02] [ 9.51389778e-01 -3.05715228e-01 -3.73589229e-02 1.71896150e+02] [ 3.92262305e-02 -3.51145547e-05 9.99230355e-01 1.15866752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.5171056809999 meters 0.021821077510613313 Centerline is valid? [True, True] Translation: X:176.83, Y:171.92, Z:11.59 [[-3.01636869e-01 -9.53349308e-01 1.18446779e-02 1.76831428e+02] [ 9.52632910e-01 -3.01869307e-01 -3.69521496e-02 1.71917974e+02] [ 3.88038510e-02 1.37499300e-04 9.99246837e-01 1.15887766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.54710568099995 meters 0.023420273517861454 Centerline is valid? [True, True] Translation: X:176.81, Y:171.94, Z:11.59 [[-2.93612571e-01 -9.55857783e-01 1.12940764e-02 1.76807218e+02] [ 9.55209901e-01 -2.93829355e-01 -3.51902758e-02 1.71937875e+02] [ 3.69554302e-02 4.55906239e-04 9.99316811e-01 1.15919606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.5771056809999 meters 0.02456360778950797 Centerline is valid? [True, True] Translation: X:176.79, Y:171.96, Z:11.59 [[-2.90213385e-01 -9.56898773e-01 1.09967943e-02 1.76791794e+02] [ 9.56287056e-01 -2.90421064e-01 -3.42150847e-02 1.71960023e+02] [ 3.59340732e-02 5.86416466e-04 9.99353991e-01 1.15939965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.60710568099995 meters 0.027025137278518643 Centerline is valid? [True, True] Translation: X:176.77, Y:171.98, Z:11.59 [[-2.84606104e-01 -9.58583459e-01 1.08221118e-02 1.76771474e+02] [ 9.57993903e-01 -2.84810666e-01 -3.36238929e-02 1.71980727e+02] [ 3.53135604e-02 7.97951941e-04 9.99375963e-01 1.15945267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.6371056809999 meters 0.02807998555278528 Centerline is valid? [True, True] Translation: X:176.76, Y:172.00, Z:11.59 [[-2.82891972e-01 -9.59088965e-01 1.09767243e-02 1.76758052e+02] [ 9.58484575e-01 -2.83103461e-01 -3.40551032e-02 1.72004566e+02] [ 3.57694223e-02 8.87105578e-04 9.99359676e-01 1.15942325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.66710568099995 meters 0.028461734678090458 Centerline is valid? [True, True] Translation: X:176.74, Y:172.03, Z:11.59 [[-2.81402281e-01 -9.59523233e-01 1.13102243e-02 1.76744678e+02] [ 9.58883821e-01 -2.81627757e-01 -3.50374634e-02 1.72028416e+02] [ 3.68045333e-02 9.85568944e-04 9.99321998e-01 1.15937971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.6971056809999 meters 0.029614729750073746 Centerline is valid? [True, True] Translation: X:176.73, Y:172.05, Z:11.60 [[-2.81546150e-01 -9.59482374e-01 1.11955279e-02 1.76731990e+02] [ 9.58857650e-01 -2.81766934e-01 -3.46323909e-02 1.72050727e+02] [ 3.63836982e-02 9.84301222e-04 9.99337409e-01 1.15950572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.7271056809999 meters 0.028586916794751713 Centerline is valid? [True, True] Translation: X:176.72, Y:172.08, Z:11.60 [[-2.81779903e-01 -9.59414816e-01 1.11039257e-02 1.76724531e+02] [ 9.58802127e-01 -2.81996890e-01 -3.42963029e-02 1.72075733e+02] [ 3.60356537e-02 9.82458692e-04 9.99350022e-01 1.15969918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.7571056809999 meters 0.03002330615700174 Centerline is valid? [True, True] Translation: X:176.71, Y:172.10, Z:11.59 [[-2.82102343e-01 -9.59313280e-01 1.16746830e-02 1.76712761e+02] [ 9.58638036e-01 -2.82341917e-01 -3.60022031e-02 1.72098423e+02] [ 3.78336439e-02 1.03548933e-03 9.99283515e-01 1.15939040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.7871056809999 meters 0.02705303819829307 Centerline is valid? [True, True] Translation: X:176.71, Y:172.12, Z:11.59 [[-2.83735435e-01 -9.58826289e-01 1.20975073e-02 1.76709307e+02] [ 9.58103146e-01 -2.83991375e-01 -3.72459613e-02 1.72124833e+02] [ 3.91479946e-02 1.02266079e-03 9.99232900e-01 1.15928126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.81710568099993 meters 0.029206190882154953 Centerline is valid? [True, True] Translation: X:176.70, Y:172.15, Z:11.59 [[-2.85278265e-01 -9.58365593e-01 1.23167245e-02 1.76697198e+02] [ 9.57618019e-01 -2.85542294e-01 -3.78593313e-02 1.72147568e+02] [ 3.98000263e-02 9.94272925e-04 9.99207170e-01 1.15904676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.8471056809999 meters 0.026360945781393114 Centerline is valid? [True, True] Translation: X:176.70, Y:172.18, Z:11.59 [[-2.87569512e-01 -9.57674600e-01 1.27724364e-02 1.76697407e+02] [ 9.56872631e-01 -2.87851449e-01 -3.91958075e-02 1.72175890e+02] [ 4.12133936e-02 9.50075588e-04 9.99149915e-01 1.15923640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.87710568099993 meters 0.026979127684447633 Centerline is valid? [True, True] Translation: X:176.69, Y:172.20, Z:11.59 [[-2.88393744e-01 -9.57422681e-01 1.30712605e-02 1.76688700e+02] [ 9.56585094e-01 -2.88688241e-01 -4.00506796e-02 1.72199586e+02] [ 4.21189483e-02 9.53407498e-04 9.99112148e-01 1.15914168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.9071056809999 meters 0.02726814525740654 Centerline is valid? [True, True] Translation: X:176.68, Y:172.23, Z:11.59 [[-2.88003046e-01 -9.57535204e-01 1.34379418e-02 1.76678376e+02] [ 9.56652842e-01 -2.88314587e-01 -4.11100878e-02 1.72225044e+02] [ 4.32387110e-02 1.01561467e-03 9.99064253e-01 1.15905902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.93710568099993 meters 0.027915276536904964 Centerline is valid? [True, True] Translation: X:176.67, Y:172.25, Z:11.59 [[-2.87215767e-01 -9.57772371e-01 1.33861090e-02 1.76668367e+02] [ 9.56899403e-01 -2.87525573e-01 -4.08971676e-02 1.72250729e+02] [ 4.30190259e-02 1.06284838e-03 9.99073688e-01 1.15911749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.9671056809999 meters 0.028228307054842434 Centerline is valid? [True, True] Translation: X:176.66, Y:172.28, Z:11.59 [[-2.87310542e-01 -9.57754832e-01 1.25830714e-02 1.76661771e+02] [ 9.56985504e-01 -2.87584178e-01 -3.83938236e-02 1.72275932e+02] [ 4.03905624e-02 1.01086664e-03 9.99183457e-01 1.15947229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99710568099994 meters 0.02723656697151991 Centerline is valid? [True, True] Translation: X:176.66, Y:172.30, Z:11.60 [[-2.88652919e-01 -9.57359348e-01 1.19402909e-02 1.76656595e+02] [ 9.56668212e-01 -2.88898304e-01 -3.63827136e-02 1.72302605e+02] [ 3.82808608e-02 9.20920316e-04 9.99266595e-01 1.15985582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0271056809999 meters 0.02485615881143522 Centerline is valid? [True, True] Translation: X:176.66, Y:172.33, Z:11.60 [[-2.95855429e-01 -9.55177513e-01 1.02705345e-02 1.76655623e+02] [ 9.54666095e-01 -2.96033120e-01 -3.12576189e-02 1.72330282e+02] [ 3.28969930e-02 5.57194850e-04 9.99458592e-01 1.16038847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05710568099994 meters 0.02391315560317739 Centerline is valid? [True, True] Translation: X:176.65, Y:172.36, Z:11.61 [[-2.99048007e-01 -9.54187351e-01 9.83810435e-03 1.76650850e+02] [ 9.53718853e-01 -2.99209465e-01 -2.99005782e-02 1.72357267e+02] [ 3.14744075e-02 4.41077280e-04 9.99504461e-01 1.16065291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0871056809999 meters 0.0234198272313388 Centerline is valid? [True, True] Translation: X:176.65, Y:172.38, Z:11.61 [[-3.02352431e-01 -9.53144885e-01 9.89122778e-03 1.76645716e+02] [ 9.52672119e-01 -3.02513981e-01 -3.00187376e-02 1.72382167e+02] [ 3.16044409e-02 3.46858651e-04 9.99500395e-01 1.16082102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11710568099994 meters 0.022773536372578194 Centerline is valid? [True, True] Translation: X:176.64, Y:172.41, Z:11.61 [[-3.06645816e-01 -9.51764814e-01 1.05868502e-02 1.76641911e+02] [ 9.51224235e-01 -3.06828426e-01 -3.20744641e-02 1.72409226e+02] [ 3.37756930e-02 2.34968246e-04 9.99429411e-01 1.16075420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.1471056809999 meters 0.02260813199880586 Centerline is valid? [True, True] Translation: X:176.64, Y:172.43, Z:11.61 [[-3.08462135e-01 -9.51176986e-01 1.06513849e-02 1.76635096e+02] [ 9.50631188e-01 -3.08645923e-01 -3.22186216e-02 1.72433586e+02] [ 3.39331179e-02 1.87313888e-04 9.99424088e-01 1.16068848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17710568099994 meters 0.022401847516774313 Centerline is valid? [True, True] Translation: X:176.63, Y:172.46, Z:11.61 [[-3.11016776e-01 -9.50344634e-01 1.06603286e-02 1.76628222e+02] [ 9.49799215e-01 -3.11199397e-01 -3.21929570e-02 1.72458759e+02] [ 3.39118917e-02 1.12622007e-04 9.99424820e-01 1.16072225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.2071056809999 meters 0.022435489787216968 Centerline is valid? [True, True] Translation: X:176.62, Y:172.48, Z:11.61 [[-3.11515527e-01 -9.50179315e-01 1.08326573e-02 1.76618696e+02] [ 9.49617831e-01 -3.11703797e-01 -3.26606368e-02 1.72482307e+02] [ 3.44100419e-02 1.12589030e-04 9.99407793e-01 1.16056151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23710568099995 meters 0.02223668101409349 Centerline is valid? [True, True] Translation: X:176.61, Y:172.51, Z:11.60 [[-3.13286739e-01 -9.49590763e-01 1.13491338e-02 1.76610812e+02] [ 9.48976123e-01 -3.13492231e-01 -3.41604957e-02 1.72507997e+02] [ 3.59963565e-02 6.80267362e-05 9.99351919e-01 1.16044172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.2671056809999 meters 0.022177579326114794 Centerline is valid? [True, True] Translation: X:176.60, Y:172.53, Z:11.61 [[-3.15383614e-01 -9.48895084e-01 1.14584501e-02 1.76604035e+02] [ 9.48269980e-01 -3.15591698e-01 -3.44372722e-02 1.72533883e+02] [ 3.62935500e-02 4.75287602e-06 9.99341172e-01 1.16053585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29710568099995 meters 0.022298724447062147 Centerline is valid? [True, True] Translation: X:176.60, Y:172.56, Z:11.61 [[-3.20514989e-01 -9.47173127e-01 1.15416078e-02 1.76598780e+02] [ 9.46539757e-01 -3.20722678e-01 -3.46331192e-02 1.72559523e+02] [ 3.65052152e-02 -1.75843173e-04 9.99333447e-01 1.16061615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.3271056809999 meters 0.0229777379002038 Centerline is valid? [True, True] Translation: X:176.59, Y:172.59, Z:11.61 [[-3.26534477e-01 -9.45117138e-01 1.13503446e-02 1.76591701e+02] [ 9.44505210e-01 -3.26731461e-01 -3.40067817e-02 1.72585544e+02] [ 3.58489069e-02 -3.83927128e-04 9.99357148e-01 1.16077247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35710568099995 meters 0.023378763905492792 Centerline is valid? [True, True] Translation: X:176.58, Y:172.61, Z:11.61 [[-3.29307604e-01 -9.44159675e-01 1.09091678e-02 1.76583801e+02] [ 9.43595483e-01 -3.29487938e-01 -3.26383714e-02 1.72609094e+02] [ 3.44102733e-02 -4.54222378e-04 9.99407688e-01 1.16104208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.3871056809999 meters 0.02371747526801973 Centerline is valid? [True, True] Translation: X:176.57, Y:172.63, Z:11.62 [[-3.30774643e-01 -9.43656272e-01 1.00486594e-02 1.76572737e+02] [ 9.43178847e-01 -3.30926935e-01 -3.00171043e-02 1.72631861e+02] [ 3.16512008e-02 -4.51213936e-04 9.99498873e-01 1.16153069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.4171056809999 meters 0.023673539994839652 Centerline is valid? [True, True] Translation: X:176.56, Y:172.66, Z:11.62 [[-3.30931675e-01 -9.43602505e-01 9.92665922e-03 1.76560665e+02] [ 9.43138070e-01 -3.31080237e-01 -2.96050217e-02 1.72655848e+02] [ 3.12218933e-02 -4.35029202e-04 9.99512383e-01 1.16168585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.4471056809999 meters 0.022825607949600497 Centerline is valid? [True, True] Translation: X:176.54, Y:172.68, Z:11.62 [[-3.26568001e-01 -9.45124243e-01 9.66981777e-03 1.76539950e+02] [ 9.44685512e-01 -3.26711023e-01 -2.87956796e-02 1.72677133e+02] [ 3.03747310e-02 -2.68810793e-04 9.99538545e-01 1.16182893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.4771056809999 meters 0.022336787360083713 Centerline is valid? [True, True] Translation: X:176.52, Y:172.70, Z:11.62 [[-3.19507631e-01 -9.47537962e-01 9.31042282e-03 1.76518757e+02] [ 9.47133348e-01 -3.19643253e-01 -2.76877600e-02 1.72696520e+02] [ 2.92112175e-02 -2.82386627e-05 9.99573261e-01 1.16208279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.5071056809999 meters 0.022626021787249578 Centerline is valid? [True, True] Translation: X:176.50, Y:172.72, Z:11.62 [[-3.15763406e-01 -9.48794504e-01 9.08075183e-03 1.76503709e+02] [ 9.48411049e-01 -3.15893937e-01 -2.69722634e-02 1.72719029e+02] [ 2.84596898e-02 9.54315973e-05 9.99594936e-01 1.16221569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.5371056809999 meters 0.023877375578240663 Centerline is valid? [True, True] Translation: X:176.48, Y:172.74, Z:11.62 [[-3.07863209e-01 -9.51386005e-01 9.21491172e-03 1.76480740e+02] [ 9.50993495e-01 -3.08000889e-01 -2.73280995e-02 1.72739651e+02] [ 2.88377724e-02 3.50004706e-04 9.99584044e-01 1.16218259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.56710568099993 meters 0.026494773221778463 Centerline is valid? [True, True] Translation: X:176.46, Y:172.76, Z:11.62 [[-3.00036775e-01 -9.53875118e-01 1.00096432e-02 1.76457521e+02] [ 9.53414718e-01 -3.00202992e-01 -2.96401488e-02 1.72759438e+02] [ 3.12779253e-02 6.50206531e-04 9.99510515e-01 1.16193017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.5971056809999 meters 0.027071628324136315 Centerline is valid? [True, True] Translation: X:176.44, Y:172.78, Z:11.62 [[-2.96491506e-01 -9.54977211e-01 1.05504767e-02 1.76444889e+02] [ 9.54467949e-01 -2.96678026e-01 -3.11942629e-02 1.72784326e+02] [ 3.29199048e-02 8.21257885e-04 9.99457656e-01 1.16178973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.62710568099993 meters 0.02828934132281289 Centerline is valid? [True, True] Translation: X:176.43, Y:172.81, Z:11.62 [[-2.93766279e-01 -9.55812931e-01 1.10911752e-02 1.76431694e+02] [ 9.55252351e-01 -2.93973960e-01 -3.27453219e-02 1.72808030e+02] [ 3.45589189e-02 9.75399843e-04 9.99402186e-01 1.16159782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.6571056809999 meters 0.02927885403644181 Centerline is valid? [True, True] Translation: X:176.42, Y:172.83, Z:11.61 [[-2.91046740e-01 -9.56632404e-01 1.20929011e-02 1.76419658e+02] [ 9.55968705e-01 -2.91295449e-01 -3.56482279e-02 1.72832955e+02] [ 3.76248571e-02 1.18513453e-03 9.99291232e-01 1.16123493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.68710568099993 meters 0.029873132522086746 Centerline is valid? [True, True] Translation: X:176.41, Y:172.86, Z:11.61 [[-2.91897678e-01 -9.56371895e-01 1.21878494e-02 1.76411475e+02] [ 9.55699434e-01 -2.92149648e-01 -3.58772226e-02 1.72857513e+02] [ 3.78726433e-02 1.17544281e-03 9.99281883e-01 1.16118151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7171056809999 meters 0.02965722613102446 Centerline is valid? [True, True] Translation: X:176.40, Y:172.88, Z:11.61 [[-2.93156298e-01 -9.55986175e-01 1.22400401e-02 1.76404766e+02] [ 9.55309695e-01 -2.93409473e-01 -3.59759358e-02 1.72881571e+02] [ 3.79838409e-02 1.14645679e-03 9.99277696e-01 1.16121713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.74710568099994 meters 0.028175504691587003 Centerline is valid? [True, True] Translation: X:176.40, Y:172.91, Z:11.61 [[-2.96757171e-01 -9.54875083e-01 1.21965681e-02 1.76401461e+02] [ 9.54204477e-01 -2.97005966e-01 -3.57948575e-02 1.72909435e+02] [ 3.78020710e-02 1.01563920e-03 9.99284730e-01 1.16123129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7771056809999 meters 0.027798425589365273 Centerline is valid? [True, True] Translation: X:176.39, Y:172.94, Z:11.61 [[-2.97961113e-01 -9.54502515e-01 1.20051660e-02 1.76394363e+02] [ 9.53854250e-01 -2.98201297e-01 -3.51860312e-02 1.72935365e+02] [ 3.71651114e-02 9.67109548e-04 9.99308671e-01 1.16125668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.80710568099994 meters 0.027992908108949766 Centerline is valid? [True, True] Translation: X:176.39, Y:172.96, Z:11.61 [[-2.98590327e-01 -9.54305310e-01 1.20495656e-02 1.76388672e+02] [ 9.53654027e-01 -2.98831810e-01 -3.52639358e-02 1.72959992e+02] [ 3.72533547e-02 9.61646649e-04 9.99305390e-01 1.16113462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8371056809999 meters 0.02864884727802966 Centerline is valid? [True, True] Translation: X:176.38, Y:172.99, Z:11.61 [[-2.97944020e-01 -9.54500278e-01 1.25928822e-02 1.76382663e+02] [ 9.53791173e-01 -2.98208190e-01 -3.68004613e-02 1.72985147e+02] [ 3.88813512e-02 1.04650249e-03 9.99243286e-01 1.16096351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.86710568099994 meters 0.029437627233170963 Centerline is valid? [True, True] Translation: X:176.37, Y:173.01, Z:11.61 [[-2.98136228e-01 -9.54440104e-01 1.26046838e-02 1.76374648e+02] [ 9.53731170e-01 -2.98400709e-01 -3.67950065e-02 1.73009128e+02] [ 3.88798764e-02 1.05155537e-03 9.99243338e-01 1.16106011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8971056809999 meters 0.029939875819036448 Centerline is valid? [True, True] Translation: X:176.37, Y:173.04, Z:11.61 [[-2.96784119e-01 -9.54862484e-01 1.25228968e-02 1.76370209e+02] [ 9.54164773e-01 -2.97046122e-01 -3.65128476e-02 1.73035447e+02] [ 3.85846263e-02 1.11247374e-03 9.99254717e-01 1.16146118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.92710568099994 meters 0.02900884676006789 Centerline is valid? [True, True] Translation: X:176.37, Y:173.06, Z:11.62 [[-2.96615753e-01 -9.54912774e-01 1.26763209e-02 1.76365878e+02] [ 9.54199953e-01 -2.96884279e-01 -3.69076479e-02 1.73061416e+02] [ 3.90069849e-02 1.14835504e-03 9.99238278e-01 1.16169378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9571056809999 meters 0.028010567758986256 Centerline is valid? [True, True] Translation: X:176.36, Y:173.09, Z:11.62 [[-2.96122711e-01 -9.55069012e-01 1.24307020e-02 1.76362163e+02] [ 9.54385669e-01 -2.96381229e-01 -3.61408535e-02 1.73088580e+02] [ 3.82012360e-02 1.16155631e-03 9.99269391e-01 1.16193649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.98710568099995 meters 0.028429162406845846 Centerline is valid? [True, True] Translation: X:176.35, Y:173.11, Z:11.62 [[-2.95936646e-01 -9.55131223e-01 1.20767565e-02 1.76354071e+02] [ 9.54488112e-01 -2.96180726e-01 -3.50631105e-02 1.73113286e+02] [ 3.70667742e-02 1.15066120e-03 9.99312129e-01 1.16199066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.0171056809999 meters 0.02786158224469762 Centerline is valid? [True, True] Translation: X:176.35, Y:173.14, Z:11.62 [[-2.97611083e-01 -9.54610049e-01 1.21366441e-02 1.76350424e+02] [ 9.53962022e-01 -2.97856394e-01 -3.51856431e-02 1.73140545e+02] [ 3.72035456e-02 1.10626015e-03 9.99307096e-01 1.16206138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.04710568099995 meters 0.02622998637688906 Centerline is valid? [True, True] Translation: X:176.35, Y:173.17, Z:11.62 [[-3.02717708e-01 -9.52989734e-01 1.31360856e-02 1.76351506e+02] [ 9.52231213e-01 -3.03000947e-01 -3.80281811e-02 1.73170265e+02] [ 4.02207126e-02 9.96786950e-04 9.99190323e-01 1.16193954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.0771056809999 meters 0.025145881641064446 Centerline is valid? [True, True] Translation: X:176.35, Y:173.20, Z:11.62 [[-3.06166448e-01 -9.51880862e-01 1.35989287e-02 1.76348108e+02] [ 9.51069007e-01 -3.06466999e-01 -3.93156777e-02 1.73198377e+02] [ 4.15914641e-02 8.96378254e-04 9.99134299e-01 1.16193328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.10710568099995 meters 0.023085472069621957 Centerline is valid? [True, True] Translation: X:176.35, Y:173.23, Z:11.62 [[-3.13763900e-01 -9.49401818e-01 1.37260143e-02 1.76350393e+02] [ 9.48574295e-01 -3.14063445e-01 -3.96353375e-02 1.73228102e+02] [ 4.19407008e-02 5.84006219e-04 9.99119931e-01 1.16190610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.1371056809999 meters 0.022143302302464033 Centerline is valid? [True, True] Translation: X:176.35, Y:173.26, Z:11.62 [[-3.17684727e-01 -9.48095918e-01 1.38037955e-02 1.76347013e+02] [ 9.47259591e-01 -3.17984195e-01 -3.98160648e-02 1.73255520e+02] [ 4.21388373e-02 4.26821974e-04 9.99111674e-01 1.16213686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.1671056809999 meters 0.021568361956546003 Centerline is valid? [True, True] Translation: X:176.35, Y:173.28, Z:11.62 [[-3.23090895e-01 -9.46255125e-01 1.46120339e-02 1.76347088e+02] [ 9.45318875e-01 -3.23421074e-01 -4.20836594e-02 1.73282178e+02] [ 4.45477181e-02 2.16184322e-04 9.99007234e-01 1.16201298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.1971056809999 meters 0.021561572897270592 Centerline is valid? [True, True] Translation: X:176.34, Y:173.31, Z:11.62 [[-3.23520570e-01 -9.46104008e-01 1.48877851e-02 1.76339498e+02] [ 9.45134977e-01 -3.23862867e-01 -4.28102591e-02 1.73307858e+02] [ 4.53245585e-02 2.20967017e-04 9.98972290e-01 1.16200939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.2271056809999 meters 0.021561572897270592 Centerline is valid? [True, True] Translation: X:176.33, Y:173.33, Z:11.62 [[-3.23959955e-01 -9.45953334e-01 1.49076280e-02 1.76330667e+02] [ 9.44984461e-01 -3.24302700e-01 -4.28033501e-02 1.73332219e+02] [ 4.53245557e-02 2.20905418e-04 9.98972290e-01 1.16208430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.2571056809999 meters 0.022011207397681396 Centerline is valid? [True, True] Translation: X:176.32, Y:173.36, Z:11.62 [[-3.20896837e-01 -9.46994545e-01 1.50516548e-02 1.76320196e+02] [ 9.46010892e-01 -3.21249404e-01 -4.31533612e-02 1.73356357e+02] [ 4.57013328e-02 3.91252244e-04 9.98955072e-01 1.16234800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.2871056809999 meters 0.024230975843311048 Centerline is valid? [True, True] Translation: X:176.30, Y:173.38, Z:11.63 [[-3.13432361e-01 -9.49488524e-01 1.52216071e-02 1.76303385e+02] [ 9.48488203e-01 -3.13800791e-01 -4.35797210e-02 1.73378296e+02] [ 4.61549973e-02 7.78219952e-04 9.98933987e-01 1.16252798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.31710568099993 meters 0.02534781184591159 Centerline is valid? [True, True] Translation: X:176.29, Y:173.40, Z:11.63 [[-3.09327077e-01 -9.50838780e-01 1.49121834e-02 1.76290996e+02] [ 9.49882844e-01 -3.09684777e-01 -4.26370821e-02 1.73402619e+02] [ 4.51590674e-02 9.76023159e-04 9.98979332e-01 1.16275108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.3471056809999 meters 0.027762260885529893 Centerline is valid? [True, True] Translation: X:176.28, Y:173.43, Z:11.63 [[-3.02187110e-01 -9.53134955e-01 1.47210249e-02 1.76276372e+02] [ 9.52208517e-01 -3.02542606e-01 -4.20346588e-02 1.73426436e+02] [ 4.45184398e-02 1.31515321e-03 9.99007697e-01 1.16299483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.37710568099993 meters 0.03008934410302754 Centerline is valid? [True, True] Translation: X:176.26, Y:173.45, Z:11.63 [[-2.99213330e-01 -9.54065764e-01 1.51625166e-02 1.76263137e+02] [ 9.53086847e-01 -2.99593431e-01 -4.32346857e-02 1.73449449e+02] [ 4.57913238e-02 1.51480084e-03 9.98949879e-01 1.16279027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.4071056809999 meters 0.03129717887286807 Centerline is valid? [True, True] Translation: X:176.25, Y:173.47, Z:11.63 [[-2.95140829e-01 -9.55317635e-01 1.61278312e-02 1.76251030e+02] [ 9.54214808e-01 -2.95575456e-01 -4.59265709e-02 1.73473825e+02] [ 4.86414542e-02 1.83460911e-03 9.98814619e-01 1.16266033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.43710568099993 meters 0.03206705804552987 Centerline is valid? [True, True] Translation: X:176.24, Y:173.50, Z:11.63 [[-2.93896029e-01 -9.55711654e-01 1.55034679e-02 1.76240852e+02] [ 9.54695476e-01 -2.94298905e-01 -4.40987909e-02 1.73498804e+02] [ 4.67083821e-02 1.84063114e-03 9.98906872e-01 1.16291371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.4671056809999 meters 0.03308786101476575 Centerline is valid? [True, True] Translation: X:176.23, Y:173.52, Z:11.63 [[-2.93361427e-01 -9.55875284e-01 1.55407468e-02 1.76231352e+02] [ 9.54857223e-01 -2.93766701e-01 -4.41453271e-02 1.73523690e+02] [ 4.67627809e-02 1.88865816e-03 9.98904237e-01 1.16312302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49710568099994 meters 0.03406464658244424 Centerline is valid? [True, True] Translation: X:176.22, Y:173.55, Z:11.63 [[-2.91769938e-01 -9.56355388e-01 1.59585615e-02 1.76223367e+02] [ 9.55285498e-01 -2.92198948e-01 -4.52702085e-02 1.73549885e+02] [ 4.79574827e-02 2.03649638e-03 9.98847302e-01 1.16315262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5271056809999 meters 0.034314972225716035 Centerline is valid? [True, True] Translation: X:176.21, Y:173.58, Z:11.63 [[-2.91498531e-01 -9.56427965e-01 1.65576066e-02 1.76213973e+02] [ 9.55279400e-01 -2.91960532e-01 -4.69075153e-02 1.73575499e+02] [ 4.96978271e-02 2.14366871e-03 9.98761999e-01 1.16305926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55710568099994 meters 0.03489604183646042 Centerline is valid? [True, True] Translation: X:176.20, Y:173.60, Z:11.63 [[-2.91910507e-01 -9.56294913e-01 1.69792547e-02 1.76203764e+02] [ 9.55089977e-01 -2.92395673e-01 -4.80406668e-02 1.73599315e+02] [ 5.09057059e-02 2.19314059e-03 9.98701056e-01 1.16269068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5871056809999 meters 0.03442802683561927 Centerline is valid? [True, True] Translation: X:176.20, Y:173.63, Z:11.63 [[-2.93935301e-01 -9.55673042e-01 1.70609184e-02 1.76198827e+02] [ 9.54458573e-01 -2.94422436e-01 -4.82106019e-02 1.73625082e+02] [ 5.10966897e-02 2.11314203e-03 9.98691475e-01 1.16267564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61710568099994 meters 0.03363755452944044 Centerline is valid? [True, True] Translation: X:176.19, Y:173.65, Z:11.63 [[-2.95920201e-01 -9.55062451e-01 1.69395832e-02 1.76193563e+02] [ 9.53866989e-01 -2.96397837e-01 -4.78130640e-02 1.73652409e+02] [ 5.06853179e-02 2.00925773e-03 9.98712652e-01 1.16288292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.6471056809999 meters 0.03127241375871199 Centerline is valid? [True, True] Translation: X:176.19, Y:173.68, Z:11.63 [[-3.01931874e-01 -9.53182001e-01 1.67695172e-02 1.76191837e+02] [ 9.52010117e-01 -3.02392494e-01 -4.72812395e-02 1.73679370e+02] [ 5.01386026e-02 1.68903682e-03 9.98740841e-01 1.16306896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67710568099994 meters 0.028083323120044683 Centerline is valid? [True, True] Translation: X:176.19, Y:173.71, Z:11.63 [[-3.05757928e-01 -9.51967015e-01 1.64588013e-02 1.76187788e+02] [ 9.50839388e-01 -3.06197018e-01 -4.63448374e-02 1.73707203e+02] [ 4.91583924e-02 1.47937514e-03 9.98789900e-01 1.16330093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.7071056809999 meters 0.025419866199974852 Centerline is valid? [True, True] Translation: X:176.18, Y:173.74, Z:11.64 [[-3.12083408e-01 -9.49923875e-01 1.57663857e-02 1.76184761e+02] [ 9.48889111e-01 -3.12479395e-01 -4.43405345e-02 1.73735294e+02] [ 4.70468030e-02 1.12260660e-03 9.98892055e-01 1.16356447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73710568099995 meters 0.02353136767536551 Centerline is valid? [True, True] Translation: X:176.18, Y:173.76, Z:11.64 [[-3.19643755e-01 -9.47410274e-01 1.55448507e-02 1.76183839e+02] [ 9.46404037e-01 -3.20020625e-01 -4.36600388e-02 1.73762594e+02] [ 4.63386421e-02 7.56050715e-04 9.98925502e-01 1.16381201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.7671056809999 meters 0.02251399883922471 Centerline is valid? [True, True] Translation: X:176.18, Y:173.79, Z:11.64 [[-3.24318312e-01 -9.45819443e-01 1.55952883e-02 1.76180324e+02] [ 9.44807368e-01 -3.24692596e-01 -4.37464920e-02 1.73787854e+02] [ 4.64399573e-02 5.46754870e-04 9.98920934e-01 1.16390748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79710568099995 meters 0.021217591760316578 Centerline is valid? [True, True] Translation: X:176.18, Y:173.81, Z:11.64 [[-3.29094992e-01 -9.44164907e-01 1.57833330e-02 1.76176042e+02] [ 9.43128941e-01 -3.29473089e-01 -4.42185930e-02 1.73814516e+02] [ 4.69498273e-02 3.33600576e-04 9.98897193e-01 1.16404328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.8271056809999 meters 0.020893563503900862 Centerline is valid? [True, True] Translation: X:176.17, Y:173.84, Z:11.64 [[-3.34990403e-01 -9.42089479e-01 1.57747685e-02 1.76169877e+02] [ 9.41055416e-01 -3.35361610e-01 -4.41281596e-02 1.73839232e+02] [ 4.68629267e-02 6.24213784e-05 9.98901328e-01 1.16367443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85710568099995 meters 0.020910958332785366 Centerline is valid? [True, True] Translation: X:176.16, Y:173.86, Z:11.64 [[-3.33963535e-01 -9.42450334e-01 1.59913869e-02 1.76158875e+02] [ 9.41391308e-01 -3.34346151e-01 -4.46660564e-02 1.73862837e+02] [ 4.74421984e-02 1.37318493e-04 9.98873976e-01 1.16383322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.8871056809999 meters 0.021189149914033176 Centerline is valid? [True, True] Translation: X:176.15, Y:173.89, Z:11.64 [[-3.31906732e-01 -9.43175286e-01 1.60717254e-02 1.76147779e+02] [ 9.42109305e-01 -3.32295517e-01 -4.48302018e-02 1.73886175e+02] [ 4.76233007e-02 2.61876301e-04 9.98865333e-01 1.16394711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.9171056809999 meters 0.02252806913361953 Centerline is valid? [True, True] Translation: X:176.13, Y:173.91, Z:11.64 [[-3.25336665e-01 -9.45457103e-01 1.63376980e-02 1.76131404e+02] [ 9.44361025e-01 -3.25746037e-01 -4.55167409e-02 1.73909350e+02] [ 4.83560664e-02 6.20420585e-04 9.98829968e-01 1.16408247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.9471056809999 meters 0.025340729015014354 Centerline is valid? [True, True] Translation: X:176.11, Y:173.93, Z:11.64 [[-3.18390714e-01 -9.47821503e-01 1.61787251e-02 1.76111675e+02] [ 9.46752441e-01 -3.18799981e-01 -4.50154072e-02 1.73930302e+02] [ 4.78243482e-02 9.84759795e-04 9.98855276e-01 1.16393867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.9771056809999 meters 0.025799404584540147 Centerline is valid? [True, True] Translation: X:176.10, Y:173.95, Z:11.64 [[-3.14448578e-01 -9.49141863e-01 1.58687281e-02 1.76100232e+02] [ 9.48117840e-01 -3.14846520e-01 -4.40934198e-02 1.73954643e+02] [ 4.68471245e-02 1.18031110e-03 9.98901373e-01 1.16426887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.0071056809999 meters 0.02914648174311864 Centerline is valid? [True, True] Translation: X:176.09, Y:173.98, Z:11.64 [[-3.07283222e-01 -9.51485172e-01 1.59056185e-02 1.76085808e+02] [ 9.50462320e-01 -3.07690667e-01 -4.41342513e-02 1.73977504e+02] [ 4.68870961e-02 1.55597613e-03 9.98898983e-01 1.16445144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.0371056809999 meters 0.03039304391320513 Centerline is valid? [True, True] Translation: X:176.08, Y:174.00, Z:11.65 [[-3.04603072e-01 -9.52344013e-01 1.60576938e-02 1.76075584e+02] [ 9.51305536e-01 -3.05021171e-01 -4.44956527e-02 1.74002971e+02] [ 4.72731050e-02 1.72226054e-03 9.98880517e-01 1.16456020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.06710568099993 meters 0.03197907297750939 Centerline is valid? [True, True] Translation: X:176.06, Y:174.03, Z:11.65 [[-3.03145859e-01 -9.52808306e-01 1.60909600e-02 1.76064341e+02] [ 9.51768958e-01 -3.03567180e-01 -4.45288409e-02 1.74027221e+02] [ 4.73121369e-02 1.81614245e-03 9.98878503e-01 1.16462686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.0971056809999 meters 0.03404093583225842 Centerline is valid? [True, True] Translation: X:176.05, Y:174.05, Z:11.65 [[-3.01356136e-01 -9.53379318e-01 1.58856887e-02 1.76051700e+02] [ 9.52369820e-01 -3.01768571e-01 -4.39028030e-02 1.74050179e+02] [ 4.66498260e-02 1.89867142e-03 9.98909500e-01 1.16451925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.12710568099993 meters 0.03347192380914334 Centerline is valid? [True, True] Translation: X:176.04, Y:174.08, Z:11.65 [[-2.98759868e-01 -9.54199339e-01 1.56895719e-02 1.76043666e+02] [ 9.53218291e-01 -2.99164754e-01 -4.33051872e-02 1.74076290e+02] [ 4.60155479e-02 2.01773495e-03 9.98938686e-01 1.16465889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.1571056809999 meters 0.03338053762885813 Centerline is valid? [True, True] Translation: X:176.03, Y:174.10, Z:11.65 [[-2.97190722e-01 -9.54684503e-01 1.59741939e-02 1.76034632e+02] [ 9.53670935e-01 -2.97611972e-01 -4.40325161e-02 1.74102096e+02] [ 4.67912721e-02 2.14806918e-03 9.98902379e-01 1.16475806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.18710568099993 meters 0.037621316426068065 Centerline is valid? [True, True] Translation: X:176.02, Y:174.12, Z:11.65 [[-2.93988391e-01 -9.55680503e-01 1.56716796e-02 1.76020471e+02] [ 9.54708784e-01 -2.94396991e-01 -4.31456882e-02 1.74124492e+02] [ 4.58471883e-02 2.27755872e-03 9.98945868e-01 1.16467491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2171056809999 meters 0.03697548705481812 Centerline is valid? [True, True] Translation: X:176.01, Y:174.15, Z:11.65 [[-2.93654511e-01 -9.55781440e-01 1.57754935e-02 1.76013444e+02] [ 9.54799283e-01 -2.94068767e-01 -4.33807569e-02 1.74150888e+02] [ 4.61016022e-02 2.32347498e-03 9.98934054e-01 1.16482681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.24710568099994 meters 0.03607951785097362 Centerline is valid? [True, True] Translation: X:176.01, Y:174.18, Z:11.65 [[-2.93030420e-01 -9.55972687e-01 1.57922669e-02 1.76008837e+02] [ 9.54991293e-01 -2.93446067e-01 -4.33709047e-02 1.74178515e+02] [ 4.60955789e-02 2.37248304e-03 9.98934217e-01 1.16508493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2771056809999 meters 0.038422055013198834 Centerline is valid? [True, True] Translation: X:176.00, Y:174.20, Z:11.65 [[-2.93404896e-01 -9.55862159e-01 1.55273954e-02 1.75997211e+02] [ 9.54915909e-01 -2.93806215e-01 -4.25853809e-02 1.74201582e+02] [ 4.52677994e-02 2.33259767e-03 9.98972164e-01 1.16506345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.30710568099994 meters 0.03677730734645741 Centerline is valid? [True, True] Translation: X:175.99, Y:174.23, Z:11.65 [[-2.93834622e-01 -9.55739559e-01 1.49368646e-02 1.75990926e+02] [ 9.54866047e-01 -2.94205496e-01 -4.09140343e-02 1.74228821e+02] [ 4.34976687e-02 2.24074509e-03 9.99051016e-01 1.16510591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3371056809999 meters 0.03565236393672924 Centerline is valid? [True, True] Translation: X:175.99, Y:174.26, Z:11.65 [[-2.94721418e-01 -9.55466514e-01 1.49340603e-02 1.75986217e+02] [ 9.54594838e-01 -2.95091249e-01 -4.08638048e-02 1.74256528e+02] [ 4.34509076e-02 2.21253838e-03 9.99053113e-01 1.16507510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.36710568099994 meters 0.03595028166242518 Centerline is valid? [True, True] Translation: X:175.98, Y:174.28, Z:11.65 [[-2.96057316e-01 -9.55049599e-01 1.51765693e-02 1.75979516e+02] [ 9.54151237e-01 -2.96437873e-01 -4.14729382e-02 1.74282798e+02] [ 4.41076229e-02 2.20237557e-03 9.99024358e-01 1.16513372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3971056809999 meters 0.034379772563621035 Centerline is valid? [True, True] Translation: X:175.98, Y:174.31, Z:11.65 [[-3.01087684e-01 -9.53469479e-01 1.55614870e-02 1.75978337e+02] [ 9.52525390e-01 -3.01482683e-01 -4.24684871e-02 1.74310698e+02] [ 4.51839251e-02 2.03597306e-03 9.98976610e-01 1.16517524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.42710568099994 meters 0.03178026735265046 Centerline is valid? [True, True] Translation: X:175.97, Y:174.34, Z:11.65 [[-3.05472805e-01 -9.52077834e-01 1.53024091e-02 1.75974891e+02] [ 9.51165611e-01 -3.05850461e-01 -4.17070261e-02 1.74338302e+02] [ 4.43885840e-02 1.81476307e-03 9.99012693e-01 1.16529503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4571056809999 meters 0.02872956535660352 Centerline is valid? [True, True] Translation: X:175.97, Y:174.37, Z:11.66 [[-3.13286310e-01 -9.49558941e-01 1.37661320e-02 1.75974579e+02] [ 9.48820065e-01 -3.13585830e-01 -3.74754658e-02 1.74366498e+02] [ 3.99020275e-02 1.32103186e-03 9.99202724e-01 1.16573545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.48710568099995 meters 0.026753959924430918 Centerline is valid? [True, True] Translation: X:175.97, Y:174.39, Z:11.66 [[-3.17242587e-01 -9.48258416e-01 1.27717269e-02 1.75970320e+02] [ 9.47622968e-01 -3.17497711e-01 -3.47262775e-02 1.74394160e+02] [ 3.69844790e-02 1.08612768e-03 9.99315250e-01 1.16606391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.5171056809999 meters 0.02455467176306379 Centerline is valid? [True, True] Translation: X:175.97, Y:174.42, Z:11.66 [[-3.25203414e-01 -9.45569907e-01 1.18444169e-02 1.75969404e+02] [ 9.45022898e-01 -3.25418214e-01 -3.21668706e-02 1.74421131e+02] [ 3.42704139e-02 7.32469106e-04 9.99412328e-01 1.16632463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.54710568099995 meters 0.022290252673785912 Centerline is valid? [True, True] Translation: X:175.97, Y:174.45, Z:11.66 [[-3.33696567e-01 -9.42599358e-01 1.23714234e-02 1.75968978e+02] [ 9.42002165e-01 -3.33925502e-01 -3.35511575e-02 1.74449886e+02] [ 3.57564333e-02 4.58001513e-04 9.99360429e-01 1.16630475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.5771056809999 meters 0.021526095756836106 Centerline is valid? [True, True] Translation: X:175.96, Y:174.48, Z:11.66 [[-3.38607271e-01 -9.40845384e-01 1.24530973e-02 1.75963162e+02] [ 9.40240654e-01 -3.38836068e-01 -3.37288053e-02 1.74475355e+02] [ 3.59531493e-02 2.88089646e-04 9.99353435e-01 1.16621325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.60710568099995 meters 0.020757044238485834 Centerline is valid? [True, True] Translation: X:175.96, Y:174.50, Z:11.66 [[-3.47843566e-01 -9.37469159e-01 1.25071815e-02 1.75959746e+02] [ 9.36858575e-01 -3.48068346e-01 -3.38295231e-02 1.74502509e+02] [ 3.60674886e-02 -4.99216839e-05 9.99349355e-01 1.16617877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.6371056809999 meters 0.02132422088437896 Centerline is valid? [True, True] Translation: X:175.95, Y:174.53, Z:11.66 [[-3.55107676e-01 -9.34744954e-01 1.22641393e-02 1.75952186e+02] [ 9.34157741e-01 -3.55319259e-01 -3.31291372e-02 1.74527612e+02] [ 3.53249787e-02 -3.07770229e-04 9.99375831e-01 1.16605818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.6671056809999 meters 0.021723131874024817 Centerline is valid? [True, True] Translation: X:175.94, Y:174.55, Z:11.66 [[-3.57596251e-01 -9.33792246e-01 1.25284487e-02 1.75942061e+02] [ 9.33180128e-01 -3.57815430e-01 -3.38078036e-02 1.74552574e+02] [ 3.60523371e-02 -3.98244484e-04 9.99349824e-01 1.16602663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.6971056809999 meters 0.02185323650360611 Centerline is valid? [True, True] Translation: X:175.93, Y:174.58, Z:11.66 [[-3.59016266e-01 -9.33243513e-01 1.28010272e-02 1.75930648e+02] [ 9.32605800e-01 -3.59244131e-01 -3.44974805e-02 1.74576248e+02] [ 3.67932438e-02 -4.46844435e-04 9.99322799e-01 1.16601677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.7271056809999 meters 0.02212269923304453 Centerline is valid? [True, True] Translation: X:175.92, Y:174.60, Z:11.66 [[-3.59316032e-01 -9.33124048e-01 1.30958132e-02 1.75915184e+02] [ 9.32458422e-01 -3.59554318e-01 -3.52417931e-02 1.74597761e+02] [ 3.75936209e-02 -4.51639945e-04 9.99293008e-01 1.16589612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.7571056809999 meters 0.02192906979370613 Centerline is valid? [True, True] Translation: X:175.90, Y:174.62, Z:11.66 [[-3.58361425e-01 -9.33492650e-01 1.29831124e-02 1.75900868e+02] [ 9.32840250e-01 -3.58596315e-01 -3.48963032e-02 1.74620329e+02] [ 3.72311388e-02 -3.94319181e-04 9.99306603e-01 1.16600946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.7871056809999 meters 0.02167762047896893 Centerline is valid? [True, True] Translation: X:175.88, Y:174.64, Z:11.66 [[-3.55394768e-01 -9.34630788e-01 1.26431283e-02 1.75882293e+02] [ 9.34014521e-01 -3.55619497e-01 -3.39359486e-02 1.74641254e+02] [ 3.62137253e-02 -2.51793154e-04 9.99344036e-01 1.16620625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.81710568099993 meters 0.02155802171177648 Centerline is valid? [True, True] Translation: X:175.86, Y:174.66, Z:11.66 [[-3.51713428e-01 -9.36021035e-01 1.27391693e-02 1.75862146e+02] [ 9.35397964e-01 -3.51944049e-01 -3.41472664e-02 1.74661359e+02] [ 3.64460345e-02 -9.38591109e-05 9.99335618e-01 1.16609043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.8471056809999 meters 0.021667009107917332 Centerline is valid? [True, True] Translation: X:175.84, Y:174.68, Z:11.66 [[-3.47423061e-01 -9.37621567e-01 1.27676963e-02 1.75840569e+02] [ 9.36998558e-01 -3.47657575e-01 -3.41747542e-02 1.74681795e+02] [ 3.64817729e-02 9.02153114e-05 9.99334314e-01 1.16605944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.87710568099993 meters 0.02180636337119832 Centerline is valid? [True, True] Translation: X:175.83, Y:174.70, Z:11.66 [[-3.45874230e-01 -9.38194366e-01 1.27416023e-02 1.75825841e+02] [ 9.37575988e-01 -3.46108804e-01 -3.40582239e-02 1.74703833e+02] [ 3.63632145e-02 1.66358403e-04 9.99338626e-01 1.16614730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.9071056809999 meters 0.022021881656141305 Centerline is valid? [True, True] Translation: X:175.81, Y:174.73, Z:11.66 [[-3.44428901e-01 -9.38726914e-01 1.26693882e-02 1.75812404e+02] [ 9.38117612e-01 -3.44661754e-01 -3.38174769e-02 1.74726893e+02] [ 3.61120293e-02 2.37659751e-04 9.99347720e-01 1.16639014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93710568099993 meters 0.022545710407588865 Centerline is valid? [True, True] Translation: X:175.80, Y:174.75, Z:11.67 [[-3.41809187e-01 -9.39678283e-01 1.30844715e-02 1.75796348e+02] [ 9.39030921e-01 -3.42059337e-01 -3.48760577e-02 1.74749724e+02] [ 3.72479397e-02 3.65766373e-04 9.99305988e-01 1.16653676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.9671056809999 meters 0.022983354023665654 Centerline is valid? [True, True] Translation: X:175.78, Y:174.77, Z:11.66 [[-3.40427909e-01 -9.40176088e-01 1.33327502e-02 1.75780991e+02] [ 9.39506088e-01 -3.40688605e-01 -3.54906273e-02 1.74772439e+02] [ 3.79097552e-02 4.44199985e-04 9.99281068e-01 1.16646848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99710568099994 meters 0.023104338027946363 Centerline is valid? [True, True] Translation: X:175.77, Y:174.80, Z:11.66 [[-3.40577005e-01 -9.40121964e-01 1.33415199e-02 1.75768726e+02] [ 9.39452884e-01 -3.40837917e-01 -3.54653910e-02 1.74796098e+02] [ 3.78890889e-02 4.55032717e-04 9.99281847e-01 1.16648877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0271056809999 meters 0.023777996587954257 Centerline is valid? [True, True] Translation: X:175.75, Y:174.82, Z:11.66 [[-3.38194720e-01 -9.40982204e-01 1.32974666e-02 1.75752974e+02] [ 9.40320022e-01 -3.38455567e-01 -3.52999303e-02 1.74819707e+02] [ 3.77172078e-02 5.65624049e-04 9.99288293e-01 1.16642412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05710568099994 meters 0.02450055516791091 Centerline is valid? [True, True] Translation: X:175.74, Y:174.84, Z:11.66 [[-3.36268809e-01 -9.41671496e-01 1.33447564e-02 1.75739885e+02] [ 9.41006846e-01 -3.36532849e-01 -3.53801917e-02 1.74842653e+02] [ 3.78074669e-02 6.60252182e-04 9.99284824e-01 1.16640070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0871056809999 meters 0.02656737541875674 Centerline is valid? [True, True] Translation: X:175.72, Y:174.87, Z:11.66 [[-3.30550787e-01 -9.43693484e-01 1.33710602e-02 1.75724119e+02] [ 9.43029610e-01 -3.30819869e-01 -3.54029536e-02 1.74865444e+02] [ 3.78329490e-02 9.06831482e-04 9.99283666e-01 1.16647982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11710568099994 meters 0.02656737541875674 Centerline is valid? [True, True] Translation: X:175.71, Y:174.89, Z:11.67 [[-3.30983658e-01 -9.43541527e-01 1.33867576e-02 1.75714660e+02] [ 9.42877768e-01 -3.31253024e-01 -3.53970179e-02 1.74889557e+02] [ 3.78329603e-02 9.06241702e-04 9.99283666e-01 1.16655475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.1471056809999 meters 0.02912452504286924 Centerline is valid? [True, True] Translation: X:175.70, Y:174.91, Z:11.67 [[-3.26454685e-01 -9.45117922e-01 1.33959778e-02 1.75699393e+02] [ 9.44456390e-01 -3.26727553e-01 -3.53727892e-02 1.74911296e+02] [ 3.78082921e-02 1.10430408e-03 9.99284401e-01 1.16670576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17710568099994 meters 0.02953040712371577 Centerline is valid? [True, True] Translation: X:175.69, Y:174.94, Z:11.67 [[-3.26124725e-01 -9.45234737e-01 1.31892235e-02 1.75688498e+02] [ 9.44595276e-01 -3.26389411e-01 -3.47809935e-02 1.74935426e+02] [ 3.71810261e-02 1.11553623e-03 9.99307924e-01 1.16686181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.2071056809999 meters 0.028382005741554747 Centerline is valid? [True, True] Translation: X:175.68, Y:174.96, Z:11.67 [[-3.27131436e-01 -9.44894254e-01 1.26440264e-02 1.75680438e+02] [ 9.44307889e-01 -3.27374026e-01 -3.32995141e-02 1.74960790e+02] [ 3.56038454e-02 1.04653594e-03 9.99365434e-01 1.16702968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23710568099995 meters 0.027497759173256316 Centerline is valid? [True, True] Translation: X:175.67, Y:174.99, Z:11.67 [[-3.29145209e-01 -9.44196010e-01 1.25429488e-02 1.75672147e+02] [ 9.43620074e-01 -3.29382662e-01 -3.29881600e-02 1.74986436e+02] [ 3.52787189e-02 9.77883422e-04 9.99377034e-01 1.16709389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.2671056809999 meters 0.02605947541393634 Centerline is valid? [True, True] Translation: X:175.67, Y:175.01, Z:11.67 [[-3.33846194e-01 -9.42546861e-01 1.23342106e-02 1.75666985e+02] [ 9.41990201e-01 -3.34073001e-01 -3.23989347e-02 1.75013909e+02] [ 3.46580409e-02 8.02444447e-04 9.99398907e-01 1.16718919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29710568099995 meters 0.02454653024506712 Centerline is valid? [True, True] Translation: X:175.66, Y:175.04, Z:11.67 [[-3.40251915e-01 -9.40257359e-01 1.20304909e-02 1.75663513e+02] [ 9.39727592e-01 -3.40464063e-01 -3.15638138e-02 1.75041317e+02] [ 3.37740580e-02 5.65736117e-04 9.99429334e-01 1.16736421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.3271056809999 meters 0.02381667483896322 Centerline is valid? [True, True] Translation: X:175.66, Y:175.07, Z:11.67 [[-3.43454539e-01 -9.39095027e-01 1.18114581e-02 1.75656210e+02] [ 9.38584958e-01 -3.43657275e-01 -3.09508362e-02 1.75067516e+02] [ 3.31248699e-02 4.55851750e-04 9.99451117e-01 1.16742933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35710568099995 meters 0.022489726953376202 Centerline is valid? [True, True] Translation: X:175.65, Y:175.10, Z:11.68 [[-3.49646063e-01 -9.36814870e-01 1.12040121e-02 1.75651601e+02] [ 9.36355833e-01 -3.49825446e-01 -2.93242568e-02 1.75095045e+02] [ 3.13908483e-02 2.37831160e-04 9.99507158e-01 1.16752765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.3871056809999 meters 0.022044231557900463 Centerline is valid? [True, True] Translation: X:175.65, Y:175.12, Z:11.68 [[-3.55006673e-01 -9.34797426e-01 1.11370625e-02 1.75647383e+02] [ 9.34344003e-01 -3.55181315e-01 -2.91121495e-02 1.75120561e+02] [ 3.11696390e-02 7.08402505e-05 9.99514106e-01 1.16764356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.4171056809999 meters 0.021779151701542702 Centerline is valid? [True, True] Translation: X:175.64, Y:175.15, Z:11.68 [[-3.58118957e-01 -9.33608471e-01 1.12265498e-02 1.75640361e+02] [ 9.33148477e-01 -3.58294882e-01 -2.93035252e-02 1.75145263e+02] [ 3.13804347e-02 -1.81100293e-05 9.99507513e-01 1.16764837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.4471056809999 meters 0.021729209534090875 Centerline is valid? [True, True] Translation: X:175.63, Y:175.17, Z:11.68 [[-3.63241024e-01 -9.31623343e-01 1.15716961e-02 1.75633385e+02] [ 9.31134956e-01 -3.63425251e-01 -3.01625813e-02 1.75171085e+02] [ 3.23056114e-02 -1.81476157e-04 9.99478021e-01 1.16761244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.4771056809999 meters 0.021830102430438588 Centerline is valid? [True, True] Translation: X:175.62, Y:175.20, Z:11.68 [[-3.64661305e-01 -9.31065319e-01 1.18112018e-02 1.75623860e+02] [ 9.30557622e-01 -3.64852468e-01 -3.07439306e-02 1.75196125e+02] [ 3.29339537e-02 -2.20117955e-04 9.99457506e-01 1.16769107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.5071056809999 meters 0.021648648024283814 Centerline is valid? [True, True] Translation: X:175.61, Y:175.22, Z:11.68 [[-3.63573737e-01 -9.31489054e-01 1.19281050e-02 1.75611341e+02] [ 9.30972940e-01 -3.63769314e-01 -3.10043853e-02 1.75218049e+02] [ 3.32193241e-02 -1.67637225e-04 9.99448072e-01 1.16774811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.5371056809999 meters 0.02153478091321393 Centerline is valid? [True, True] Translation: X:175.60, Y:175.24, Z:11.68 [[-3.62147848e-01 -9.32042256e-01 1.20900200e-02 1.75597837e+02] [ 9.31513883e-01 -3.62349586e-01 -3.13793420e-02 1.75241399e+02] [ 3.36276864e-02 -1.01939699e-04 9.99434424e-01 1.16776406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.56710568099993 meters 0.021620010044756256 Centerline is valid? [True, True] Translation: X:175.58, Y:175.26, Z:11.67 [[-3.58273535e-01 -9.33527348e-01 1.29137380e-02 1.75581442e+02] [ 9.32927244e-01 -3.58506189e-01 -3.34674424e-02 1.75263361e+02] [ 3.58724277e-02 5.70790743e-05 9.99356376e-01 1.16749613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.5971056809999 meters 0.022137328617950033 Centerline is valid? [True, True] Translation: X:175.57, Y:175.29, Z:11.67 [[-3.53633150e-01 -9.35287137e-01 1.34746927e-02 1.75565666e+02] [ 9.34636789e-01 -3.53889677e-01 -3.48736122e-02 1.75285671e+02] [ 3.73853956e-02 2.61478217e-04 9.99300888e-01 1.16736419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.62710568099993 meters 0.022364065526817384 Centerline is valid? [True, True] Translation: X:175.55, Y:175.31, Z:11.68 [[-3.52076351e-01 -9.35874782e-01 1.34400758e-02 1.75554059e+02] [ 9.35229580e-01 -3.52332626e-01 -3.47469864e-02 1.75308970e+02] [ 3.72542055e-02 3.35964301e-04 9.99305765e-01 1.16753676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.6571056809999 meters 0.022806207220667202 Centerline is valid? [True, True] Translation: X:175.54, Y:175.33, Z:11.68 [[-3.50068460e-01 -9.36640362e-01 1.25262151e-02 1.75540383e+02] [ 9.36081904e-01 -3.50292263e-01 -3.23419084e-02 1.75331244e+02] [ 3.46805730e-02 4.03681218e-04 9.99398366e-01 1.16769442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.68710568099993 meters 0.023005193867864506 Centerline is valid? [True, True] Translation: X:175.53, Y:175.36, Z:11.68 [[-3.49716101e-01 -9.36768039e-01 1.28175453e-02 1.75528970e+02] [ 9.36185074e-01 -3.49950632e-01 -3.30463698e-02 1.75355279e+02] [ 3.54422912e-02 4.42746943e-04 9.99371627e-01 1.16772889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7171056809999 meters 0.02344960810964219 Centerline is valid? [True, True] Translation: X:175.52, Y:175.38, Z:11.68 [[-3.48474940e-01 -9.37226792e-01 1.30826929e-02 1.75517309e+02] [ 9.36621403e-01 -3.48720053e-01 -3.36848938e-02 1.75379607e+02] [ 3.61325823e-02 5.15188869e-04 9.99346872e-01 1.16769661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.74710568099994 meters 0.024230881546052813 Centerline is valid? [True, True] Translation: X:175.51, Y:175.40, Z:11.68 [[-3.46223146e-01 -9.38058079e-01 1.32880704e-02 1.75505513e+02] [ 9.37435657e-01 -3.46477486e-01 -3.41722081e-02 1.75404378e+02] [ 3.66595331e-02 6.25501640e-04 9.99327618e-01 1.16790974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7771056809999 meters 0.025082335947981847 Centerline is valid? [True, True] Translation: X:175.49, Y:175.43, Z:11.68 [[-3.44935714e-01 -9.38540983e-01 1.26560459e-02 1.75494377e+02] [ 9.37978019e-01 -3.45167191e-01 -3.25091696e-02 1.75428540e+02] [ 3.48796399e-02 6.57519261e-04 9.99391304e-01 1.16816319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.80710568099994 meters 0.0269551099651059 Centerline is valid? [True, True] Translation: X:175.48, Y:175.45, Z:11.69 [[-3.41662818e-01 -9.39745433e-01 1.20432724e-02 1.75481708e+02] [ 9.39237665e-01 -3.41874175e-01 -3.08975245e-02 1.75450272e+02] [ 3.31530913e-02 7.54959813e-04 9.99450000e-01 1.16854527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8371056809999 meters 0.02963872905961399 Centerline is valid? [True, True] Translation: X:175.47, Y:175.47, Z:11.69 [[-3.36342974e-01 -9.41665806e-01 1.17861586e-02 1.75467498e+02] [ 9.41181976e-01 -3.36548114e-01 -3.01969433e-02 1.75472469e+02] [ 3.24020384e-02 9.36390346e-04 9.99474477e-01 1.16867743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.86710568099994 meters 0.03178400761917927 Centerline is valid? [True, True] Translation: X:175.45, Y:175.50, Z:11.69 [[-3.33325682e-01 -9.42731552e-01 1.22967556e-02 1.75454167e+02] [ 9.42206825e-01 -3.33550622e-01 -3.14687467e-02 1.75495141e+02] [ 3.37681709e-02 1.09674559e-03 9.99429091e-01 1.16855044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8971056809999 meters 0.0358051497500782 Centerline is valid? [True, True] Translation: X:175.44, Y:175.52, Z:11.68 [[-3.27194233e-01 -9.44865011e-01 1.31925817e-02 1.75438907e+02] [ 9.44264396e-01 -3.27456984e-01 -3.37145933e-02 1.75516600e+02] [ 3.61757426e-02 1.42606472e-03 9.99344426e-01 1.16814742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.92710568099994 meters 0.032987711060308664 Centerline is valid? [True, True] Translation: X:175.43, Y:175.54, Z:11.68 [[-3.23798326e-01 -9.46030428e-01 1.34563704e-02 1.75434622e+02] [ 9.45408212e-01 -3.24073858e-01 -3.43430861e-02 1.75543717e+02] [ 3.68504623e-02 1.60152930e-03 9.99319508e-01 1.16827612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9571056809999 meters 0.041895258817383804 Centerline is valid? [True, True] Translation: X:175.42, Y:175.56, Z:11.68 [[-3.19603234e-01 -9.47455765e-01 1.34664665e-02 1.75416851e+02] [ 9.46835520e-01 -3.19881857e-01 -3.43233970e-02 1.75564993e+02] [ 3.68275786e-02 1.78066011e-03 9.99320048e-01 1.16842735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.98710568099995 meters 0.0363679102503294 Centerline is valid? [True, True] Translation: X:175.42, Y:175.59, Z:11.69 [[-3.18600640e-01 -9.47791928e-01 1.35680806e-02 1.75417248e+02] [ 9.47164246e-01 -3.18884065e-01 -3.45375691e-02 1.75594509e+02] [ 3.70610739e-02 1.84750924e-03 9.99311295e-01 1.16877752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.0171056809999 meters 0.03604252557865363 Centerline is valid? [True, True] Translation: X:175.41, Y:175.62, Z:11.69 [[-3.18679542e-01 -9.47760845e-01 1.38827337e-02 1.75411514e+02] [ 9.47105347e-01 -3.18976124e-01 -3.52943818e-02 1.75621133e+02] [ 3.78788937e-02 1.90081387e-03 9.99280529e-01 1.16858709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.04710568099995 meters 0.03628204706687256 Centerline is valid? [True, True] Translation: X:175.40, Y:175.65, Z:11.68 [[-3.19581470e-01 -9.47455432e-01 1.39959831e-02 1.75403541e+02] [ 9.46790630e-01 -3.19882190e-01 -3.55371385e-02 1.75646149e+02] [ 3.81469206e-02 1.89425473e-03 9.99270346e-01 1.16849255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.0771056809999 meters 0.04001143117186915 Centerline is valid? [True, True] Translation: X:175.40, Y:175.67, Z:11.68 [[-3.20606151e-01 -9.47109899e-01 1.39476131e-02 1.75395182e+02] [ 9.46451199e-01 -3.20903993e-01 -3.53660197e-02 1.75670432e+02] [ 3.79713520e-02 1.86217166e-03 9.99277093e-01 1.16838969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.10710568099995 meters 0.034827858307828384 Centerline is valid? [True, True] Translation: X:175.40, Y:175.70, Z:11.69 [[-3.23036974e-01 -9.46282706e-01 1.40054725e-02 1.75400560e+02] [ 9.45619611e-01 -3.23335498e-01 -3.54641531e-02 1.75701539e+02] [ 3.80875812e-02 1.78761670e-03 9.99272806e-01 1.16862199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.1371056809999 meters 0.033821519640198645 Centerline is valid? [True, True] Translation: X:175.40, Y:175.73, Z:11.69 [[-3.24767507e-01 -9.45686297e-01 1.42651556e-02 1.75395933e+02] [ 9.44999538e-01 -3.25075864e-01 -3.60770939e-02 1.75729280e+02] [ 3.87548711e-02 1.76389758e-03 9.99247191e-01 1.16861712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.1671056809999 meters 0.03240002920394011 Centerline is valid? [True, True] Translation: X:175.39, Y:175.76, Z:11.68 [[-3.28275992e-01 -9.44458400e-01 1.52710042e-02 1.75394486e+02] [ 9.43672070e-01 -3.28626342e-01 -3.85713943e-02 1.75758176e+02] [ 4.14475316e-02 1.74875741e-03 9.99139151e-01 1.16833479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.1971056809999 meters 0.03169550892469972 Centerline is valid? [True, True] Translation: X:175.39, Y:175.78, Z:11.68 [[-3.30179775e-01 -9.43796283e-01 1.51621999e-02 1.75388143e+02] [ 9.43022341e-01 -3.30523511e-01 -3.82501461e-02 1.75784592e+02] [ 4.11118093e-02 1.66886854e-03 9.99153158e-01 1.16834471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.2271056809999 meters 0.028891337928836223 Centerline is valid? [True, True] Translation: X:175.39, Y:175.81, Z:11.69 [[-3.35770667e-01 -9.41843309e-01 1.37564541e-02 1.75387770e+02] [ 9.41206083e-01 -3.36049802e-01 -3.46646743e-02 1.75813565e+02] [ 3.72715452e-02 1.30827752e-03 9.99304318e-01 1.16881515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.2571056809999 meters 0.026741591873143775 Centerline is valid? [True, True] Translation: X:175.39, Y:175.84, Z:11.69 [[-3.42193079e-01 -9.39539622e-01 1.30075349e-02 1.75388342e+02] [ 9.38969583e-01 -3.42438721e-01 -3.27390387e-02 1.75841845e+02] [ 3.52139076e-02 1.01060723e-03 9.99379287e-01 1.16919612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.2871056809999 meters 0.02563561441253594 Centerline is valid? [True, True] Translation: X:175.38, Y:175.87, Z:11.69 [[-3.45339697e-01 -9.38391717e-01 1.27074602e-02 1.75382834e+02] [ 9.37848266e-01 -3.45572280e-01 -3.19441513e-02 1.75868705e+02] [ 3.43674730e-02 8.86086009e-04 9.99408871e-01 1.16934939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.31710568099993 meters 0.024618101656984744 Centerline is valid? [True, True] Translation: X:175.38, Y:175.90, Z:11.69 [[-3.48200110e-01 -9.37333957e-01 1.27175853e-02 1.75376475e+02] [ 9.36790267e-01 -3.48431372e-01 -3.19307708e-02 1.75895235e+02] [ 3.43610015e-02 7.95412211e-04 9.99409170e-01 1.16943264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.3471056809999 meters 0.023576446429401602 Centerline is valid? [True, True] Translation: X:175.37, Y:175.92, Z:11.69 [[-3.51828770e-01 -9.35963416e-01 1.37477121e-02 1.75369469e+02] [ 9.35328675e-01 -3.52096506e-01 -3.44720070e-02 1.75920840e+02] [ 3.71050588e-02 7.30385509e-04 9.99311103e-01 1.16916222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.37710568099993 meters 0.02371373554550653 Centerline is valid? [True, True] Translation: X:175.36, Y:175.94, Z:11.69 [[-3.52994250e-01 -9.35515714e-01 1.43320633e-02 1.75360040e+02] [ 9.34827342e-01 -3.53284328e-01 -3.58890596e-02 1.75944845e+02] [ 3.86380726e-02 7.29372989e-04 9.99253005e-01 1.16901625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.4071056809999 meters 0.02363450883154352 Centerline is valid? [True, True] Translation: X:175.35, Y:175.97, Z:11.69 [[-3.52531661e-01 -9.35692135e-01 1.42005995e-02 1.75350704e+02] [ 9.35018339e-01 -3.52816741e-01 -3.55113052e-02 1.75969500e+02] [ 3.82378582e-02 7.58961520e-04 9.99268377e-01 1.16940270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43710568099993 meters 0.02452246645099858 Centerline is valid? [True, True] Translation: X:175.34, Y:175.99, Z:11.69 [[-3.52109107e-01 -9.35854142e-01 1.40072204e-02 1.75338885e+02] [ 9.35200371e-01 -3.52386740e-01 -3.49836012e-02 1.75992351e+02] [ 3.76755068e-02 7.81513185e-04 9.99289720e-01 1.16948117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.4671056809999 meters 0.02487342797601409 Centerline is valid? [True, True] Translation: X:175.33, Y:176.02, Z:11.70 [[-3.49484072e-01 -9.36836187e-01 1.41011437e-02 1.75325594e+02] [ 9.36175882e-01 -3.49767261e-01 -3.51792548e-02 1.76016533e+02] [ 3.78893173e-02 9.06561447e-04 9.99281531e-01 1.16958102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49710568099994 meters 0.027151949630803997 Centerline is valid? [True, True] Translation: X:175.31, Y:176.04, Z:11.69 [[-3.47403966e-01 -9.37606849e-01 1.42787127e-02 1.75309760e+02] [ 9.36932066e-01 -3.47695789e-01 -3.55800790e-02 1.76038016e+02] [ 3.83247740e-02 1.01752325e-03 9.99264818e-01 1.16943279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5271056809999 meters 0.027202233775534608 Centerline is valid? [True, True] Translation: X:175.30, Y:176.06, Z:11.69 [[-3.43858442e-01 -9.38902654e-01 1.49391703e-02 1.75298299e+02] [ 9.38166825e-01 -3.44180615e-01 -3.71848378e-02 1.76062841e+02] [ 4.00547157e-02 1.22911362e-03 9.99196732e-01 1.16942646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55710568099994 meters 0.02974432193640934 Centerline is valid? [True, True] Translation: X:175.28, Y:176.09, Z:11.69 [[-3.42756320e-01 -9.39302960e-01 1.51014470e-02 1.75283983e+02] [ 9.38553312e-01 -3.43086351e-01 -3.75424597e-02 1.76085173e+02] [ 4.04448439e-02 1.30559775e-03 9.99180920e-01 1.16931923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5871056809999 meters 0.02903930790566704 Centerline is valid? [True, True] Translation: X:175.27, Y:176.11, Z:11.69 [[-3.42151931e-01 -9.39516928e-01 1.54918673e-02 1.75273090e+02] [ 9.38730250e-01 -3.42499681e-01 -3.84640999e-02 1.76109660e+02] [ 4.14436326e-02 1.38211842e-03 9.99139888e-01 1.16928867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61710568099994 meters 0.028243838497773115 Centerline is valid? [True, True] Translation: X:175.26, Y:176.13, Z:11.69 [[-3.42893266e-01 -9.39244099e-01 1.56438790e-02 1.75261563e+02] [ 9.38443561e-01 -3.43247175e-01 -3.87950907e-02 1.76134023e+02] [ 4.18077772e-02 1.37832214e-03 9.99124722e-01 1.16927738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.6471056809999 meters 0.028610574090796016 Centerline is valid? [True, True] Translation: X:175.25, Y:176.16, Z:11.69 [[-3.44484598e-01 -9.38664117e-01 1.54931457e-02 1.75250461e+02] [ 9.37880137e-01 -3.44830335e-01 -3.83782366e-02 1.76158000e+02] [ 4.13667802e-02 1.31000225e-03 9.99143170e-01 1.16933985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67710568099994 meters 0.026955772321612812 Centerline is valid? [True, True] Translation: X:175.24, Y:176.18, Z:11.70 [[-3.47060699e-01 -9.37715014e-01 1.54733228e-02 1.75242654e+02] [ 9.36934043e-01 -3.47403346e-01 -3.82820326e-02 1.76184208e+02] [ 4.12731208e-02 1.21129397e-03 9.99147167e-01 1.16955832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.7071056809999 meters 0.025159671914343356 Centerline is valid? [True, True] Translation: X:175.24, Y:176.21, Z:11.70 [[-3.52856790e-01 -9.35569532e-01 1.42034048e-02 1.75235892e+02] [ 9.34911193e-01 -3.53141408e-01 -3.51028167e-02 1.76209076e+02] [ 3.78569361e-02 8.92654920e-04 9.99282771e-01 1.17010825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73710568099995 meters 0.02261468884618866 Centerline is valid? [True, True] Translation: X:175.23, Y:176.23, Z:11.71 [[-3.60880779e-01 -9.32520383e-01 1.30689699e-02 1.75230673e+02] [ 9.31962079e-01 -3.61116946e-01 -3.22681528e-02 1.76234681e+02] [ 3.48101367e-02 5.34828261e-04 9.99393800e-01 1.17051603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.7671056809999 meters 0.021417639652549725 Centerline is valid? [True, True] Translation: X:175.22, Y:176.26, Z:11.70 [[-3.65977543e-01 -9.30528878e-01 1.32832546e-02 1.75223534e+02] [ 9.29952224e-01 -3.66218342e-01 -3.27564884e-02 1.76260584e+02] [ 3.53454299e-02 3.64652985e-04 9.99375089e-01 1.17039082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79710568099995 meters 0.020104635675432674 Centerline is valid? [True, True] Translation: X:175.22, Y:176.29, Z:11.70 [[-3.75342750e-01 -9.26791135e-01 1.32669745e-02 1.75218431e+02] [ 9.26214866e-01 -3.75577145e-01 -3.26776750e-02 1.76288355e+02] [ 3.52681519e-02 2.27405945e-05 9.99377885e-01 1.17041960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.8271056809999 meters 0.020137078814978154 Centerline is valid? [True, True] Translation: X:175.21, Y:176.31, Z:11.71 [[-3.79723434e-01 -9.25007002e-01 1.31209805e-02 1.75210661e+02] [ 9.24443512e-01 -3.79950036e-01 -3.22825442e-02 1.76313055e+02] [ 3.48468965e-02 -1.28833202e-04 9.99392654e-01 1.17055155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85710568099995 meters 0.021208883274721525 Centerline is valid? [True, True] Translation: X:175.21, Y:176.34, Z:11.71 [[-3.87147380e-01 -9.21928096e-01 1.28643709e-02 1.75205229e+02] [ 9.21386091e-01 -3.87360862e-01 -3.16106510e-02 1.76339705e+02] [ 3.41259011e-02 -3.84928338e-04 9.99417468e-01 1.17076756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.8871056809999 meters 0.023493924859854826 Centerline is valid? [True, True] Translation: X:175.20, Y:176.36, Z:11.71 [[-3.93750202e-01 -9.19115770e-01 1.36740592e-02 1.75198259e+02] [ 9.18503188e-01 -3.93987023e-01 -3.35577024e-02 1.76364158e+02] [ 3.62308154e-02 -6.53685106e-04 9.99343235e-01 1.17063833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.9171056809999 meters 0.025061947003728092 Centerline is valid? [True, True] Translation: X:175.18, Y:176.39, Z:11.70 [[-3.97540213e-01 -9.17479469e-01 1.38997449e-02 1.75184862e+02] [ 9.16846848e-01 -3.97782328e-01 -3.40745708e-02 1.76386967e+02] [ 3.67917921e-02 -8.02074825e-04 9.99322631e-01 1.17045161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.9471056809999 meters 0.025525978299972114 Centerline is valid? [True, True] Translation: X:175.17, Y:176.41, Z:11.71 [[-3.98279775e-01 -9.17158099e-01 1.39370853e-02 1.75173093e+02] [ 9.16523456e-01 -3.98522715e-01 -3.41233088e-02 1.76410140e+02] [ 3.68507141e-02 -8.16958199e-04 9.99320448e-01 1.17056130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.9771056809999 meters 0.02476139991198307 Centerline is valid? [True, True] Translation: X:175.16, Y:176.43, Z:11.71 [[-4.00250913e-01 -9.16304753e-01 1.35943876e-02 1.75156702e+02] [ 9.15702001e-01 -4.00480795e-01 -3.32412067e-02 1.76432316e+02] [ 3.59033668e-02 -8.56415368e-04 9.99354899e-01 1.17106187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.0071056809999 meters 0.027374850146589327 Centerline is valid? [True, True] Translation: X:175.15, Y:176.46, Z:11.71 [[-4.01674006e-01 -9.15683434e-01 1.34848407e-02 1.75147546e+02] [ 9.15091415e-01 -4.01899313e-01 -3.29339313e-02 1.76456416e+02] [ 3.55766035e-02 -8.88842177e-04 9.99366557e-01 1.17109534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.0371056809999 meters 0.027374850146589327 Centerline is valid? [True, True] Translation: X:175.14, Y:176.48, Z:11.71 [[-4.02099179e-01 -9.15496610e-01 1.34984240e-02 1.75137638e+02] [ 9.14904672e-01 -4.02324699e-01 -3.29283637e-02 1.76479479e+02] [ 3.55765547e-02 -8.90696835e-04 9.99366557e-01 1.17116789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.06710568099993 meters 0.027757536144461588 Centerline is valid? [True, True] Translation: X:175.12, Y:176.50, Z:11.71 [[-4.02528192e-01 -9.15306010e-01 1.36367812e-02 1.75117887e+02] [ 9.14703367e-01 -4.02758115e-01 -3.32212571e-02 1.76497552e+02] [ 3.58999406e-02 -8.98882888e-04 9.99354985e-01 1.17101359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.0971056809999 meters 0.026505851577465742 Centerline is valid? [True, True] Translation: X:175.10, Y:176.52, Z:11.71 [[-4.02405533e-01 -9.15350241e-01 1.42731495e-02 1.75099836e+02] [ 9.14691865e-01 -4.02657540e-01 -3.47231523e-02 1.76519226e+02] [ 3.75310371e-02 -9.17254859e-04 9.99295041e-01 1.17090651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.12710568099993 meters 0.02437738584510348 Centerline is valid? [True, True] Translation: X:175.07, Y:176.54, Z:11.71 [[-3.97911296e-01 -9.17304197e-01 1.48192376e-02 1.75074909e+02] [ 9.16597577e-01 -3.98186459e-01 -3.60059186e-02 1.76538780e+02] [ 3.89292000e-02 -7.43884453e-04 9.99241695e-01 1.17092775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.1571056809999 meters 0.021891153178307865 Centerline is valid? [True, True] Translation: X:175.05, Y:176.56, Z:11.72 [[-3.89341674e-01 -9.20989824e-01 1.38132408e-02 1.75045311e+02] [ 9.20379528e-01 -3.89586485e-01 -3.35245396e-02 1.76555292e+02] [ 3.62572118e-02 -3.39076305e-04 9.99342434e-01 1.17163604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.18710568099993 meters 0.02114993072212935 Centerline is valid? [True, True] Translation: X:175.02, Y:176.58, Z:11.72 [[-3.83316943e-01 -9.23517365e-01 1.35571774e-02 1.75022585e+02] [ 9.22932437e-01 -3.83556605e-01 -3.28640830e-02 1.76575421e+02] [ 3.55504962e-02 -8.50010854e-05 9.99367878e-01 1.17194316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2171056809999 meters 0.021189961245469097 Centerline is valid? [True, True] Translation: X:175.00, Y:176.59, Z:11.72 [[-3.77281432e-01 -9.26002518e-01 1.33438274e-02 1.74999392e+02] [ 9.25438735e-01 -3.77517299e-01 -3.23084536e-02 1.76594479e+02] [ 3.49552351e-02 1.59515154e-04 9.99388866e-01 1.17211277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.24710568099994 meters 0.02255972957710158 Centerline is valid? [True, True] Translation: X:174.97, Y:176.61, Z:11.72 [[-3.67326492e-01 -9.29986364e-01 1.40218425e-02 1.74966353e+02] [ 9.29368317e-01 -3.67593566e-01 -3.39042970e-02 1.76610285e+02] [ 3.66848730e-02 5.77509707e-04 9.99326717e-01 1.17203104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2771056809999 meters 0.023543642060805354 Centerline is valid? [True, True] Translation: X:174.95, Y:176.63, Z:11.72 [[-3.63855370e-01 -9.31340104e-01 1.46588114e-02 1.74947711e+02] [ 9.30667388e-01 -3.64149736e-01 -3.54003262e-02 1.76631517e+02] [ 3.83077458e-02 7.61878931e-04 9.99265698e-01 1.17199347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.30710568099994 meters 0.025648427979010336 Centerline is valid? [True, True] Translation: X:174.92, Y:176.65, Z:11.72 [[-3.59233434e-01 -9.33129267e-01 1.48697977e-02 1.74924741e+02] [ 9.32440325e-01 -3.59539716e-01 -3.58640817e-02 1.76650104e+02] [ 3.88121071e-02 9.81621808e-04 9.99246044e-01 1.17221501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.3371056809999 meters 0.025490253499559246 Centerline is valid? [True, True] Translation: X:174.91, Y:176.67, Z:11.73 [[-3.58921715e-01 -9.33250730e-01 1.47742163e-02 1.74910749e+02] [ 9.32572453e-01 -3.59224256e-01 -3.55886658e-02 1.76672553e+02] [ 3.85204052e-02 1.00448219e-03 9.99257309e-01 1.17251069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.36710568099994 meters 0.02485427365317364 Centerline is valid? [True, True] Translation: X:174.90, Y:176.70, Z:11.73 [[-3.59790416e-01 -9.32918827e-01 1.46054582e-02 1.74895353e+02] [ 9.32257435e-01 -3.60085425e-01 -3.51363344e-02 1.76695066e+02] [ 3.80385605e-02 9.74330669e-04 9.99275797e-01 1.17282493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.3971056809999 meters 0.024854217370558526 Centerline is valid? [True, True] Translation: X:174.88, Y:176.72, Z:11.73 [[-3.60598634e-01 -9.32600219e-01 1.50152194e-02 1.74880887e+02] [ 9.31902844e-01 -3.60909769e-01 -3.60725426e-02 1.76716679e+02] [ 3.90604004e-02 9.85016042e-04 9.99236366e-01 1.17278502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.42710568099994 meters 0.024912937261315233 Centerline is valid? [True, True] Translation: X:174.87, Y:176.74, Z:11.73 [[-3.60793378e-01 -9.32518018e-01 1.54364484e-02 1.74868883e+02] [ 9.31782950e-01 -3.61122003e-01 -3.70328751e-02 1.76739825e+02] [ 4.01082645e-02 1.02220327e-03 9.99194817e-01 1.17275470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4571056809999 meters 0.02679966843654338 Centerline is valid? [True, True] Translation: X:174.85, Y:176.76, Z:11.72 [[-3.58610476e-01 -9.33340213e-01 1.65702549e-02 1.74854539e+02] [ 9.32496339e-01 -3.58991044e-01 -3.96989771e-02 1.76761852e+02] [ 4.30012249e-02 1.21523293e-03 9.99074280e-01 1.17237249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.48710568099995 meters 0.02852625203813243 Centerline is valid? [True, True] Translation: X:174.84, Y:176.79, Z:11.72 [[-3.54161674e-01 -9.35003739e-01 1.83716149e-02 1.74842938e+02] [ 9.33971284e-01 -3.54634286e-01 -4.39563876e-02 1.76785833e+02] [ 4.76145913e-02 1.59089294e-03 9.98864515e-01 1.17205758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.5171056809999 meters 0.031077520967370823 Centerline is valid? [True, True] Translation: X:174.83, Y:176.81, Z:11.72 [[-3.51542110e-01 -9.35968512e-01 1.95215071e-02 1.74828484e+02] [ 9.34806940e-01 -3.52078866e-01 -4.66525226e-02 1.76807974e+02] [ 5.05384022e-02 1.84851408e-03 9.98720408e-01 1.17173923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.54710568099995 meters 0.0337520062218374 Centerline is valid? [True, True] Translation: X:174.81, Y:176.83, Z:11.71 [[-3.46021456e-01 -9.37989999e-01 2.10692690e-02 1.74812217e+02] [ 9.36643558e-01 -3.46654477e-01 -5.02943155e-02 1.76830433e+02] [ 5.44793214e-02 2.33148279e-03 9.98512177e-01 1.17138484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.5771056809999 meters 0.03659880399254872 Centerline is valid? [True, True] Translation: X:174.80, Y:176.85, Z:11.71 [[-3.43339806e-01 -9.38964963e-01 2.15075749e-02 1.74798041e+02] [ 9.37566923e-01 -3.44003284e-01 -5.12835796e-02 1.76852271e+02] [ 5.55521608e-02 2.55709656e-03 9.98452512e-01 1.17131430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.60710568099995 meters 0.03593536542843493 Centerline is valid? [True, True] Translation: X:174.79, Y:176.88, Z:11.72 [[-3.41367280e-01 -9.39683381e-01 2.15296129e-02 1.74788717e+02] [ 9.38286925e-01 -3.42034910e-01 -5.12812425e-02 1.76878049e+02] [ 5.55520105e-02 2.69521600e-03 9.98452157e-01 1.17165519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.6371056809999 meters 0.03910360239497318 Centerline is valid? [True, True] Translation: X:174.78, Y:176.90, Z:11.72 [[-3.38161826e-01 -9.40846026e-01 2.13385842e-02 1.74776244e+02] [ 9.39479964e-01 -3.38822160e-01 -5.07635895e-02 1.76900913e+02] [ 5.49907066e-02 2.88086423e-03 9.98482710e-01 1.17190462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.6671056809999 meters 0.03896415803203187 Centerline is valid? [True, True] Translation: X:174.77, Y:176.93, Z:11.72 [[-3.38511792e-01 -9.40727154e-01 2.10282612e-02 1.74767096e+02] [ 9.39403817e-01 -3.39152394e-01 -4.99612067e-02 1.76925138e+02] [ 5.41316489e-02 2.84157121e-03 9.98529764e-01 1.17213908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.6971056809999 meters 0.038101491879691134 Centerline is valid? [True, True] Translation: X:174.76, Y:176.95, Z:11.73 [[-3.42097696e-01 -9.39449639e-01 2.00883569e-02 1.74761281e+02] [ 9.38242918e-01 -3.42677578e-01 -4.76686884e-02 1.76950372e+02] [ 5.16661616e-02 2.54041007e-03 9.98661181e-01 1.17259570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.7271056809999 meters 0.03531281981914208 Centerline is valid? [True, True] Translation: X:174.76, Y:176.98, Z:11.73 [[-3.45461576e-01 -9.38234350e-01 1.93029637e-02 1.74756092e+02] [ 9.37121019e-01 -3.45992901e-01 -4.57505003e-02 1.76977774e+02] [ 4.96033793e-02 2.28417307e-03 9.98766383e-01 1.17304640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.7571056809999 meters 0.031295472480446056 Centerline is valid? [True, True] Translation: X:174.75, Y:177.01, Z:11.74 [[-3.53231390e-01 -9.35368413e-01 1.77064020e-02 1.74753660e+02] [ 9.34429986e-01 -3.53670634e-01 -4.19247444e-02 1.77006338e+02] [ 4.54773160e-02 1.73625718e-03 9.98963863e-01 1.17365640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.7871056809999 meters 0.028888360864947744 Centerline is valid? [True, True] Translation: X:174.75, Y:177.03, Z:11.74 [[-3.60135182e-01 -9.32726662e-01 1.79895687e-02 1.74753077e+02] [ 9.31756679e-01 -3.60581345e-01 -4.25509673e-02 1.77034033e+02] [ 4.61751246e-02 1.43780046e-03 9.98932325e-01 1.17364361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.81710568099993 meters 0.027626000530657904 Centerline is valid? [True, True] Translation: X:174.75, Y:177.06, Z:11.74 [[-3.63439074e-01 -9.31432991e-01 1.85640162e-02 1.74747077e+02] [ 9.30400980e-01 -3.63910435e-01 -4.38544283e-02 1.77061345e+02] [ 4.76031005e-02 1.33356606e-03 9.98865440e-01 1.17370630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.8471056809999 meters 0.025807001571885327 Centerline is valid? [True, True] Translation: X:174.74, Y:177.09, Z:11.74 [[-3.69248010e-01 -9.29134062e-01 1.91259385e-02 1.74742790e+02] [ 9.28038158e-01 -3.69741415e-01 -4.51271784e-02 1.77087846e+02] [ 4.90008502e-02 1.08647996e-03 9.98798146e-01 1.17368971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.87710568099993 meters 0.025180753188392888 Centerline is valid? [True, True] Translation: X:174.73, Y:177.11, Z:11.74 [[-3.71828876e-01 -9.28112688e-01 1.87116477e-02 1.74734805e+02] [ 9.27064959e-01 -3.72298181e-01 -4.40979225e-02 1.77114139e+02] [ 4.78941538e-02 9.50031904e-04 9.98851965e-01 1.17369733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.9071056809999 meters 0.023704186554273712 Centerline is valid? [True, True] Translation: X:174.73, Y:177.14, Z:11.74 [[-3.76413790e-01 -9.26276115e-01 1.80337865e-02 1.74730016e+02] [ 9.25303017e-01 -3.76844874e-01 -4.24531200e-02 1.77141279e+02] [ 4.61192511e-02 7.06777304e-04 9.98935691e-01 1.17403501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93710568099993 meters 0.022423278355973957 Centerline is valid? [True, True] Translation: X:174.73, Y:177.17, Z:11.74 [[-3.81436770e-01 -9.24221739e-01 1.78932306e-02 1.74726286e+02] [ 9.23263677e-01 -3.81855935e-01 -4.20740724e-02 1.77168168e+02] [ 4.57184087e-02 4.71571589e-04 9.98954256e-01 1.17430140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.9671056809999 meters 0.021955600297223137 Centerline is valid? [True, True] Translation: X:174.72, Y:177.19, Z:11.74 [[-3.84396493e-01 -9.22987450e-01 1.82620842e-02 1.74719851e+02] [ 9.21990526e-01 -3.84829890e-01 -4.28885226e-02 1.77193849e+02] [ 4.66133640e-02 3.51270935e-04 9.98912945e-01 1.17431574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99710568099994 meters 0.021047376972528703 Centerline is valid? [True, True] Translation: X:174.72, Y:177.22, Z:11.74 [[-3.91911900e-01 -9.19811943e-01 1.87364023e-02 1.74716599e+02] [ 9.18761575e-01 -3.92359516e-01 -4.39451843e-02 1.77221292e+02] [ 4.77727111e-02 -8.35424032e-06 9.98858232e-01 1.17409395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0271056809999 meters 0.02117592234156689 Centerline is valid? [True, True] Translation: X:174.71, Y:177.25, Z:11.74 [[-3.95971090e-01 -9.18072165e-01 1.87188817e-02 1.74708495e+02] [ 9.17024499e-01 -3.96413247e-01 -4.38475260e-02 1.77246967e+02] [ 4.76756057e-02 -1.96679511e-04 9.98862852e-01 1.17414949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05710568099994 meters 0.02126414467602858 Centerline is valid? [True, True] Translation: X:174.70, Y:177.27, Z:11.75 [[-4.00707186e-01 -9.16034921e-01 1.77136735e-02 1.74698273e+02] [ 9.15097130e-01 -4.01098325e-01 -4.14412416e-02 1.77270970e+02] [ 4.50665493e-02 -3.96071482e-04 9.98983908e-01 1.17467976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0871056809999 meters 0.020911753713719637 Centerline is valid? [True, True] Translation: X:174.68, Y:177.29, Z:11.75 [[-4.01561281e-01 -9.15682910e-01 1.65331787e-02 1.74683057e+02] [ 9.14867675e-01 -4.01901304e-01 -3.86326146e-02 1.77293426e+02] [ 4.20199310e-02 -3.87691407e-04 9.99116697e-01 1.17539331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11710568099994 meters 0.020935086380894818 Centerline is valid? [True, True] Translation: X:174.67, Y:177.32, Z:11.76 [[-4.01829010e-01 -9.15569756e-01 1.62932301e-02 1.74670125e+02] [ 9.14779922e-01 -4.02159026e-01 -3.80238230e-02 1.77315661e+02] [ 4.13659319e-02 -3.74355432e-04 9.99143993e-01 1.17556109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.1471056809999 meters 0.021008940012994345 Centerline is valid? [True, True] Translation: X:174.65, Y:177.34, Z:11.75 [[-4.02377148e-01 -9.15322522e-01 1.66526792e-02 1.74653498e+02] [ 9.14499533e-01 -4.02721407e-01 -3.88081395e-02 1.77337801e+02] [ 4.22283546e-02 -3.86641133e-04 9.99107910e-01 1.17543723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17710568099994 meters 0.021242839746888474 Centerline is valid? [True, True] Translation: X:174.64, Y:177.36, Z:11.75 [[-4.04417534e-01 -9.14417354e-01 1.69517171e-02 1.74640224e+02] [ 9.13565901e-01 -4.04772383e-01 -3.94545521e-02 1.77361663e+02] [ 4.29395140e-02 -4.69601935e-04 9.99077563e-01 1.17531266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.2071056809999 meters 0.022435446751157582 Centerline is valid? [True, True] Translation: X:174.63, Y:177.39, Z:11.75 [[-4.09931851e-01 -9.11953075e-01 1.72471920e-02 1.74625686e+02] [ 9.11071539e-01 -4.10293878e-01 -4.00946999e-02 1.77385020e+02] [ 4.36409022e-02 -7.22668859e-04 9.99047021e-01 1.17515950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23710568099995 meters 0.023616911472207406 Centerline is valid? [True, True] Translation: X:174.61, Y:177.41, Z:11.75 [[-4.13775970e-01 -9.10216940e-01 1.71630009e-02 1.74614393e+02] [ 9.09344516e-01 -4.14130828e-01 -3.98523269e-02 1.77409494e+02] [ 4.33819908e-02 -8.82854491e-04 9.99058168e-01 1.17525000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.2671056809999 meters 0.025012654577330404 Centerline is valid? [True, True] Translation: X:174.60, Y:177.43, Z:11.75 [[-4.17924284e-01 -9.08321734e-01 1.70563897e-02 1.74604039e+02] [ 9.07460530e-01 -4.18270864e-01 -3.95584534e-02 1.77434831e+02] [ 4.30659938e-02 -1.05443787e-03 9.99071673e-01 1.17541775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29710568099995 meters 0.027519728354107723 Centerline is valid? [True, True] Translation: X:174.59, Y:177.46, Z:11.76 [[-4.23391831e-01 -9.05803102e-01 1.61275609e-02 1.74594251e+02] [ 9.05032942e-01 -4.23697112e-01 -3.73648349e-02 1.77459075e+02] [ 4.06783843e-02 -1.22399199e-03 9.99171542e-01 1.17595042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.3271056809999 meters 0.02976467446872636 Centerline is valid? [True, True] Translation: X:174.58, Y:177.48, Z:11.76 [[-4.28706201e-01 -9.03301228e-01 1.60588172e-02 1.74580728e+02] [ 9.02537331e-01 -4.29004447e-01 -3.71692158e-02 1.77482829e+02] [ 4.04643022e-02 -1.44099130e-03 9.99179946e-01 1.17616771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35710568099995 meters 0.03062455466811075 Centerline is valid? [True, True] Translation: X:174.56, Y:177.51, Z:11.76 [[-4.30637518e-01 -9.02379883e-01 1.61825608e-02 1.74563125e+02] [ 9.01605297e-01 -4.30938783e-01 -3.74119376e-02 1.77505056e+02] [ 4.07334729e-02 -1.52070139e-03 9.99168890e-01 1.17617861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.3871056809999 meters 0.030182316742713235 Centerline is valid? [True, True] Translation: X:174.55, Y:177.53, Z:11.76 [[-4.30499614e-01 -9.02447626e-01 1.60737424e-02 1.74547741e+02] [ 9.01685262e-01 -4.30797026e-01 -3.71161665e-02 1.77527234e+02] [ 4.04199167e-02 -1.48503874e-03 9.99181678e-01 1.17622526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.4171056809999 meters 0.02897697045397454 Centerline is valid? [True, True] Translation: X:174.53, Y:177.55, Z:11.76 [[-4.27776870e-01 -9.03741200e-01 1.60870605e-02 1.74527966e+02] [ 9.02980352e-01 -4.28077138e-01 -3.71005101e-02 1.77547905e+02] [ 4.04157623e-02 -1.34444058e-03 9.99182045e-01 1.17624691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.4471056809999 meters 0.027375157359641574 Centerline is valid? [True, True] Translation: X:174.51, Y:177.57, Z:11.76 [[-4.26236598e-01 -9.04464097e-01 1.63419620e-02 1.74510164e+02] [ 9.03681257e-01 -4.26547846e-01 -3.76446738e-02 1.77569542e+02] [ 4.10188846e-02 -1.27761290e-03 9.99157555e-01 1.17628040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.4771056809999 meters 0.024673317011760038 Centerline is valid? [True, True] Translation: X:174.48, Y:177.59, Z:11.76 [[-4.21977458e-01 -9.06454913e-01 1.65685411e-02 1.74484573e+02] [ 9.05653571e-01 -4.22301222e-01 -3.81219988e-02 1.77588030e+02] [ 4.15527882e-02 -1.08126573e-03 9.99135725e-01 1.17625965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.5071056809999 meters 0.02236158265908613 Centerline is valid? [True, True] Translation: X:174.46, Y:177.61, Z:11.76 [[-4.16695893e-01 -9.08894399e-01 1.65983096e-02 1.74457901e+02] [ 9.08093938e-01 -4.17025533e-01 -3.81458452e-02 1.77606033e+02] [ 4.15924640e-02 -8.22392718e-04 9.99134321e-01 1.17628972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.5371056809999 meters 0.020869113074447772 Centerline is valid? [True, True] Translation: X:174.44, Y:177.63, Z:11.76 [[-4.13101152e-01 -9.10544309e-01 1.60155834e-02 1.74438157e+02] [ 9.09801990e-01 -4.13411031e-01 -3.67649036e-02 1.77627086e+02] [ 4.00970926e-02 -6.16614388e-04 9.99195598e-01 1.17646084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.56710568099993 meters 0.019057827669665888 Centerline is valid? [True, True] Translation: X:174.41, Y:177.65, Z:11.77 [[-4.06159146e-01 -9.13675169e-01 1.52457822e-02 1.74410306e+02] [ 9.13006163e-01 -4.06445086e-01 -3.49591065e-02 1.77645115e+02] [ 3.81378407e-02 -2.79467751e-04 9.99272449e-01 1.17677974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.5971056809999 meters 0.018597267129700088 Centerline is valid? [True, True] Translation: X:174.39, Y:177.67, Z:11.77 [[-4.01916082e-01 -9.15544198e-01 1.55654968e-02 1.74390200e+02] [ 9.14849859e-01 -4.02217371e-01 -3.56499852e-02 1.77665546e+02] [ 3.88998504e-02 -8.82098436e-05 9.99243110e-01 1.17668418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.62710568099993 meters 0.018802073686707874 Centerline is valid? [True, True] Translation: X:174.37, Y:177.68, Z:11.76 [[-3.97181719e-01 -9.17596124e-01 1.62491622e-02 1.74371585e+02] [ 9.16843089e-01 -3.97513943e-01 -3.71673869e-02 1.77684958e+02] [ 4.05639187e-02 1.35725469e-04 9.99176936e-01 1.17642836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.6571056809999 meters 0.02021007238764951 Centerline is valid? [True, True] Translation: X:174.35, Y:177.70, Z:11.76 [[-3.89272715e-01 -9.20970869e-01 1.67156131e-02 1.74346921e+02] [ 9.20178668e-01 -3.89631101e-01 -3.81945524e-02 1.77703230e+02] [ 4.16889929e-02 5.13253511e-04 9.99130504e-01 1.17632107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.68710568099993 meters 0.02142685365465008 Centerline is valid? [True, True] Translation: X:174.33, Y:177.72, Z:11.77 [[-3.86282405e-01 -9.22236465e-01 1.63035510e-02 1.74329696e+02] [ 9.21485488e-01 -3.86625765e-01 -3.72157536e-02 1.77724021e+02] [ 4.06250979e-02 6.47694866e-04 9.99174250e-01 1.17650973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7171056809999 meters 0.02327930400830716 Centerline is valid? [True, True] Translation: X:174.31, Y:177.74, Z:11.77 [[-3.81672495e-01 -9.24173457e-01 1.51501818e-02 1.74310144e+02] [ 9.23528025e-01 -3.81972210e-01 -3.45429908e-02 1.77744673e+02] [ 3.77106637e-02 8.07507982e-04 9.99288374e-01 1.17679476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.74710568099994 meters 0.02422426958305016 Centerline is valid? [True, True] Translation: X:174.30, Y:177.77, Z:11.77 [[-3.80905631e-01 -9.24490014e-01 1.51364958e-02 1.74297674e+02] [ 9.23847433e-01 -3.81205307e-01 -3.44736799e-02 1.77767767e+02] [ 3.76406853e-02 8.52594048e-04 9.99290975e-01 1.17680832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7771056809999 meters 0.023486334633091265 Centerline is valid? [True, True] Translation: X:174.29, Y:177.79, Z:11.77 [[-3.82587878e-01 -9.23784316e-01 1.57813876e-02 1.74289683e+02] [ 9.23086635e-01 -3.82912323e-01 -3.59056795e-02 1.77792747e+02] [ 3.92119914e-02 8.30510253e-04 9.99230569e-01 1.17651396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.80710568099994 meters 0.021932804350186286 Centerline is valid? [True, True] Translation: X:174.28, Y:177.82, Z:11.77 [[-3.86946920e-01 -9.21974519e-01 1.53318711e-02 1.74282573e+02] [ 9.21316209e-01 -3.87250011e-01 -3.48406754e-02 1.77818854e+02] [ 3.80594822e-02 6.44009301e-04 9.99275268e-01 1.17653813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.8371056809999 meters 0.020912545969446684 Centerline is valid? [True, True] Translation: X:174.27, Y:177.85, Z:11.77 [[-3.89873599e-01 -9.20756443e-01 1.43579133e-02 1.74274746e+02] [ 9.20179559e-01 -3.90137562e-01 -3.25923475e-02 1.77845394e+02] [ 3.56111752e-02 5.04962508e-04 9.99365593e-01 1.17680553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.86710568099994 meters 0.02040341249675223 Centerline is valid? [True, True] Translation: X:174.27, Y:177.87, Z:11.77 [[-3.93237723e-01 -9.19332538e-01 1.38483768e-02 1.74267403e+02] [ 9.18796162e-01 -3.93481313e-01 -3.14017473e-02 1.77870322e+02] [ 3.43177255e-02 3.75483811e-04 9.99410903e-01 1.17697402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.8971056809999 meters 0.019151390881645705 Centerline is valid? [True, True] Translation: X:174.27, Y:177.90, Z:11.77 [[-3.99211213e-01 -9.16754783e-01 1.38229560e-02 1.74266926e+02] [ 9.16219797e-01 -3.99450423e-01 -3.13152229e-02 1.77900081e+02] [ 3.42299660e-02 1.63477858e-04 9.99413970e-01 1.17694185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.92710568099994 meters 0.019151390881645705 Centerline is valid? [True, True] Translation: X:174.26, Y:177.92, Z:11.77 [[-3.99624380e-01 -9.16574560e-01 1.38358841e-02 1.74256164e+02] [ 9.16039663e-01 -3.99863790e-01 -3.13095104e-02 1.77923552e+02] [ 3.42299697e-02 1.62174911e-04 9.99413970e-01 1.17701675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9571056809999 meters 0.01879490741698484 Centerline is valid? [True, True] Translation: X:174.26, Y:177.95, Z:11.77 [[-4.06197297e-01 -9.13682516e-01 1.37119114e-02 1.74256696e+02] [ 9.13156767e-01 -4.06428660e-01 -3.09913424e-02 1.77952453e+02] [ 3.38891615e-02 -6.74747835e-05 9.99425595e-01 1.17704179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.98710568099995 meters 0.01942632693373251 Centerline is valid? [True, True] Translation: X:174.25, Y:177.98, Z:11.77 [[-4.12535507e-01 -9.10827304e-01 1.44249264e-02 1.74252921e+02] [ 9.10245155e-01 -4.12787514e-01 -3.25611291e-02 1.77980351e+02] [ 3.56119949e-02 -3.02402494e-04 9.99365646e-01 1.17673609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.0171056809999 meters 0.019871637570378096 Centerline is valid? [True, True] Translation: X:174.24, Y:178.01, Z:11.77 [[-4.14879613e-01 -9.09749986e-01 1.51614459e-02 1.74243857e+02] [ 9.09107647e-01 -4.15156361e-01 -3.41830678e-02 1.78005720e+02] [ 3.73924162e-02 -3.98471478e-04 9.99300580e-01 1.17660991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.04710568099995 meters 0.020437579123482784 Centerline is valid? [True, True] Translation: X:174.24, Y:178.03, Z:11.77 [[-4.16779755e-01 -9.08876844e-01 1.54116051e-02 1.74235338e+02] [ 9.08214068e-01 -4.17064339e-01 -3.47065321e-02 1.78030377e+02] [ 3.79715943e-02 -4.67943349e-04 9.99278709e-01 1.17653308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.0771056809999 meters 0.02103471169218207 Centerline is valid? [True, True] Translation: X:174.23, Y:178.05, Z:11.77 [[-4.17828401e-01 -9.08398499e-01 1.52181986e-02 1.74228443e+02] [ 9.07753488e-01 -4.18105164e-01 -3.42297703e-02 1.78054730e+02] [ 3.74570794e-02 -4.87797330e-04 9.99298118e-01 1.17665656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.10710568099995 meters 0.020148595900044492 Centerline is valid? [True, True] Translation: X:174.21, Y:178.08, Z:11.77 [[-4.15448709e-01 -9.09498920e-01 1.46316271e-02 1.74212858e+02] [ 9.08904820e-01 -4.15706131e-01 -3.28700701e-02 1.78077022e+02] [ 3.59777503e-02 -3.57071770e-04 9.99352527e-01 1.17694962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.1371056809999 meters 0.019543188525194335 Centerline is valid? [True, True] Translation: X:174.20, Y:178.10, Z:11.77 [[-4.12446685e-01 -9.10865634e-01 1.45440205e-02 1.74196958e+02] [ 9.10280848e-01 -4.12702977e-01 -3.26348141e-02 1.78098783e+02] [ 3.57282912e-02 -2.20977580e-04 9.99361516e-01 1.17711355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.1671056809999 meters 0.019325497780159035 Centerline is valid? [True, True] Translation: X:174.18, Y:178.12, Z:11.77 [[-4.08606392e-01 -9.12602729e-01 1.40383684e-02 1.74181181e+02] [ 9.12060261e-01 -4.08847473e-01 -3.14614715e-02 1.78119489e+02] [ 3.44513762e-02 -5.15203946e-05 9.99406374e-01 1.17730850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.1971056809999 meters 0.02063050908002868 Centerline is valid? [True, True] Translation: X:174.16, Y:178.14, Z:11.78 [[-3.99714094e-01 -9.16546933e-01 1.30523406e-02 1.74161036e+02] [ 9.16081182e-01 -3.99927047e-01 -2.92168712e-02 1.78138652e+02] [ 3.19986177e-02 2.78608359e-04 9.99487874e-01 1.17764195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.2271056809999 meters 0.023074289356529953 Centerline is valid? [True, True] Translation: X:174.14, Y:178.16, Z:11.78 [[-3.92499897e-01 -9.19659300e-01 1.30614941e-02 1.74143146e+02] [ 9.19195498e-01 -3.92716791e-01 -2.92088796e-02 1.78160766e+02] [ 3.19916859e-02 5.41584337e-04 9.99487988e-01 1.17764573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.2571056809999 meters 0.02374539878611717 Centerline is valid? [True, True] Translation: X:174.13, Y:178.18, Z:11.78 [[-3.90179875e-01 -9.20649501e-01 1.28125665e-02 1.74130795e+02] [ 9.20204718e-01 -3.90389689e-01 -2.86211015e-02 1.78184893e+02] [ 3.13518966e-02 6.22806380e-04 9.99508214e-01 1.17774410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.2871056809999 meters 0.027249414260512927 Centerline is valid? [True, True] Translation: X:174.12, Y:178.21, Z:11.78 [[-3.87003026e-01 -9.21997642e-01 1.22067924e-02 1.74115369e+02] [ 9.21595482e-01 -3.87194843e-01 -2.72382309e-02 1.78206417e+02] [ 2.98399917e-02 7.08446937e-04 9.99554437e-01 1.17784898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.31710568099993 meters 0.026166661381974196 Centerline is valid? [True, True] Translation: X:174.11, Y:178.23, Z:11.78 [[-3.85583187e-01 -9.22585647e-01 1.27015519e-02 1.74107783e+02] [ 9.22151620e-01 -3.85791507e-01 -2.83072942e-02 1.78233248e+02] [ 3.10160542e-02 7.97939898e-04 9.99518568e-01 1.17774581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.3471056809999 meters 0.028292360423720745 Centerline is valid? [True, True] Translation: X:174.10, Y:178.26, Z:11.77 [[-3.81639093e-01 -9.24186865e-01 1.51736858e-02 1.74097014e+02] [ 9.23570294e-01 -3.81938964e-01 -3.37718817e-02 1.78257978e+02] [ 3.70069513e-02 1.12529510e-03 9.99314375e-01 1.17699878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.37710568099993 meters 0.029786809038634468 Centerline is valid? [True, True] Translation: X:174.08, Y:178.28, Z:11.77 [[-3.79373413e-01 -9.25103669e-01 1.60939401e-02 1.74084619e+02] [ 9.24412563e-01 -3.79712389e-01 -3.57759004e-02 1.78281943e+02] [ 3.92074852e-02 1.30501493e-03 9.99230239e-01 1.17675678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.4071056809999 meters 0.03492899209245246 Centerline is valid? [True, True] Translation: X:174.07, Y:178.30, Z:11.77 [[-3.72041347e-01 -9.28062326e-01 1.68983713e-02 1.74070512e+02] [ 9.27305053e-01 -3.72420991e-01 -3.75225702e-02 1.78303760e+02] [ 4.11165920e-02 1.70999755e-03 9.99152892e-01 1.17653671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43710568099993 meters 0.03479230328391793 Centerline is valid? [True, True] Translation: X:174.06, Y:178.33, Z:11.77 [[-3.68307585e-01 -9.29552385e-01 1.67894478e-02 1.74062307e+02] [ 9.28807755e-01 -3.68685291e-01 -3.72466268e-02 1.78329218e+02] [ 4.08127133e-02 1.87595418e-03 9.99165053e-01 1.17681502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.4671056809999 meters 0.038155491611900155 Centerline is valid? [True, True] Translation: X:174.05, Y:178.35, Z:11.77 [[-3.62540235e-01 -9.31829066e-01 1.60987564e-02 1.74050840e+02] [ 9.31147860e-01 -3.62891684e-01 -3.56831788e-02 1.78353765e+02] [ 3.90927280e-02 2.05373455e-03 9.99233477e-01 1.17705424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49710568099994 meters 0.04251014241970742 Centerline is valid? [True, True] Translation: X:174.04, Y:178.38, Z:11.77 [[-3.59163376e-01 -9.33148624e-01 1.53400054e-02 1.74038610e+02] [ 9.32532407e-01 -3.59484660e-01 -3.39718708e-02 1.78376600e+02] [ 3.72153011e-02 2.10360036e-03 9.99305057e-01 1.17707508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5271056809999 meters 0.04061287309575081 Centerline is valid? [True, True] Translation: X:174.03, Y:178.40, Z:11.77 [[-3.58430921e-01 -9.33427580e-01 1.54992962e-02 1.74033412e+02] [ 9.32800032e-01 -3.58759331e-01 -3.42905516e-02 1.78403795e+02] [ 3.75682638e-02 2.16694998e-03 9.99291714e-01 1.17709031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55710568099994 meters 0.04187727817327236 Centerline is valid? [True, True] Translation: X:174.03, Y:178.43, Z:11.77 [[-3.59043279e-01 -9.33179969e-01 1.62194331e-02 1.74029058e+02] [ 9.32494200e-01 -3.59402358e-01 -3.58400971e-02 1.78429282e+02] [ 3.92745631e-02 2.25638133e-03 9.99225909e-01 1.17678887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5871056809999 meters 0.0414547294975058 Centerline is valid? [True, True] Translation: X:174.03, Y:178.46, Z:11.77 [[-3.61578371e-01 -9.32187115e-01 1.69783205e-02 1.74028584e+02] [ 9.31436551e-01 -3.61969675e-01 -3.74687253e-02 1.78458237e+02] [ 4.10735002e-02 2.26634766e-03 9.99153557e-01 1.17659405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61710568099994 meters 0.039861130485005315 Centerline is valid? [True, True] Translation: X:174.02, Y:178.49, Z:11.77 [[-3.63807672e-01 -9.31319004e-01 1.69968196e-02 1.74024377e+02] [ 9.30567530e-01 -3.64197939e-01 -3.74690944e-02 1.78486802e+02] [ 4.10858863e-02 2.18514439e-03 9.99153229e-01 1.17675716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.6471056809999 meters 0.03683450035205946 Centerline is valid? [True, True] Translation: X:174.03, Y:178.52, Z:11.77 [[-3.71203937e-01 -9.28406867e-01 1.63806457e-02 1.74026285e+02] [ 9.27707571e-01 -3.71560798e-01 -3.60726559e-02 1.78516012e+02] [ 3.95765072e-02 1.80613714e-03 9.99214911e-01 1.17697828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67710568099994 meters 0.0348503751754701 Centerline is valid? [True, True] Translation: X:174.02, Y:178.54, Z:11.77 [[-3.75990804e-01 -9.26483178e-01 1.61194406e-02 1.74022821e+02] [ 9.25805850e-01 -3.76332812e-01 -3.54562179e-02 1.78543722e+02] [ 3.89158639e-02 1.59226053e-03 9.99241222e-01 1.17716750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.7071056809999 meters 0.03064735940982424 Centerline is valid? [True, True] Translation: X:174.03, Y:178.57, Z:11.77 [[-3.86198301e-01 -9.22285316e-01 1.55134533e-02 1.74028835e+02] [ 9.21655944e-01 -3.86508096e-01 -3.40853801e-02 1.78574111e+02] [ 3.74325209e-02 1.13435056e-03 9.99298514e-01 1.17743181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73710568099995 meters 0.02603959143983692 Centerline is valid? [True, True] Translation: X:174.03, Y:178.61, Z:11.77 [[-3.96441348e-01 -9.17928574e-01 1.55367606e-02 1.74034263e+02] [ 9.17295437e-01 -3.96744997e-01 -3.40952940e-02 1.78605604e+02] [ 3.74611767e-02 7.35015317e-04 9.99297813e-01 1.17741188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.7671056809999 meters 0.02423896495559887 Centerline is valid? [True, True] Translation: X:174.03, Y:178.64, Z:11.77 [[-4.02187105e-01 -9.15416539e-01 1.60652500e-02 1.74033842e+02] [ 9.14739157e-01 -4.02507485e-01 -3.52136217e-02 1.78635783e+02] [ 3.87015151e-02 5.33048642e-04 9.99250674e-01 1.17731752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.79710568099995 meters 0.023631673935017024 Centerline is valid? [True, True] Translation: X:174.03, Y:178.66, Z:11.78 [[-4.03922416e-01 -9.14654304e-01 1.59431864e-02 1.74026942e+02] [ 9.13987999e-01 -4.04236665e-01 -3.49092573e-02 1.78661452e+02] [ 3.83747230e-02 4.71249435e-04 9.99263308e-01 1.17751987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.8271056809999 meters 0.02347612992477868 Centerline is valid? [True, True] Translation: X:174.02, Y:178.69, Z:11.78 [[-4.05357388e-01 -9.14020529e-01 1.58700895e-02 1.74018131e+02] [ 9.13361470e-01 -4.05667709e-01 -3.47064236e-02 1.78685626e+02] [ 3.81603665e-02 4.26623022e-04 9.99271537e-01 1.17765082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.85710568099995 meters 0.023734479560210915 Centerline is valid? [True, True] Translation: X:174.01, Y:178.71, Z:11.77 [[-4.06462739e-01 -9.13523983e-01 1.61856082e-02 1.74007704e+02] [ 9.12839816e-01 -4.06784669e-01 -3.53511471e-02 1.78709281e+02] [ 3.88781780e-02 4.05943558e-04 9.99243875e-01 1.17746040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.8871056809999 meters 0.02350503770097971 Centerline is valid? [True, True] Translation: X:174.00, Y:178.73, Z:11.77 [[-4.06674298e-01 -9.13428278e-01 1.62725872e-02 1.73997895e+02] [ 9.12738359e-01 -4.06999518e-01 -3.54976196e-02 1.78733725e+02] [ 3.90474646e-02 4.16644994e-04 9.99237270e-01 1.17747533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.9171056809999 meters 0.025031034861327836 Centerline is valid? [True, True] Translation: X:173.99, Y:178.76, Z:11.77 [[-4.03965814e-01 -9.14624446e-01 1.65452154e-02 1.73985226e+02] [ 9.13913907e-01 -4.04304107e-01 -3.60493958e-02 1.78755905e+02] [ 3.96609573e-02 5.58178948e-04 9.99213039e-01 1.17745865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.9471056809999 meters 0.025122817560044988 Centerline is valid? [True, True] Translation: X:173.97, Y:178.78, Z:11.78 [[-4.02092456e-01 -9.15458487e-01 1.60442004e-02 1.73973286e+02] [ 9.14792538e-01 -4.02411920e-01 -3.49178811e-02 1.78780204e+02] [ 3.84222481e-02 6.36898293e-04 9.99261390e-01 1.17787920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.9771056809999 meters 0.026931800078240215 Centerline is valid? [True, True] Translation: X:173.96, Y:178.80, Z:11.78 [[-3.96749275e-01 -9.17804005e-01 1.50273601e-02 1.73957740e+02] [ 9.17222670e-01 -3.97032914e-01 -3.26716899e-02 1.78802849e+02] [ 3.59525644e-02 8.20966077e-04 9.99353160e-01 1.17833529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.0071056809999 meters 0.028728541201238918 Centerline is valid? [True, True] Translation: X:173.94, Y:178.82, Z:11.78 [[-3.92924996e-01 -9.19434990e-01 1.57875251e-02 1.73941824e+02] [ 9.18796143e-01 -3.93240676e-01 -3.42843769e-02 1.78824333e+02] [ 3.77305528e-02 1.03432852e-03 9.99287414e-01 1.17811877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.0371056809999 meters 0.03009489675798942 Centerline is valid? [True, True] Translation: X:173.93, Y:178.85, Z:11.78 [[-3.92824926e-01 -9.19478414e-01 1.57487739e-02 1.73927216e+02] [ 9.18844254e-01 -3.93139085e-01 -3.41598707e-02 1.78845653e+02] [ 3.76007222e-02 1.05182171e-03 9.99292289e-01 1.17805620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.06710568099993 meters 0.028599033865164537 Centerline is valid? [True, True] Translation: X:173.92, Y:178.87, Z:11.78 [[-3.94048607e-01 -9.18963064e-01 1.52506556e-02 1.73917919e+02] [ 9.18369470e-01 -3.94342381e-01 -3.30394127e-02 1.78870345e+02] [ 3.63759797e-02 9.86602013e-04 9.99337688e-01 1.17831090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.0971056809999 meters 0.0261013797789655 Centerline is valid? [True, True] Translation: X:173.91, Y:178.90, Z:11.79 [[-4.01430071e-01 -9.15786487e-01 1.37480272e-02 1.73913183e+02] [ 9.15303309e-01 -4.01664910e-01 -2.97515206e-02 1.78896270e+02] [ 3.27681407e-02 6.40459775e-04 9.99462775e-01 1.17874806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.12710568099993 meters 0.024243213460174887 Centerline is valid? [True, True] Translation: X:173.91, Y:178.92, Z:11.79 [[-4.07385051e-01 -9.13155788e-01 1.35619765e-02 1.73907167e+02] [ 9.12685209e-01 -4.07610498e-01 -2.93153635e-02 1.78923007e+02] [ 3.22974979e-02 4.35174488e-04 9.99478205e-01 1.17892093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.1571056809999 meters 0.022277846746479056 Centerline is valid? [True, True] Translation: X:173.90, Y:178.95, Z:11.79 [[-4.19850052e-01 -9.07496859e-01 1.32433245e-02 1.73904317e+02] [ 9.07046175e-01 -4.20058867e-01 -2.85969246e-02 1.78951832e+02] [ 3.15145951e-02 5.88656470e-06 9.99503292e-01 1.17893451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.18710568099993 meters 0.023042669797888323 Centerline is valid? [True, True] Translation: X:173.90, Y:178.98, Z:11.79 [[-4.29953090e-01 -9.02757158e-01 1.30328282e-02 1.73899185e+02] [ 9.02319372e-01 -4.30150447e-01 -2.81130526e-02 1.78977218e+02] [ 3.09853364e-02 -3.27520529e-04 9.99519786e-01 1.17896004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2171056809999 meters 0.023672261263736238 Centerline is valid? [True, True] Translation: X:173.89, Y:179.00, Z:11.79 [[-4.33690288e-01 -9.00962756e-01 1.33733623e-02 1.73889829e+02] [ 9.00502069e-01 -4.33896195e-01 -2.88117231e-02 1.79001584e+02] [ 3.17609404e-02 -4.52624072e-04 9.99495392e-01 1.17897541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.24710568099994 meters 0.025020013890849468 Centerline is valid? [True, True] Translation: X:173.88, Y:179.02, Z:11.79 [[-4.37736036e-01 -8.98992913e-01 1.41033483e-02 1.73880408e+02] [ 8.98480720e-01 -4.37962745e-01 -3.03484782e-02 1.79024801e+02] [ 3.34598080e-02 -6.13036060e-04 9.99439876e-01 1.17893260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2771056809999 meters 0.02553808997518045 Centerline is valid? [True, True] Translation: X:173.87, Y:179.05, Z:11.79 [[-4.39250768e-01 -8.98247813e-01 1.44785684e-02 1.73867499e+02] [ 8.97708676e-01 -4.39488808e-01 -3.11242915e-02 1.79048115e+02] [ 3.43204955e-02 -6.73832496e-04 9.99410651e-01 1.17882994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.30710568099994 meters 0.025716910329109343 Centerline is valid? [True, True] Translation: X:173.85, Y:179.07, Z:11.79 [[-4.39961371e-01 -8.97882976e-01 1.54968580e-02 1.73849596e+02] [ 8.97266567e-01 -4.40233599e-01 -3.32728984e-02 1.79067729e+02] [ 3.66974066e-02 -7.33977417e-04 9.99326154e-01 1.17860475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3371056809999 meters 0.024966732983732386 Centerline is valid? [True, True] Translation: X:173.83, Y:179.09, Z:11.79 [[-4.38601592e-01 -8.98543736e-01 1.57416027e-02 1.73832224e+02] [ 8.97909636e-01 -4.38883474e-01 -3.37577006e-02 1.79088418e+02] [ 3.72414997e-02 -6.71644506e-04 9.99306069e-01 1.17850832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.36710568099994 meters 0.02279484905723468 Centerline is valid? [True, True] Translation: X:173.81, Y:179.10, Z:11.79 [[-4.33595052e-01 -9.00974205e-01 1.55181479e-02 1.73806620e+02] [ 9.00360942e-01 -4.33872432e-01 -3.32398314e-02 1.79104847e+02] [ 3.66811272e-02 -4.40692196e-04 9.99326924e-01 1.17864219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3971056809999 meters 0.021030788785076405 Centerline is valid? [True, True] Translation: X:173.78, Y:179.12, Z:11.79 [[-4.26035131e-01 -9.04570959e-01 1.56667342e-02 1.73779080e+02] [ 9.03949672e-01 -4.26323077e-01 -3.35205177e-02 1.79120223e+02] [ 3.70007772e-02 -1.18978966e-04 9.99315230e-01 1.17858768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.42710568099994 meters 0.02101113740682663 Centerline is valid? [True, True] Translation: X:173.76, Y:179.14, Z:11.79 [[-4.21501592e-01 -9.06682144e-01 1.62449177e-02 1.73759341e+02] [ 9.06017266e-01 -4.21814511e-01 -3.47164592e-02 1.79139700e+02] [ 3.83291357e-02 8.51331438e-05 9.99265165e-01 1.17850924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4571056809999 meters 0.022144214830734883 Centerline is valid? [True, True] Translation: X:173.73, Y:179.16, Z:11.79 [[-4.13316112e-01 -9.10445137e-01 1.61072810e-02 1.73733116e+02] [ 9.09795790e-01 -4.13629613e-01 -3.43826237e-02 1.79157560e+02] [ 3.79659410e-02 4.43444074e-04 9.99278935e-01 1.17865190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.48710568099995 meters 0.023435583890530826 Centerline is valid? [True, True] Translation: X:173.71, Y:179.18, Z:11.79 [[-4.08943323e-01 -9.12423720e-01 1.57579592e-02 1.73714074e+02] [ 9.11805034e-01 -4.09246333e-01 -3.36008712e-02 1.79178635e+02] [ 3.71071189e-02 6.27334644e-04 9.99311097e-01 1.17878053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.5171056809999 meters 0.027270414281352535 Centerline is valid? [True, True] Translation: X:173.69, Y:179.20, Z:11.79 [[-4.00455631e-01 -9.16188656e-01 1.52850841e-02 1.73689782e+02] [ 9.15610507e-01 -4.00746091e-01 -3.25571798e-02 1.79195470e+02] [ 3.59539565e-02 9.57477593e-04 9.99352989e-01 1.17894995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.54710568099995 meters 0.028222625741095422 Centerline is valid? [True, True] Translation: X:173.67, Y:179.22, Z:11.79 [[-3.96648495e-01 -9.17843151e-01 1.52944889e-02 1.73674489e+02] [ 9.17266890e-01 -3.96941670e-01 -3.25386388e-02 1.79218475e+02] [ 3.59363868e-02 1.12272620e-03 9.99353449e-01 1.17906143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.5771056809999 meters 0.03219477882538511 Centerline is valid? [True, True] Translation: X:173.65, Y:179.24, Z:11.79 [[-3.89284740e-01 -9.20987493e-01 1.54734704e-02 1.73654614e+02] [ 9.20401459e-01 -3.89589475e-01 -3.28815346e-02 1.79237800e+02] [ 3.63117834e-02 1.44152508e-03 9.99339470e-01 1.17906461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.60710568099995 meters 0.03301292580509037 Centerline is valid? [True, True] Translation: X:173.64, Y:179.26, Z:11.79 [[-3.86563515e-01 -9.22137518e-01 1.52002311e-02 1.73641277e+02] [ 9.21574245e-01 -3.86859195e-01 -3.22625852e-02 1.79261718e+02] [ 3.56308894e-02 1.53660314e-03 9.99363837e-01 1.17916766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.6371056809999 meters 0.03766312635854377 Centerline is valid? [True, True] Translation: X:173.62, Y:179.28, Z:11.79 [[-3.84063198e-01 -9.23180920e-01 1.52462769e-02 1.73622381e+02] [ 9.22616336e-01 -3.84362147e-01 -3.23239440e-02 1.79282113e+02] [ 3.57009401e-02 1.65202676e-03 9.99361153e-01 1.17915897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.6671056809999 meters 0.033983404074093136 Centerline is valid? [True, True] Translation: X:173.62, Y:179.31, Z:11.79 [[-3.84678968e-01 -9.22926037e-01 1.51532518e-02 1.73615983e+02] [ 9.22369436e-01 -3.84973849e-01 -3.20898760e-02 1.79309310e+02] [ 3.54501877e-02 1.63259593e-03 9.99370111e-01 1.17926641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.6971056809999 meters 0.03375808007830557 Centerline is valid? [True, True] Translation: X:173.61, Y:179.33, Z:11.79 [[-3.89129772e-01 -9.21073617e-01 1.41919778e-02 1.73606394e+02] [ 9.20585241e-01 -3.89386031e-01 -3.00222041e-02 1.79333648e+02] [ 3.31788180e-02 1.38239187e-03 9.99448475e-01 1.17933351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.7271056809999 meters 0.030868840145135946 Centerline is valid? [True, True] Translation: X:173.60, Y:179.36, Z:11.79 [[-3.92978673e-01 -9.19441315e-01 1.39796333e-02 1.73601617e+02] [ 9.18967506e-01 -3.93225297e-01 -2.95396252e-02 1.79362061e+02] [ 3.26570973e-02 1.23838605e-03 9.99465848e-01 1.17939290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.7571056809999 meters 0.0305272262256875 Centerline is valid? [True, True] Translation: X:173.59, Y:179.39, Z:11.79 [[-3.94094899e-01 -9.18961166e-01 1.41274797e-02 1.73592539e+02] [ 9.18478034e-01 -3.94346139e-01 -2.98198512e-02 1.79387347e+02] [ 3.29744023e-02 1.22392854e-03 9.99455447e-01 1.17941311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.7871056809999 meters 0.029851461150164724 Centerline is valid? [True, True] Translation: X:173.59, Y:179.41, Z:11.80 [[-3.96823020e-01 -9.17793072e-01 1.36882804e-02 1.73587380e+02] [ 9.17339921e-01 -3.97057498e-01 -2.88585001e-02 1.79414245e+02] [ 3.19211658e-02 1.10508895e-03 9.99489779e-01 1.17959423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.81710568099993 meters 0.029309645264032323 Centerline is valid? [True, True] Translation: X:173.58, Y:179.44, Z:11.80 [[-3.98806074e-01 -9.16940280e-01 1.31999316e-02 1.73579170e+02] [ 9.16519336e-01 -3.99023183e-01 -2.77994055e-02 1.79440435e+02] [ 3.07574734e-02 1.01142075e-03 9.99526365e-01 1.17975886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.8471056809999 meters 0.029309645264032323 Centerline is valid? [True, True] Translation: X:173.57, Y:179.46, Z:11.80 [[-3.99233063e-01 -9.16754282e-01 1.32116299e-02 1.73567778e+02] [ 9.16333420e-01 -3.99450329e-01 -2.77938449e-02 1.79463641e+02] [ 3.07575163e-02 1.01003620e-03 9.99526365e-01 1.17983381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.87710568099993 meters 0.0275663891891388 Centerline is valid? [True, True] Translation: X:173.57, Y:179.49, Z:11.80 [[-4.05377944e-01 -9.14066698e-01 1.22798372e-02 1.73565043e+02] [ 9.13702696e-01 -4.05563183e-01 -2.58048004e-02 1.79490925e+02] [ 2.85675585e-02 7.59423406e-04 9.99591576e-01 1.18003714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.9071056809999 meters 0.025580925391264744 Centerline is valid? [True, True] Translation: X:173.56, Y:179.52, Z:11.80 [[-4.09458758e-01 -9.12251371e-01 1.18727532e-02 1.73560058e+02] [ 9.11911094e-01 -4.09630382e-01 -2.49220343e-02 1.79518896e+02] [ 2.75986004e-02 6.22350150e-04 9.99618892e-01 1.18012191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93710568099993 meters 0.02284044059159804 Centerline is valid? [True, True] Translation: X:173.56, Y:179.55, Z:11.80 [[-4.18505902e-01 -9.08137429e-01 1.17991851e-02 1.73561785e+02] [ 9.07800412e-01 -4.18672047e-01 -2.47412371e-02 1.79549621e+02] [ 2.74084325e-02 3.56951354e-04 9.99624255e-01 1.18013401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.9671056809999 meters 0.0212254830827566 Centerline is valid? [True, True] Translation: X:173.56, Y:179.58, Z:11.80 [[-4.29870474e-01 -9.02807090e-01 1.22773843e-02 1.73563933e+02] [ 9.02440819e-01 -4.30045762e-01 -2.57140211e-02 1.79581136e+02] [ 2.84946377e-02 2.59143078e-05 9.99593945e-01 1.17998174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99710568099994 meters 0.021352310184632715 Centerline is valid? [True, True] Translation: X:173.56, Y:179.61, Z:11.80 [[-4.35889032e-01 -8.99913846e-01 1.24828613e-02 1.73559606e+02] [ 8.99534859e-01 -4.36067708e-01 -2.61149531e-02 1.79607206e+02] [ 2.89445806e-02 -1.54452687e-04 9.99581006e-01 1.17997334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0271056809999 meters 0.02261506795358914 Centerline is valid? [True, True] Translation: X:173.56, Y:179.64, Z:11.80 [[-4.44095294e-01 -8.95891328e-01 1.25737273e-02 1.73555921e+02] [ 8.95506152e-01 -4.44273072e-01 -2.62710644e-02 1.79636050e+02] [ 2.91221873e-02 -4.07005900e-04 9.99575776e-01 1.17999456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.05710568099994 meters 0.022916658430078146 Centerline is valid? [True, True] Translation: X:173.55, Y:179.66, Z:11.80 [[-4.45710070e-01 -8.95094909e-01 1.21506185e-02 1.73545623e+02] [ 8.94735681e-01 -4.45875451e-01 -2.53602756e-02 1.79660403e+02] [ 2.81175161e-02 -4.31738313e-04 9.99604531e-01 1.18022947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0871056809999 meters 0.022227139252153034 Centerline is valid? [True, True] Translation: X:173.53, Y:179.68, Z:11.81 [[-4.42145935e-01 -8.96868112e-01 1.16000997e-02 1.73530128e+02] [ 8.96542033e-01 -4.42297981e-01 -2.41842781e-02 1.79682919e+02] [ 2.68208085e-02 -2.93003278e-04 9.99640214e-01 1.18058925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.11710568099994 meters 0.02155278844666952 Centerline is valid? [True, True] Translation: X:173.51, Y:179.71, Z:11.80 [[-4.38326699e-01 -8.98731741e-01 1.22866628e-02 1.73513040e+02] [ 8.98367504e-01 -4.38498832e-01 -2.55851779e-02 1.79705044e+02] [ 2.83818988e-02 -1.76727948e-04 9.99597137e-01 1.18045523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.1471056809999 meters 0.02179659547379086 Centerline is valid? [True, True] Translation: X:173.49, Y:179.72, Z:11.80 [[-4.27425731e-01 -9.03943430e-01 1.39111404e-02 1.73487896e+02] [ 9.03480376e-01 -4.27652001e-01 -2.89305256e-02 1.79720743e+02] [ 3.21006855e-02 2.02791286e-04 9.99484620e-01 1.17996503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.17710568099994 meters 0.02319155214714077 Centerline is valid? [True, True] Translation: X:173.47, Y:179.74, Z:11.80 [[-4.21110647e-01 -9.06901123e-01 1.40062572e-02 1.73467909e+02] [ 9.06434538e-01 -4.21343273e-01 -2.90907852e-02 1.79741502e+02] [ 3.22839080e-02 4.45315871e-04 9.99478640e-01 1.17996552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.2071056809999 meters 0.026633961141013903 Centerline is valid? [True, True] Translation: X:173.45, Y:179.76, Z:11.80 [[-4.09524167e-01 -9.12196968e-01 1.36619288e-02 1.73448210e+02] [ 9.11756823e-01 -4.09751111e-01 -2.83464820e-02 1.79761471e+02] [ 3.14555654e-02 8.47787421e-04 9.99504792e-01 1.18007921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.23710568099995 meters 0.029175648444798925 Centerline is valid? [True, True] Translation: X:173.43, Y:179.78, Z:11.80 [[-4.06094833e-01 -9.13726182e-01 1.38365947e-02 1.73432699e+02] [ 9.13276398e-01 -4.06329285e-01 -2.86833132e-02 1.79782530e+02] [ 3.18309078e-02 9.88490091e-04 9.99492779e-01 1.18012963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.2671056809999 meters 0.031901288832145464 Centerline is valid? [True, True] Translation: X:173.41, Y:179.80, Z:11.80 [[-4.00806221e-01 -9.16058531e-01 1.38253521e-02 1.73414500e+02] [ 9.15611702e-01 -4.01042852e-01 -2.86328810e-02 1.79803588e+02] [ 3.17739535e-02 1.18241733e-03 9.99494381e-01 1.18010755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.29710568099995 meters 0.032608876935917165 Centerline is valid? [True, True] Translation: X:173.40, Y:179.83, Z:11.80 [[-3.96891748e-01 -9.17769261e-01 1.32862661e-02 1.73398996e+02] [ 9.17358460e-01 -3.97112009e-01 -2.74865000e-02 1.79826115e+02] [ 3.05024006e-02 1.27910364e-03 9.99533875e-01 1.18005528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.3271056809999 meters 0.03410309227028657 Centerline is valid? [True, True] Translation: X:173.39, Y:179.85, Z:11.80 [[-3.95523681e-01 -9.18361042e-01 1.31914210e-02 1.73385185e+02] [ 9.17957320e-01 -3.95741374e-01 -2.72602830e-02 1.79848056e+02] [ 3.02551730e-02 1.32707401e-03 9.99541327e-01 1.18006547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.35710568099995 meters 0.0360913931596577 Centerline is valid? [True, True] Translation: X:173.37, Y:179.87, Z:11.80 [[-3.94268093e-01 -9.18902204e-01 1.30923943e-02 1.73373235e+02] [ 9.18505708e-01 -3.94483033e-01 -2.70259172e-02 1.79871112e+02] [ 2.99989023e-02 1.36998204e-03 9.99548993e-01 1.18016866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.3871056809999 meters 0.0351686113936614 Centerline is valid? [True, True] Translation: X:173.36, Y:179.90, Z:11.80 [[-3.95247103e-01 -9.18473924e-01 1.36153552e-02 1.73363368e+02] [ 9.18045642e-01 -3.95479061e-01 -2.80804337e-02 1.79895816e+02] [ 3.11757340e-02 1.40080742e-03 9.99512937e-01 1.18020358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.4171056809999 meters 0.03499591499650245 Centerline is valid? [True, True] Translation: X:173.35, Y:179.92, Z:11.80 [[-3.97087295e-01 -9.17665534e-01 1.45481433e-02 1.73351563e+02] [ 9.17177243e-01 -3.97351084e-01 -2.99669803e-02 1.79919023e+02] [ 3.32803855e-02 1.44371879e-03 9.99445012e-01 1.17987457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.4471056809999 meters 0.033870011224782254 Centerline is valid? [True, True] Translation: X:173.34, Y:179.94, Z:11.80 [[-3.98994368e-01 -9.16840724e-01 1.43729497e-02 1.73341426e+02] [ 9.16364653e-01 -3.99250808e-01 -2.95738784e-02 1.79944656e+02] [ 3.28529479e-02 1.37105215e-03 9.99459256e-01 1.17988544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.4771056809999 meters 0.03162768041535437 Centerline is valid? [True, True] Translation: X:173.34, Y:179.97, Z:11.80 [[-4.03796730e-01 -9.14744623e-01 1.38012529e-02 1.73335012e+02] [ 9.14305367e-01 -4.04030841e-01 -2.83685825e-02 1.79971694e+02] [ 3.15261402e-02 1.16341876e-03 9.99502251e-01 1.17999882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.5071056809999 meters 0.029416016480862037 Centerline is valid? [True, True] Translation: X:173.33, Y:180.00, Z:11.80 [[-4.08155621e-01 -9.12813068e-01 1.34644927e-02 1.73327133e+02] [ 9.12394822e-01 -4.08376423e-01 -2.76475307e-02 1.79998704e+02] [ 3.07356087e-02 1.00043836e-03 9.99527049e-01 1.18018678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.5371056809999 meters 0.025500841937159485 Centerline is valid? [True, True] Translation: X:173.32, Y:180.03, Z:11.81 [[-4.17620787e-01 -9.08545897e-01 1.17145327e-02 1.73324991e+02] [ 9.08228171e-01 -4.17784620e-01 -2.40333197e-02 1.80027835e+02] [ 2.67295256e-02 6.02654693e-04 9.99642521e-01 1.18071298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.56710568099993 meters 0.024341342156548585 Centerline is valid? [True, True] Translation: X:173.32, Y:180.05, Z:11.81 [[-4.22894857e-01 -9.06102573e-01 1.17501782e-02 1.73317752e+02] [ 9.05782681e-01 -4.23057815e-01 -2.40794414e-02 1.80054103e+02] [ 2.67894485e-02 4.60036017e-04 9.99640992e-01 1.18085043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.5971056809999 meters 0.02178941367048992 Centerline is valid? [True, True] Translation: X:173.32, Y:180.08, Z:11.81 [[-4.32780997e-01 -9.01406246e-01 1.29378775e-02 1.73317246e+02] [ 9.01017193e-01 -4.32974296e-01 -2.64816226e-02 1.80084843e+02] [ 2.94724684e-02 1.96507055e-04 9.99565573e-01 1.18053692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.62710568099993 meters 0.021295918354904374 Centerline is valid? [True, True] Translation: X:173.31, Y:180.11, Z:11.80 [[-4.36494536e-01 -8.99602869e-01 1.36820555e-02 1.73309305e+02] [ 8.99167627e-01 -4.36708908e-01 -2.79805006e-02 1.80109406e+02] [ 3.11464142e-02 8.91257481e-05 9.99514829e-01 1.18029502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.6571056809999 meters 0.02094877939505708 Centerline is valid? [True, True] Translation: X:173.30, Y:180.13, Z:11.80 [[-4.40314264e-01 -8.97722249e-01 1.47686019e-02 1.73299933e+02] [ 8.97215441e-01 -4.40561871e-01 -3.01610727e-02 1.80133337e+02] [ 3.35827489e-02 -2.97328644e-05 9.99435940e-01 1.17998985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.68710568099993 meters 0.0209724338309949 Centerline is valid? [True, True] Translation: X:173.29, Y:180.16, Z:11.80 [[-4.40081533e-01 -8.97830506e-01 1.51203911e-02 1.73286785e+02] [ 8.97300685e-01 -4.40341211e-01 -3.08399063e-02 1.80156818e+02] [ 3.43471400e-02 -4.53596523e-06 9.99409963e-01 1.17996761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7171056809999 meters 0.021016736714960266 Centerline is valid? [True, True] Translation: X:173.27, Y:180.18, Z:11.80 [[-4.38105713e-01 -8.98792074e-01 1.53685513e-02 1.73271790e+02] [ 8.98246650e-01 -4.38375182e-01 -3.13074368e-02 1.80178206e+02] [ 3.48760675e-02 8.87828521e-05 9.99391641e-01 1.18000989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.74710568099994 meters 0.02109461111149367 Centerline is valid? [True, True] Translation: X:173.26, Y:180.20, Z:11.80 [[-4.37332922e-01 -8.99177616e-01 1.48165190e-02 1.73257943e+02] [ 8.98672127e-01 -4.37583817e-01 -3.01464829e-02 1.80200604e+02] [ 3.35905115e-02 1.31143201e-04 9.99435671e-01 1.18020919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7771056809999 meters 0.02140301897545601 Centerline is valid? [True, True] Translation: X:173.24, Y:180.22, Z:11.81 [[-4.36641637e-01 -8.99528927e-01 1.38488250e-02 1.73243829e+02] [ 8.99088487e-01 -4.36861171e-01 -2.81462137e-02 1.80221411e+02] [ 3.13683474e-02 1.61510266e-04 9.99507879e-01 1.18060307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.80710568099994 meters 0.021301416678255684 Centerline is valid? [True, True] Translation: X:173.23, Y:180.24, Z:11.81 [[-4.39091046e-01 -8.98345573e-01 1.32016766e-02 1.73230404e+02] [ 8.97945742e-01 -4.39289453e-01 -2.67996466e-02 1.80243649e+02] [ 2.98747012e-02 8.69044086e-05 9.99553648e-01 1.18087843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8371056809999 meters 0.02128508973581146 Centerline is valid? [True, True] Translation: X:173.22, Y:180.27, Z:11.81 [[-4.41782472e-01 -8.97036947e-01 1.23678266e-02 1.73219019e+02] [ 8.96686287e-01 -4.41955559e-01 -2.50796155e-02 1.80265959e+02] [ 2.79633715e-02 1.03259427e-05 9.99608948e-01 1.18114886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.86710568099994 meters 0.021641506648417456 Centerline is valid? [True, True] Translation: X:173.21, Y:180.29, Z:11.81 [[-4.47718103e-01 -8.94104686e-01 1.11942317e-02 1.73206973e+02] [ 8.93816948e-01 -4.47858000e-01 -2.26820607e-02 1.80289439e+02] [ 2.52935630e-02 -1.49575156e-04 9.99680055e-01 1.18148502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8971056809999 meters 0.021863842820074763 Centerline is valid? [True, True] Translation: X:173.19, Y:180.31, Z:11.82 [[-4.51108144e-01 -8.92400096e-01 1.11135430e-02 1.73194152e+02] [ 8.92116597e-01 -4.51244960e-01 -2.24936375e-02 1.80312542e+02] [ 2.50882546e-02 -2.32486914e-04 9.99685213e-01 1.18156314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.92710568099994 meters 0.02285680317062994 Centerline is valid? [True, True] Translation: X:173.18, Y:180.34, Z:11.82 [[-4.55296154e-01 -8.90271787e-01 1.10253625e-02 1.73181745e+02] [ 8.89992847e-01 -4.55429505e-01 -2.22867168e-02 1.80336003e+02] [ 2.48625106e-02 -3.34562653e-04 9.99690824e-01 1.18172706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9571056809999 meters 0.022974349992694564 Centerline is valid? [True, True] Translation: X:173.17, Y:180.36, Z:11.82 [[-4.56592900e-01 -8.89605053e-01 1.12148789e-02 1.73168001e+02] [ 8.89316707e-01 -4.56730461e-01 -2.26513122e-02 1.80358549e+02] [ 2.52728985e-02 -3.68849169e-04 9.99680521e-01 1.18171666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.98710568099995 meters 0.022731917573983417 Centerline is valid? [True, True] Translation: X:173.15, Y:180.38, Z:11.81 [[-4.58016038e-01 -8.88860644e-01 1.21682137e-02 1.73148648e+02] [ 8.88521779e-01 -4.58177445e-01 -2.45454109e-02 1.80378536e+02] [ 2.73926508e-02 -4.30468948e-04 9.99624658e-01 1.18147948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.0171056809999 meters 0.022639878764621084 Centerline is valid? [True, True] Translation: X:173.13, Y:180.40, Z:11.81 [[-4.57764502e-01 -8.88986104e-01 1.24646848e-02 1.73132873e+02] [ 8.88631461e-01 -4.57933982e-01 -2.51116566e-02 1.80399271e+02] [ 2.80319165e-02 -4.18713913e-04 9.99606941e-01 1.18143546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.04710568099995 meters 0.022004197133175415 Centerline is valid? [True, True] Translation: X:173.11, Y:180.42, Z:11.82 [[-4.55709415e-01 -8.90037936e-01 1.27044213e-02 1.73110318e+02] [ 8.89670881e-01 -4.55886339e-01 -2.55610933e-02 1.80417967e+02] [ 2.85421149e-02 -3.45677157e-04 9.99592531e-01 1.18153057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.0771056809999 meters 0.021819288094377828 Centerline is valid? [True, True] Translation: X:173.09, Y:180.44, Z:11.82 [[-4.54789363e-01 -8.90519053e-01 1.19353163e-02 1.73094346e+02] [ 8.90195840e-01 -4.54945859e-01 -2.39923138e-02 1.80437879e+02] [ 2.67955353e-02 -2.86680180e-04 9.99640894e-01 1.18178954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.10710568099995 meters 0.021298862405634816 Centerline is valid? [True, True] Translation: X:173.07, Y:180.46, Z:11.82 [[-4.51604990e-01 -8.92146726e-01 1.12762275e-02 1.73072972e+02] [ 8.91859422e-01 -4.51745716e-01 -2.26402206e-02 1.80456705e+02] [ 2.52923861e-02 -1.67626791e-04 9.99680082e-01 1.18215293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.1371056809999 meters 0.02096613475250679 Centerline is valid? [True, True] Translation: X:173.05, Y:180.47, Z:11.82 [[-4.48130596e-01 -8.93890217e-01 1.18003925e-02 1.73052245e+02] [ 8.93576965e-01 -4.48285932e-01 -2.36628638e-02 1.80474317e+02] [ 2.64419524e-02 -5.94943980e-05 9.99650349e-01 1.18209589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.1671056809999 meters 0.020922212342780966 Centerline is valid? [True, True] Translation: X:173.03, Y:180.49, Z:11.82 [[-4.45886684e-01 -8.95006545e-01 1.21798902e-02 1.73033957e+02] [ 8.94674088e-01 -4.46053006e-01 -2.43924699e-02 1.80494981e+02] [ 2.72642969e-02 2.07545905e-05 9.99628260e-01 1.18208516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.1971056809999 meters 0.02115374079666896 Centerline is valid? [True, True] Translation: X:173.02, Y:180.51, Z:11.82 [[-4.43145973e-01 -8.96364368e-01 1.23517657e-02 1.73015570e+02] [ 8.96023811e-01 -4.43318064e-01 -2.47067552e-02 1.80514786e+02] [ 2.76220159e-02 1.18777141e-04 9.99618432e-01 1.18208995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.2271056809999 meters 0.02217074299490189 Centerline is valid? [True, True] Translation: X:172.99, Y:180.53, Z:11.82 [[-4.36437318e-01 -8.99643056e-01 1.28389905e-02 1.72991984e+02] [ 8.99277395e-01 -4.36625983e-01 -2.56499067e-02 1.80533133e+02] [ 2.86815973e-02 3.51237436e-04 9.99588537e-01 1.18195596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.2571056809999 meters 0.023966380282552754 Centerline is valid? [True, True] Translation: X:172.97, Y:180.55, Z:11.82 [[-4.30236914e-01 -9.02607636e-01 1.39875710e-02 1.72969987e+02] [ 9.02176200e-01 -4.30463798e-01 -2.79109799e-02 1.80551630e+02] [ 3.12138066e-02 6.10919826e-04 9.99512544e-01 1.18162463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.2871056809999 meters 0.0247453117224248 Centerline is valid? [True, True] Translation: X:172.96, Y:180.57, Z:11.81 [[-4.28851110e-01 -9.03259736e-01 1.44421261e-02 1.72955293e+02] [ 9.02801262e-01 -4.29093658e-01 -2.87839290e-02 1.80573672e+02] [ 3.21963888e-02 6.94349779e-04 9.99481321e-01 1.18146881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.31710568099993 meters 0.025816268369172116 Centerline is valid? [True, True] Translation: X:172.94, Y:180.60, Z:11.81 [[-4.26492448e-01 -9.04359297e-01 1.54419353e-02 1.72939812e+02] [ 9.03837056e-01 -4.26771070e-01 -3.07413374e-02 1.80595269e+02] [ 3.43913855e-02 8.46045098e-04 9.99408083e-01 1.18118202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.3471056809999 meters 0.025407530018834175 Centerline is valid? [True, True] Translation: X:172.93, Y:180.62, Z:11.81 [[-4.26920532e-01 -9.04145504e-01 1.61172705e-02 1.72927970e+02] [ 9.03577480e-01 -4.27223755e-01 -3.20562093e-02 1.80619334e+02] [ 3.58691583e-02 8.77748747e-04 9.99356109e-01 1.18102158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.37710568099993 meters 0.02641523058027348 Centerline is valid? [True, True] Translation: X:172.91, Y:180.64, Z:11.81 [[-4.26203568e-01 -9.04460143e-01 1.73887259e-02 1.72914668e+02] [ 9.03800862e-01 -4.26556984e-01 -3.45418733e-02 1.80641593e+02] [ 3.86590302e-02 9.94075861e-04 9.99251966e-01 1.18075830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.4071056809999 meters 0.026904785854948314 Centerline is valid? [True, True] Translation: X:172.90, Y:180.66, Z:11.81 [[-4.26211154e-01 -9.04448741e-01 1.77911773e-02 1.72902153e+02] [ 9.03760172e-01 -4.26581066e-01 -3.53007822e-02 1.80664316e+02] [ 3.95171274e-02 1.03337036e-03 9.99218359e-01 1.18075900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43710568099993 meters 0.026002740438533272 Centerline is valid? [True, True] Translation: X:172.89, Y:180.69, Z:11.81 [[-4.26538406e-01 -9.04282673e-01 1.83802695e-02 1.72892961e+02] [ 9.03549328e-01 -4.26932900e-01 -3.64267712e-02 1.80688831e+02] [ 4.07872398e-02 1.07006320e-03 9.99167281e-01 1.18076726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.4671056809999 meters 0.026676568108867794 Centerline is valid? [True, True] Translation: X:172.88, Y:180.71, Z:11.81 [[-4.26906890e-01 -9.04109498e-01 1.83445425e-02 1.72881255e+02] [ 9.03380609e-01 -4.27299509e-01 -3.63125931e-02 1.80711514e+02] [ 4.06691743e-02 1.07000779e-03 9.99172094e-01 1.18090224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49710568099994 meters 0.026089354232977768 Centerline is valid? [True, True] Translation: X:172.87, Y:180.74, Z:11.82 [[-4.27837701e-01 -9.03704558e-01 1.65219195e-02 1.72872302e+02] [ 9.03114363e-01 -4.28155557e-01 -3.26690631e-02 1.80736867e+02] [ 3.65971328e-02 9.44125944e-04 9.99329655e-01 1.18157689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5271056809999 meters 0.0254371423625229 Centerline is valid? [True, True] Translation: X:172.86, Y:180.76, Z:11.82 [[-4.29655007e-01 -9.02857221e-01 1.56656646e-02 1.72863083e+02] [ 9.02327137e-01 -4.29939685e-01 -3.09452040e-02 1.80762756e+02] [ 3.46743918e-02 8.39792426e-04 9.99398310e-01 1.18200787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.55710568099994 meters 0.02269760479808773 Centerline is valid? [True, True] Translation: X:172.86, Y:180.79, Z:11.83 [[-4.35930275e-01 -8.99864400e-01 1.44518659e-02 1.72861657e+02] [ 8.99412509e-01 -4.36169396e-01 -2.85201091e-02 1.80792818e+02] [ 3.19676924e-02 5.65409953e-04 9.99488743e-01 1.18253204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5871056809999 meters 0.02163224692261122 Centerline is valid? [True, True] Translation: X:172.86, Y:180.82, Z:11.83 [[-4.40308102e-01 -8.97738564e-01 1.39372335e-02 1.72855180e+02] [ 8.97318053e-01 -4.40528438e-01 -2.74773870e-02 1.80818999e+02] [ 3.08072577e-02 4.07615101e-04 9.99525261e-01 1.18273940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.61710568099994 meters 0.01996261344004741 Centerline is valid? [True, True] Translation: X:172.86, Y:180.85, Z:11.83 [[-4.50054403e-01 -8.92913719e-01 1.24949829e-02 1.72855462e+02] [ 8.92574538e-01 -4.50227814e-01 -2.46091517e-02 1.80849392e+02] [ 2.75994380e-02 7.72465172e-05 9.99619060e-01 1.18321762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.6471056809999 meters 0.02034167407287362 Centerline is valid? [True, True] Translation: X:172.85, Y:180.88, Z:11.83 [[-4.59721381e-01 -8.87977603e-01 1.23299452e-02 1.72852284e+02] [ 8.87646200e-01 -4.59886652e-01 -2.42588396e-02 1.80877248e+02] [ 2.72116835e-02 -2.07678252e-04 9.99629672e-01 1.18332752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.67710568099994 meters 0.020891987617226326 Centerline is valid? [True, True] Translation: X:172.84, Y:180.90, Z:11.83 [[-4.63916070e-01 -8.85783394e-01 1.30253300e-02 1.72843983e+02] [ 8.85413599e-01 -4.64098764e-01 -2.55948526e-02 1.80903146e+02] [ 2.87165350e-02 -3.41059085e-04 9.99587537e-01 1.18317355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.7071056809999 meters 0.022666589758965912 Centerline is valid? [True, True] Translation: X:172.84, Y:180.93, Z:11.83 [[-4.70510202e-01 -8.82260696e-01 1.53692994e-02 1.72839587e+02] [ 8.81745152e-01 -4.70760719e-01 -3.01634332e-02 1.80931513e+02] [ 3.38472740e-02 -6.40397816e-04 9.99426812e-01 1.18262664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.73710568099995 meters 0.022666589758965912 Centerline is valid? [True, True] Translation: X:172.83, Y:180.95, Z:11.83 [[-4.70936434e-01 -8.82033021e-01 1.53826256e-02 1.72827535e+02] [ 8.81517577e-01 -4.71187159e-01 -3.01566362e-02 1.80954381e+02] [ 3.38472445e-02 -6.41803902e-04 9.99426812e-01 1.18270156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.7671056809999 meters 0.023360055234874486 Centerline is valid? [True, True] Translation: X:172.82, Y:180.98, Z:11.83 [[-4.73226595e-01 -8.80801092e-01 1.56852132e-02 1.72817311e+02] [ 8.80265763e-01 -4.73485911e-01 -3.07128466e-02 1.80979152e+02] [ 3.44786363e-02 -7.26979666e-04 9.99405171e-01 1.18269555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.79710568099995 meters 0.024237848019418147 Centerline is valid? [True, True] Translation: X:172.81, Y:181.00, Z:11.83 [[-4.75207457e-01 -8.79758035e-01 1.42714161e-02 1.72805073e+02] [ 8.79315305e-01 -4.75421167e-01 -2.79160911e-02 1.81002693e+02] [ 3.13443387e-02 -7.16860074e-04 9.99508388e-01 1.18308005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.8271056809999 meters 0.024401279325565715 Centerline is valid? [True, True] Translation: X:172.79, Y:181.02, Z:11.83 [[-4.76204168e-01 -8.79228938e-01 1.36405688e-02 1.72788628e+02] [ 8.78824916e-01 -4.76398964e-01 -2.66606988e-02 1.81024282e+02] [ 2.99392107e-02 -7.08264220e-04 9.99551470e-01 1.18337559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.85710568099995 meters 0.025043949561451673 Centerline is valid? [True, True] Translation: X:172.78, Y:181.05, Z:11.83 [[-4.77650753e-01 -8.78442390e-01 1.37377385e-02 1.72775247e+02] [ 8.78033213e-01 -4.77847682e-01 -2.68191835e-02 1.81047276e+02] [ 3.01236542e-02 -7.48012549e-04 9.99545900e-01 1.18332688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.8871056809999 meters 0.02567062094314198 Centerline is valid? [True, True] Translation: X:172.76, Y:181.07, Z:11.83 [[-4.79456023e-01 -8.77455788e-01 1.39018993e-02 1.72761381e+02] [ 8.77037255e-01 -4.79656848e-01 -2.71101699e-02 1.81070221e+02] [ 3.04561167e-02 -8.05650645e-04 9.99535780e-01 1.18329246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.9171056809999 meters 0.026999486073416786 Centerline is valid? [True, True] Translation: X:172.75, Y:181.09, Z:11.83 [[-4.84214201e-01 -8.74836531e-01 1.40588523e-02 1.72745719e+02] [ 8.74408081e-01 -4.84417279e-01 -2.73935785e-02 1.81092584e+02] [ 3.07752542e-02 -9.71185719e-04 9.99525858e-01 1.18330708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.9471056809999 meters 0.029429320184385523 Centerline is valid? [True, True] Translation: X:172.73, Y:181.11, Z:11.84 [[-4.87137174e-01 -8.73226627e-01 1.31388924e-02 1.72731231e+02] [ 8.72852570e-01 -4.87313324e-01 -2.55756625e-02 1.81114002e+02] [ 2.87361068e-02 -9.90539995e-04 9.99586542e-01 1.18368306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.9771056809999 meters 0.028884443060417035 Centerline is valid? [True, True] Translation: X:172.71, Y:181.13, Z:11.84 [[-4.87473189e-01 -8.73043453e-01 1.28459997e-02 1.72714338e+02] [ 8.72686418e-01 -4.87641458e-01 -2.49844871e-02 1.81134356e+02] [ 2.80767849e-02 -9.68738185e-04 9.99605300e-01 1.18383507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.0071056809999 meters 0.0268973137070019 Centerline is valid? [True, True] Translation: X:172.69, Y:181.15, Z:11.84 [[-4.83130292e-01 -8.75456014e-01 1.27235436e-02 1.72689202e+02] [ 8.75107361e-01 -4.83297129e-01 -2.47182358e-02 1.81151071e+02] [ 2.77889803e-02 -8.07661809e-04 9.99613485e-01 1.18410238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.0371056809999 meters 0.024943954673720403 Centerline is valid? [True, True] Translation: X:172.67, Y:181.17, Z:11.84 [[-4.79275452e-01 -8.77575732e-01 1.24850297e-02 1.72668805e+02] [ 8.77241412e-01 -4.79437586e-01 -2.42302774e-02 1.81170037e+02] [ 2.72496959e-02 -6.60592081e-04 9.99628440e-01 1.18425950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.06710568099993 meters 0.021179666245006584 Centerline is valid? [True, True] Translation: X:172.64, Y:181.18, Z:11.84 [[-4.70663233e-01 -8.82219677e-01 1.28282239e-02 1.72638969e+02] [ 8.81869162e-01 -4.70837858e-01 -2.48695104e-02 1.81183819e+02] [ 2.79803848e-02 -3.92349104e-04 9.99608395e-01 1.18418225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.0971056809999 meters 0.01964964332169953 Centerline is valid? [True, True] Translation: X:172.62, Y:181.20, Z:11.84 [[-4.65478571e-01 -8.84956603e-01 1.34725949e-02 1.72615780e+02] [ 8.84572003e-01 -4.65673447e-01 -2.60885416e-02 1.81203081e+02] [ 2.93610569e-02 -2.26176808e-04 9.99568846e-01 1.18407442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.12710568099993 meters 0.019124705834702344 Centerline is valid? [True, True] Translation: X:172.59, Y:181.22, Z:11.84 [[-4.55617898e-01 -8.90047970e-01 1.50645880e-02 1.72585225e+02] [ 8.89570865e-01 -4.55866861e-01 -2.91390017e-02 1.81216551e+02] [ 3.28025557e-02 1.24767846e-04 9.99461844e-01 1.18381588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.1571056809999 meters 0.019980791901662277 Centerline is valid? [True, True] Translation: X:172.57, Y:181.24, Z:11.84 [[-4.51221404e-01 -8.92278252e-01 1.54520518e-02 1.72565063e+02] [ 8.91778775e-01 -4.51485798e-01 -2.98528167e-02 1.81235300e+02] [ 3.36134010e-02 3.09581943e-04 9.99434862e-01 1.18376103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.18710568099993 meters 0.022860192927095634 Centerline is valid? [True, True] Translation: X:172.54, Y:181.25, Z:11.84 [[-4.42786420e-01 -8.96479146e-01 1.62888274e-02 1.72539043e+02] [ 8.95928105e-01 -4.43085415e-01 -3.14348016e-02 1.81251822e+02] [ 3.53979859e-02 6.74714970e-04 9.99373067e-01 1.18382287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2171056809999 meters 0.023515239247625996 Centerline is valid? [True, True] Translation: X:172.52, Y:181.27, Z:11.84 [[-4.40475866e-01 -8.97616646e-01 1.62901318e-02 1.72522262e+02] [ 8.97067254e-01 -4.40776306e-01 -3.14100396e-02 1.81273175e+02] [ 3.53744785e-02 7.77979351e-04 9.99373824e-01 1.18398745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.24710568099994 meters 0.024892982913708693 Centerline is valid? [True, True] Translation: X:172.50, Y:181.29, Z:11.84 [[-4.37955642e-01 -8.98852353e-01 1.61029045e-02 1.72503165e+02] [ 8.98317519e-01 -4.38250693e-01 -3.10155530e-02 1.81292462e+02] [ 3.49355119e-02 8.82084748e-04 9.99389179e-01 1.18401079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2771056809999 meters 0.02502444050682688 Centerline is valid? [True, True] Translation: X:172.49, Y:181.31, Z:11.84 [[-4.38239616e-01 -8.98708842e-01 1.63846505e-02 1.72489562e+02] [ 8.98156037e-01 -4.38544879e-01 -3.15297020e-02 1.81314667e+02] [ 3.55214265e-02 8.98408197e-04 9.99368511e-01 1.18391274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.30710568099994 meters 0.024368870927288802 Centerline is valid? [True, True] Translation: X:172.48, Y:181.34, Z:11.84 [[-4.38427748e-01 -8.98601449e-01 1.72204960e-02 1.72477988e+02] [ 8.97992181e-01 -4.38764776e-01 -3.30985492e-02 1.81338850e+02] [ 3.72981514e-02 9.52548334e-04 9.99303728e-01 1.18365515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3371056809999 meters 0.02539997351445454 Centerline is valid? [True, True] Translation: X:172.47, Y:181.36, Z:11.83 [[-4.40529157e-01 -8.97552826e-01 1.82479047e-02 1.72467208e+02] [ 8.96869404e-01 -4.40905945e-01 -3.50316870e-02 1.81362250e+02] [ 3.94883994e-02 9.33507893e-04 9.99219593e-01 1.18324224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.36710568099994 meters 0.023376063895112133 Centerline is valid? [True, True] Translation: X:172.46, Y:181.39, Z:11.83 [[-4.42854585e-01 -8.96399192e-01 1.86629501e-02 1.72460201e+02] [ 8.95685062e-01 -4.43246810e-01 -3.57845788e-02 1.81389159e+02] [ 4.03495606e-02 8.68760783e-04 9.99185247e-01 1.18333527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3971056809999 meters 0.021419445456075385 Centerline is valid? [True, True] Translation: X:172.45, Y:181.42, Z:11.83 [[-4.47694950e-01 -8.93988419e-01 1.88132496e-02 1.72453793e+02] [ 8.93262151e-01 -4.48089560e-01 -3.60343628e-02 1.81416496e+02] [ 4.06443238e-02 6.72761532e-04 9.99173452e-01 1.18338598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.42710568099994 meters 0.020777656612311547 Centerline is valid? [True, True] Translation: X:172.45, Y:181.44, Z:11.83 [[-4.50309218e-01 -8.92672750e-01 1.88936412e-02 1.72445053e+02] [ 8.91940739e-01 -4.50705038e-01 -3.61481086e-02 1.81440721e+02] [ 4.07838908e-02 5.74181816e-04 9.99167826e-01 1.18343381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4571056809999 meters 0.019575601353933384 Centerline is valid? [True, True] Translation: X:172.44, Y:181.47, Z:11.84 [[-4.54449606e-01 -8.90573948e-01 1.88042091e-02 1.72440965e+02] [ 8.89848757e-01 -4.54838302e-01 -3.59347893e-02 1.81469350e+02] [ 4.05554617e-02 4.02351269e-04 9.99177208e-01 1.18364450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.48710568099995 meters 0.019316332869979736 Centerline is valid? [True, True] Translation: X:172.43, Y:181.49, Z:11.84 [[-4.56079534e-01 -8.89747176e-01 1.84776129e-02 1.72431513e+02] [ 8.89047802e-01 -4.56453555e-01 -3.52726204e-02 1.81494396e+02] [ 3.98178865e-02 3.40360898e-04 9.99206896e-01 1.18385585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.5171056809999 meters 0.018628176319958747 Centerline is valid? [True, True] Translation: X:172.42, Y:181.52, Z:11.84 [[-4.59847535e-01 -8.87828256e-01 1.73560406e-02 1.72424239e+02] [ 8.87211192e-01 -4.60174919e-01 -3.30959978e-02 1.81521580e+02] [ 3.73703766e-02 1.79360386e-04 9.99301467e-01 1.18430057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.54710568099995 meters 0.018435228443860502 Centerline is valid? [True, True] Translation: X:172.42, Y:181.55, Z:11.84 [[-4.62237402e-01 -8.86588240e-01 1.72591303e-02 1.72415019e+02] [ 8.85978435e-01 -4.62559493e-01 -3.28774803e-02 1.81546171e+02] [ 3.71321620e-02 9.40161281e-05 9.99310359e-01 1.18447042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.5771056809999 meters 0.018417096740598486 Centerline is valid? [True, True] Translation: X:172.41, Y:181.57, Z:11.85 [[-4.65081689e-01 -8.85104549e-01 1.69988002e-02 1.72407813e+02] [ 8.84513391e-01 -4.65392240e-01 -3.23438495e-02 1.81570596e+02] [ 3.65387980e-02 -6.86573221e-06 9.99332235e-01 1.18458071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.60710568099995 meters 0.018406008219744707 Centerline is valid? [True, True] Translation: X:172.40, Y:181.60, Z:11.85 [[-4.68666024e-01 -8.83206266e-01 1.72872977e-02 1.72400011e+02] [ 8.82595054e-01 -4.68984726e-01 -3.28526664e-02 1.81595960e+02] [ 3.71231594e-02 -1.39245092e-04 9.99310688e-01 1.18453529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.6371056809999 meters 0.018637750942873253 Centerline is valid? [True, True] Translation: X:172.39, Y:181.62, Z:11.85 [[-4.70228604e-01 -8.82370553e-01 1.75290515e-02 1.72390436e+02] [ 8.81743047e-01 -4.70555174e-01 -3.32720102e-02 1.81619555e+02] [ 3.76066279e-02 -1.89331614e-04 9.99292603e-01 1.18450054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.6671056809999 meters 0.018680460859199163 Centerline is valid? [True, True] Translation: X:172.38, Y:181.64, Z:11.85 [[-4.71076195e-01 -8.81908133e-01 1.80350644e-02 1.72379798e+02] [ 8.81245154e-01 -4.71421255e-01 -3.41903319e-02 1.81643667e+02] [ 3.86548444e-02 -2.12938362e-04 9.99252600e-01 1.18454105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.6971056809999 meters 0.018542205019390946 Centerline is valid? [True, True] Translation: X:172.37, Y:181.67, Z:11.85 [[-4.69701187e-01 -8.82635895e-01 1.82940247e-02 1.72365909e+02] [ 8.81955860e-01 -4.70057292e-01 -3.46410586e-02 1.81666221e+02] [ 3.91746815e-02 -1.36424015e-04 9.99232368e-01 1.18469561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.7271056809999 meters 0.018635925991442853 Centerline is valid? [True, True] Translation: X:172.35, Y:181.69, Z:11.85 [[-4.64480159e-01 -8.85391808e-01 1.84262653e-02 1.72347547e+02] [ 8.84705638e-01 -4.64845493e-01 -3.48511445e-02 1.81686442e+02] [ 3.94222842e-02 1.14155685e-04 9.99222633e-01 1.18502421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.7571056809999 meters 0.019170261522341817 Centerline is valid? [True, True] Translation: X:172.33, Y:181.71, Z:11.85 [[-4.60922811e-01 -8.87264592e-01 1.76551736e-02 1.72331058e+02] [ 8.86637444e-01 -4.61260734e-01 -3.33553322e-02 1.81705753e+02] [ 3.77386436e-02 2.79504545e-04 9.99287605e-01 1.18538149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.7871056809999 meters 0.02130599528474757 Centerline is valid? [True, True] Translation: X:172.31, Y:181.73, Z:11.86 [[-4.54009967e-01 -8.90826635e-01 1.74027563e-02 1.72310969e+02] [ 8.90221260e-01 -4.54343006e-01 -3.28411401e-02 1.81725679e+02] [ 3.71625829e-02 5.82098701e-04 9.99309063e-01 1.18558768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.81710568099993 meters 0.024111396463867896 Centerline is valid? [True, True] Translation: X:172.29, Y:181.75, Z:11.86 [[-4.48333270e-01 -8.93704092e-01 1.70374804e-02 1.72294576e+02] [ 8.93127021e-01 -4.48656139e-01 -3.21215279e-02 1.81746399e+02] [ 3.63511111e-02 8.15484457e-04 9.99338747e-01 1.18564144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.8471056809999 meters 0.025105438380961433 Centerline is valid? [True, True] Translation: X:172.28, Y:181.77, Z:11.86 [[-4.47162572e-01 -8.94310943e-01 1.59239227e-02 1.72280441e+02] [ 8.93807986e-01 -4.47445268e-01 -3.00002845e-02 1.81768229e+02] [ 3.39546666e-02 8.17924893e-04 9.99423039e-01 1.18594512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.87710568099993 meters 0.027000722052068465 Centerline is valid? [True, True] Translation: X:172.27, Y:181.79, Z:11.86 [[-4.44747129e-01 -8.95533069e-01 1.48497184e-02 1.72266411e+02] [ 8.95097030e-01 -4.44994141e-01 -2.79557072e-02 1.81788743e+02] [ 3.16432980e-02 8.58718289e-04 9.99498857e-01 1.18628366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.9071056809999 meters 0.02685012135665453 Centerline is valid? [True, True] Translation: X:172.25, Y:181.81, Z:11.86 [[-4.43904569e-01 -8.95941514e-01 1.54122383e-02 1.72254484e+02] [ 8.95473183e-01 -4.44171055e-01 -2.89802120e-02 1.81813128e+02] [ 3.28102451e-02 9.36797541e-04 9.99461160e-01 1.18612710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93710568099993 meters 0.02725207559607271 Centerline is valid? [True, True] Translation: X:172.24, Y:181.84, Z:11.86 [[-4.43007405e-01 -8.96370518e-01 1.62583349e-02 1.72241725e+02] [ 8.95850719e-01 -4.43304434e-01 -3.05396008e-02 1.81837358e+02] [ 3.45821897e-02 1.03577168e-03 9.99401320e-01 1.18592540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.9671056809999 meters 0.02746268990008245 Centerline is valid? [True, True] Translation: X:172.23, Y:181.86, Z:11.86 [[-4.40744168e-01 -8.97471469e-01 1.70158987e-02 1.72230654e+02] [ 8.96904111e-01 -4.41070911e-01 -3.19290827e-02 1.81862468e+02] [ 3.61606587e-02 1.18907253e-03 9.99345282e-01 1.18567318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99710568099994 meters 0.03079985771535996 Centerline is valid? [True, True] Translation: X:172.22, Y:181.88, Z:11.85 [[-4.37414201e-01 -8.99084052e-01 1.77956036e-02 1.72217218e+02] [ 8.98466195e-01 -4.37773812e-01 -3.33554530e-02 1.81884895e+02] [ 3.77798051e-02 1.39859938e-03 9.99285110e-01 1.18547134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0271056809999 meters 0.03384257576189602 Centerline is valid? [True, True] Translation: X:172.20, Y:181.91, Z:11.85 [[-4.35684303e-01 -8.99918901e-01 1.80321797e-02 1.72202319e+02] [ 8.99286618e-01 -4.36054701e-01 -3.37620491e-02 1.81906146e+02] [ 3.82461228e-02 1.50650306e-03 9.99267214e-01 1.18540878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.05710568099994 meters 0.03420127402535972 Centerline is valid? [True, True] Translation: X:172.19, Y:181.93, Z:11.86 [[-4.32574338e-01 -9.01442461e-01 1.67609927e-02 1.72191767e+02] [ 9.00898423e-01 -4.32896203e-01 -3.13513783e-02 1.81930413e+02] [ 3.55172338e-02 1.53815019e-03 9.99367880e-01 1.18581073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0871056809999 meters 0.03560883096842541 Centerline is valid? [True, True] Translation: X:172.18, Y:181.95, Z:11.86 [[-4.31262355e-01 -9.02083278e-01 1.60792151e-02 1.72178935e+02] [ 9.01584075e-01 -4.31559256e-01 -3.00460303e-02 1.81954304e+02] [ 3.40431556e-02 1.53904248e-03 9.99419179e-01 1.18604228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.11710568099994 meters 0.03502539633089963 Centerline is valid? [True, True] Translation: X:172.17, Y:181.98, Z:11.86 [[-4.29711705e-01 -9.02819393e-01 1.62786343e-02 1.72173962e+02] [ 9.02309289e-01 -4.30016844e-01 -3.03884960e-02 1.81982723e+02] [ 3.44354104e-02 1.63007053e-03 9.99405596e-01 1.18602389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.1471056809999 meters 0.03408476619698044 Centerline is valid? [True, True] Translation: X:172.17, Y:182.01, Z:11.86 [[-4.30503662e-01 -9.02436389e-01 1.65880008e-02 1.72166365e+02] [ 9.01907565e-01 -4.30819988e-01 -3.09335169e-02 1.82008649e+02] [ 3.50619736e-02 1.64385113e-03 9.99383788e-01 1.18600051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.17710568099994 meters 0.03489008519273685 Centerline is valid? [True, True] Translation: X:172.16, Y:182.03, Z:11.86 [[-4.32531136e-01 -9.01446749e-01 1.76231532e-02 1.72159152e+02] [ 9.00850478e-01 -4.32886756e-01 -3.28248728e-02 1.82034683e+02] [ 3.72187044e-02 1.67804648e-03 9.99305735e-01 1.18560640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.2071056809999 meters 0.03413782391610416 Centerline is valid? [True, True] Translation: X:172.15, Y:182.06, Z:11.86 [[-4.33875719e-01 -9.00792084e-01 1.80411277e-02 1.72150763e+02] [ 9.00168008e-01 -4.34247409e-01 -3.35670358e-02 1.82061031e+02] [ 3.80712331e-02 1.67612417e-03 9.99273622e-01 1.18561466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.23710568099995 meters 0.03325376937509631 Centerline is valid? [True, True] Translation: X:172.15, Y:182.09, Z:11.86 [[-4.35456612e-01 -9.00022855e-01 1.83411811e-02 1.72147291e+02] [ 8.99378504e-01 -4.35839575e-01 -3.40906477e-02 1.82090276e+02] [ 3.86761747e-02 1.65066606e-03 9.99250433e-01 1.18581924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.2671056809999 meters 0.032016576098828436 Centerline is valid? [True, True] Translation: X:172.15, Y:182.12, Z:11.86 [[-4.37300855e-01 -8.99113115e-01 1.90674822e-02 1.72145120e+02] [ 8.98417323e-01 -4.37713250e-01 -3.54037331e-02 1.82119813e+02] [ 4.01780503e-02 1.64847353e-03 9.99191176e-01 1.18568259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.29710568099995 meters 0.032355554687803954 Centerline is valid? [True, True] Translation: X:172.14, Y:182.14, Z:11.86 [[-4.38514349e-01 -8.98498969e-01 2.01188387e-02 1.72136768e+02] [ 8.97725413e-01 -4.38972343e-01 -3.73144102e-02 1.82144508e+02] [ 4.23585729e-02 1.69828848e-03 9.99101029e-01 1.18552728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.3271056809999 meters 0.0317045549659454 Centerline is valid? [True, True] Translation: X:172.13, Y:182.17, Z:11.85 [[-4.39446190e-01 -8.98037600e-01 2.03841918e-02 1.72128922e+02] [ 8.97244900e-01 -4.39915441e-01 -3.77623422e-02 1.82169929e+02] [ 4.28793239e-02 1.69509474e-03 9.99078821e-01 1.18547338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.35710568099995 meters 0.031844539972746735 Centerline is valid? [True, True] Translation: X:172.12, Y:182.20, Z:11.86 [[-4.40640120e-01 -8.97463753e-01 1.98770385e-02 1.72119942e+02] [ 8.96711102e-01 -4.41085254e-01 -3.67831233e-02 1.82195234e+02] [ 4.17789884e-02 1.61584127e-03 9.99125570e-01 1.18562932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.3871056809999 meters 0.03095153718777859 Centerline is valid? [True, True] Translation: X:172.11, Y:182.22, Z:11.86 [[-4.43534022e-01 -8.96065065e-01 1.85733721e-02 1.72113863e+02] [ 8.95408030e-01 -4.43920528e-01 -3.43369389e-02 1.82222009e+02] [ 3.90132325e-02 1.40114589e-03 9.99237712e-01 1.18605096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.4171056809999 meters 0.02969354665875744 Centerline is valid? [True, True] Translation: X:172.11, Y:182.25, Z:11.86 [[-4.46061286e-01 -8.94814203e-01 1.83540383e-02 1.72106129e+02] [ 8.94172813e-01 -4.46436866e-01 -3.38984719e-02 1.82248728e+02] [ 3.85267535e-02 1.29088613e-03 9.99256735e-01 1.18624617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.4471056809999 meters 0.026727363462375038 Centerline is valid? [True, True] Translation: X:172.11, Y:182.28, Z:11.86 [[-4.53206394e-01 -8.91211215e-01 1.86154541e-02 1.72105906e+02] [ 8.90549704e-01 -4.53587419e-01 -3.43464351e-02 1.82277837e+02] [ 3.90536639e-02 1.01196310e-03 9.99236602e-01 1.18635412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.4771056809999 meters 0.02497737202025439 Centerline is valid? [True, True] Translation: X:172.10, Y:182.30, Z:11.86 [[-4.57921470e-01 -8.88794862e-01 1.87515674e-02 1.72099124e+02] [ 8.88122950e-01 -4.58304496e-01 -3.45632081e-02 1.82304006e+02] [ 3.93135294e-02 8.26462299e-04 9.99226583e-01 1.18642746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.5071056809999 meters 0.021822837467351048 Centerline is valid? [True, True] Translation: X:172.10, Y:182.33, Z:11.87 [[-4.66076021e-01 -8.84570183e-01 1.75708442e-02 1.72095664e+02] [ 8.83978115e-01 -4.66406893e-01 -3.23620524e-02 1.82332787e+02] [ 3.68216694e-02 4.49065121e-04 9.99321751e-01 1.18679346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.5371056809999 meters 0.020998102025763098 Centerline is valid? [True, True] Translation: X:172.09, Y:182.36, Z:11.87 [[-4.69889039e-01 -8.82560470e-01 1.70677608e-02 1.72085382e+02] [ 8.82001609e-01 -4.70198818e-01 -3.14043498e-02 1.82357897e+02] [ 3.57414787e-02 2.97232730e-04 9.99361025e-01 1.18697131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.56710568099993 meters 0.020233385842125428 Centerline is valid? [True, True] Translation: X:172.08, Y:182.38, Z:11.87 [[-4.75547482e-01 -8.79519255e-01 1.73341397e-02 1.72077348e+02] [ 8.78941937e-01 -4.75863293e-01 -3.18621778e-02 1.82382778e+02] [ 3.62720796e-02 8.37238894e-05 9.99341948e-01 1.18684943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.5971056809999 meters 0.02016717198505617 Centerline is valid? [True, True] Translation: X:172.07, Y:182.41, Z:11.87 [[-4.77913802e-01 -8.78235720e-01 1.73325840e-02 1.72066753e+02] [ 8.77658939e-01 -4.78228001e-01 -3.18239777e-02 1.82407540e+02] [ 3.62378810e-02 2.97907743e-06 9.99343192e-01 1.18689078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.62710568099993 meters 0.020236113659922766 Centerline is valid? [True, True] Translation: X:172.06, Y:182.43, Z:11.87 [[-4.82681739e-01 -8.75639412e-01 1.65517023e-02 1.72059750e+02] [ 8.75112984e-01 -4.82965414e-01 -3.03590843e-02 1.82432719e+02] [ 3.45775104e-02 -1.69165987e-04 9.99402005e-01 1.18718551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.6571056809999 meters 0.020236113659922766 Centerline is valid? [True, True] Translation: X:172.05, Y:182.46, Z:11.87 [[-4.83066036e-01 -8.75427201e-01 1.65656359e-02 1.72047049e+02] [ 8.74900909e-01 -4.83349964e-01 -3.03514800e-02 1.82455240e+02] [ 3.45775107e-02 -1.68479220e-04 9.99402005e-01 1.18726039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.68710568099993 meters 0.021112710222395498 Centerline is valid? [True, True] Translation: X:172.04, Y:182.48, Z:11.87 [[-4.89861947e-01 -8.71636257e-01 1.68969932e-02 1.72035313e+02] [ 8.71087571e-01 -4.90153088e-01 -3.09256132e-02 1.82479301e+02] [ 3.52379991e-02 -4.30520277e-04 9.99378856e-01 1.18722757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7171056809999 meters 0.022873828705305313 Centerline is valid? [True, True] Translation: X:172.02, Y:182.50, Z:11.87 [[-4.93807422e-01 -8.69400218e-01 1.72479301e-02 1.72024614e+02] [ 8.68828359e-01 -4.94108204e-01 -3.15335526e-02 1.82503444e+02] [ 3.59376212e-02 -5.86011527e-04 9.99353863e-01 1.18707823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.74710568099994 meters 0.02509362729395567 Centerline is valid? [True, True] Translation: X:172.01, Y:182.53, Z:11.87 [[-5.01351254e-01 -8.65081721e-01 1.67492307e-02 1.72012991e+02] [ 8.64541120e-01 -5.01630226e-01 -3.05903196e-02 1.82528214e+02] [ 3.48650467e-02 -8.56096409e-04 9.99391663e-01 1.18723747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7771056809999 meters 0.0269942605165491 Centerline is valid? [True, True] Translation: X:172.00, Y:182.55, Z:11.87 [[-5.05713949e-01 -8.62540210e-01 1.66669531e-02 1.72001630e+02] [ 8.62004574e-01 -5.05987512e-01 -3.04097350e-02 1.82553330e+02] [ 3.46628893e-02 -1.01163733e-03 9.99398549e-01 1.18739876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.80710568099994 meters 0.0309160290911078 Centerline is valid? [True, True] Translation: X:171.99, Y:182.58, Z:11.87 [[-5.13593552e-01 -8.57862769e-01 1.71211091e-02 1.71990825e+02] [ 8.57296066e-01 -5.13877076e-01 -3.12058754e-02 1.82577846e+02] [ 3.55685041e-02 -1.34927692e-03 9.99366330e-01 1.18748035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.8371056809999 meters 0.03398580392169111 Centerline is valid? [True, True] Translation: X:171.98, Y:182.60, Z:11.87 [[-5.17382747e-01 -8.55576769e-01 1.74208294e-02 1.71979349e+02] [ 8.54989977e-01 -5.17673734e-01 -3.17182026e-02 1.82601347e+02] [ 3.61556631e-02 -1.51581629e-03 9.99345021e-01 1.18748484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.86710568099994 meters 0.03523124954951987 Centerline is valid? [True, True] Translation: X:171.96, Y:182.62, Z:11.88 [[-5.20758549e-01 -8.53521754e-01 1.76393872e-02 1.71964434e+02] [ 8.52920195e-01 -5.21054557e-01 -3.20825281e-02 1.82623595e+02] [ 3.65742188e-02 -1.66226119e-03 9.99329557e-01 1.18751691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.8971056809999 meters 0.03750331580220512 Centerline is valid? [True, True] Translation: X:171.94, Y:182.64, Z:11.88 [[-5.23934320e-01 -8.51585680e-01 1.71655981e-02 1.71944766e+02] [ 8.51016101e-01 -5.24212577e-01 -3.11892458e-02 1.82642572e+02] [ 3.55587375e-02 -1.73291593e-03 9.99366086e-01 1.18765612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.92710568099994 meters 0.03526459510900595 Centerline is valid? [True, True] Translation: X:171.92, Y:182.66, Z:11.88 [[-5.22586047e-01 -8.52427853e-01 1.64492896e-02 1.71917674e+02] [ 8.51906245e-01 -5.22842449e-01 -2.98584050e-02 1.82658313e+02] [ 3.40525230e-02 -1.59033334e-03 9.99418779e-01 1.18784246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9571056809999 meters 0.03321485822501123 Centerline is valid? [True, True] Translation: X:171.90, Y:182.68, Z:11.88 [[-5.21293606e-01 -8.53219472e-01 1.64167454e-02 1.71896552e+02] [ 8.52701314e-01 -5.21549827e-01 -2.97698975e-02 1.82677315e+02] [ 3.39624069e-02 -1.52027679e-03 9.99421955e-01 1.18798646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.98710568099995 meters 0.03201623124784537 Centerline is valid? [True, True] Translation: X:171.87, Y:182.69, Z:11.88 [[-5.18409253e-01 -8.54972294e-01 1.65596911e-02 1.71870692e+02] [ 8.54447000e-01 -5.18671775e-01 -2.99985708e-02 1.82693395e+02] [ 3.42369913e-02 -1.40215830e-03 9.99412759e-01 1.18808613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.0171056809999 meters 0.03076537528174117 Centerline is valid? [True, True] Translation: X:171.85, Y:182.71, Z:11.88 [[-5.18171837e-01 -8.55122620e-01 1.62250772e-02 1.71849475e+02] [ 8.54619407e-01 -5.18424041e-01 -2.93629635e-02 1.82711274e+02] [ 3.35204043e-02 -1.34879484e-03 9.99437123e-01 1.18831095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.04710568099995 meters 0.032760703330983555 Centerline is valid? [True, True] Translation: X:171.83, Y:182.73, Z:11.89 [[-5.19848738e-01 -8.54117455e-01 1.55132933e-02 1.71826722e+02] [ 8.53657960e-01 -5.20078444e-01 -2.80445927e-02 1.82727900e+02] [ 3.20215056e-02 -1.33589977e-03 9.99486287e-01 1.18861214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.0771056809999 meters 0.034463206319300256 Centerline is valid? [True, True] Translation: X:171.81, Y:182.75, Z:11.89 [[-5.22828406e-01 -8.52302436e-01 1.51991906e-02 1.71809484e+02] [ 8.51861447e-01 -5.23047404e-01 -2.74497472e-02 1.82748903e+02] [ 3.13453836e-02 -1.40390310e-03 9.99507627e-01 1.18879594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.10710568099995 meters 0.03823682504688946 Centerline is valid? [True, True] Translation: X:171.79, Y:182.77, Z:11.89 [[-5.29217452e-01 -8.48363277e-01 1.44443194e-02 1.71790248e+02] [ 8.47964303e-01 -5.29412285e-01 -2.60609759e-02 1.82768138e+02] [ 2.97561750e-02 -1.54365604e-03 9.99555995e-01 1.18896518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.1371056809999 meters 0.043348928287193465 Centerline is valid? [True, True] Translation: X:171.77, Y:182.79, Z:11.89 [[-5.36972766e-01 -8.43464635e-01 1.50883762e-02 1.71773152e+02] [ 8.43028076e-01 -5.37181399e-01 -2.71994129e-02 1.82789175e+02] [ 3.10469379e-02 -1.88541922e-03 9.99516149e-01 1.18884109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.1671056809999 meters 0.04596101693372957 Centerline is valid? [True, True] Translation: X:171.76, Y:182.81, Z:11.89 [[-5.40612833e-01 -8.41120907e-01 1.59180687e-02 1.71757464e+02] [ 8.40634777e-01 -5.40842982e-01 -2.86712455e-02 1.82811237e+02] [ 3.27251597e-02 -2.11876114e-03 9.99462143e-01 1.18883415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.1971056809999 meters 0.043595659265087766 Centerline is valid? [True, True] Translation: X:171.73, Y:182.83, Z:11.89 [[-5.44320266e-01 -8.38740617e-01 1.51534226e-02 1.71727882e+02] [ 8.38299979e-01 -5.44526952e-01 -2.72680116e-02 1.82825786e+02] [ 3.11222359e-02 -2.13941746e-03 9.99513296e-01 1.18924842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.2271056809999 meters 0.04977822861888639 Centerline is valid? [True, True] Translation: X:171.72, Y:182.85, Z:11.90 [[-5.44382269e-01 -8.38712262e-01 1.44806019e-02 1.71716113e+02] [ 8.38310633e-01 -5.44571035e-01 -2.60320833e-02 1.82848315e+02] [ 2.97191439e-02 -2.03216199e-03 9.99556223e-01 1.18954257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.2571056809999 meters 0.04484942480531585 Centerline is valid? [True, True] Translation: X:171.69, Y:182.86, Z:11.90 [[-5.42519400e-01 -8.39932223e-01 1.36587270e-02 1.71690040e+02] [ 8.39576032e-01 -5.42688196e-01 -2.45277304e-02 1.82864932e+02] [ 2.80140610e-02 -1.83922971e-03 9.99605837e-01 1.18980980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.2871056809999 meters 0.03885610789605273 Centerline is valid? [True, True] Translation: X:171.66, Y:182.88, Z:11.90 [[-5.35106023e-01 -8.44672762e-01 1.37648104e-02 1.71655522e+02] [ 8.44313191e-01 -5.35280664e-01 -2.46950613e-02 1.82876642e+02] [ 2.82272825e-02 -1.59266503e-03 9.99600262e-01 1.18984296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.31710568099993 meters 0.03192795819537906 Centerline is valid? [True, True] Translation: X:171.62, Y:182.89, Z:11.90 [[-5.22036837e-01 -8.52793181e-01 1.48772206e-02 1.71618049e+02] [ 8.52377189e-01 -5.22247316e-01 -2.66621216e-02 1.82885820e+02] [ 3.05068640e-02 -1.23760612e-03 9.99533791e-01 1.18973666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.3471056809999 meters 0.02849868719440217 Centerline is valid? [True, True] Translation: X:171.59, Y:182.90, Z:11.90 [[-5.15837504e-01 -8.56551145e-01 1.52251775e-02 1.71592218e+02] [ 8.56117952e-01 -5.16061125e-01 -2.72574431e-02 1.82902252e+02] [ 3.12045163e-02 -1.02586366e-03 9.99512494e-01 1.18970966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.37710568099993 meters 0.023687372646001372 Centerline is valid? [True, True] Translation: X:171.56, Y:182.91, Z:11.90 [[-5.05321798e-01 -8.62787448e-01 1.57384694e-02 1.71558154e+02] [ 8.62328446e-01 -5.05566410e-01 -2.81470517e-02 1.82912991e+02] [ 3.22417644e-02 -6.51588953e-04 9.99479887e-01 1.18974764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.4071056809999 meters 0.02270435009488342 Centerline is valid? [True, True] Translation: X:171.54, Y:182.93, Z:11.90 [[-5.02422368e-01 -8.64472004e-01 1.61219843e-02 1.71536845e+02] [ 8.63992232e-01 -5.02680675e-01 -2.88021200e-02 1.82930529e+02] [ 3.30028363e-02 -5.41560128e-04 9.99455111e-01 1.18975272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43710568099993 meters 0.0213773061339662 Centerline is valid? [True, True] Translation: X:171.51, Y:182.95, Z:11.90 [[-4.98690382e-01 -8.66619130e-01 1.67088925e-02 1.71508062e+02] [ 8.66106002e-01 -4.98970064e-01 -2.98206129e-02 1.82946127e+02] [ 3.41803507e-02 -3.99580706e-04 9.99415601e-01 1.18964671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.4671056809999 meters 0.021137760156183166 Centerline is valid? [True, True] Translation: X:171.49, Y:182.97, Z:11.89 [[-4.97243709e-01 -8.67448142e-01 1.68052058e-02 1.71490387e+02] [ 8.66930528e-01 -4.97527498e-01 -2.99641160e-02 1.82965140e+02] [ 3.43533688e-02 -3.30522271e-04 9.99409694e-01 1.18945499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49710568099994 meters 0.0207223691650674 Centerline is valid? [True, True] Translation: X:171.47, Y:182.98, Z:11.89 [[-4.95030957e-01 -8.68695228e-01 1.76904767e-02 1.71468381e+02] [ 8.68123726e-01 -4.95346893e-01 -3.15063852e-02 1.82983224e+02] [ 3.61323692e-02 -2.39113520e-04 9.99346984e-01 1.18902760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5271056809999 meters 0.021196901501002407 Centerline is valid? [True, True] Translation: X:171.45, Y:183.00, Z:11.89 [[-4.96159849e-01 -8.68071272e-01 1.66634682e-02 1.71450198e+02] [ 8.67564839e-01 -4.96439525e-01 -2.96487525e-02 1.83001585e+02] [ 3.40096345e-02 -2.53881449e-04 9.99421473e-01 1.18931788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.55710568099994 meters 0.021285279672745638 Centerline is valid? [True, True] Translation: X:171.43, Y:183.02, Z:11.90 [[-4.97338041e-01 -8.67395627e-01 1.67242136e-02 1.71433542e+02] [ 8.66885988e-01 -4.97619074e-01 -2.97311386e-02 1.83022307e+02] [ 3.41109473e-02 -2.88439839e-04 9.99418011e-01 1.18957716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5871056809999 meters 0.02196988070155163 Centerline is valid? [True, True] Translation: X:171.42, Y:183.04, Z:11.90 [[-5.01066661e-01 -8.65236250e-01 1.72752119e-02 1.71418055e+02] [ 8.64692313e-01 -5.01364182e-01 -3.06783401e-02 1.83044602e+02] [ 3.52051845e-02 -4.34150480e-04 9.99380011e-01 1.18955484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.61710568099994 meters 0.02236531247135287 Centerline is valid? [True, True] Translation: X:171.41, Y:183.07, Z:11.90 [[-5.03931488e-01 -8.63567202e-01 1.74568884e-02 1.71405424e+02] [ 8.63011806e-01 -5.04233471e-01 -3.09714308e-02 1.83068512e+02] [ 3.55482593e-02 -5.41978385e-04 9.99367814e-01 1.18962871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.6471056809999 meters 0.023898450105208996 Centerline is valid? [True, True] Translation: X:171.40, Y:183.09, Z:11.89 [[-5.08849096e-01 -8.60674262e-01 1.76751619e-02 1.71395374e+02] [ 8.60104223e-01 -5.09155446e-01 -3.13282246e-02 1.83093742e+02] [ 3.59628016e-02 -7.38857347e-04 9.99352856e-01 1.18941901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.67710568099994 meters 0.024752379553198926 Centerline is valid? [True, True] Translation: X:171.38, Y:183.12, Z:11.90 [[-5.11136364e-01 -8.59313048e-01 1.79081738e-02 1.71383944e+02] [ 8.58728151e-01 -5.11449310e-01 -3.17106692e-02 1.83116705e+02] [ 3.64085150e-02 -8.30223185e-04 9.99336645e-01 1.18959103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.7071056809999 meters 0.02509605568338476 Centerline is valid? [True, True] Translation: X:171.37, Y:183.14, Z:11.90 [[-5.14130379e-01 -8.57543210e-01 1.70175573e-02 1.71367837e+02] [ 8.57015032e-01 -5.14411162e-01 -3.01063350e-02 1.83138805e+02] [ 3.45715046e-02 -8.94278965e-04 9.99401827e-01 1.19000546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.73710568099995 meters 0.026351601565714488 Centerline is valid? [True, True] Translation: X:171.36, Y:183.16, Z:11.90 [[-5.14643306e-01 -8.57235107e-01 1.70364094e-02 1.71356691e+02] [ 8.56706654e-01 -5.14924423e-01 -3.01089177e-02 1.83161152e+02] [ 3.45828845e-02 -9.00147661e-04 9.99401428e-01 1.19002673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.7671056809999 meters 0.025237735229739815 Centerline is valid? [True, True] Translation: X:171.34, Y:183.18, Z:11.90 [[-5.14105543e-01 -8.57551492e-01 1.73473149e-02 1.71341275e+02] [ 8.57004995e-01 -5.14397385e-01 -3.06230047e-02 1.83182535e+02] [ 3.51842168e-02 -8.76720928e-04 9.99380459e-01 1.18994373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.79710568099995 meters 0.024775002064386504 Centerline is valid? [True, True] Translation: X:171.33, Y:183.20, Z:11.90 [[-5.13504166e-01 -8.57919726e-01 1.69474383e-02 1.71327016e+02] [ 8.57399426e-01 -5.13783105e-01 -2.98855257e-02 1.83204314e+02] [ 3.43466895e-02 -8.15618096e-04 9.99409646e-01 1.19007356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.8271056809999 meters 0.023734345581598874 Centerline is valid? [True, True] Translation: X:171.31, Y:183.22, Z:11.90 [[-5.08930465e-01 -8.60622791e-01 1.78379853e-02 1.71310261e+02] [ 8.60049252e-01 -5.09242565e-01 -3.14212377e-02 1.83224999e+02] [ 3.61256946e-02 -6.49679236e-04 9.99347043e-01 1.18966456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.85710568099995 meters 0.022153817754854973 Centerline is valid? [True, True] Translation: X:171.29, Y:183.25, Z:11.90 [[-5.05800880e-01 -8.62450921e-01 1.85439946e-02 1.71291691e+02] [ 8.61833550e-01 -5.06140431e-01 -3.26312005e-02 1.83245812e+02] [ 3.75286744e-02 -5.23053236e-04 9.99295414e-01 1.18953200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.8871056809999 meters 0.021095524869773483 Centerline is valid? [True, True] Translation: X:171.27, Y:183.27, Z:11.89 [[-4.99826648e-01 -8.65906864e-01 1.94583042e-02 1.71273430e+02] [ 8.65231064e-01 -5.00205193e-01 -3.42048264e-02 1.83265544e+02] [ 3.93513388e-02 -2.60554480e-04 9.99225402e-01 1.18932866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.9171056809999 meters 0.020925951262816166 Centerline is valid? [True, True] Translation: X:171.26, Y:183.29, Z:11.89 [[-4.97104565e-01 -8.67473666e-01 1.94033354e-02 1.71256619e+02] [ 8.66804227e-01 -4.97483089e-01 -3.40735662e-02 1.83285961e+02] [ 3.92107526e-02 -1.19232194e-04 9.99230956e-01 1.18946943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.9471056809999 meters 0.021056408464674572 Centerline is valid? [True, True] Translation: X:171.24, Y:183.31, Z:11.90 [[-4.91487433e-01 -8.70702188e-01 1.78270356e-02 1.71237752e+02] [ 8.70140284e-01 -4.91810614e-01 -3.12762722e-02 1.83305654e+02] [ 3.59998439e-02 1.40127119e-04 9.99351786e-01 1.19016471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.9771056809999 meters 0.02241548304711057 Centerline is valid? [True, True] Translation: X:171.22, Y:183.33, Z:11.91 [[-4.85224661e-01 -8.74233637e-01 1.65098780e-02 1.71219491e+02] [ 8.73754673e-01 -4.85505303e-01 -2.89373854e-02 1.83326745e+02] [ 3.33136690e-02 3.84450041e-04 9.99444872e-01 1.19063508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.0071056809999 meters 0.02310922224560079 Centerline is valid? [True, True] Translation: X:171.20, Y:183.35, Z:11.91 [[-4.82989883e-01 -8.75481643e-01 1.58954847e-02 1.71204508e+02] [ 8.75039157e-01 -4.83251153e-01 -2.78351708e-02 1.83348921e+02] [ 3.20506924e-02 4.65065627e-04 9.99486136e-01 1.19083211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.0371056809999 meters 0.024294402690521483 Centerline is valid? [True, True] Translation: X:171.19, Y:183.37, Z:11.91 [[-4.78700352e-01 -8.77839011e-01 1.56410964e-02 1.71190244e+02] [ 8.77412650e-01 -4.78955405e-01 -2.73635177e-02 1.83371760e+02] [ 3.15121510e-02 6.24770327e-04 9.99503174e-01 1.19092957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.06710568099993 meters 0.026046187459845296 Centerline is valid? [True, True] Translation: X:171.18, Y:183.39, Z:11.91 [[-4.76843851e-01 -8.78846824e-01 1.57544362e-02 1.71175616e+02] [ 8.78415670e-01 -4.77103508e-01 -2.75345802e-02 1.83392949e+02] [ 3.17151751e-02 7.09248366e-04 9.99496696e-01 1.19088959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.0971056809999 meters 0.02635066922750014 Centerline is valid? [True, True] Translation: X:171.16, Y:183.42, Z:11.91 [[-4.73967840e-01 -8.80409530e-01 1.52822112e-02 1.71163562e+02] [ 8.80005310e-01 -4.74213476e-01 -2.66876928e-02 1.83416977e+02] [ 3.07431296e-02 7.99318921e-04 9.99526999e-01 1.19117562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.12710568099993 meters 0.027052500415806664 Centerline is valid? [True, True] Translation: X:171.15, Y:183.44, Z:11.91 [[-4.73499651e-01 -8.80661174e-01 1.52963217e-02 1.71149286e+02] [ 8.80257155e-01 -4.73745934e-01 -2.66857919e-02 1.83438998e+02] [ 3.07477111e-02 8.28983490e-04 9.99526834e-01 1.19127823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.1571056809999 meters 0.026437157616580095 Centerline is valid? [True, True] Translation: X:171.14, Y:183.46, Z:11.91 [[-4.74069554e-01 -8.80344593e-01 1.58573504e-02 1.71141872e+02] [ 8.79911156e-01 -4.74333924e-01 -2.76348856e-02 1.83464527e+02] [ 3.18499013e-02 8.52201596e-04 9.99492300e-01 1.19115253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.18710568099993 meters 0.024406907492627118 Centerline is valid? [True, True] Translation: X:171.14, Y:183.49, Z:11.91 [[-4.80169937e-01 -8.76995393e-01 1.77739173e-02 1.71140935e+02] [ 8.76449821e-01 -4.80498240e-01 -3.09378881e-02 1.83494792e+02] [ 3.56727213e-02 7.22502821e-04 9.99363265e-01 1.19062026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2171056809999 meters 0.022172804115882797 Centerline is valid? [True, True] Translation: X:171.14, Y:183.52, Z:11.91 [[-4.85392781e-01 -8.74102181e-01 1.84180881e-02 1.71136339e+02] [ 8.73515432e-01 -4.85741786e-01 -3.20266580e-02 1.83523400e+02] [ 3.69410066e-02 5.42975588e-04 9.99317301e-01 1.19051957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.24710568099994 meters 0.019931969222914847 Centerline is valid? [True, True] Translation: X:171.14, Y:183.56, Z:11.91 [[-4.96098620e-01 -8.68059464e-01 1.89453481e-02 1.71138987e+02] [ 8.67435375e-01 -4.96460225e-01 -3.29107048e-02 1.83555734e+02] [ 3.79740606e-02 1.06909972e-04 9.99278720e-01 1.19055828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2771056809999 meters 0.019596892433991233 Centerline is valid? [True, True] Translation: X:171.13, Y:183.58, Z:11.91 [[-5.00638324e-01 -8.65450316e-01 1.88949433e-02 1.71133469e+02] [ 8.64828898e-01 -5.00994755e-01 -3.27907278e-02 1.83583089e+02] [ 3.78450132e-02 -7.54020305e-05 9.99283618e-01 1.19068734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.30710568099994 meters 0.020830937863351176 Centerline is valid? [True, True] Translation: X:171.14, Y:183.62, Z:11.91 [[-5.09744902e-01 -8.60141514e-01 1.77963542e-02 1.71138100e+02] [ 8.59588082e-01 -5.10055282e-01 -3.08535061e-02 1.83615992e+02] [ 3.56155059e-02 -4.29883446e-04 9.99365474e-01 1.19102480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3371056809999 meters 0.022398113884001668 Centerline is valid? [True, True] Translation: X:171.13, Y:183.64, Z:11.91 [[-5.14811375e-01 -8.57119221e-01 1.77732620e-02 1.71132858e+02] [ 8.56566483e-01 -5.15117707e-01 -3.07832595e-02 1.83644340e+02] [ 3.55402453e-02 -6.23591617e-04 9.99368051e-01 1.19122751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.36710568099994 meters 0.02461147787982859 Centerline is valid? [True, True] Translation: X:171.13, Y:183.67, Z:11.91 [[-5.22627441e-01 -8.52371598e-01 1.79782089e-02 1.71130537e+02] [ 8.51804254e-01 -5.22935720e-01 -3.11086284e-02 1.83674461e+02] [ 3.59175589e-02 -9.44308080e-04 9.99354310e-01 1.19127203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3971056809999 meters 0.025813596113286805 Centerline is valid? [True, True] Translation: X:171.12, Y:183.70, Z:11.91 [[-5.24972142e-01 -8.50929138e-01 1.79958772e-02 1.71122264e+02] [ 8.50360897e-01 -5.25279491e-01 -3.11095099e-02 1.83699798e+02] [ 3.59248537e-02 -1.02863580e-03 9.99353965e-01 1.19138422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.42710568099994 meters 0.026792900367915994 Centerline is valid? [True, True] Translation: X:171.11, Y:183.73, Z:11.92 [[-5.26977674e-01 -8.49690615e-01 1.78994350e-02 1.71112191e+02] [ 8.49128621e-01 -5.27280439e-01 -3.09180231e-02 1.83725595e+02] [ 3.57087760e-02 -1.09418536e-03 9.99361639e-01 1.19168582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4571056809999 meters 0.027000535855793983 Centerline is valid? [True, True] Translation: X:171.10, Y:183.75, Z:11.92 [[-5.28253281e-01 -8.48894562e-01 1.80691261e-02 1.71096938e+02] [ 8.48322497e-01 -5.28560986e-01 -3.11805341e-02 1.83748485e+02] [ 3.60196210e-02 -1.14277327e-03 9.99350430e-01 1.19184203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.48710568099995 meters 0.029515935098593675 Centerline is valid? [True, True] Translation: X:171.09, Y:183.77, Z:11.92 [[-5.28563133e-01 -8.48701057e-01 1.80977852e-02 1.71087820e+02] [ 8.48128203e-01 -5.28871642e-01 -3.11983635e-02 1.83772615e+02] [ 3.60494895e-02 -1.14106269e-03 9.99349354e-01 1.19184011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.5171056809999 meters 0.027698090497767343 Centerline is valid? [True, True] Translation: X:171.07, Y:183.79, Z:11.92 [[-5.29533452e-01 -8.48090465e-01 1.83544481e-02 1.71072127e+02] [ 8.47502159e-01 -5.29850138e-01 -3.16057180e-02 1.83794619e+02] [ 3.65296150e-02 -1.18085054e-03 9.99331873e-01 1.19189032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.54710568099995 meters 0.027698090497767343 Centerline is valid? [True, True] Translation: X:171.06, Y:183.82, Z:11.92 [[-5.29927841e-01 -8.47843795e-01 1.83679917e-02 1.71058888e+02] [ 8.47255613e-01 -5.30244757e-01 -3.15978459e-02 1.83816753e+02] [ 3.65295688e-02 -1.18219418e-03 9.99331873e-01 1.19196524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.5771056809999 meters 0.02815379989738319 Centerline is valid? [True, True] Translation: X:171.05, Y:183.84, Z:11.92 [[-5.30535494e-01 -8.47458108e-01 1.86237816e-02 1.71046164e+02] [ 8.46854482e-01 -5.30860903e-01 -3.20029386e-02 1.83839112e+02] [ 3.70077873e-02 -1.20706197e-03 9.99314248e-01 1.19207785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.60710568099995 meters 0.028600093128100676 Centerline is valid? [True, True] Translation: X:171.03, Y:183.86, Z:11.92 [[-5.31513945e-01 -8.46847465e-01 1.85012698e-02 1.71030490e+02] [ 8.46252665e-01 -5.31834444e-01 -3.17576923e-02 1.83860364e+02] [ 3.67335337e-02 -1.22290747e-03 9.99324348e-01 1.19235183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.6371056809999 meters 0.02859060932652255 Centerline is valid? [True, True] Translation: X:171.01, Y:183.88, Z:11.93 [[-5.31394077e-01 -8.46933098e-01 1.80183574e-02 1.71014460e+02] [ 8.46370095e-01 -5.31698185e-01 -3.08982424e-02 1.83882019e+02] [ 3.57490721e-02 -1.16894416e-03 9.99360114e-01 1.19250930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.6671056809999 meters 0.028526199699224257 Centerline is valid? [True, True] Translation: X:171.00, Y:183.90, Z:11.93 [[-5.30922972e-01 -8.47246158e-01 1.71681695e-02 1.70997159e+02] [ 8.46736017e-01 -5.31199379e-01 -2.94166347e-02 1.83901093e+02] [ 3.40428517e-02 -1.08105966e-03 9.99419789e-01 1.19278667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.6971056809999 meters 0.028092791285854197 Centerline is valid? [True, True] Translation: X:170.98, Y:183.92, Z:11.93 [[-5.30772360e-01 -8.47340319e-01 1.71780377e-02 1.70981018e+02] [ 8.46830502e-01 -5.31049202e-01 -2.94082624e-02 1.83921699e+02] [ 3.40411896e-02 -1.06220660e-03 9.99419866e-01 1.19273011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.7271056809999 meters 0.02909741955393402 Centerline is valid? [True, True] Translation: X:170.97, Y:183.94, Z:11.92 [[-5.32100250e-01 -8.46492177e-01 1.78974522e-02 1.70967108e+02] [ 8.45939363e-01 -5.32399924e-01 -3.06090683e-02 1.83943963e+02] [ 3.54389390e-02 -1.14693352e-03 9.99371185e-01 1.19240130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.7571056809999 meters 0.030571490635906657 Centerline is valid? [True, True] Translation: X:170.95, Y:183.97, Z:11.92 [[-5.34497031e-01 -8.44982360e-01 1.78251365e-02 1.70954549e+02] [ 8.44433981e-01 -5.34792762e-01 -3.04623180e-02 1.83967247e+02] [ 3.52728753e-02 -1.22986755e-03 9.99376962e-01 1.19233307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.7871056809999 meters 0.03362840551709558 Centerline is valid? [True, True] Translation: X:170.94, Y:183.99, Z:11.92 [[-5.39220981e-01 -8.41978276e-01 1.77007417e-02 1.70941640e+02] [ 8.41436972e-01 -5.39509612e-01 -3.02192289e-02 1.83988537e+02] [ 3.49936545e-02 -1.40078379e-03 9.99386553e-01 1.19231709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.81710568099993 meters 0.03386525339930492 Centerline is valid? [True, True] Translation: X:170.93, Y:184.01, Z:11.92 [[-5.41959779e-01 -8.40207348e-01 1.81992023e-02 1.70925567e+02] [ 8.39635338e-01 -5.42263075e-01 -3.10363798e-02 1.84010104e+02] [ 3.59457497e-02 -1.53977618e-03 9.99352556e-01 1.19238340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.8471056809999 meters 0.03403235178507102 Centerline is valid? [True, True] Translation: X:170.91, Y:184.03, Z:11.93 [[-5.47303281e-01 -8.36729982e-01 1.84947614e-02 1.70907501e+02] [ 8.36138383e-01 -5.47612788e-01 -3.15093316e-02 1.84030253e+02] [ 3.64927703e-02 -1.78098067e-03 9.99332330e-01 1.19251941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.87710568099993 meters 0.03710265221960005 Centerline is valid? [True, True] Translation: X:170.90, Y:184.05, Z:11.93 [[-5.51195284e-01 -8.34188483e-01 1.77012547e-02 1.70895246e+02] [ 8.33646305e-01 -5.51476341e-01 -3.01277871e-02 1.84053241e+02] [ 3.48940761e-02 -1.84970858e-03 9.99389305e-01 1.19260072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.9071056809999 meters 0.03604287727628745 Centerline is valid? [True, True] Translation: X:170.88, Y:184.07, Z:11.93 [[-5.53275998e-01 -8.32822380e-01 1.71041907e-02 1.70878291e+02] [ 8.32316481e-01 -5.53537210e-01 -2.90832033e-02 1.84074453e+02] [ 3.36889486e-02 -1.85493849e-03 9.99430645e-01 1.19270666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93710568099993 meters 0.039487619644549034 Centerline is valid? [True, True] Translation: X:170.87, Y:184.10, Z:11.93 [[-5.54936783e-01 -8.31720425e-01 1.69204211e-02 1.70866395e+02] [ 8.31225766e-01 -5.55191479e-01 -2.87427830e-02 1.84097995e+02] [ 3.33000333e-02 -1.88573755e-03 9.99443621e-01 1.19287325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.9671056809999 meters 0.04221069649225857 Centerline is valid? [True, True] Translation: X:170.85, Y:184.12, Z:11.93 [[-5.56056614e-01 -8.30978111e-01 1.66259018e-02 1.70848715e+02] [ 8.30501095e-01 -5.56301932e-01 -2.82150897e-02 1.84117306e+02] [ 3.26951433e-02 -1.88135763e-03 9.99463600e-01 1.19300678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99710568099994 meters 0.044033497225068045 Centerline is valid? [True, True] Translation: X:170.83, Y:184.14, Z:11.93 [[-5.54324502e-01 -8.32136896e-01 1.65085594e-02 1.70830314e+02] [ 8.31667813e-01 -5.54567389e-01 -2.79939369e-02 1.84135749e+02] [ 3.24498965e-02 -1.78808769e-03 9.99471764e-01 1.19309817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0271056809999 meters 0.03772216062646766 Centerline is valid? [True, True] Translation: X:170.80, Y:184.15, Z:11.93 [[-5.53398042e-01 -8.32753222e-01 1.65129986e-02 1.70804305e+02] [ 8.32285079e-01 -5.53641631e-01 -2.79730590e-02 1.84152094e+02] [ 3.24369385e-02 -1.73671373e-03 9.99472275e-01 1.19318714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.05710568099994 meters 0.036525293032522305 Centerline is valid? [True, True] Translation: X:170.78, Y:184.17, Z:11.93 [[-5.52101368e-01 -8.33612934e-01 1.65394995e-02 1.70782132e+02] [ 8.33144503e-01 -5.52346514e-01 -2.79922389e-02 1.84170970e+02] [ 3.24702273e-02 -1.67476033e-03 9.99471300e-01 1.19297794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0871056809999 meters 0.03625988211453386 Centerline is valid? [True, True] Translation: X:170.77, Y:184.19, Z:11.93 [[-5.51660765e-01 -8.33900286e-01 1.67545096e-02 1.70765147e+02] [ 8.33420559e-01 -5.51912620e-01 -2.83307747e-02 1.84192558e+02] [ 3.28720664e-02 -1.66542408e-03 9.99458180e-01 1.19299988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.11710568099994 meters 0.03457633595028328 Centerline is valid? [True, True] Translation: X:170.74, Y:184.21, Z:11.93 [[-5.49447984e-01 -8.35347534e-01 1.73611769e-02 1.70740617e+02] [ 8.34834089e-01 -5.49719811e-01 -2.93287115e-02 1.84209917e+02] [ 3.40434497e-02 -1.62089910e-03 9.99419039e-01 1.19286716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.1471056809999 meters 0.032203687320421275 Centerline is valid? [True, True] Translation: X:170.72, Y:184.23, Z:11.93 [[-5.45886006e-01 -8.37694220e-01 1.66391790e-02 1.70716008e+02] [ 8.37224469e-01 -5.46137742e-01 -2.80847825e-02 1.84226300e+02] [ 3.26137436e-02 -1.40036195e-03 9.99467049e-01 1.19299595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.17710568099994 meters 0.030988368868610148 Centerline is valid? [True, True] Translation: X:170.70, Y:184.25, Z:11.93 [[-5.43034289e-01 -8.39552011e-01 1.63150964e-02 1.70696826e+02] [ 8.39102066e-01 -5.43277885e-01 -2.75111255e-02 1.84245505e+02] [ 3.19606518e-02 -1.24945336e-03 9.99488347e-01 1.19315915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.2071056809999 meters 0.02797967851797686 Centerline is valid? [True, True] Translation: X:170.67, Y:184.26, Z:11.93 [[-5.36582955e-01 -8.43709722e-01 1.52524361e-02 1.70670040e+02] [ 8.43318820e-01 -5.36798889e-01 -2.56967125e-02 1.84260355e+02] [ 2.98680570e-02 -9.25751520e-04 9.99553421e-01 1.19329057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.23710568099995 meters 0.02694194007656999 Centerline is valid? [True, True] Translation: X:170.65, Y:184.28, Z:11.93 [[-5.33467438e-01 -8.45679740e-01 1.54359861e-02 1.70650977e+02] [ 8.45280946e-01 -5.33690095e-01 -2.59808547e-02 1.84279270e+02] [ 3.02095153e-02 -8.12195049e-04 9.99543258e-01 1.19314845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.2671056809999 meters 0.023998836695579093 Centerline is valid? [True, True] Translation: X:170.63, Y:184.30, Z:11.93 [[-5.26688752e-01 -8.49906729e-01 1.60471133e-02 1.70625044e+02] [ 8.49478498e-01 -5.26932838e-01 -2.69826943e-02 1.84295013e+02] [ 3.13885245e-02 -5.79803895e-04 9.99507091e-01 1.19274688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.29710568099995 meters 0.022911233127311893 Centerline is valid? [True, True] Translation: X:170.60, Y:184.31, Z:11.93 [[-5.23133064e-01 -8.52092740e-01 1.64243659e-02 1.70604847e+02] [ 8.51646078e-01 -5.23390641e-01 -2.75897478e-02 1.84314717e+02] [ 3.21053832e-02 -4.45362484e-04 9.99484390e-01 1.19266474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.3271056809999 meters 0.02158610160552874 Centerline is valid? [True, True] Translation: X:170.58, Y:184.33, Z:11.93 [[-5.14377240e-01 -8.57412439e-01 1.61234482e-02 1.70578698e+02] [ 8.56985364e-01 -5.14629867e-01 -2.70589398e-02 1.84329810e+02] [ 3.14982795e-02 -1.00943578e-04 9.99503801e-01 1.19268469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.3571056809999 meters 0.021773583166999014 Centerline is valid? [True, True] Translation: X:170.56, Y:184.35, Z:11.93 [[-5.10556202e-01 -8.59687066e-01 1.64472488e-02 1.70558794e+02] [ 8.59244723e-01 -5.10821050e-01 -2.75746568e-02 1.84349086e+02] [ 3.21071767e-02 5.37996936e-05 9.99484430e-01 1.19261296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.3871056809999 meters 0.02336454505362863 Centerline is valid? [True, True] Translation: X:170.54, Y:184.37, Z:11.92 [[-5.02482351e-01 -8.64432255e-01 1.63818258e-02 1.70535279e+02] [ 8.63996747e-01 -5.02749185e-01 -2.74386215e-02 1.84365913e+02] [ 3.19547790e-02 3.66421190e-04 9.99489248e-01 1.19249712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.4171056809999 meters 0.024404947677864698 Centerline is valid? [True, True] Translation: X:170.52, Y:184.39, Z:11.93 [[-4.99565530e-01 -8.66118618e-01 1.65172789e-02 1.70519296e+02] [ 8.65677440e-01 -4.99838275e-01 -2.76454221e-02 1.84385859e+02] [ 3.22001830e-02 4.87935792e-04 9.99481321e-01 1.19258976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.4471056809999 meters 0.02472607960251832 Centerline is valid? [True, True] Translation: X:170.51, Y:184.41, Z:11.93 [[-4.96977179e-01 -8.67603702e-01 1.66583002e-02 1.70506294e+02] [ 8.67156711e-01 -4.97255922e-01 -2.78529462e-02 1.84410021e+02] [ 3.24487576e-02 6.03078222e-04 9.99473218e-01 1.19270193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.4771056809999 meters 0.024827765002092276 Centerline is valid? [True, True] Translation: X:170.49, Y:184.43, Z:11.93 [[-4.97198896e-01 -8.67475912e-01 1.66973206e-02 1.70493591e+02] [ 8.67027637e-01 -4.97478814e-01 -2.78909631e-02 1.84433345e+02] [ 3.25013019e-02 6.09682333e-04 9.99471507e-01 1.19282287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.5071056809999 meters 0.02510334559096388 Centerline is valid? [True, True] Translation: X:170.48, Y:184.46, Z:11.93 [[-4.97408154e-01 -8.67369330e-01 1.59866768e-02 1.70482423e+02] [ 8.66959212e-01 -4.97664642e-01 -2.66763732e-02 1.84456499e+02] [ 3.10942718e-02 5.90751196e-04 9.99516282e-01 1.19320030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.5371056809999 meters 0.025286013055667682 Centerline is valid? [True, True] Translation: X:170.47, Y:184.48, Z:11.93 [[-4.96563443e-01 -8.67846746e-01 1.63331738e-02 1.70471865e+02] [ 8.67419879e-01 -4.96831565e-01 -2.72240612e-02 1.84481592e+02] [ 3.17411492e-02 6.49246093e-04 9.99495912e-01 1.19315516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.56710568099993 meters 0.026077491629082197 Centerline is valid? [True, True] Translation: X:170.46, Y:184.50, Z:11.93 [[-4.95776667e-01 -8.68280207e-01 1.71749578e-02 1.70459137e+02] [ 8.67809417e-01 -4.96073538e-01 -2.85982737e-02 1.84503801e+02] [ 3.33513571e-02 7.26233293e-04 9.99443425e-01 1.19301572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.5971056809999 meters 0.027112186827803322 Centerline is valid? [True, True] Translation: X:170.45, Y:184.53, Z:11.93 [[-4.94438888e-01 -8.69031057e-01 1.77540928e-02 1.70446620e+02] [ 8.68529422e-01 -4.94756864e-01 -2.95345275e-02 1.84526118e+02] [ 3.44503809e-02 8.16933098e-04 9.99406076e-01 1.19284189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.62710568099993 meters 0.02848805106397813 Centerline is valid? [True, True] Translation: X:170.44, Y:184.55, Z:11.93 [[-4.91384540e-01 -8.70753738e-01 1.81427953e-02 1.70436585e+02] [ 8.70232055e-01 -4.91718398e-01 -3.01527551e-02 1.84551741e+02] [ 3.51767704e-02 9.71844308e-04 9.99380633e-01 1.19275772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.6571056809999 meters 0.029715901185675082 Centerline is valid? [True, True] Translation: X:170.42, Y:184.58, Z:11.93 [[-4.90205011e-01 -8.71425594e-01 1.77899068e-02 1.70424955e+02] [ 8.70925412e-01 -4.90526662e-01 -2.95384510e-02 1.84575120e+02] [ 3.44669858e-02 1.01378524e-03 9.99405323e-01 1.19285958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.68710568099993 meters 0.029722018610698585 Centerline is valid? [True, True] Translation: X:170.42, Y:184.60, Z:11.93 [[-4.88578307e-01 -8.72345398e-01 1.74569199e-02 1.70421482e+02] [ 8.71865308e-01 -4.88888900e-01 -2.89573472e-02 1.84604570e+02] [ 3.37953029e-02 1.07215121e-03 9.99428201e-01 1.19310864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7171056809999 meters 0.030629393261108064 Centerline is valid? [True, True] Translation: X:170.41, Y:184.63, Z:11.93 [[-4.89483260e-01 -8.71838351e-01 1.74364172e-02 1.70411568e+02] [ 8.71360033e-01 -4.89792597e-01 -2.88947173e-02 1.84628235e+02] [ 3.37317507e-02 1.04991665e-03 9.99430371e-01 1.19324827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.74710568099994 meters 0.028009378747208744 Centerline is valid? [True, True] Translation: X:170.41, Y:184.66, Z:11.94 [[-4.92310901e-01 -8.70266834e-01 1.62977231e-02 1.70411917e+02] [ 8.69848989e-01 -4.92579779e-01 -2.69795641e-02 1.84659444e+02] [ 3.15073487e-02 8.94224422e-04 9.99503120e-01 1.19381846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7771056809999 meters 0.027242870368534608 Centerline is valid? [True, True] Translation: X:170.41, Y:184.69, Z:11.94 [[-4.95370351e-01 -8.68543302e-01 1.55160430e-02 1.70413306e+02] [ 8.68164454e-01 -4.95612709e-01 -2.56617253e-02 1.84691073e+02] [ 2.99782678e-02 7.58419171e-04 9.99550263e-01 1.19433822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.80710568099994 meters 0.025893766832295117 Centerline is valid? [True, True] Translation: X:170.41, Y:184.72, Z:11.95 [[-4.97454289e-01 -8.67353171e-01 1.54177614e-02 1.70408573e+02] [ 8.66979263e-01 -4.97692671e-01 -2.54747622e-02 1.84719568e+02] [ 2.97689227e-02 6.94349661e-04 9.99556566e-01 1.19455745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.8371056809999 meters 0.02386437587546575 Centerline is valid? [True, True] Translation: X:170.41, Y:184.75, Z:11.95 [[-5.01764184e-01 -8.64880781e-01 1.46265956e-02 1.70409069e+02] [ 8.64543840e-01 -5.01977044e-01 -2.41453086e-02 1.84751201e+02] [ 2.82250286e-02 5.30082066e-04 9.99601454e-01 1.19508895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.86710568099994 meters 0.02351924116751089 Centerline is valid? [True, True] Translation: X:170.40, Y:184.78, Z:11.95 [[-5.04218273e-01 -8.63458010e-01 1.42897701e-02 1.70401605e+02] [ 8.63136474e-01 -5.04420519e-01 -2.35662072e-02 1.84776144e+02] [ 2.75564836e-02 4.51509463e-04 9.99620146e-01 1.19533198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.8971056809999 meters 0.022497957325756823 Centerline is valid? [True, True] Translation: X:170.40, Y:184.81, Z:11.96 [[-5.08215172e-01 -8.61114361e-01 1.41207717e-02 1.70400082e+02] [ 8.60800025e-01 -5.08411200e-01 -2.32673567e-02 1.84806327e+02] [ 2.72150135e-02 3.30336971e-04 9.99629548e-01 1.19554870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.92710568099994 meters 0.02145300062893918 Centerline is valid? [True, True] Translation: X:170.39, Y:184.83, Z:11.96 [[-5.11327352e-01 -8.59256614e-01 1.49134129e-02 1.70393214e+02] [ 8.58905902e-01 -5.11544724e-01 -2.45488598e-02 1.84833729e+02] [ 2.87226478e-02 2.56714874e-04 9.99587387e-01 1.19558876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9571056809999 meters 0.020342948832706067 Centerline is valid? [True, True] Translation: X:170.39, Y:184.86, Z:11.95 [[-5.16552220e-01 -8.56102193e-01 1.62123348e-02 1.70391871e+02] [ 8.55686988e-01 -5.16806565e-01 -2.66599592e-02 1.84864123e+02] [ 3.12022906e-02 1.01422846e-04 9.99513085e-01 1.19532922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.98710568099995 meters 0.020163906768154095 Centerline is valid? [True, True] Translation: X:170.39, Y:184.89, Z:11.95 [[-5.21405431e-01 -8.53157171e-01 1.61002461e-02 1.70387117e+02] [ 8.52747163e-01 -5.21653945e-01 -2.64468786e-02 1.84890298e+02] [ 3.09621010e-02 -6.01069813e-05 9.99520557e-01 1.19537743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.0171056809999 meters 0.0203249324769505 Centerline is valid? [True, True] Translation: X:170.38, Y:184.91, Z:11.95 [[-5.24138596e-01 -8.51476927e-01 1.63025881e-02 1.70376830e+02] [ 8.51056687e-01 -5.24392049e-01 -2.67487195e-02 1.84914589e+02] [ 3.13248651e-02 -1.45609668e-04 9.99509245e-01 1.19546206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.04710568099995 meters 0.021575661230694213 Centerline is valid? [True, True] Translation: X:170.37, Y:184.94, Z:11.95 [[-5.31385912e-01 -8.46960570e-01 1.69353076e-02 1.70371794e+02] [ 8.46505716e-01 -5.31655547e-01 -2.77570248e-02 1.84943189e+02] [ 3.25128558e-02 -4.13857274e-04 9.99471232e-01 1.19537124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.0771056809999 meters 0.02205735507506902 Centerline is valid? [True, True] Translation: X:170.36, Y:184.97, Z:11.95 [[-5.34967792e-01 -8.44701087e-01 1.70157022e-02 1.70361799e+02] [ 8.44241609e-01 -5.35238060e-01 -2.78626089e-02 1.84968890e+02] [ 3.26430275e-02 -5.40234520e-04 9.99466928e-01 1.19536183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.1071056809999 meters 0.024641075142548607 Centerline is valid? [True, True] Translation: X:170.36, Y:185.00, Z:11.95 [[-5.41084743e-01 -8.40790178e-01 1.72967448e-02 1.70356439e+02] [ 8.40314295e-01 -5.41360578e-01 -2.82950552e-02 1.84996220e+02] [ 3.31539802e-02 -7.75320755e-04 9.99449955e-01 1.19534734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.1371056809999 meters 0.025618975269897964 Centerline is valid? [True, True] Translation: X:170.34, Y:185.02, Z:11.96 [[-5.44074944e-01 -8.38868223e-01 1.68094952e-02 1.70344091e+02] [ 8.38418723e-01 -5.44333883e-01 -2.74712233e-02 1.85020683e+02] [ 3.21947141e-02 -8.53008766e-04 9.99481252e-01 1.19558131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.1671056809999 meters 0.027872634468208382 Centerline is valid? [True, True] Translation: X:170.33, Y:185.04, Z:11.96 [[-5.48149161e-01 -8.36228747e-01 1.59367501e-02 1.70333855e+02] [ 8.35824316e-01 -5.48379971e-01 -2.60215230e-02 1.85044656e+02] [ 3.04993402e-02 -9.43352712e-04 9.99534342e-01 1.19593638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.1971056809999 meters 0.027924169617932645 Centerline is valid? [True, True] Translation: X:170.32, Y:185.07, Z:11.96 [[-5.48911653e-01 -8.35731049e-01 1.57990427e-02 1.70318915e+02] [ 8.35334135e-01 -5.49138155e-01 -2.57714923e-02 1.85066103e+02] [ 3.02138934e-02 -9.48792746e-04 9.99543006e-01 1.19609411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.2271056809999 meters 0.02920851630492455 Centerline is valid? [True, True] Translation: X:170.30, Y:185.09, Z:11.96 [[-5.50908663e-01 -8.34387722e-01 1.72271350e-02 1.70304336e+02] [ 8.33916157e-01 -5.51176853e-01 -2.80698975e-02 1.85088165e+02] [ 3.29163759e-02 -1.09796347e-03 9.99457506e-01 1.19580646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.2571056809999 meters 0.03164908550475288 Centerline is valid? [True, True] Translation: X:170.29, Y:185.11, Z:11.96 [[-5.54647008e-01 -8.31887674e-01 1.81547289e-02 1.70290759e+02] [ 8.31363635e-01 -5.54942532e-01 -2.95515372e-02 1.85111291e+02] [ 3.46583908e-02 -1.29749023e-03 9.99398375e-01 1.19554625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.2871056809999 meters 0.035580731006557564 Centerline is valid? [True, True] Translation: X:170.28, Y:185.13, Z:11.96 [[-5.57406072e-01 -8.30054308e-01 1.75589271e-02 1.70280747e+02] [ 8.29564068e-01 -5.57680930e-01 -2.85558609e-02 1.85134445e+02] [ 3.34951942e-02 -1.35095529e-03 9.99437966e-01 1.19569611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.31710568099993 meters 0.03562283056197798 Centerline is valid? [True, True] Translation: X:170.26, Y:185.15, Z:11.96 [[-5.62913633e-01 -8.26345865e-01 1.67556804e-02 1.70261565e+02] [ 8.25898513e-01 -5.63160986e-01 -2.72277341e-02 1.85153873e+02] [ 3.19356710e-02 -1.48837125e-03 9.99488818e-01 1.19623673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.3471056809999 meters 0.0356463728853917 Centerline is valid? [True, True] Translation: X:170.24, Y:185.17, Z:11.96 [[-5.65368432e-01 -8.24671070e-01 1.66181263e-02 1.70244775e+02] [ 8.24231137e-01 -5.65610472e-01 -2.69782504e-02 1.85174870e+02] [ 3.16475689e-02 -1.55547404e-03 9.99497880e-01 1.19639775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.37710568099993 meters 0.03803087050838834 Centerline is valid? [True, True] Translation: X:170.23, Y:185.19, Z:11.97 [[-5.67671647e-01 -8.23098898e-01 1.60345171e-02 1.70227154e+02] [ 8.22689466e-01 -5.67895884e-01 -2.60059041e-02 1.85194751e+02] [ 3.05113673e-02 -1.57138609e-03 9.99533185e-01 1.19655736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.4071056809999 meters 0.03545040677136011 Centerline is valid? [True, True] Translation: X:170.21, Y:185.21, Z:11.97 [[-5.67780663e-01 -8.23026549e-01 1.58876545e-02 1.70205205e+02] [ 8.22625316e-01 -5.68000799e-01 -2.57426308e-02 1.85211676e+02] [ 3.02110690e-02 -1.54658117e-03 9.99542345e-01 1.19680692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43710568099993 meters 0.033448231641262594 Centerline is valid? [True, True] Translation: X:170.18, Y:185.23, Z:11.97 [[-5.63724198e-01 -8.25802309e-01 1.62964351e-02 1.70178721e+02] [ 8.25382184e-01 -5.63957919e-01 -2.63764175e-02 1.85225708e+02] [ 3.09722101e-02 -1.41823761e-03 9.99519240e-01 1.19678111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.4671056809999 meters 0.033448231641262594 Centerline is valid? [True, True] Translation: X:170.16, Y:185.25, Z:11.97 [[-5.64109106e-01 -8.25539191e-01 1.63082817e-02 1.70164892e+02] [ 8.25119168e-01 -5.64343008e-01 -2.63690910e-02 1.85247485e+02] [ 3.09721828e-02 -1.41876855e-03 9.99519240e-01 1.19685607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49710568099994 meters 0.031193890114069908 Centerline is valid? [True, True] Translation: X:170.14, Y:185.27, Z:11.97 [[-5.61691949e-01 -8.27181358e-01 1.65274180e-02 1.70142583e+02] [ 8.26751549e-01 -5.61933476e-01 -2.66954160e-02 1.85265324e+02] [ 3.13692599e-02 -1.33053179e-03 9.99506978e-01 1.19677196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5271056809999 meters 0.030167315193912105 Centerline is valid? [True, True] Translation: X:170.12, Y:185.28, Z:11.96 [[-5.55434236e-01 -8.31369486e-01 1.78209727e-02 1.70118196e+02] [ 8.30872868e-01 -5.55718833e-01 -2.87550942e-02 1.85281351e+02] [ 3.38095580e-02 -1.16460106e-03 9.99427615e-01 1.19628365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.55710568099994 meters 0.027178392659843537 Centerline is valid? [True, True] Translation: X:170.09, Y:185.30, Z:11.96 [[-5.52561761e-01 -8.33265351e-01 1.85568169e-02 1.70090375e+02] [ 8.32729015e-01 -5.52872227e-01 -2.99113396e-02 1.85295801e+02] [ 3.51836316e-02 -1.07506266e-03 9.99380286e-01 1.19613536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5871056809999 meters 0.0272019118885459 Centerline is valid? [True, True] Translation: X:170.07, Y:185.31, Z:11.96 [[-5.52245548e-01 -8.33479568e-01 1.83484087e-02 1.70072529e+02] [ 8.32956300e-01 -5.52549310e-01 -2.95476329e-02 1.85314453e+02] [ 3.47657489e-02 -1.03412614e-03 9.99394954e-01 1.19631385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.61710568099994 meters 0.0280160393849446 Centerline is valid? [True, True] Translation: X:170.05, Y:185.33, Z:11.96 [[-5.54727294e-01 -8.31845216e-01 1.76398999e-02 1.70051948e+02] [ 8.31361725e-01 -5.55006646e-01 -2.83778957e-02 1.85333576e+02] [ 3.33962784e-02 -1.07685564e-03 9.99441609e-01 1.19641762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.6471056809999 meters 0.02992912474675324 Centerline is valid? [True, True] Translation: X:170.04, Y:185.36, Z:11.96 [[-5.57499893e-01 -8.29983140e-01 1.79403457e-02 1.70038261e+02] [ 8.29482962e-01 -5.57787200e-01 -2.88349604e-02 1.85355253e+02] [ 3.39394262e-02 -1.19427629e-03 9.99423178e-01 1.19638122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.67710568099994 meters 0.03118959919065175 Centerline is valid? [True, True] Translation: X:170.02, Y:185.38, Z:11.96 [[-5.61674301e-01 -8.27150211e-01 1.85609122e-02 1.70022530e+02] [ 8.26614127e-01 -5.61979154e-01 -2.98079946e-02 1.85376856e+02] [ 3.50865347e-02 -1.39967232e-03 9.99383298e-01 1.19641532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.7071056809999 meters 0.03617251322558558 Centerline is valid? [True, True] Translation: X:170.01, Y:185.40, Z:11.96 [[-5.70287855e-01 -8.21244452e-01 1.81469628e-02 1.70007050e+02] [ 8.20729951e-01 -5.70573942e-01 -2.91157052e-02 1.85399196e+02] [ 3.42652955e-02 -1.71057716e-03 9.99411308e-01 1.19646345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.73710568099995 meters 0.041555900005934475 Centerline is valid? [True, True] Translation: X:169.99, Y:185.42, Z:11.97 [[-5.77658555e-01 -8.16106691e-01 1.67470160e-02 1.69991926e+02] [ 8.15667085e-01 -5.77898306e-01 -2.68468863e-02 1.85420586e+02] [ 3.15879957e-02 -1.84834377e-03 9.99499266e-01 1.19671013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.7671056809999 meters 0.04325859055235016 Centerline is valid? [True, True] Translation: X:169.98, Y:185.44, Z:11.97 [[-5.80439643e-01 -8.14133908e-01 1.66072586e-02 1.69976223e+02] [ 8.13701412e-01 -5.80673971e-01 -2.66035797e-02 1.85442843e+02] [ 3.13022791e-02 -1.92842253e-03 9.99508103e-01 1.19661462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.79710568099995 meters 0.0435449028959032 Centerline is valid? [True, True] Translation: X:169.95, Y:185.46, Z:11.96 [[-5.85979380e-01 -8.10137966e-01 1.74540049e-02 1.69954566e+02] [ 8.09659297e-01 -5.86234996e-01 -2.79347855e-02 1.85461647e+02] [ 3.28631788e-02 -2.23741092e-03 9.99457356e-01 1.19639113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.8271056809999 meters 0.04656739659053 Centerline is valid? [True, True] Translation: X:169.94, Y:185.48, Z:11.96 [[-5.87689169e-01 -8.08890321e-01 1.78294511e-02 1.69939399e+02] [ 8.08391016e-01 -5.87954892e-01 -2.85133421e-02 1.85482482e+02] [ 3.35470794e-02 -2.34381421e-03 9.99434390e-01 1.19628778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.8571056809999 meters 0.04462533654454795 Centerline is valid? [True, True] Translation: X:169.91, Y:185.50, Z:11.96 [[-5.88794040e-01 -8.08090296e-01 1.76536646e-02 1.69911989e+02] [ 8.07601323e-01 -5.89053945e-01 -2.82055623e-02 1.85497481e+02] [ 3.31916020e-02 -2.35014407e-03 9.99446244e-01 1.19618479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.8871056809999 meters 0.045080716633861866 Centerline is valid? [True, True] Translation: X:169.89, Y:185.52, Z:11.96 [[-5.88801239e-01 -8.08081782e-01 1.78026314e-02 1.69894135e+02] [ 8.07585412e-01 -5.89065606e-01 -2.84167996e-02 1.85516198e+02] [ 3.34500159e-02 -2.35470145e-03 9.99437618e-01 1.19627310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.9171056809999 meters 0.044619261459709056 Centerline is valid? [True, True] Translation: X:169.87, Y:185.53, Z:11.96 [[-5.87819055e-01 -8.08814768e-01 1.69537440e-02 1.69870042e+02] [ 8.08365775e-01 -5.88059426e-01 -2.70348815e-02 1.85532828e+02] [ 3.18360203e-02 -2.18679207e-03 9.99490713e-01 1.19646503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.9471056809999 meters 0.04929903360318595 Centerline is valid? [True, True] Translation: X:169.85, Y:185.55, Z:11.97 [[-5.88264429e-01 -8.08503609e-01 1.63363439e-02 1.69853453e+02] [ 8.08087300e-01 -5.88487435e-01 -2.60279367e-02 1.85552026e+02] [ 3.06574139e-02 -2.11011731e-03 9.99527724e-01 1.19660729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.9771056809999 meters 0.0464190903513182 Centerline is valid? [True, True] Translation: X:169.83, Y:185.57, Z:11.96 [[-5.89059746e-01 -8.07900277e-01 1.74859483e-02 1.69830768e+02] [ 8.07423811e-01 -5.89314815e-01 -2.78359150e-02 1.85570013e+02] [ 3.27933718e-02 -2.27844597e-03 9.99459556e-01 1.19637265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.0071056809999 meters 0.04622700829043477 Centerline is valid? [True, True] Translation: X:169.81, Y:185.59, Z:11.96 [[-5.88313278e-01 -8.08403329e-01 1.92755067e-02 1.69807364e+02] [ 8.07825627e-01 -5.88623808e-01 -3.06556625e-02 1.85587577e+02] [ 3.61281617e-02 -2.46388498e-03 9.99344128e-01 1.19579896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.0371056809999 meters 0.0444534687393023 Centerline is valid? [True, True] Translation: X:169.79, Y:185.61, Z:11.96 [[-5.87024899e-01 -8.09332049e-01 1.95806605e-02 1.69785307e+02] [ 8.08737412e-01 -5.87346350e-01 -3.11137347e-02 1.85606435e+02] [ 3.66819721e-02 -2.42892429e-03 9.99324038e-01 1.19579217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.06710568099993 meters 0.04203919590107846 Centerline is valid? [True, True] Translation: X:169.76, Y:185.62, Z:11.96 [[-5.85482814e-01 -8.10451165e-01 1.94623814e-02 1.69762399e+02] [ 8.09865238e-01 -5.85801573e-01 -3.09000602e-02 1.85624551e+02] [ 3.64440834e-02 -2.32954806e-03 9.99332979e-01 1.19588609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.0971056809999 meters 0.03836993859029867 Centerline is valid? [True, True] Translation: X:169.73, Y:185.64, Z:11.96 [[-5.79656245e-01 -8.14645783e-01 1.87319533e-02 1.69733197e+02] [ 8.14106030e-01 -5.79955470e-01 -2.97157211e-02 1.85638287e+02] [ 3.50714857e-02 -1.97510721e-03 9.99382854e-01 1.19596032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.12710568099993 meters 0.03481228015147589 Centerline is valid? [True, True] Translation: X:169.71, Y:185.65, Z:11.96 [[-5.72186443e-01 -8.19936926e-01 1.74960487e-02 1.69705132e+02] [ 8.19469217e-01 -5.72451827e-01 -2.77328088e-02 1.85651593e+02] [ 3.27547991e-02 -1.53086385e-03 9.99462245e-01 1.19596822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.1571056809999 meters 0.03269506926010943 Centerline is valid? [True, True] Translation: X:169.68, Y:185.67, Z:11.96 [[-5.69242926e-01 -8.21991534e-01 1.71000101e-02 1.69682503e+02] [ 8.21546314e-01 -5.69498062e-01 -2.70852442e-02 1.85668894e+02] [ 3.20022640e-02 -1.36963339e-03 9.99486858e-01 1.19617322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.18710568099993 meters 0.029717174321649244 Centerline is valid? [True, True] Translation: X:169.65, Y:185.68, Z:11.96 [[-5.62854296e-01 -8.26393128e-01 1.64146243e-02 1.69653363e+02] [ 8.25985450e-01 -5.63092593e-01 -2.59762822e-02 1.85682585e+02] [ 3.07095744e-02 -1.06262116e-03 9.99527785e-01 1.19642266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2171056809999 meters 0.028636392715961613 Centerline is valid? [True, True] Translation: X:169.63, Y:185.70, Z:11.97 [[-5.59972695e-01 -8.28361230e-01 1.57560503e-02 1.69632895e+02] [ 8.27987036e-01 -5.60193587e-01 -2.49121374e-02 1.85701562e+02] [ 2.94626871e-02 -9.04311303e-04 9.99565472e-01 1.19663553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.24710568099994 meters 0.025862451709566688 Centerline is valid? [True, True] Translation: X:169.61, Y:185.72, Z:11.97 [[-5.53150492e-01 -8.32948320e-01 1.48872222e-02 1.69609461e+02] [ 8.32616450e-01 -5.53350449e-01 -2.35186781e-02 1.85717356e+02] [ 2.78276946e-02 -6.14022276e-04 9.99612546e-01 1.19683201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2771056809999 meters 0.023789082387385092 Centerline is valid? [True, True] Translation: X:169.59, Y:185.73, Z:11.97 [[-5.44452354e-01 -8.38661127e-01 1.48036535e-02 1.69586361e+02] [ 8.38335653e-01 -5.44653484e-01 -2.33648350e-02 1.85733777e+02] [ 2.76580403e-02 -3.10608924e-04 9.99617395e-01 1.19675786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.30710568099994 meters 0.022674992479570756 Centerline is valid? [True, True] Translation: X:169.57, Y:185.75, Z:11.97 [[-5.39687719e-01 -8.41727537e-01 1.52289252e-02 1.69567136e+02] [ 8.41384939e-01 -5.39902522e-01 -2.40135678e-02 1.85754009e+02] [ 2.84350164e-02 -1.46439306e-04 9.99595632e-01 1.19672892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.3371056809999 meters 0.022576512791073686 Centerline is valid? [True, True] Translation: X:169.55, Y:185.77, Z:11.97 [[-5.35455293e-01 -8.44418650e-01 1.56451966e-02 1.69549361e+02] [ 8.44058849e-01 -5.35683809e-01 -2.46478490e-02 1.85774293e+02] [ 2.91939819e-02 7.64544689e-06 9.99573765e-01 1.19668088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.36710568099994 meters 0.023169278778371882 Centerline is valid? [True, True] Translation: X:169.53, Y:185.80, Z:11.96 [[-5.29749287e-01 -8.47992171e-01 1.65822341e-02 1.69532168e+02] [ 8.47590522e-01 -5.30008703e-01 -2.60975596e-02 1.85795292e+02] [ 3.09192546e-02 2.29780860e-04 9.99521859e-01 1.19637188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.3971056809999 meters 0.023848048890306294 Centerline is valid? [True, True] Translation: X:169.52, Y:185.82, Z:11.96 [[-5.26907710e-01 -8.49766457e-01 1.62859717e-02 1.69518739e+02] [ 8.49380543e-01 -5.27159229e-01 -2.56093870e-02 1.85818001e+02] [ 3.03472984e-02 3.39203994e-04 9.99539357e-01 1.19643453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.42710568099994 meters 0.02383826035211739 Centerline is valid? [True, True] Translation: X:169.51, Y:185.84, Z:11.96 [[-5.25285955e-01 -8.50776949e-01 1.59137769e-02 1.69506860e+02] [ 8.50409599e-01 -5.25526805e-01 -2.50018203e-02 1.85842238e+02] [ 2.96340888e-02 4.00123578e-04 9.99560734e-01 1.19642834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4571056809999 meters 0.02552267835798682 Centerline is valid? [True, True] Translation: X:169.49, Y:185.87, Z:11.96 [[-5.20367306e-01 -8.53772541e-01 1.70386349e-02 1.69494454e+02] [ 8.53353861e-01 -5.20645809e-01 -2.67419057e-02 1.85865638e+02] [ 3.17025986e-02 6.24371452e-04 9.99497151e-01 1.19598705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.48710568099995 meters 0.02584708580573216 Centerline is valid? [True, True] Translation: X:169.48, Y:185.89, Z:11.96 [[-5.19438539e-01 -8.54320395e-01 1.78960087e-02 1.69481934e+02] [ 8.53859798e-01 -5.19746250e-01 -2.80585432e-02 1.85890158e+02] [ 3.32723692e-02 7.05993725e-04 9.99446072e-01 1.19584830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.5171056809999 meters 0.025670223832969505 Centerline is valid? [True, True] Translation: X:169.48, Y:185.92, Z:11.96 [[-5.20981448e-01 -8.53380130e-01 1.79076676e-02 1.69475712e+02] [ 8.52919256e-01 -5.21288709e-01 -2.80503906e-02 1.85917890e+02] [ 3.32727109e-02 6.60061410e-04 9.99446092e-01 1.19571708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.54710568099995 meters 0.02408241826608259 Centerline is valid? [True, True] Translation: X:169.47, Y:185.95, Z:11.96 [[-5.26578156e-01 -8.49911924e-01 1.91093422e-02 1.69471728e+02] [ 8.49385842e-01 -5.26924555e-01 -2.99032722e-02 1.85947332e+02] [ 3.54843292e-02 4.84794758e-04 9.99370115e-01 1.19571296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.5771056809999 meters 0.023410512038351757 Centerline is valid? [True, True] Translation: X:169.46, Y:185.97, Z:11.96 [[-5.30317410e-01 -8.47565488e-01 1.99045028e-02 1.69462953e+02] [ 8.46994152e-01 -5.30690698e-01 -3.11173473e-02 1.85974012e+02] [ 3.69371242e-02 3.56926430e-04 9.99317528e-01 1.19556844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.6071056809999 meters 0.02216333418140788 Centerline is valid? [True, True] Translation: X:169.46, Y:186.01, Z:11.95 [[-5.37493532e-01 -8.43011455e-01 2.07939861e-02 1.69463526e+02] [ 8.42385647e-01 -5.37895606e-01 -3.24767318e-02 1.86005996e+02] [ 3.85632507e-02 6.05221784e-05 9.99256159e-01 1.19530098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.6371056809999 meters 0.021937818150168237 Centerline is valid? [True, True] Translation: X:169.46, Y:186.03, Z:11.95 [[-5.41977308e-01 -8.40139232e-01 2.06559541e-02 1.69457081e+02] [ 8.39520767e-01 -5.42370772e-01 -3.22308537e-02 1.86032651e+02] [ 3.82815904e-02 -1.27288914e-04 9.99266983e-01 1.19539644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.6671056809999 meters 0.022399604420568927 Centerline is valid? [True, True] Translation: X:169.45, Y:186.06, Z:11.96 [[-5.49453776e-01 -8.35308292e-01 1.89896206e-02 1.69454075e+02] [ 8.34783661e-01 -5.49781672e-01 -2.96032402e-02 1.86062693e+02] [ 3.51679774e-02 -4.13387161e-04 9.99381330e-01 1.19607792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.6971056809999 meters 0.02289697891427788 Centerline is valid? [True, True] Translation: X:169.44, Y:186.09, Z:11.96 [[-5.52387657e-01 -8.33393674e-01 1.79683343e-02 1.69443331e+02] [ 8.32923769e-01 -5.52679601e-01 -2.79866762e-02 1.86088150e+02] [ 3.32546507e-02 -4.93241729e-04 9.99446789e-01 1.19643883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.7271056809999 meters 0.024667372341526397 Centerline is valid? [True, True] Translation: X:169.44, Y:186.12, Z:11.97 [[-5.58530123e-01 -8.29313603e-01 1.68241013e-02 1.69439760e+02] [ 8.28900488e-01 -5.58783043e-01 -2.61819189e-02 1.86118048e+02] [ 3.11140441e-02 -6.77884624e-04 9.99515611e-01 1.19670786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.7571056809999 meters 0.026127755846031067 Centerline is valid? [True, True] Translation: X:169.43, Y:186.14, Z:11.97 [[-5.61588507e-01 -8.27238640e-01 1.71633524e-02 1.69432420e+02] [ 8.26808506e-01 -5.61850158e-01 -2.66851014e-02 1.86144416e+02] [ 3.17181792e-02 -7.95240490e-04 9.99496536e-01 1.19672893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.7871056809999 meters 0.029090414930618494 Centerline is valid? [True, True] Translation: X:169.43, Y:186.17, Z:11.97 [[-5.67998694e-01 -8.22840256e-01 1.76464232e-02 1.69428365e+02] [ 8.22384286e-01 -5.68271763e-01 -2.74096692e-02 1.86173617e+02] [ 3.25817432e-02 -1.05651517e-03 9.99468516e-01 1.19677655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.81710568099993 meters 0.030317949787133685 Centerline is valid? [True, True] Translation: X:169.42, Y:186.20, Z:11.97 [[-5.70940763e-01 -8.20809405e-01 1.72790583e-02 1.69417104e+02] [ 8.20372076e-01 -5.71201045e-01 -2.68145917e-02 1.86198037e+02] [ 3.18794852e-02 -1.13428652e-03 9.99491076e-01 1.19698826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.8471056809999 meters 0.031613412309488616 Centerline is valid? [True, True] Translation: X:169.41, Y:186.22, Z:11.97 [[-5.75643863e-01 -8.17536357e-01 1.63843739e-02 1.69407651e+02] [ 8.17142503e-01 -5.75875663e-01 -2.54037592e-02 1.86223943e+02] [ 3.02038590e-02 -1.23514977e-03 9.99542996e-01 1.19729845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.87710568099993 meters 0.03430644111487363 Centerline is valid? [True, True] Translation: X:169.40, Y:186.25, Z:11.97 [[-5.77495799e-01 -8.16226190e-01 1.65350660e-02 1.69398846e+02] [ 8.15825234e-01 -5.77731002e-01 -2.56140011e-02 1.86248993e+02] [ 3.04596388e-02 -1.30225396e-03 9.99535149e-01 1.19729552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.9071056809999 meters 0.034486340885805225 Centerline is valid? [True, True] Translation: X:169.39, Y:186.27, Z:11.97 [[-5.80671267e-01 -8.13966054e-01 1.67374832e-02 1.69386321e+02] [ 8.13555043e-01 -5.80910695e-01 -2.59028498e-02 1.86272746e+02] [ 3.08070234e-02 -1.42417680e-03 9.99524336e-01 1.19725344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93710568099993 meters 0.03764500906684695 Centerline is valid? [True, True] Translation: X:169.38, Y:186.30, Z:11.97 [[-5.81766009e-01 -8.13165374e-01 1.76177371e-02 1.69376155e+02] [ 8.12710487e-01 -5.82030703e-01 -2.72383053e-02 1.86297213e+02] [ 3.24033106e-02 -1.52820052e-03 9.99473707e-01 1.19718124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.9671056809999 meters 0.03648502305240468 Centerline is valid? [True, True] Translation: X:169.36, Y:186.32, Z:11.97 [[-5.84505698e-01 -8.11191992e-01 1.79064812e-02 1.69359977e+02] [ 8.10721981e-01 -5.84777591e-01 -2.76593390e-02 1.86318608e+02] [ 3.29083432e-02 -1.64986334e-03 9.99457012e-01 1.19725260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99710568099994 meters 0.03765304918070659 Centerline is valid? [True, True] Translation: X:169.35, Y:186.34, Z:11.97 [[-5.85489890e-01 -8.10494192e-01 1.73422554e-02 1.69346365e+02] [ 8.10053628e-01 -5.85744419e-01 -2.67692997e-02 1.86340534e+02] [ 3.18544912e-02 -1.62499747e-03 9.99491196e-01 1.19740646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0271056809999 meters 0.03837797180956587 Centerline is valid? [True, True] Translation: X:169.33, Y:186.36, Z:11.98 [[-5.85215734e-01 -8.10715614e-01 1.62091971e-02 1.69330547e+02] [ 8.10331478e-01 -5.85438263e-01 -2.49987253e-02 1.86361115e+02] [ 2.97563411e-02 -1.49482477e-03 9.99556064e-01 1.19768910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.05710568099994 meters 0.03800964981163958 Centerline is valid? [True, True] Translation: X:169.31, Y:186.38, Z:11.98 [[-5.83914755e-01 -8.11648491e-01 1.64403790e-02 1.69313491e+02] [ 8.11254387e-01 -5.84144342e-01 -2.53319397e-02 1.86381441e+02] [ 3.01641850e-02 -1.45436376e-03 9.99543899e-01 1.19757390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0871056809999 meters 0.03712881411230321 Centerline is valid? [True, True] Translation: X:169.30, Y:186.40, Z:11.98 [[-5.83749682e-01 -8.11773732e-01 1.61157445e-02 1.69296944e+02] [ 8.11395735e-01 -5.83970402e-01 -2.48099046e-02 1.86401581e+02] [ 2.95511466e-02 -1.40652752e-03 9.99562280e-01 1.19756346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.11710568099994 meters 0.03942242446473893 Centerline is valid? [True, True] Translation: X:169.28, Y:186.42, Z:11.98 [[-5.85581386e-01 -8.10459292e-01 1.58169442e-02 1.69282819e+02] [ 8.10095367e-01 -5.85793209e-01 -2.43271811e-02 1.86423935e+02] [ 2.89816485e-02 -1.43231128e-03 9.99578918e-01 1.19765401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.1471056809999 meters 0.04180907917037489 Centerline is valid? [True, True] Translation: X:169.27, Y:186.45, Z:11.98 [[-5.88273936e-01 -8.08509114e-01 1.57095406e-02 1.69269666e+02] [ 8.08150043e-01 -5.88481730e-01 -2.41404450e-02 1.86445823e+02] [ 2.87625474e-02 -1.50552864e-03 9.99585139e-01 1.19773819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.17710568099994 meters 0.04127225664962277 Centerline is valid? [True, True] Translation: X:169.25, Y:186.46, Z:11.98 [[-5.94114289e-01 -8.04236541e-01 1.52248985e-02 1.69250190e+02] [ 8.03898500e-01 -5.94307052e-01 -2.33737042e-02 1.86464895e+02] [ 2.78462516e-02 -1.64737860e-03 9.99610860e-01 1.19788418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.2071056809999 meters 0.043258690562117036 Centerline is valid? [True, True] Translation: X:169.24, Y:186.49, Z:11.98 [[-5.96946533e-01 -8.02143535e-01 1.48521290e-02 1.69235502e+02] [ 8.01821632e-01 -5.97128866e-01 -2.27856950e-02 1.86487221e+02] [ 2.71460329e-02 -1.69308331e-03 9.99630045e-01 1.19800062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.23710568099995 meters 0.0446343295444858 Centerline is valid? [True, True] Translation: X:169.22, Y:186.51, Z:11.98 [[-6.00134791e-01 -7.99760171e-01 1.48963612e-02 1.69217783e+02] [ 7.99436197e-01 -6.00316959e-01 -2.28323373e-02 1.86508035e+02] [ 2.72029322e-02 -1.79378961e-03 9.99628322e-01 1.19802531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.2671056809999 meters 0.047411204196188494 Centerline is valid? [True, True] Translation: X:169.20, Y:186.53, Z:11.98 [[-6.01837925e-01 -7.98477540e-01 1.49909857e-02 1.69202262e+02] [ 7.98149598e-01 -6.02021752e-01 -2.29571272e-02 1.86529068e+02] [ 2.73556500e-02 -1.85142056e-03 9.99624050e-01 1.19803477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.29710568099995 meters 0.04843765333811582 Centerline is valid? [True, True] Translation: X:169.19, Y:186.55, Z:11.98 [[-6.02446920e-01 -7.98014217e-01 1.51992804e-02 1.69186143e+02] [ 7.97677550e-01 -6.02635673e-01 -2.32544951e-02 1.86549637e+02] [ 2.77170463e-02 -1.88547418e-03 9.99614031e-01 1.19796285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.3271056809999 meters 0.0473813288866633 Centerline is valid? [True, True] Translation: X:169.16, Y:186.57, Z:11.98 [[-6.04306412e-01 -7.96574605e-01 1.68124525e-02 1.69163923e+02] [ 7.96162883e-01 -6.04536436e-01 -2.56974958e-02 1.86567403e+02] [ 3.06337127e-02 -2.14371087e-03 9.99528379e-01 1.19773414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.3571056809999 meters 0.0473813288866633 Centerline is valid? [True, True] Translation: X:169.15, Y:186.59, Z:11.98 [[-6.04659234e-01 -7.96306603e-01 1.68227536e-02 1.69149560e+02] [ 7.95894963e-01 -6.04889406e-01 -2.56907506e-02 1.86588814e+02] [ 3.06336197e-02 -2.14500473e-03 9.99528379e-01 1.19780919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.3871056809999 meters 0.04956039744455972 Centerline is valid? [True, True] Translation: X:169.13, Y:186.61, Z:11.98 [[-6.05861052e-01 -7.95386505e-01 1.71082824e-02 1.69134161e+02] [ 7.94961190e-01 -6.06098513e-01 -2.61017065e-02 1.86609855e+02] [ 3.11302496e-02 -2.21358683e-03 9.99512885e-01 1.19797121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.4171056809999 meters 0.05069565647780493 Centerline is valid? [True, True] Translation: X:169.11, Y:186.63, Z:11.98 [[-6.06820316e-01 -7.94659323e-01 1.69016084e-02 1.69112860e+02] [ 7.94244480e-01 -6.07051614e-01 -2.57690605e-02 1.86627923e+02] [ 3.07377728e-02 -2.21318030e-03 9.99525033e-01 1.19817926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.4471056809999 meters 0.05166425736224417 Centerline is valid? [True, True] Translation: X:169.10, Y:186.65, Z:11.98 [[-6.07043063e-01 -7.94490075e-01 1.68594325e-02 1.69096522e+02] [ 7.94077898e-01 -6.07273140e-01 -2.56831554e-02 1.86647655e+02] [ 3.06432926e-02 -2.20307859e-03 9.99527956e-01 1.19819937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.4771056809999 meters 0.0491555657940017 Centerline is valid? [True, True] Translation: X:169.07, Y:186.66, Z:11.98 [[-6.05570322e-01 -7.95601912e-01 1.73834338e-02 1.69072664e+02] [ 7.95164982e-01 -6.05815787e-01 -2.64553067e-02 1.86664014e+02] [ 3.15790512e-02 -2.19785076e-03 9.99498841e-01 1.19781040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.5071056809999 meters 0.04480640322734675 Centerline is valid? [True, True] Translation: X:169.05, Y:186.68, Z:11.98 [[-6.04506193e-01 -7.96412866e-01 1.72860960e-02 1.69048430e+02] [ 7.95981845e-01 -6.04749543e-01 -2.62848436e-02 1.86681191e+02] [ 3.13873463e-02 -2.12993218e-03 9.99505026e-01 1.19793456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.5371056809999 meters 0.04597302876499708 Centerline is valid? [True, True] Translation: X:169.03, Y:186.70, Z:11.98 [[-6.01584685e-01 -7.98642755e-01 1.62977571e-02 1.69025600e+02] [ 7.98261003e-01 -6.01802451e-01 -2.47624771e-02 1.86696711e+02] [ 2.95844031e-02 -1.88686307e-03 9.99560505e-01 1.19832082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.56710568099993 meters 0.04235505341308541 Centerline is valid? [True, True] Translation: X:169.00, Y:186.71, Z:11.98 [[-5.97599402e-01 -8.01633579e-01 1.60797697e-02 1.68997812e+02] [ 8.01263691e-01 -5.97813270e-01 -2.44088649e-02 1.86710110e+02] [ 2.91796654e-02 -1.70258746e-03 9.99572733e-01 1.19833522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.5971056809999 meters 0.04289009217808552 Centerline is valid? [True, True] Translation: X:168.98, Y:186.73, Z:11.98 [[-5.95031742e-01 -8.03521782e-01 1.70285512e-02 1.68980727e+02] [ 8.03108306e-01 -5.95272943e-01 -2.58296851e-02 1.86729076e+02] [ 3.08913504e-02 -1.69371164e-03 9.99521313e-01 1.19823930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.62710568099993 meters 0.03723493063977104 Centerline is valid? [True, True] Translation: X:168.95, Y:186.74, Z:11.98 [[-5.87679379e-01 -8.08888592e-01 1.82261426e-02 1.68952392e+02] [ 8.08418329e-01 -5.87960037e-01 -2.76188259e-02 1.86742215e+02] [ 3.30567967e-02 -1.49666669e-03 9.99452354e-01 1.19792560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.6571056809999 meters 0.03459583229423999 Centerline is valid? [True, True] Translation: X:168.93, Y:186.76, Z:11.98 [[-5.83402504e-01 -8.11984925e-01 1.79443324e-02 1.68930950e+02] [ 8.11531340e-01 -5.83676987e-01 -2.71672614e-02 1.86759438e+02] [ 3.25331006e-02 -1.28706024e-03 9.99469830e-01 1.19810435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.68710568099993 meters 0.03031961706490803 Centerline is valid? [True, True] Translation: X:168.90, Y:186.77, Z:11.99 [[-5.74178328e-01 -8.18567707e-01 1.63142743e-02 1.68902419e+02] [ 8.18196032e-01 -5.74409465e-01 -2.46783334e-02 1.86771221e+02] [ 2.95719604e-02 -8.21489709e-04 9.99562316e-01 1.19872060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7171056809999 meters 0.0272116894284607 Centerline is valid? [True, True] Translation: X:168.88, Y:186.78, Z:11.99 [[-5.66860307e-01 -8.23646266e-01 1.66198958e-02 1.68876291e+02] [ 8.23263407e-01 -5.67103624e-01 -2.51165753e-02 1.86784272e+02] [ 3.01123766e-02 -5.55037515e-04 9.99546365e-01 1.19891041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.74710568099994 meters 0.026083016622130584 Centerline is valid? [True, True] Translation: X:168.86, Y:186.80, Z:11.99 [[-5.64097601e-01 -8.25528849e-01 1.72051055e-02 1.68857551e+02] [ 8.25120175e-01 -5.64359735e-01 -2.59766733e-02 1.86803816e+02] [ 3.11543619e-02 -4.57099426e-04 9.99514481e-01 1.19886604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7771056809999 meters 0.025440111664883247 Centerline is valid? [True, True] Translation: X:168.84, Y:186.82, Z:11.99 [[-5.62057206e-01 -8.26922294e-01 1.70650639e-02 1.68840440e+02] [ 8.26521534e-01 -5.62316091e-01 -2.57442620e-02 1.86824108e+02] [ 3.08844642e-02 -3.65105137e-04 9.99522894e-01 1.19876766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.80710568099994 meters 0.024659078933749516 Centerline is valid? [True, True] Translation: X:168.82, Y:186.84, Z:11.99 [[-5.59400371e-01 -8.28733355e-01 1.65000381e-02 1.68823149e+02] [ 8.28360131e-01 -5.59643606e-01 -2.48702177e-02 1.86842544e+02] [ 2.98449198e-02 -2.44435266e-04 9.99554511e-01 1.19901962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8371056809999 meters 0.02459606580751483 Centerline is valid? [True, True] Translation: X:168.81, Y:186.86, Z:11.99 [[-5.58526041e-01 -8.29330772e-01 1.60975758e-02 1.68807664e+02] [ 8.28976280e-01 -5.58757936e-01 -2.42465778e-02 1.86860896e+02] [ 2.91030813e-02 -1.97836629e-04 9.99576396e-01 1.19919332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.86710568099994 meters 0.02434042939347193 Centerline is valid? [True, True] Translation: X:168.79, Y:186.88, Z:11.99 [[-5.58837396e-01 -8.29113787e-01 1.64649187e-02 1.68791379e+02] [ 8.28743600e-01 -5.59079859e-01 -2.47741107e-02 1.86882919e+02] [ 2.97457612e-02 -1.99503551e-04 9.99557477e-01 1.19919054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8971056809999 meters 0.024473914127629823 Centerline is valid? [True, True] Translation: X:168.78, Y:186.91, Z:11.99 [[-5.60174926e-01 -8.28184360e-01 1.77403100e-02 1.68777977e+02] [ 8.27754959e-01 -5.60455710e-01 -2.66669520e-02 1.86906144e+02] [ 3.20278106e-02 -2.53528313e-04 9.99486946e-01 1.19895482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.92710568099994 meters 0.024701439020721902 Centerline is valid? [True, True] Translation: X:168.77, Y:186.93, Z:11.99 [[-5.61695359e-01 -8.27146739e-01 1.80719334e-02 1.68765683e+02] [ 8.26701430e-01 -5.61985924e-01 -2.71397631e-02 1.86928940e+02] [ 3.26047388e-02 -3.04185757e-04 9.99468278e-01 1.19894442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9571056809999 meters 0.025699912885829162 Centerline is valid? [True, True] Translation: X:168.76, Y:186.95, Z:11.99 [[-5.64555027e-01 -8.25216840e-01 1.71694098e-02 1.68755460e+02] [ 8.24814749e-01 -5.64815918e-01 -2.57605970e-02 1.86952689e+02] [ 3.09556344e-02 -3.81692146e-04 9.99520687e-01 1.19922244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.98710568099995 meters 0.02719233352244611 Centerline is valid? [True, True] Translation: X:168.75, Y:186.98, Z:12.00 [[-5.68616400e-01 -8.22450467e-01 1.58309729e-02 1.68746906e+02] [ 8.22108148e-01 -5.68836532e-01 -2.37317038e-02 1.86976779e+02] [ 2.85233866e-02 -4.79464181e-04 9.99593010e-01 1.19960633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.0171056809999 meters 0.028566416648337766 Centerline is valid? [True, True] Translation: X:168.74, Y:187.00, Z:12.00 [[-5.71423872e-01 -8.20496703e-01 1.61220139e-02 1.68735412e+02] [ 8.20141532e-01 -5.71650969e-01 -2.41461761e-02 1.87000673e+02] [ 2.90280227e-02 -5.75368322e-04 9.99578433e-01 1.19959193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.04710568099995 meters 0.029242218751020312 Centerline is valid? [True, True] Translation: X:168.72, Y:187.03, Z:11.99 [[-5.79946798e-01 -8.14483828e-01 1.66675301e-02 1.68724339e+02] [ 8.14102344e-01 -5.80185567e-01 -2.49415408e-02 1.87025613e+02] [ 2.99847420e-02 -8.95691404e-04 9.99549955e-01 1.19943775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.0771056809999 meters 0.0314185379954026 Centerline is valid? [True, True] Translation: X:168.72, Y:187.05, Z:11.99 [[-5.85521044e-01 -8.10478449e-01 1.70232362e-02 1.68716359e+02] [ 8.10079551e-01 -5.85767402e-01 -2.54493983e-02 1.87052238e+02] [ 3.05978457e-02 -1.11098273e-03 9.99531159e-01 1.19944256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.1071056809999 meters 0.03668478115814611 Centerline is valid? [True, True] Translation: X:168.71, Y:187.08, Z:11.99 [[-5.96317440e-01 -8.02548147e-01 1.79438633e-02 1.68713731e+02] [ 8.02101924e-01 -5.96585230e-01 -2.68061030e-02 1.87082549e+02] [ 3.22182321e-02 -1.59213941e-03 9.99479590e-01 1.19931290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.1371056809999 meters 0.03911998877450078 Centerline is valid? [True, True] Translation: X:168.70, Y:187.11, Z:11.99 [[-6.00554739e-01 -7.99361255e-01 1.88570626e-02 1.68703425e+02] [ 7.98867593e-01 -6.00847897e-01 -2.81491416e-02 1.87107603e+02] [ 3.38315596e-02 -1.84080422e-03 9.99425854e-01 1.19933398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.1671056809999 meters 0.04144270289151089 Centerline is valid? [True, True] Translation: X:168.69, Y:187.13, Z:12.00 [[-6.05357898e-01 -7.95719835e-01 1.92810456e-02 1.68693125e+02] [ 7.95202805e-01 -6.05661323e-01 -2.87551904e-02 1.87132892e+02] [ 3.45588590e-02 -2.07484005e-03 9.99400510e-01 1.19954934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.1971056809999 meters 0.042012918166711065 Centerline is valid? [True, True] Translation: X:168.68, Y:187.16, Z:12.00 [[-6.06353391e-01 -7.94960940e-01 1.93046394e-02 1.68679111e+02] [ 7.94443152e-01 -6.06656964e-01 -2.87646624e-02 1.87156163e+02] [ 3.45780770e-02 -2.10511204e-03 9.99399782e-01 1.19969894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.2271056809999 meters 0.04246434377420099 Centerline is valid? [True, True] Translation: X:168.67, Y:187.18, Z:12.00 [[-6.06951419e-01 -7.94517510e-01 1.87590492e-02 1.68666655e+02] [ 7.94029198e-01 -6.07237764e-01 -2.79272392e-02 1.87177457e+02] [ 3.35798836e-02 -2.05524468e-03 9.99433923e-01 1.19989394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.2571056809999 meters 0.042981949270572126 Centerline is valid? [True, True] Translation: X:168.65, Y:187.20, Z:12.00 [[-6.06615978e-01 -7.94802688e-01 1.74854934e-02 1.68652480e+02] [ 7.94379334e-01 -6.06865002e-01 -2.60066156e-02 1.87198768e+02] [ 3.12814620e-02 -1.88591395e-03 9.99508836e-01 1.20036013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.2871056809999 meters 0.04355129341742325 Centerline is valid? [True, True] Translation: X:168.64, Y:187.22, Z:12.01 [[-6.06054226e-01 -7.95242824e-01 1.69448135e-02 1.68636915e+02] [ 7.94846084e-01 -6.06288413e-01 -2.51806016e-02 1.87219887e+02] [ 3.02981368e-02 -1.79229140e-03 9.99539299e-01 1.20067543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.31710568099993 meters 0.03891179394506081 Centerline is valid? [True, True] Translation: X:168.61, Y:187.24, Z:12.01 [[-6.05093353e-01 -7.95968922e-01 1.71903916e-02 1.68610382e+02] [ 7.95561586e-01 -6.05334908e-01 -2.55227856e-02 1.87235073e+02] [ 3.07212883e-02 -1.76765269e-03 9.99526427e-01 1.20088131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.3471056809999 meters 0.038904404150934144 Centerline is valid? [True, True] Translation: X:168.59, Y:187.26, Z:12.01 [[-6.04947371e-01 -7.96072406e-01 1.75328899e-02 1.68592365e+02] [ 7.95649411e-01 -6.05198761e-01 -2.60091014e-02 1.87256186e+02] [ 3.13160112e-02 -1.78410398e-03 9.99507941e-01 1.20087451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.37710568099993 meters 0.03992628862662776 Centerline is valid? [True, True] Translation: X:168.58, Y:187.28, Z:12.01 [[-6.05489313e-01 -7.95656825e-01 1.76892278e-02 1.68578033e+02] [ 7.95226786e-01 -6.05744952e-01 -2.62185300e-02 1.87276722e+02] [ 3.15761127e-02 -1.80809195e-03 9.99499715e-01 1.20082416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.4071056809999 meters 0.04117531649379038 Centerline is valid? [True, True] Translation: X:168.56, Y:187.30, Z:12.01 [[-6.06880682e-01 -7.94620560e-01 1.65530255e-02 1.68560457e+02] [ 7.94244315e-01 -6.07103927e-01 -2.45110199e-02 1.87297084e+02] [ 2.95263672e-02 -1.72811804e-03 9.99562508e-01 1.20095561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43710568099993 meters 0.04189507869323015 Centerline is valid? [True, True] Translation: X:168.54, Y:187.32, Z:12.01 [[-6.07920112e-01 -7.93837709e-01 1.59633684e-02 1.68543362e+02] [ 7.93488087e-01 -6.08127315e-01 -2.36182944e-02 1.87317576e+02] [ 2.84568531e-02 -1.69129350e-03 9.99593591e-01 1.20126297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.4671056809999 meters 0.04198589189437118 Centerline is valid? [True, True] Translation: X:168.52, Y:187.33, Z:12.02 [[-6.08466167e-01 -7.93424229e-01 1.57135804e-02 1.68521547e+02] [ 7.93085747e-01 -6.08666730e-01 -2.32338092e-02 1.87334809e+02] [ 2.79986008e-02 -1.67477022e-03 9.99606559e-01 1.20154020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49710568099994 meters 0.041385492756318046 Centerline is valid? [True, True] Translation: X:168.50, Y:187.35, Z:12.02 [[-6.06001587e-01 -7.95320416e-01 1.50834944e-02 1.68500752e+02] [ 7.95009662e-01 -6.06187390e-01 -2.22819630e-02 1.87352143e+02] [ 2.68647241e-02 -1.51138115e-03 9.99637936e-01 1.20175448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5271056809999 meters 0.04045658601771097 Centerline is valid? [True, True] Translation: X:168.48, Y:187.37, Z:12.02 [[-6.04209065e-01 -7.96689055e-01 1.47633168e-02 1.68480977e+02] [ 7.96392277e-01 -6.04387763e-01 -2.17892907e-02 1.87371599e+02] [ 2.62820575e-02 -1.40789547e-03 9.99653576e-01 1.20188856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.55710568099994 meters 0.036966864562748454 Centerline is valid? [True, True] Translation: X:168.45, Y:187.39, Z:12.02 [[-5.98509195e-01 -8.00986684e-01 1.43901467e-02 1.68454424e+02] [ 8.00706377e-01 -5.98681002e-01 -2.12215934e-02 1.87385673e+02] [ 2.56133212e-02 -1.17903653e-03 9.99671230e-01 1.20222304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5871056809999 meters 0.03489144820574817 Centerline is valid? [True, True] Translation: X:168.43, Y:187.40, Z:12.02 [[-5.95275567e-01 -8.03389399e-01 1.45764189e-02 1.68432937e+02] [ 8.03102990e-01 -5.95453029e-01 -2.14773872e-02 1.87403020e+02] [ 2.59342780e-02 -1.07859826e-03 9.99663068e-01 1.20243124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.61710568099994 meters 0.030626662296495674 Centerline is valid? [True, True] Translation: X:168.41, Y:187.42, Z:12.02 [[-5.87713797e-01 -8.08929066e-01 1.50419141e-02 1.68406357e+02] [ 8.08626397e-01 -5.87905641e-01 -2.21428652e-02 1.87415704e+02] [ 2.67552334e-02 -8.50378578e-04 9.99641653e-01 1.20242450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.6471056809999 meters 0.028377942434641965 Centerline is valid? [True, True] Translation: X:168.39, Y:187.43, Z:12.02 [[-5.83713195e-01 -8.11816548e-01 1.52577625e-02 1.68385311e+02] [ 8.11506672e-01 -5.83912133e-01 -2.24397495e-02 1.87433578e+02] [ 2.71261526e-02 -7.16601773e-04 9.99631761e-01 1.20246376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.67710568099994 meters 0.02432412915526986 Centerline is valid? [True, True] Translation: X:168.36, Y:187.45, Z:12.02 [[-5.75822304e-01 -8.17411462e-01 1.63455268e-02 1.68357165e+02] [ 8.17058658e-01 -5.76054056e-01 -2.40181791e-02 1.87446912e+02] [ 2.90486419e-02 -4.74949033e-04 9.99577886e-01 1.20241492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.7071056809999 meters 0.022944118357862527 Centerline is valid? [True, True] Translation: X:168.33, Y:187.46, Z:12.03 [[-5.70249759e-01 -8.21311156e-01 1.62233556e-02 1.68333847e+02] [ 8.20965620e-01 -5.70480424e-01 -2.38230439e-02 1.87463554e+02] [ 2.88212385e-02 -2.66267920e-04 9.99584546e-01 1.20255254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.73710568099995 meters 0.02253722958214559 Centerline is valid? [True, True] Translation: X:168.32, Y:187.48, Z:12.03 [[-5.68621048e-01 -8.22443729e-01 1.60130232e-02 1.68316405e+02] [ 8.22108114e-01 -5.68846443e-01 -2.34941266e-02 1.87482267e+02] [ 2.84315484e-02 -1.94818630e-04 9.99595723e-01 1.20280795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.7671056809999 meters 0.022299683603389683 Centerline is valid? [True, True] Translation: X:168.30, Y:187.50, Z:12.03 [[-5.67048054e-01 -8.23533924e-01 1.57601278e-02 1.68298681e+02] [ 8.23209891e-01 -5.67267010e-01 -2.31000773e-02 1.87503361e+02] [ 2.79638978e-02 -1.24960784e-04 9.99608926e-01 1.20292622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.79710568099995 meters 0.022371412101069174 Centerline is valid? [True, True] Translation: X:168.29, Y:187.53, Z:12.03 [[-5.68158241e-01 -8.22771157e-01 1.56152608e-02 1.68285895e+02] [ 8.22453329e-01 -5.68372766e-01 -2.28674603e-02 1.87526281e+02] [ 2.76899757e-02 -1.49512828e-04 9.99616548e-01 1.20297040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.8271056809999 meters 0.023043636478406997 Centerline is valid? [True, True] Translation: X:168.28, Y:187.55, Z:12.03 [[-5.72574568e-01 -8.19724535e-01 1.44930920e-02 1.68276630e+02] [ 8.19450103e-01 -5.72757902e-01 -2.12111994e-02 1.87552365e+02] [ 2.56883735e-02 -2.68627619e-04 9.99669963e-01 1.20314469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.8571056809999 meters 0.023250642704708013 Centerline is valid? [True, True] Translation: X:168.26, Y:187.58, Z:12.03 [[-5.75252209e-01 -8.17847986e-01 1.44764562e-02 1.68263064e+02] [ 8.17574046e-01 -5.75434231e-01 -2.11689645e-02 1.87575765e+02] [ 2.56432434e-02 -3.41918704e-04 9.99671099e-01 1.20329468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.8871056809999 meters 0.024030264879835315 Centerline is valid? [True, True] Translation: X:168.25, Y:187.60, Z:12.03 [[-5.77989384e-01 -8.15912549e-01 1.46623619e-02 1.68251405e+02] [ 8.15631404e-01 -5.78175176e-01 -2.14214265e-02 1.87599056e+02] [ 2.59554244e-02 -4.22274302e-04 9.99663012e-01 1.20346404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.9171056809999 meters 0.024043322340544467 Centerline is valid? [True, True] Translation: X:168.24, Y:187.62, Z:12.04 [[-5.77767715e-01 -8.16075835e-01 1.43073118e-02 1.68239011e+02] [ 8.15808676e-01 -5.77944701e-01 -2.08836707e-02 1.87621814e+02] [ 2.53114940e-02 -3.93881586e-04 9.99679535e-01 1.20358984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.9471056809999 meters 0.023119247146631768 Centerline is valid? [True, True] Translation: X:168.22, Y:187.64, Z:12.04 [[-5.74090479e-01 -8.18678435e-01 1.36287334e-02 1.68224087e+02] [ 8.18437170e-01 -5.74252170e-01 -1.98757341e-02 1.87644564e+02] [ 2.40981646e-02 -2.56207697e-04 9.99709564e-01 1.20355898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.9771056809999 meters 0.022115221566524283 Centerline is valid? [True, True] Translation: X:168.20, Y:187.66, Z:12.04 [[-5.66781543e-01 -8.23744345e-01 1.42806739e-02 1.68204647e+02] [ 8.23481505e-01 -5.66961421e-01 -2.08076418e-02 1.87664354e+02] [ 2.52367685e-02 -3.35165230e-05 9.99681501e-01 1.20363871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.0071056809999 meters 0.022417473720586018 Centerline is valid? [True, True] Translation: X:168.19, Y:187.68, Z:12.04 [[-5.62475038e-01 -8.26681540e-01 1.48142624e-02 1.68187154e+02] [ 8.26400193e-01 -5.62670079e-01 -2.15662384e-02 1.87682745e+02] [ 2.61639534e-02 1.12038566e-04 9.99657659e-01 1.20362516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.0371056809999 meters 0.0240140664655395 Centerline is valid? [True, True] Translation: X:168.17, Y:187.70, Z:12.03 [[-5.52404831e-01 -8.33420080e-01 1.61205674e-02 1.68168561e+02] [ 8.33090457e-01 -5.52639792e-01 -2.34425227e-02 1.87703569e+02] [ 2.84463361e-02 4.80128042e-04 9.99595206e-01 1.20334627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.06710568099993 meters 0.026551931448514407 Centerline is valid? [True, True] Translation: X:168.15, Y:187.72, Z:12.03 [[-5.48015486e-01 -8.36303832e-01 1.65809220e-02 1.68151383e+02] [ 8.35957009e-01 -5.48265872e-01 -2.40917631e-02 1.87723485e+02] [ 2.92387875e-02 6.58278706e-04 9.99572239e-01 1.20321438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.0971056809999 meters 0.02852888979785524 Centerline is valid? [True, True] Translation: X:168.14, Y:187.75, Z:12.03 [[-5.42312530e-01 -8.39996615e-01 1.74013511e-02 1.68142511e+02] [ 8.39617074e-01 -5.42590877e-01 -2.52647589e-02 1.87750243e+02] [ 3.06641263e-02 9.09076223e-04 9.99529332e-01 1.20279892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.12710568099993 meters 0.02911284094014884 Centerline is valid? [True, True] Translation: X:168.14, Y:187.78, Z:12.03 [[-5.40981662e-01 -8.40873771e-01 1.64360119e-02 1.68135656e+02] [ 8.40536164e-01 -5.41230507e-01 -2.38431268e-02 1.87778629e+02] [ 2.89447310e-02 9.16367968e-04 9.99580593e-01 1.20294570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.1571056809999 meters 0.02904963409951083 Centerline is valid? [True, True] Translation: X:168.13, Y:187.80, Z:12.03 [[-5.41759860e-01 -8.40382463e-01 1.59239104e-02 1.68125675e+02] [ 8.40065923e-01 -5.41993131e-01 -2.30800995e-02 1.87804113e+02] [ 2.80267610e-02 8.73263031e-04 9.99606792e-01 1.20299503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.18710568099993 meters 0.029433728094212415 Centerline is valid? [True, True] Translation: X:168.12, Y:187.83, Z:12.03 [[-5.42767358e-01 -8.39717462e-01 1.66787111e-02 1.68116668e+02] [ 8.39370551e-01 -5.43022826e-01 -2.41513533e-02 1.87828743e+02] [ 2.93372340e-02 8.91052690e-04 9.99569174e-01 1.20291918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2171056809999 meters 0.027241572525335267 Centerline is valid? [True, True] Translation: X:168.12, Y:187.86, Z:12.03 [[-5.46367338e-01 -8.37350723e-01 1.80692927e-02 1.68119044e+02] [ 8.36943156e-01 -5.46665397e-01 -2.61361248e-02 1.87862970e+02] [ 3.17629600e-02 8.43045938e-04 9.99495074e-01 1.20258170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.24710568099994 meters 0.027446673322928675 Centerline is valid? [True, True] Translation: X:168.12, Y:187.89, Z:12.02 [[-5.49842061e-01 -8.35043924e-01 1.93740321e-02 1.68115379e+02] [ 8.34574857e-01 -5.50182736e-01 -2.79958091e-02 1.87891900e+02] [ 3.40369883e-02 7.75806751e-04 9.99420273e-01 1.20238578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2771056809999 meters 0.027446673322928675 Centerline is valid? [True, True] Translation: X:168.10, Y:187.91, Z:12.02 [[-5.50204547e-01 -8.34804838e-01 1.93865551e-02 1.68100483e+02] [ 8.34335928e-01 -5.50545438e-01 -2.79871351e-02 1.87912818e+02] [ 3.40369753e-02 7.76250407e-04 9.99420273e-01 1.20246070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.30710568099994 meters 0.02593853347051261 Centerline is valid? [True, True] Translation: X:168.09, Y:187.94, Z:12.03 [[-5.51209843e-01 -8.34130482e-01 1.98506168e-02 1.68093009e+02] [ 8.33639353e-01 -5.51566632e-01 -2.86300358e-02 1.87939947e+02] [ 3.48301234e-02 7.67097783e-04 9.99392953e-01 1.20252109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3371056809999 meters 0.025474621519380385 Centerline is valid? [True, True] Translation: X:168.09, Y:187.97, Z:12.03 [[-5.52237393e-01 -8.33424709e-01 2.09073162e-02 1.68089175e+02] [ 8.32880465e-01 -5.52632472e-01 -3.01244290e-02 1.87968023e+02] [ 3.66605053e-02 7.77459111e-04 9.99327475e-01 1.20253192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.36710568099994 meters 0.024954551299127166 Centerline is valid? [True, True] Translation: X:168.08, Y:187.99, Z:12.03 [[-5.53553901e-01 -8.32544260e-01 2.11691853e-02 1.68079189e+02] [ 8.31986831e-01 -5.53958031e-01 -3.04698665e-02 1.87993562e+02] [ 3.70943527e-02 7.45769910e-04 9.99311489e-01 1.20269673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3971056809999 meters 0.02373384262720312 Centerline is valid? [True, True] Translation: X:168.07, Y:188.02, Z:12.03 [[-5.56841992e-01 -8.30380580e-01 1.98768419e-02 1.68073099e+02] [ 8.29888648e-01 -5.57196337e-01 -2.85845051e-02 1.88022738e+02] [ 3.48113215e-02 5.78512696e-04 9.99393735e-01 1.20319905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.42710568099994 meters 0.02200947835694649 Centerline is valid? [True, True] Translation: X:168.07, Y:188.05, Z:12.03 [[-5.62496417e-01 -8.26568725e-01 1.95428822e-02 1.68068269e+02] [ 8.26091677e-01 -5.62835697e-01 -2.80806060e-02 1.88051773e+02] [ 3.42099824e-02 3.48972059e-04 9.99414606e-01 1.20346890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4571056809999 meters 0.021328688991150948 Centerline is valid? [True, True] Translation: X:168.06, Y:188.08, Z:12.04 [[-5.65834490e-01 -8.24272462e-01 2.01553506e-02 1.68059996e+02] [ 8.23764528e-01 -5.66193301e-01 -2.89335036e-02 1.88077179e+02] [ 3.52609148e-02 2.31688610e-04 9.99378114e-01 1.20350582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.48710568099995 meters 0.02038076492192019 Centerline is valid? [True, True] Translation: X:168.06, Y:188.11, Z:12.04 [[-5.72982354e-01 -8.19322693e-01 2.00386501e-02 1.68059921e+02] [ 8.18818585e-01 -5.73332645e-01 -2.87367938e-02 1.88109117e+02] [ 3.50335196e-02 -5.76566843e-05 9.99386136e-01 1.20380446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.5171056809999 meters 0.020210211707651058 Centerline is valid? [True, True] Translation: X:168.05, Y:188.13, Z:12.04 [[-5.74724054e-01 -8.18104554e-01 1.99298894e-02 1.68049442e+02] [ 8.17606157e-01 -5.75069496e-01 -2.85525422e-02 1.88134096e+02] [ 3.48200362e-02 -1.15032520e-04 9.99393592e-01 1.20405865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.54710568099995 meters 0.020383503792594106 Centerline is valid? [True, True] Translation: X:168.04, Y:188.16, Z:12.04 [[-5.74413543e-01 -8.18324073e-01 1.98693998e-02 1.68039421e+02] [ 8.17829817e-01 -5.74757083e-01 -2.84374119e-02 1.88158929e+02] [ 3.46910970e-02 -8.50469247e-05 9.99398079e-01 1.20416254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.5771056809999 meters 0.020287065757193853 Centerline is valid? [True, True] Translation: X:168.03, Y:188.18, Z:12.04 [[-5.72882913e-01 -8.19387644e-01 2.02251544e-02 1.68025446e+02] [ 8.18877210e-01 -5.73239818e-01 -2.89175708e-02 1.88181795e+02] [ 3.52885640e-02 -4.46423592e-06 9.99377165e-01 1.20432708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.6071056809999 meters 0.02042133919098764 Centerline is valid? [True, True] Translation: X:168.01, Y:188.20, Z:12.04 [[-5.70780452e-01 -8.20845431e-01 2.05536692e-02 1.68011816e+02] [ 8.20320224e-01 -5.71150389e-01 -2.93592007e-02 1.88203395e+02] [ 3.58386020e-02 1.02932677e-04 9.99357586e-01 1.20441795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.6371056809999 meters 0.021447276993757796 Centerline is valid? [True, True] Translation: X:168.00, Y:188.23, Z:12.05 [[-5.64234466e-01 -8.25369034e-01 2.01351829e-02 1.67995969e+02] [ 8.24868875e-01 -5.64593482e-01 -2.87322108e-02 1.88225462e+02] [ 3.50828701e-02 3.97182091e-04 9.99384328e-01 1.20473344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.6671056809999 meters 0.02404982002031232 Centerline is valid? [True, True] Translation: X:167.98, Y:188.25, Z:12.05 [[-5.56965919e-01 -8.30315064e-01 1.91274538e-02 1.67979291e+02] [ 8.29867377e-01 -5.57293842e-01 -2.72710354e-02 1.88246409e+02] [ 3.33031637e-02 6.84212575e-04 9.99445062e-01 1.20493735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.6971056809999 meters 0.026293337091810316 Centerline is valid? [True, True] Translation: X:167.96, Y:188.27, Z:12.05 [[-5.53622892e-01 -8.32554247e-01 1.88445923e-02 1.67962195e+02] [ 8.32121815e-01 -5.53942915e-01 -2.68427154e-02 1.88266513e+02] [ 3.27868451e-02 8.20254626e-04 9.99462030e-01 1.20507352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.7271056809999 meters 0.028803074534303624 Centerline is valid? [True, True] Translation: X:167.95, Y:188.29, Z:12.05 [[-5.48871915e-01 -8.35698808e-01 1.86312421e-02 1.67946370e+02] [ 8.35278701e-01 -5.49187111e-01 -2.65142997e-02 1.88288363e+02] [ 3.23900067e-02 1.00932526e-03 9.99474796e-01 1.20500968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.7571056809999 meters 0.028658362984742478 Centerline is valid? [True, True] Translation: X:167.93, Y:188.31, Z:12.05 [[-5.48592024e-01 -8.35864363e-01 1.94308617e-02 1.67933343e+02] [ 8.35408367e-01 -5.48934976e-01 -2.76270289e-02 1.88312115e+02] [ 3.37587285e-02 1.07673675e-03 9.99429432e-01 1.20502682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.7871056809999 meters 0.02839900734047604 Centerline is valid? [True, True] Translation: X:167.93, Y:188.34, Z:12.05 [[-5.49948415e-01 -8.34925124e-01 2.13723688e-02 1.67925580e+02] [ 8.34373832e-01 -5.50362375e-01 -3.03572866e-02 1.88337863e+02] [ 3.71086089e-02 1.13760361e-03 9.99310591e-01 1.20465378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.81710568099993 meters 0.028036628462872675 Centerline is valid? [True, True] Translation: X:167.91, Y:188.36, Z:12.05 [[-5.51516616e-01 -8.33873213e-01 2.20201560e-02 1.67913707e+02] [ 8.33288393e-01 -5.51954905e-01 -3.12447955e-02 1.88361306e+02] [ 3.82083311e-02 1.11711654e-03 9.99269171e-01 1.20454673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.8471056809999 meters 0.025653376483122055 Centerline is valid? [True, True] Translation: X:167.91, Y:188.39, Z:12.05 [[-5.55931670e-01 -8.30933740e-01 2.21155450e-02 1.67906005e+02] [ 8.30342637e-01 -5.56370601e-01 -3.13505887e-02 1.88389348e+02] [ 3.83547010e-02 9.34694844e-04 9.99263751e-01 1.20471262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.87710568099993 meters 0.02455436938572084 Centerline is valid? [True, True] Translation: X:167.90, Y:188.41, Z:12.05 [[-5.58379500e-01 -8.29306926e-01 2.15024894e-02 1.67895394e+02] [ 8.28747886e-01 -5.58792770e-01 -3.04562253e-02 1.88414457e+02] [ 3.72729943e-02 8.14010786e-04 9.99304789e-01 1.20495086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.9071056809999 meters 0.022661129898004242 Centerline is valid? [True, True] Translation: X:167.89, Y:188.44, Z:12.05 [[-5.62908654e-01 -8.26244813e-01 2.12921790e-02 1.67889244e+02] [ 8.25695426e-01 -5.63310861e-01 -3.01319911e-02 1.88443682e+02] [ 3.68905170e-02 6.19296289e-04 9.99319121e-01 1.20533197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93710568099993 meters 0.020795703982190106 Centerline is valid? [True, True] Translation: X:167.88, Y:188.47, Z:12.05 [[-5.68792512e-01 -8.22177244e-01 2.23530264e-02 1.67883337e+02] [ 8.21569626e-01 -5.69231437e-01 -3.16057111e-02 1.88473448e+02] [ 3.87095418e-02 3.87475746e-04 9.99250430e-01 1.20512565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.9671056809999 meters 0.020302437819423185 Centerline is valid? [True, True] Translation: X:167.87, Y:188.50, Z:12.05 [[-5.71692479e-01 -8.20143748e-01 2.30638668e-02 1.67874286e+02] [ 8.19496364e-01 -5.72157459e-01 -3.25814705e-02 1.88498258e+02] [ 3.99176528e-02 2.74173276e-04 9.99202935e-01 1.20504717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99710568099994 meters 0.019505706808215482 Centerline is valid? [True, True] Translation: X:167.87, Y:188.53, Z:12.05 [[-5.77201807e-01 -8.16288363e-01 2.26137666e-02 1.67871779e+02] [ 8.15664194e-01 -5.77644621e-01 -3.19157358e-02 1.88527147e+02] [ 3.91151643e-02 2.34193688e-05 9.99234709e-01 1.20514351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0271056809999 meters 0.019539497041519867 Centerline is valid? [True, True] Translation: X:167.86, Y:188.55, Z:12.05 [[-5.80282493e-01 -8.14102920e-01 2.25535848e-02 1.67862496e+02] [ 8.13481432e-01 -5.80720607e-01 -3.18046662e-02 1.88551008e+02] [ 3.89896031e-02 -1.08768573e-04 9.99239610e-01 1.20519374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.05710568099994 meters 0.02047927599725612 Centerline is valid? [True, True] Translation: X:167.86, Y:188.58, Z:12.05 [[-5.86784256e-01 -8.09425062e-01 2.27003611e-02 1.67858665e+02] [ 8.08793145e-01 -5.87223045e-01 -3.19803809e-02 1.88580448e+02] [ 3.92158969e-02 -4.05687569e-04 9.99230678e-01 1.20518829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0871056809999 meters 0.02172535493364367 Centerline is valid? [True, True] Translation: X:167.85, Y:188.61, Z:12.05 [[-5.90821093e-01 -8.06483088e-01 2.27038567e-02 1.67850726e+02] [ 8.05849975e-01 -5.91256872e-01 -3.19551151e-02 1.88605333e+02] [ 3.91950712e-02 -5.83853689e-04 9.99231407e-01 1.20526557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.11710568099994 meters 0.026539566269794035 Centerline is valid? [True, True] Translation: X:167.85, Y:188.64, Z:12.05 [[-6.00705771e-01 -7.99116207e-01 2.37878801e-02 1.67849578e+02] [ 7.98416663e-01 -6.01175580e-01 -3.34477969e-02 1.88636055e+02] [ 4.10293692e-02 -1.09964474e-03 9.99157336e-01 1.20510797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.1471056809999 meters 0.0337837957858624 Centerline is valid? [True, True] Translation: X:167.85, Y:188.67, Z:12.05 [[-6.11583052e-01 -7.90767534e-01 2.55514904e-02 1.67848555e+02] [ 7.89954503e-01 -6.12114030e-01 -3.58928513e-02 1.88667384e+02] [ 4.40233273e-02 -1.76694459e-03 9.99028941e-01 1.20478765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.17710568099994 meters 0.03800293350812926 Centerline is valid? [True, True] Translation: X:167.84, Y:188.69, Z:12.05 [[-6.16330204e-01 -7.87063145e-01 2.58589558e-02 1.67840408e+02] [ 7.86228571e-01 -6.16869075e-01 -3.62929651e-02 1.88692079e+02] [ 4.45164454e-02 -2.03740071e-03 9.99006574e-01 1.20477968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.2071056809999 meters 0.0432907498341251 Centerline is valid? [True, True] Translation: X:167.83, Y:188.72, Z:12.05 [[-6.23849298e-01 -7.81150907e-01 2.48055253e-02 1.67830795e+02] [ 7.80379444e-01 -6.24337861e-01 -3.47873403e-02 1.88716968e+02] [ 4.26611910e-02 -2.34433571e-03 9.99086847e-01 1.20519320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.23710568099995 meters 0.04633890920969945 Centerline is valid? [True, True] Translation: X:167.82, Y:188.74, Z:12.05 [[-6.26360858e-01 -7.79154689e-01 2.42908803e-02 1.67817756e+02] [ 7.78414720e-01 -6.26827061e-01 -3.40346605e-02 1.88738478e+02] [ 4.17444464e-02 -2.40960035e-03 9.99125415e-01 1.20536110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.2671056809999 meters 0.04183838512447643 Centerline is valid? [True, True] Translation: X:167.79, Y:188.75, Z:12.06 [[-6.28285479e-01 -7.77646036e-01 2.28910334e-02 1.67791716e+02] [ 7.76989027e-01 -6.28697965e-01 -3.20456202e-02 1.88752813e+02] [ 3.93116956e-02 -2.34771609e-03 9.99224239e-01 1.20588982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.29710568099995 meters 0.0412529362200054 Centerline is valid? [True, True] Translation: X:167.77, Y:188.77, Z:12.06 [[-6.26896436e-01 -7.78791265e-01 2.20232775e-02 1.67770359e+02] [ 7.78184808e-01 -6.27279397e-01 -3.08052541e-02 1.88769181e+02] [ 3.78056110e-02 -2.17352403e-03 9.99282749e-01 1.20621842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.3271056809999 meters 0.04615107392210427 Centerline is valid? [True, True] Translation: X:167.76, Y:188.79, Z:12.06 [[-6.25598880e-01 -7.79825770e-01 2.23116747e-02 1.67757330e+02] [ 7.79205041e-01 -6.25993027e-01 -3.11806767e-02 1.88790746e+02] [ 3.82824480e-02 -2.12122704e-03 9.99264707e-01 1.20613964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.3571056809999 meters 0.03842547894981952 Centerline is valid? [True, True] Translation: X:167.72, Y:188.80, Z:12.06 [[-6.22068771e-01 -7.82611298e-01 2.34520686e-02 1.67722659e+02] [ 7.81928702e-01 -6.22507377e-01 -3.27424860e-02 1.88798854e+02] [ 4.02237252e-02 -2.03023246e-03 9.99188636e-01 1.20603771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.3871056809999 meters 0.03591880892677706 Centerline is valid? [True, True] Translation: X:167.70, Y:188.81, Z:12.06 [[-6.18230619e-01 -7.85660506e-01 2.29884971e-02 1.67695809e+02] [ 7.85007754e-01 -6.18655317e-01 -3.20690753e-02 1.88812389e+02] [ 3.94173619e-02 -1.77993576e-03 9.99221248e-01 1.20606141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.4171056809999 meters 0.0397982539844333 Centerline is valid? [True, True] Translation: X:167.68, Y:188.83, Z:12.06 [[-6.17057511e-01 -7.86589834e-01 2.27257789e-02 1.67682255e+02] [ 7.85953492e-01 -6.17473555e-01 -3.16783534e-02 1.88833642e+02] [ 3.89504382e-02 -1.68596066e-03 9.99239721e-01 1.20598238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.4471056809999 meters 0.03960488422521146 Centerline is valid? [True, True] Translation: X:167.66, Y:188.85, Z:12.05 [[-6.16613179e-01 -7.86889301e-01 2.43601220e-02 1.67661148e+02] [ 7.86159734e-01 -6.17091653e-01 -3.39229161e-02 1.88848367e+02] [ 4.17260077e-02 -1.76637009e-03 9.99127530e-01 1.20546273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.4771056809999 meters 0.03429228999024483 Centerline is valid? [True, True] Translation: X:167.64, Y:188.86, Z:12.06 [[-6.16529806e-01 -7.86921726e-01 2.54006924e-02 1.67636513e+02] [ 7.86129967e-01 -6.17050151e-01 -3.53381757e-02 1.88862743e+02] [ 4.34818793e-02 -1.81879315e-03 9.99052560e-01 1.20566061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.5071056809999 meters 0.03188578901064644 Centerline is valid? [True, True] Translation: X:167.61, Y:188.88, Z:12.06 [[-6.12125485e-01 -7.90380727e-01 2.45091156e-02 1.67612198e+02] [ 7.89647613e-01 -6.12614117e-01 -3.40674548e-02 1.88877048e+02] [ 4.19408899e-02 -1.49999264e-03 9.99118968e-01 1.20597564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.5371056809999 meters 0.028306295196560586 Centerline is valid? [True, True] Translation: X:167.59, Y:188.89, Z:12.06 [[-6.08288114e-01 -7.93377701e-01 2.31817674e-02 1.67586683e+02] [ 7.92725130e-01 -6.08728484e-01 -3.21947271e-02 1.88892077e+02] [ 3.96539807e-02 -1.20690026e-03 9.99212743e-01 1.20639473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.56710568099993 meters 0.024255110512467228 Centerline is valid? [True, True] Translation: X:167.56, Y:188.90, Z:12.07 [[-5.99254139e-01 -8.00254765e-01 2.20632745e-02 1.67555364e+02] [ 7.99669224e-01 -5.99659751e-01 -3.06155994e-02 1.88902689e+02] [ 3.77307370e-02 -7.03203056e-04 9.99287695e-01 1.20666043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.5971056809999 meters 0.02282904012585223 Centerline is valid? [True, True] Translation: X:167.53, Y:188.92, Z:12.07 [[-5.95489421e-01 -8.03067291e-01 2.18008062e-02 1.67533699e+02] [ 8.02498474e-01 -5.95888138e-01 -3.02246078e-02 1.88920152e+02] [ 3.72632358e-02 -5.03320529e-04 9.99305358e-01 1.20665220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.62710568099993 meters 0.02151665736482782 Centerline is valid? [True, True] Translation: X:167.51, Y:188.94, Z:12.07 [[-5.88941999e-01 -8.07891642e-01 2.14106741e-02 1.67509925e+02] [ 8.07347102e-01 -5.89331029e-01 -2.96579660e-02 1.88936289e+02] [ 3.65783975e-02 -1.80976066e-04 9.99330770e-01 1.20664486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.6571056809999 meters 0.021770133707325744 Centerline is valid? [True, True] Translation: X:167.48, Y:188.95, Z:12.07 [[-5.82043689e-01 -8.12890523e-01 2.08360683e-02 1.67484720e+02] [ 8.12378898e-01 -5.82416499e-01 -2.88365788e-02 1.88950077e+02] [ 3.55762516e-02 1.42633531e-04 9.99366955e-01 1.20669151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.68710568099993 meters 0.022425820821871882 Centerline is valid? [True, True] Translation: X:167.46, Y:188.97, Z:12.07 [[-5.78774975e-01 -8.15213377e-01 2.11347675e-02 1.67463797e+02] [ 8.14689536e-01 -5.79160649e-01 -2.92216106e-02 1.88968506e+02] [ 3.60622735e-02 3.05536930e-04 9.99349498e-01 1.20662675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7171056809999 meters 0.024665238138819618 Centerline is valid? [True, True] Translation: X:167.44, Y:188.98, Z:12.06 [[-5.72221796e-01 -8.19781990e-01 2.27970377e-02 1.67440465e+02] [ 8.19177213e-01 -5.72675353e-01 -3.14902165e-02 1.88983744e+02] [ 3.88704140e-02 6.55425527e-04 9.99244045e-01 1.20623814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.74710568099994 meters 0.02504027369129654 Centerline is valid? [True, True] Translation: X:167.42, Y:189.01, Z:12.06 [[-5.70450548e-01 -8.21004670e-01 2.31841440e-02 1.67423387e+02] [ 8.20381340e-01 -5.70920960e-01 -3.19955415e-02 1.89005236e+02] [ 3.95048027e-02 7.67964961e-04 9.99219085e-01 1.20623072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7771056809999 meters 0.026085931693457073 Centerline is valid? [True, True] Translation: X:167.41, Y:189.03, Z:12.06 [[-5.68649576e-01 -8.22258532e-01 2.29905892e-02 1.67408440e+02] [ 8.21647596e-01 -5.69113489e-01 -3.17027479e-02 1.89026180e+02] [ 3.91521094e-02 8.62408171e-04 9.99232890e-01 1.20612588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.80710568099994 meters 0.02646147016270322 Centerline is valid? [True, True] Translation: X:167.39, Y:189.05, Z:12.06 [[-5.68298025e-01 -8.22501419e-01 2.29950375e-02 1.67394342e+02] [ 8.21891364e-01 -5.68762358e-01 -3.16854189e-02 1.89048690e+02] [ 3.91400137e-02 8.92661751e-04 9.99233337e-01 1.20614657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8371056809999 meters 0.027471811443416868 Centerline is valid? [True, True] Translation: X:167.38, Y:189.07, Z:12.06 [[-5.66942289e-01 -8.23422391e-01 2.34948416e-02 1.67380455e+02] [ 8.22787531e-01 -5.67428038e-01 -3.23434880e-02 1.89071075e+02] [ 3.99639841e-02 9.94371592e-04 9.99200626e-01 1.20632150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.86710568099994 meters 0.02642099740076356 Centerline is valid? [True, True] Translation: X:167.37, Y:189.09, Z:12.07 [[-5.67517418e-01 -8.23045043e-01 2.28218654e-02 1.67367636e+02] [ 8.22446834e-01 -5.67975302e-01 -3.13888719e-02 1.89094056e+02] [ 3.87967113e-02 9.56039459e-04 9.99246667e-01 1.20665690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8971056809999 meters 0.025434335532417085 Centerline is valid? [True, True] Translation: X:167.36, Y:189.12, Z:12.07 [[-5.68965062e-01 -8.22089755e-01 2.11469158e-02 1.67357274e+02] [ 8.21576455e-01 -5.69357293e-01 -2.90585872e-02 1.89119441e+02] [ 3.59289176e-02 8.40487263e-04 9.99353995e-01 1.20718650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.92710568099994 meters 0.02379860685918648 Centerline is valid? [True, True] Translation: X:167.35, Y:189.15, Z:12.07 [[-5.72503246e-01 -8.19639775e-01 2.07526326e-02 1.67352227e+02] [ 8.19144715e-01 -5.72878840e-01 -2.84915789e-02 1.89149447e+02] [ 3.52415754e-02 6.87887878e-04 9.99378586e-01 1.20722393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9571056809999 meters 0.02375268190858715 Centerline is valid? [True, True] Translation: X:167.34, Y:189.17, Z:12.07 [[-5.74640844e-01 -8.18146285e-01 2.06047667e-02 1.67341603e+02] [ 8.17658185e-01 -5.75009816e-01 -2.82631161e-02 1.89173413e+02] [ 3.49713066e-02 6.06515316e-04 9.99388133e-01 1.20729148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.98710568099995 meters 0.02147706078078771 Centerline is valid? [True, True] Translation: X:167.34, Y:189.20, Z:12.07 [[-5.78793126e-01 -8.15207283e-01 2.08711065e-02 1.67337851e+02] [ 8.14705512e-01 -5.79169133e-01 -2.86014887e-02 1.89203947e+02] [ 3.54040426e-02 4.49460435e-04 9.99372979e-01 1.20728856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.0171056809999 meters 0.021088191407253612 Centerline is valid? [True, True] Translation: X:167.33, Y:189.23, Z:12.07 [[-5.81124074e-01 -8.13542838e-01 2.10442756e-02 1.67326115e+02] [ 8.13032564e-01 -5.81504872e-01 -2.88120283e-02 1.89227290e+02] [ 3.56771681e-02 3.66318069e-04 9.99363300e-01 1.20725365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.04710568099995 meters 0.020329107654502094 Centerline is valid? [True, True] Translation: X:167.32, Y:189.25, Z:12.07 [[-5.84397382e-01 -8.11182065e-01 2.15257262e-02 1.67315133e+02] [ 8.10647646e-01 -5.84793637e-01 -2.94414070e-02 1.89252269e+02] [ 3.64704490e-02 2.44298104e-04 9.99334702e-01 1.20731157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.0771056809999 meters 0.01952175866246976 Centerline is valid? [True, True] Translation: X:167.31, Y:189.28, Z:12.07 [[-5.90279607e-01 -8.06901568e-01 2.19053634e-02 1.67310290e+02] [ 8.06346271e-01 -5.90685923e-01 -2.99304530e-02 1.89279975e+02] [ 3.70901192e-02 -4.02795440e-06 9.99311925e-01 1.20741798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.1071056809999 meters 0.019670836739681823 Centerline is valid? [True, True] Translation: X:167.31, Y:189.31, Z:12.08 [[-5.94789635e-01 -8.03598587e-01 2.13213710e-02 1.67305907e+02] [ 8.03071415e-01 -5.95171636e-01 -2.91037344e-02 1.89309884e+02] [ 3.60775950e-02 -1.88015986e-04 9.99348974e-01 1.20752613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.1371056809999 meters 0.019654161704388936 Centerline is valid? [True, True] Translation: X:167.30, Y:189.33, Z:12.08 [[-5.96220429e-01 -8.02535861e-01 2.13867133e-02 1.67295158e+02] [ 8.02005787e-01 -5.96603835e-01 -2.91647350e-02 1.89334286e+02] [ 3.61651409e-02 -2.36342973e-04 9.99345799e-01 1.20759135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.1671056809999 meters 0.019654161704388936 Centerline is valid? [True, True] Translation: X:167.28, Y:189.35, Z:12.08 [[-5.96599008e-01 -8.02254101e-01 2.14005024e-02 1.67279666e+02] [ 8.01724209e-01 -5.96982664e-01 -2.91546143e-02 1.89354855e+02] [ 3.61651379e-02 -2.36313084e-04 9.99345799e-01 1.20766624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.1971056809999 meters 0.01939368704277498 Centerline is valid? [True, True] Translation: X:167.27, Y:189.38, Z:12.08 [[-5.94971469e-01 -8.03421267e-01 2.28739800e-02 1.67268444e+02] [ 8.02817990e-01 -5.95410987e-01 -3.11292827e-02 1.89377424e+02] [ 3.86293467e-02 -1.57392347e-04 9.99253596e-01 1.20770835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.2271056809999 meters 0.019303259511539803 Centerline is valid? [True, True] Translation: X:167.25, Y:189.40, Z:12.08 [[-5.92438547e-01 -8.05295520e-01 2.27088649e-02 1.67251971e+02] [ 8.04703483e-01 -5.92873616e-01 -3.08736002e-02 1.89397359e+02] [ 3.83258588e-02 -1.68081414e-05 9.99265294e-01 1.20777319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.2571056809999 meters 0.020194156468756413 Centerline is valid? [True, True] Translation: X:167.23, Y:189.42, Z:12.08 [[-5.84999799e-01 -8.10714096e-01 2.27571978e-02 1.67234243e+02] [ 8.10124689e-01 -5.85442166e-01 -3.09105032e-02 1.89417759e+02] [ 3.83826038e-02 3.53529612e-04 9.99263054e-01 1.20797992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.2871056809999 meters 0.021559470957596426 Centerline is valid? [True, True] Translation: X:167.22, Y:189.44, Z:12.08 [[-5.81831337e-01 -8.12998275e-01 2.24966612e-02 1.67217810e+02] [ 8.12425002e-01 -5.82265868e-01 -3.05299027e-02 1.89437711e+02] [ 3.79197962e-02 5.13595919e-04 9.99280654e-01 1.20824931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.31710568099993 meters 0.023777401340582278 Centerline is valid? [True, True] Translation: X:167.20, Y:189.46, Z:12.09 [[-5.76074964e-01 -8.17152276e-01 1.99948439e-02 1.67202050e+02] [ 8.16702681e-01 -5.76421419e-01 -2.71123415e-02 1.89459722e+02] [ 3.36803678e-02 7.11101456e-04 9.99432403e-01 1.20878138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.3471056809999 meters 0.02757210283612031 Centerline is valid? [True, True] Translation: X:167.19, Y:189.48, Z:12.09 [[-5.69691185e-01 -8.21634291e-01 1.92105469e-02 1.67185969e+02] [ 8.21222500e-01 -5.70014203e-01 -2.60271797e-02 1.89479832e+02] [ 3.23351079e-02 9.48678471e-04 9.99476633e-01 1.20889322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.37710568099993 meters 0.02978971041719769 Centerline is valid? [True, True] Translation: X:167.17, Y:189.50, Z:12.09 [[-5.66655087e-01 -8.23735258e-01 1.90325249e-02 1.67169272e+02] [ 8.23332847e-01 -5.66973617e-01 -2.57670401e-02 1.89501375e+02] [ 3.20161589e-02 1.06907856e-03 9.99486780e-01 1.20884725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.4071056809999 meters 0.03346578135373617 Centerline is valid? [True, True] Translation: X:167.15, Y:189.52, Z:12.09 [[-5.61761444e-01 -8.27062416e-01 1.97949456e-02 1.67154262e+02] [ 8.26629954e-01 -5.62108541e-01 -2.67751027e-02 1.89523553e+02] [ 3.32715891e-02 1.32187458e-03 9.99445473e-01 1.20867103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43710568099993 meters 0.03338958604884273 Centerline is valid? [True, True] Translation: X:167.14, Y:189.55, Z:12.09 [[-5.62093780e-01 -8.26834263e-01 1.98918018e-02 1.67144358e+02] [ 8.26398240e-01 -5.62444074e-01 -2.68814653e-02 1.89549417e+02] [ 3.34145426e-02 1.32864555e-03 9.99440695e-01 1.20872577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.4671056809999 meters 0.03218132004414223 Centerline is valid? [True, True] Translation: X:167.13, Y:189.57, Z:12.09 [[-5.64421717e-01 -8.25239700e-01 2.01882063e-02 1.67133523e+02] [ 8.24790442e-01 -5.64781226e-01 -2.72560795e-02 1.89574898e+02] [ 3.38947187e-02 1.26711638e-03 9.99424606e-01 1.20879231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49710568099994 meters 0.02857481304186583 Centerline is valid? [True, True] Translation: X:167.13, Y:189.60, Z:12.09 [[-5.71061350e-01 -8.20632273e-01 2.12510668e-02 1.67131395e+02] [ 8.20132165e-01 -5.71455642e-01 -2.86649663e-02 1.89604969e+02] [ 3.56674385e-02 1.05922912e-03 9.99363153e-01 1.20850023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5271056809999 meters 0.02572022090317761 Centerline is valid? [True, True] Translation: X:167.12, Y:189.63, Z:12.09 [[-5.74878887e-01 -8.17956924e-01 2.14647483e-02 1.67122065e+02] [ 8.17445814e-01 -5.75278740e-01 -2.89259830e-02 1.89632252e+02] [ 3.60084214e-02 9.17331746e-04 9.99351065e-01 1.20859575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.55710568099994 meters 0.023207120109257285 Centerline is valid? [True, True] Translation: X:167.12, Y:189.66, Z:12.09 [[-5.81540244e-01 -8.13247504e-01 2.09628667e-02 1.67117443e+02] [ 8.12757755e-01 -5.81917614e-01 -2.82262696e-02 1.89660742e+02] [ 3.51536047e-02 6.23020772e-04 9.99381727e-01 1.20879205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5871056809999 meters 0.021028370810431254 Centerline is valid? [True, True] Translation: X:167.11, Y:189.69, Z:12.09 [[-5.85280669e-01 -8.10565693e-01 2.07315251e-02 1.67109786e+02] [ 8.10085917e-01 -5.85647535e-01 -2.78885810e-02 1.89688423e+02] [ 3.47468936e-02 4.71669160e-04 9.99396033e-01 1.20903136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.61710568099994 meters 0.019570466381474163 Centerline is valid? [True, True] Translation: X:167.11, Y:189.72, Z:12.09 [[-5.92922178e-01 -8.05021684e-01 1.95800795e-02 1.67105858e+02] [ 8.04591419e-01 -5.93245367e-01 -2.63169600e-02 1.89718491e+02] [ 3.28015149e-02 1.50054768e-04 9.99461874e-01 1.20926073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.6471056809999 meters 0.019301613445425865 Centerline is valid? [True, True] Translation: X:167.10, Y:189.74, Z:12.09 [[-5.97065040e-01 -8.01964358e-01 1.91443669e-02 1.67096072e+02] [ 8.01552183e-01 -5.97371885e-01 -2.57085562e-02 1.89743182e+02] [ 3.20536523e-02 -4.47104955e-06 9.99486150e-01 1.20945838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.67710568099994 meters 0.02039837040990345 Centerline is valid? [True, True] Translation: X:167.09, Y:189.77, Z:12.09 [[-6.04167030e-01 -7.96617556e-01 1.95619268e-02 1.67092118e+02] [ 7.96185232e-01 -6.04483573e-01 -2.62428324e-02 1.89771551e+02] [ 3.27303644e-02 -2.80136878e-04 9.99464179e-01 1.20944212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.7071056809999 meters 0.021175902907358643 Centerline is valid? [True, True] Translation: X:167.08, Y:189.80, Z:12.09 [[-6.07775512e-01 -7.93846910e-01 2.03963113e-02 1.67079698e+02] [ 7.93376251e-01 -6.08117502e-01 -2.73354611e-02 1.89796180e+02] [ 3.41035252e-02 -4.31874856e-04 9.99418212e-01 1.20936243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.73710568099995 meters 0.02338050930542278 Centerline is valid? [True, True] Translation: X:167.07, Y:189.82, Z:12.09 [[-6.13698642e-01 -7.89239320e-01 2.18007362e-02 1.67070447e+02] [ 7.88699646e-01 -6.14085317e-01 -2.91906116e-02 1.89822774e+02] [ 3.64258905e-02 -7.20005754e-04 9.99336098e-01 1.20914672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.7671056809999 meters 0.024751330272929407 Centerline is valid? [True, True] Translation: X:167.06, Y:189.85, Z:12.09 [[-6.16601443e-01 -7.86977475e-01 2.16590558e-02 1.67058243e+02] [ 7.86444350e-01 -6.16981168e-01 -2.89745068e-02 1.89846835e+02] [ 3.61655138e-02 -8.32080617e-04 9.99345467e-01 1.20917185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.79710568099995 meters 0.027405424451727122 Centerline is valid? [True, True] Translation: X:167.05, Y:189.87, Z:12.09 [[-6.22311622e-01 -7.82478165e-01 2.13580658e-02 1.67048574e+02] [ 7.81958010e-01 -6.22677116e-01 -2.85461222e-02 1.89872774e+02] [ 3.56358961e-02 -1.06347295e-03 9.99364274e-01 1.20937645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.8271056809999 meters 0.028294125265165292 Centerline is valid? [True, True] Translation: X:167.03, Y:189.89, Z:12.10 [[-6.26971997e-01 -7.78786247e-01 1.99523415e-02 1.67032047e+02] [ 7.78331225e-01 -6.27288291e-01 -2.66440328e-02 1.89893307e+02] [ 3.32658765e-02 -1.17553208e-03 9.99445846e-01 1.20992950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.8571056809999 meters 0.03132258101399846 Centerline is valid? [True, True] Translation: X:167.02, Y:189.92, Z:12.10 [[-6.28388728e-01 -7.77657507e-01 1.94012534e-02 1.67019306e+02] [ 7.77227518e-01 -6.28687041e-01 -2.58841532e-02 1.89916445e+02] [ 3.23263226e-02 -1.18612209e-03 9.99476664e-01 1.21002180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.8871056809999 meters 0.029673286203341736 Centerline is valid? [True, True] Translation: X:167.00, Y:189.93, Z:12.10 [[-6.28940799e-01 -7.77202165e-01 1.97551424e-02 1.66998304e+02] [ 7.76756775e-01 -6.29249798e-01 -2.63363625e-02 1.89933118e+02] [ 3.28995973e-02 -1.21907220e-03 9.99457918e-01 1.21002476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.9171056809999 meters 0.03027818358217465 Centerline is valid? [True, True] Translation: X:166.98, Y:189.95, Z:12.10 [[-6.29208283e-01 -7.76972727e-01 2.02563132e-02 1.66982114e+02] [ 7.76505263e-01 -6.29533027e-01 -2.69767471e-02 1.89952329e+02] [ 3.37122149e-02 -1.24485896e-03 9.99430806e-01 1.20998219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.9471056809999 meters 0.02831905121122254 Centerline is valid? [True, True] Translation: X:166.96, Y:189.97, Z:12.10 [[-6.26512978e-01 -7.79150655e-01 2.01431436e-02 1.66958132e+02] [ 7.78690422e-01 -6.26835734e-01 -2.67990645e-02 1.89968758e+02] [ 3.35069508e-02 -1.10468873e-03 9.99437874e-01 1.20996719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.9771056809999 meters 0.027888291745502978 Centerline is valid? [True, True] Translation: X:166.94, Y:189.99, Z:12.10 [[-6.24599101e-01 -7.80684644e-01 2.01853710e-02 1.66938815e+02] [ 7.80224040e-01 -6.24924368e-01 -2.68324639e-02 1.89986793e+02] [ 3.35620227e-02 -1.01042108e-03 9.99436126e-01 1.20993541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.0071056809999 meters 0.024845448248912633 Centerline is valid? [True, True] Translation: X:166.91, Y:190.00, Z:12.10 [[-6.19782108e-01 -7.84536687e-01 1.92957690e-02 1.66912223e+02] [ 7.84118374e-01 -6.20081946e-01 -2.56272513e-02 1.90000490e+02] [ 3.20704768e-02 -7.53144800e-04 9.99485326e-01 1.21018876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.0371056809999 meters 0.02364070616260684 Centerline is valid? [True, True] Translation: X:166.89, Y:190.02, Z:12.10 [[-6.17457155e-01 -7.86390662e-01 1.83409185e-02 1.66890858e+02] [ 7.86014180e-01 -6.17729191e-01 -2.43383681e-02 1.90018729e+02] [ 3.04691862e-02 -6.11677544e-04 9.99535519e-01 1.21042533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.06710568099993 meters 0.02308043646984721 Centerline is valid? [True, True] Translation: X:166.87, Y:190.04, Z:12.11 [[-6.14132631e-01 -7.89037902e-01 1.61338310e-02 1.66869401e+02] [ 7.88747933e-01 -6.14344381e-01 -2.13934382e-02 1.90035900e+02] [ 2.67919620e-02 -4.12882624e-04 9.99640946e-01 1.21077663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.0971056809999 meters 0.023368295257051783 Centerline is valid? [True, True] Translation: X:166.85, Y:190.05, Z:12.11 [[-6.15095330e-01 -7.88283749e-01 1.63238111e-02 1.66852038e+02] [ 7.87987148e-01 -6.15311741e-01 -2.16267652e-02 1.90053712e+02] [ 2.70922602e-02 -4.39568885e-04 9.99632841e-01 1.21058028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.12710568099993 meters 0.02343865894647699 Centerline is valid? [True, True] Translation: X:166.84, Y:190.07, Z:12.11 [[-6.17397584e-01 -7.86486133e-01 1.61178931e-02 1.66835367e+02] [ 7.86196918e-01 -6.17607735e-01 -2.13328945e-02 1.90073588e+02] [ 2.67325611e-02 -4.99039670e-04 9.99642497e-01 1.21061853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.1571056809999 meters 0.024128250015649347 Centerline is valid? [True, True] Translation: X:166.82, Y:190.10, Z:12.11 [[-6.20190669e-01 -7.84300513e-01 1.53701007e-02 1.66819780e+02] [ 7.84037304e-01 -6.20380849e-01 -2.03250701e-02 1.90095162e+02] [ 2.54762790e-02 -5.54686514e-04 9.99675273e-01 1.21071601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.18710568099993 meters 0.02678339312081526 Centerline is valid? [True, True] Translation: X:166.81, Y:190.12, Z:12.11 [[-6.25750901e-01 -7.79875359e-01 1.51734530e-02 1.66806773e+02] [ 7.79617994e-01 -6.25934432e-01 -2.00467030e-02 1.90118800e+02] [ 2.51315164e-02 -7.14745505e-04 9.99683898e-01 1.21073460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2171056809999 meters 0.028854724656813716 Centerline is valid? [True, True] Translation: X:166.79, Y:190.14, Z:12.11 [[-6.28289749e-01 -7.77826708e-01 1.54144321e-02 1.66793067e+02] [ 7.77560972e-01 -6.28478303e-01 -2.03459578e-02 1.90140870e+02] [ 2.55132655e-02 -7.97495906e-04 9.99674166e-01 1.21071550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.24710568099994 meters 0.03058138805345868 Centerline is valid? [True, True] Translation: X:166.78, Y:190.16, Z:12.11 [[-6.32609646e-01 -7.74302723e-01 1.61347092e-02 1.66776211e+02] [ 7.74010961e-01 -6.32814625e-01 -2.12763239e-02 1.90161749e+02] [ 2.66845955e-02 -9.71165907e-04 9.99643431e-01 1.21065938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2771056809999 meters 0.03333631713261434 Centerline is valid? [True, True] Translation: X:166.76, Y:190.18, Z:12.10 [[-6.35865072e-01 -7.71585024e-01 1.82252703e-02 1.66761217e+02] [ 7.71212348e-01 -6.36125054e-01 -2.40089465e-02 1.90182383e+02] [ 3.01184946e-02 -1.21089699e-03 9.99545602e-01 1.21031262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.30710568099994 meters 0.03409235925012449 Centerline is valid? [True, True] Translation: X:166.74, Y:190.20, Z:12.10 [[-6.37305133e-01 -7.70374862e-01 1.90981388e-02 1.66743745e+02] [ 7.69965744e-01 -6.37589869e-01 -2.51378634e-02 1.90202065e+02] [ 3.15423579e-02 -1.31557674e-03 9.99501550e-01 1.21013138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.3371056809999 meters 0.03438199054938246 Centerline is valid? [True, True] Translation: X:166.72, Y:190.22, Z:12.10 [[-6.38328792e-01 -7.69524218e-01 1.92049854e-02 1.66722217e+02] [ 7.69110865e-01 -6.38616203e-01 -2.52551689e-02 1.90218513e+02] [ 3.16990789e-02 -1.35033852e-03 9.99496546e-01 1.21004468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.36710568099994 meters 0.03530950811588349 Centerline is valid? [True, True] Translation: X:166.70, Y:190.24, Z:12.10 [[-6.38321358e-01 -7.69530116e-01 1.92157402e-02 1.66704661e+02] [ 7.69117023e-01 -6.38609126e-01 -2.52465680e-02 1.90237367e+02] [ 3.16993414e-02 -1.33627069e-03 9.99496556e-01 1.21013699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.3971056809999 meters 0.03482211676857657 Centerline is valid? [True, True] Translation: X:166.68, Y:190.25, Z:12.10 [[-6.36237275e-01 -7.71261761e-01 1.89057077e-02 1.66683887e+02] [ 7.70863216e-01 -6.36516938e-01 -2.48211623e-02 1.90253495e+02] [ 3.11774166e-02 -1.21843404e-03 9.99513124e-01 1.21025489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.42710568099994 meters 0.03272011307831702 Centerline is valid? [True, True] Translation: X:166.66, Y:190.27, Z:12.10 [[-6.34790157e-01 -7.72439721e-01 1.94508404e-02 1.66662040e+02] [ 7.72019178e-01 -6.35086993e-01 -2.55127409e-02 1.90270510e+02] [ 3.20600302e-02 -1.17881500e-03 9.99485250e-01 1.21026648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4571056809999 meters 0.030733618235521655 Centerline is valid? [True, True] Translation: X:166.64, Y:190.28, Z:12.10 [[-6.31566300e-01 -7.75079276e-01 1.93939396e-02 1.66636363e+02] [ 7.74663095e-01 -6.31863163e-01 -2.54171629e-02 1.90282734e+02] [ 3.19546322e-02 -1.02885422e-03 9.99488791e-01 1.21034809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.48710568099995 meters 0.028863157432574567 Centerline is valid? [True, True] Translation: X:166.61, Y:190.30, Z:12.11 [[-6.29809248e-01 -7.76519454e-01 1.89169027e-02 1.66613373e+02] [ 7.76124690e-01 -6.30092603e-01 -2.47745251e-02 1.90298302e+02] [ 3.11573012e-02 -9.21349815e-04 9.99514069e-01 1.21057059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.5171056809999 meters 0.02629310423672343 Centerline is valid? [True, True] Translation: X:166.59, Y:190.31, Z:12.11 [[-6.27621575e-01 -7.78319300e-01 1.76132266e-02 1.66586775e+02] [ 7.77978334e-01 -6.27868207e-01 -2.30483488e-02 1.90311042e+02] [ 2.89977598e-02 -7.62932291e-04 9.99579185e-01 1.21072860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.54710568099995 meters 0.025497295125630162 Centerline is valid? [True, True] Translation: X:166.57, Y:190.33, Z:12.11 [[-6.27900391e-01 -7.78118186e-01 1.65283821e-02 1.66567303e+02] [ 7.77818369e-01 -6.28117489e-01 -2.16103063e-02 1.90329641e+02] [ 2.71971382e-02 -7.13040564e-04 9.99629835e-01 1.21105856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.5771056809999 meters 0.026200143041482462 Centerline is valid? [True, True] Translation: X:166.55, Y:190.35, Z:12.12 [[-6.28556406e-01 -7.77648088e-01 1.34274404e-02 1.66547329e+02] [ 7.77450404e-01 -6.28699536e-01 -1.75431897e-02 1.90347203e+02] [ 2.20842535e-02 -5.87715284e-04 9.99755940e-01 1.21175972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.6071056809999 meters 0.02662065717034105 Centerline is valid? [True, True] Translation: X:166.53, Y:190.37, Z:12.12 [[-6.28176408e-01 -7.77971698e-01 1.24272485e-02 1.66529624e+02] [ 7.77802683e-01 -6.28299101e-01 -1.62242417e-02 1.90365953e+02] [ 2.04300299e-02 -5.25738699e-04 9.99791147e-01 1.21207593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.6371056809999 meters 0.024296224296154245 Centerline is valid? [True, True] Translation: X:166.51, Y:190.38, Z:12.12 [[-6.23764324e-01 -7.81512784e-01 1.24834510e-02 1.66505391e+02] [ 7.81343267e-01 -6.23889099e-01 -1.62816392e-02 1.90379334e+02] [ 2.05125981e-02 -4.02045317e-04 9.99789514e-01 1.21214254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.6671056809999 meters 0.022263126165929518 Centerline is valid? [True, True] Translation: X:166.48, Y:190.39, Z:12.12 [[-6.20432561e-01 -7.84146767e-01 1.33148179e-02 1.66482031e+02] [ 7.83954905e-01 -6.20575331e-01 -1.73483675e-02 1.90394269e+02] [ 2.18665138e-02 -3.25275307e-04 9.99760846e-01 1.21203413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.6971056809999 meters 0.019885801471161136 Centerline is valid? [True, True] Translation: X:166.45, Y:190.40, Z:12.12 [[-6.11996345e-01 -7.90746227e-01 1.34490630e-02 1.66451116e+02] [ 7.90552396e-01 -6.12144099e-01 -1.75074690e-02 1.90403419e+02] [ 2.20767296e-02 -8.23180346e-05 9.99756276e-01 1.21208140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.7271056809999 meters 0.01994272751277027 Centerline is valid? [True, True] Translation: X:166.43, Y:190.42, Z:12.12 [[-6.07836846e-01 -7.93946503e-01 1.35395474e-02 1.66428513e+02] [ 7.93751224e-01 -6.07987622e-01 -1.76081473e-02 1.90418415e+02] [ 2.22118042e-02 4.41515843e-05 9.99753286e-01 1.21213192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.7571056809999 meters 0.021884784100955824 Centerline is valid? [True, True] Translation: X:166.40, Y:190.43, Z:12.12 [[-5.99785132e-01 -8.00031017e-01 1.44280057e-02 1.66401051e+02] [ 7.99811330e-01 -5.99958570e-01 -1.87496990e-02 1.90430587e+02] [ 2.36565465e-02 2.93891760e-04 9.99720102e-01 1.21190984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.7871056809999 meters 0.02314024589530305 Centerline is valid? [True, True] Translation: X:166.38, Y:190.45, Z:12.12 [[-5.97139693e-01 -8.01989593e-01 1.53909062e-02 1.66381302e+02] [ 8.01740745e-01 -5.97337867e-01 -1.99812815e-02 1.90446757e+02] [ 2.52183509e-02 4.07900246e-04 9.99681884e-01 1.21177534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.81710568099993 meters 0.024839421792092222 Centerline is valid? [True, True] Translation: X:166.36, Y:190.46, Z:12.11 [[-5.94502789e-01 -8.03889579e-01 1.81101710e-02 1.66360730e+02] [ 8.03546511e-01 -5.94778278e-01 -2.34905251e-02 1.90463938e+02] [ 2.96553246e-02 5.87182027e-04 9.99560012e-01 1.21116345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.8471056809999 meters 0.023504084548096847 Centerline is valid? [True, True] Translation: X:166.35, Y:190.49, Z:12.11 [[-5.95229567e-01 -8.03322670e-01 1.93507333e-02 1.66347711e+02] [ 8.02931418e-01 -5.95543713e-01 -2.50763651e-02 1.90486565e+02] [ 3.16686201e-02 6.11117778e-04 9.99498237e-01 1.21093938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.87710568099993 meters 0.02311605270366181 Centerline is valid? [True, True] Translation: X:166.33, Y:190.51, Z:12.11 [[-5.97062968e-01 -8.01959569e-01 1.94077818e-02 1.66333660e+02] [ 8.01566041e-01 -5.97378057e-01 -2.51264640e-02 1.90507328e+02] [ 3.17441912e-02 5.54537600e-04 9.99495872e-01 1.21099164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.9071056809999 meters 0.022551021950002578 Centerline is valid? [True, True] Translation: X:166.32, Y:190.53, Z:12.11 [[-5.99178468e-01 -8.00376960e-01 1.95418955e-02 1.66319983e+02] [ 7.99977927e-01 -5.99496858e-01 -2.52751398e-02 1.90529121e+02] [ 3.19449445e-02 4.88765487e-04 9.99489511e-01 1.21114845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93710568099993 meters 0.02099931135126035 Centerline is valid? [True, True] Translation: X:166.31, Y:190.55, Z:12.11 [[-6.03410349e-01 -7.97179926e-01 2.00029064e-02 1.66310382e+02] [ 7.96760882e-01 -6.03741707e-01 -2.58466242e-02 1.90553844e+02] [ 3.26809988e-02 3.41412806e-04 9.99465775e-01 1.21120602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.9671056809999 meters 0.020531673998569713 Centerline is valid? [True, True] Translation: X:166.30, Y:190.58, Z:12.11 [[-6.05609674e-01 -7.95500674e-01 2.03862743e-02 1.66298989e+02] [ 7.95065122e-01 -6.05952643e-01 -2.63219783e-02 1.90577757e+02] [ 3.32922683e-02 2.67570973e-04 9.99445623e-01 1.21109862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99710568099994 meters 0.019848195054638067 Centerline is valid? [True, True] Translation: X:166.29, Y:190.61, Z:12.11 [[-6.11067208e-01 -7.91281116e-01 2.17039646e-02 1.66292744e+02] [ 7.90785701e-01 -6.11452526e-01 -2.79961319e-02 1.90606235e+02] [ 3.54237545e-02 5.56667131e-05 9.99372380e-01 1.21087806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0271056809999 meters 0.019679989160170733 Centerline is valid? [True, True] Translation: X:166.28, Y:190.63, Z:12.11 [[-6.14467708e-01 -7.88641272e-01 2.17802468e-02 1.66281751e+02] [ 7.88141626e-01 -6.14853590e-01 -2.80684914e-02 1.90631465e+02] [ 3.55276337e-02 -8.12624674e-05 9.99368691e-01 1.21100722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.05710568099994 meters 0.020430757392644227 Centerline is valid? [True, True] Translation: X:166.28, Y:190.66, Z:12.11 [[-6.19469838e-01 -7.84750336e-01 2.05919565e-02 1.66275830e+02] [ 7.84302357e-01 -6.19811935e-01 -2.65137302e-02 1.90659201e+02] [ 3.35697990e-02 -2.74136134e-04 9.99436338e-01 1.21148779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0871056809999 meters 0.020430757392644227 Centerline is valid? [True, True] Translation: X:166.26, Y:190.68, Z:12.12 [[-6.19811376e-01 -7.84480291e-01 2.06041445e-02 1.66259756e+02] [ 7.84032478e-01 -6.20153689e-01 -2.65042559e-02 1.90679328e+02] [ 3.35698026e-02 -2.73320868e-04 9.99436338e-01 1.21156269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.11710568099994 meters 0.021855873339858778 Centerline is valid? [True, True] Translation: X:166.25, Y:190.71, Z:12.12 [[-6.23792042e-01 -7.81361405e-01 1.89167330e-02 1.66252357e+02] [ 7.80983135e-01 -6.24078681e-01 -2.43134285e-02 1.90705639e+02] [ 3.08031045e-02 -3.92873813e-04 9.99525395e-01 1.21202486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.1471056809999 meters 0.023079651295653716 Centerline is valid? [True, True] Translation: X:166.24, Y:190.73, Z:12.12 [[-6.27228292e-01 -7.78611287e-01 1.86851129e-02 1.66241547e+02] [ 7.78241672e-01 -6.27506339e-01 -2.39936297e-02 1.90730369e+02] [ 3.04067378e-02 -5.07949848e-04 9.99537479e-01 1.21225967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.17710568099994 meters 0.028191650412376642 Centerline is valid? [True, True] Translation: X:166.24, Y:190.76, Z:12.12 [[-6.35142054e-01 -7.72166398e-01 1.88049185e-02 1.66240570e+02] [ 7.71789821e-01 -6.35419859e-01 -2.41262386e-02 1.90761252e+02] [ 3.05784895e-02 -8.10144057e-04 9.99532040e-01 1.21237098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.2071056809999 meters 0.029698648246219667 Centerline is valid? [True, True] Translation: X:166.23, Y:190.79, Z:12.13 [[-6.39906271e-01 -7.68252912e-01 1.75336170e-02 1.66229341e+02] [ 7.67924508e-01 -6.40145778e-01 -2.24796272e-02 1.90785304e+02] [ 2.84941099e-02 -9.20360250e-04 9.99593537e-01 1.21268789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.23710568099995 meters 0.03455870378406822 Centerline is valid? [True, True] Translation: X:166.22, Y:190.81, Z:12.13 [[-6.44535596e-01 -7.64391476e-01 1.67193441e-02 1.66221730e+02] [ 7.64091993e-01 -6.44751586e-01 -2.14200449e-02 1.90811441e+02] [ 2.71531234e-02 -1.03086444e-03 9.99630754e-01 1.21296185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.2671056809999 meters 0.03493505245337452 Centerline is valid? [True, True] Translation: X:166.21, Y:190.83, Z:12.13 [[-6.51060010e-01 -7.58877380e-01 1.50328079e-02 1.66207449e+02] [ 7.58634204e-01 -6.51232569e-01 -1.92427912e-02 1.90834000e+02] [ 2.43927731e-02 -1.12380959e-03 9.99701820e-01 1.21333594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.29710568099995 meters 0.0378281209079234 Centerline is valid? [True, True] Translation: X:166.20, Y:190.86, Z:12.14 [[-6.55157878e-01 -7.55374809e-01 1.33061606e-02 1.66196293e+02] [ 7.55183775e-01 -6.55292056e-01 -1.70231191e-02 1.90858870e+02] [ 2.15782567e-02 -1.10423396e-03 9.99766553e-01 1.21377412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.3271056809999 meters 0.03821605145760524 Centerline is valid? [True, True] Translation: X:166.18, Y:190.88, Z:12.14 [[-6.56558417e-01 -7.54155951e-01 1.34106456e-02 1.66180505e+02] [ 7.53961991e-01 -6.56694369e-01 -1.71412513e-02 1.90880675e+02] [ 2.17338721e-02 -1.14311579e-03 9.99763138e-01 1.21382545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.3571056809999 meters 0.038812944032310386 Centerline is valid? [True, True] Translation: X:166.16, Y:190.90, Z:12.14 [[-6.57299046e-01 -7.53469686e-01 1.55369348e-02 1.66163372e+02] [ 7.53209633e-01 -6.57481286e-01 -1.98395159e-02 1.90900557e+02] [ 2.51637177e-02 -1.33792593e-03 9.99682448e-01 1.21361545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.3871056809999 meters 0.037957597010074264 Centerline is valid? [True, True] Translation: X:166.14, Y:190.92, Z:12.14 [[-6.56179755e-01 -7.54431702e-01 1.61535301e-02 1.66143246e+02] [ 7.54151416e-01 -6.56377189e-01 -2.06065043e-02 1.90919892e+02] [ 2.61490088e-02 -1.33936338e-03 9.99657159e-01 1.21363205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.4171056809999 meters 0.03471762559240192 Centerline is valid? [True, True] Translation: X:166.12, Y:190.93, Z:12.14 [[-6.50126872e-01 -7.59646336e-01 1.65073938e-02 1.66117022e+02] [ 7.59355737e-01 -6.50335401e-01 -2.10411618e-02 1.90931688e+02] [ 2.67191841e-02 -1.14444049e-03 9.99642324e-01 1.21383400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.4471056809999 meters 0.03146194365725698 Centerline is valid? [True, True] Translation: X:166.09, Y:190.95, Z:12.14 [[-6.45351366e-01 -7.63709002e-01 1.64369752e-02 1.66093070e+02] [ 7.63422705e-01 -6.45559942e-01 -2.09316897e-02 1.90946822e+02] [ 2.65967726e-02 -9.59934498e-04 9.99645782e-01 1.21399020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.4771056809999 meters 0.02527319919669976 Centerline is valid? [True, True] Translation: X:166.06, Y:190.96, Z:12.14 [[-6.34018150e-01 -7.73105253e-01 1.81453606e-02 1.66063031e+02] [ 7.72760758e-01 -6.34277456e-01 -2.30850714e-02 1.90955508e+02] [ 2.93563831e-02 -6.14331653e-04 9.99568820e-01 1.21370801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.5071056809999 meters 0.02255687604981851 Centerline is valid? [True, True] Translation: X:166.04, Y:190.97, Z:12.13 [[-6.28698539e-01 -7.77396645e-01 1.98142351e-02 1.66038065e+02] [ 7.76988779e-01 -6.29010545e-01 -2.51827597e-02 1.90971210e+02] [ 3.20403557e-02 -4.36925889e-04 9.99486481e-01 1.21343153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.5371056809999 meters 0.02098490534868276 Centerline is valid? [True, True] Translation: X:166.01, Y:190.98, Z:12.13 [[-6.20136849e-01 -7.84169505e-01 2.25494046e-02 1.66008333e+02] [ 7.83646581e-01 -6.20546678e-01 -2.86331327e-02 1.90982518e+02] [ 3.64461876e-02 -8.56968993e-05 9.99335613e-01 1.21301350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.56710568099993 meters 0.020983880590724858 Centerline is valid? [True, True] Translation: X:165.99, Y:191.00, Z:12.13 [[-6.16947578e-01 -7.86685292e-01 2.24039768e-02 1.65986528e+02] [ 7.86171650e-01 -6.17354231e-01 -2.84234207e-02 1.90998099e+02] [ 3.61914769e-02 7.76108509e-05 9.99344871e-01 1.21307235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.5971056809999 meters 0.02163846158293053 Centerline is valid? [True, True] Translation: X:165.96, Y:191.01, Z:12.13 [[-6.13053922e-01 -7.89747442e-01 2.15375675e-02 1.65963645e+02] [ 7.89275556e-01 -6.13432073e-01 -2.72981280e-02 1.91014012e+02] [ 3.47704614e-02 2.63851172e-04 9.99395290e-01 1.21325883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.62710568099993 meters 0.021644706808468955 Centerline is valid? [True, True] Translation: X:165.95, Y:191.03, Z:12.13 [[-6.13673575e-01 -7.89264745e-01 2.15848376e-02 1.65947363e+02] [ 7.88791381e-01 -6.14053010e-01 -2.73323804e-02 1.91034873e+02] [ 3.48267188e-02 2.52774225e-04 9.99393334e-01 1.21328971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.6571056809999 meters 0.021341593172786617 Centerline is valid? [True, True] Translation: X:165.93, Y:191.06, Z:12.13 [[-6.15944051e-01 -7.87478671e-01 2.21420063e-02 1.65933026e+02] [ 7.86980370e-01 -6.16341879e-01 -2.80104411e-02 1.91056619e+02] [ 3.57046707e-02 1.72459730e-04 9.99362370e-01 1.21317254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.68710568099993 meters 0.021229463565166817 Centerline is valid? [True, True] Translation: X:165.92, Y:191.08, Z:12.13 [[-6.17891666e-01 -7.85946600e-01 2.23121118e-02 1.65917769e+02] [ 7.85440585e-01 -6.18294373e-01 -2.81985156e-02 1.91077977e+02] [ 3.59579806e-02 1.01210379e-04 9.99353298e-01 1.21320262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7171056809999 meters 0.021344989235843822 Centerline is valid? [True, True] Translation: X:165.91, Y:191.10, Z:12.13 [[-6.22187139e-01 -7.82534306e-01 2.28740959e-02 1.65905094e+02] [ 7.82001202e-01 -6.22607463e-01 -2.88802100e-02 1.91100088e+02] [ 3.68413379e-02 -8.13247930e-05 9.99321124e-01 1.21320498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.74710568099994 meters 0.021424630471680365 Centerline is valid? [True, True] Translation: X:165.89, Y:191.12, Z:12.13 [[-6.24566116e-01 -7.80642643e-01 2.26766375e-02 1.65890674e+02] [ 7.80118484e-01 -6.24977626e-01 -2.86027536e-02 1.91121951e+02] [ 3.65009203e-02 -1.73846703e-04 9.99333604e-01 1.21335552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7771056809999 meters 0.021944902488652534 Centerline is valid? [True, True] Translation: X:165.88, Y:191.14, Z:12.14 [[-6.27280512e-01 -7.78500728e-01 2.13489111e-02 1.65878463e+02] [ 7.78035772e-01 -6.27643646e-01 -2.69033822e-02 1.91143962e+02] [ 3.43438110e-02 -2.65750786e-04 9.99410042e-01 1.21378626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.80710568099994 meters 0.02230265275345219 Centerline is valid? [True, True] Translation: X:165.86, Y:191.16, Z:12.14 [[-6.28596671e-01 -7.77470552e-01 2.01436267e-02 1.65864255e+02] [ 7.77056872e-01 -6.28919277e-01 -2.53606178e-02 1.91164446e+02] [ 3.23858486e-02 -2.88856407e-04 9.99475399e-01 1.21397378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.8371056809999 meters 0.022545565064370412 Centerline is valid? [True, True] Translation: X:165.85, Y:191.19, Z:12.14 [[-6.31085302e-01 -7.75451598e-01 2.01534309e-02 1.65849985e+02] [ 7.75037270e-01 -6.31406903e-01 -2.53486343e-02 1.91187388e+02] [ 3.23816544e-02 -3.77490510e-04 9.99475505e-01 1.21420198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.86710568099994 meters 0.023154535758303677 Centerline is valid? [True, True] Translation: X:165.84, Y:191.21, Z:12.14 [[-6.34068162e-01 -7.72986374e-01 2.12045405e-02 1.65838220e+02] [ 7.72527119e-01 -6.34422415e-01 -2.66467622e-02 1.91212596e+02] [ 3.40502199e-02 -5.14780989e-04 9.99419991e-01 1.21392083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.8971056809999 meters 0.02377481746557674 Centerline is valid? [True, True] Translation: X:165.82, Y:191.24, Z:12.14 [[-6.36160422e-01 -7.71249539e-01 2.17730585e-02 1.65824180e+02] [ 7.70765142e-01 -6.36532621e-01 -2.73371421e-02 1.91236181e+02] [ 3.49430203e-02 -6.08893319e-04 9.99389121e-01 1.21385507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.92710568099994 meters 0.02728957294943927 Centerline is valid? [True, True] Translation: X:165.82, Y:191.26, Z:12.14 [[-6.42221495e-01 -7.66179918e-01 2.28009644e-02 1.65815466e+02] [ 7.65646402e-01 -6.42625476e-01 -2.86021933e-02 1.91262522e+02] [ 3.65669067e-02 -9.11466954e-04 9.99330791e-01 1.21385599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9571056809999 meters 0.027808630028524454 Centerline is valid? [True, True] Translation: X:165.80, Y:191.29, Z:12.14 [[-6.45146639e-01 -7.63716640e-01 2.28628168e-02 1.65800208e+02] [ 7.63179602e-01 -6.45550785e-01 -2.86544840e-02 1.91285227e+02] [ 3.66430156e-02 -1.03790858e-03 9.99327880e-01 1.21404556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.98710568099995 meters 0.02826283271383955 Centerline is valid? [True, True] Translation: X:165.79, Y:191.31, Z:12.14 [[-6.47507794e-01 -7.61707533e-01 2.31363322e-02 1.65785124e+02] [ 7.61157197e-01 -6.47919989e-01 -2.89725689e-02 1.91308149e+02] [ 3.70591161e-02 -1.14957840e-03 9.99312414e-01 1.21423538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.0171056809999 meters 0.029476870076063144 Centerline is valid? [True, True] Translation: X:165.77, Y:191.33, Z:12.14 [[-6.49556795e-01 -7.59935550e-01 2.39568336e-02 1.65771853e+02] [ 7.59345276e-01 -6.49997174e-01 -2.99737691e-02 1.91332142e+02] [ 3.83500068e-02 -1.27815696e-03 9.99263550e-01 1.21414214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.04710568099995 meters 0.0291720342789469 Centerline is valid? [True, True] Translation: X:165.75, Y:191.35, Z:12.14 [[-6.50369920e-01 -7.59214148e-01 2.47557034e-02 1.65754611e+02] [ 7.58584381e-01 -6.50839506e-01 -3.09463135e-02 1.91353343e+02] [ 3.96068688e-02 -1.34726147e-03 9.99214432e-01 1.21410374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.0771056809999 meters 0.028905008482939986 Centerline is valid? [True, True] Translation: X:165.74, Y:191.37, Z:12.14 [[-6.49951647e-01 -7.59559049e-01 2.51576692e-02 1.65738746e+02] [ 7.58910056e-01 -6.50436995e-01 -3.14204209e-02 1.91374064e+02] [ 4.02291437e-02 -1.32934621e-03 9.99189596e-01 1.21409383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.1071056809999 meters 0.028084337060280646 Centerline is valid? [True, True] Translation: X:165.72, Y:191.39, Z:12.14 [[-6.47466289e-01 -7.61652227e-01 2.59478305e-02 1.65721756e+02] [ 7.60964750e-01 -6.47984879e-01 -3.23766230e-02 1.91394482e+02] [ 4.14735288e-02 -1.21738755e-03 9.99138861e-01 1.21408825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.1371056809999 meters 0.026718416709377045 Centerline is valid? [True, True] Translation: X:165.70, Y:191.41, Z:12.14 [[-6.45420819e-01 -7.63395168e-01 2.56862732e-02 1.65700993e+02] [ 7.62723971e-01 -6.45930846e-01 -3.20231987e-02 1.91412512e+02] [ 4.10379114e-02 -1.07690280e-03 9.99157010e-01 1.21437002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.1671056809999 meters 0.023901194907018752 Centerline is valid? [True, True] Translation: X:165.68, Y:191.43, Z:12.15 [[-6.39100984e-01 -7.68743400e-01 2.41560947e-02 1.65677522e+02] [ 7.68154563e-01 -6.39556979e-01 -3.00904925e-02 1.91425726e+02] [ 3.85810665e-02 -6.75249017e-04 9.99255245e-01 1.21490715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.1971056809999 meters 0.022489262929418965 Centerline is valid? [True, True] Translation: X:165.66, Y:191.44, Z:12.15 [[-6.34562429e-01 -7.72521922e-01 2.32465917e-02 1.65656465e+02] [ 7.71980065e-01 -6.34987960e-01 -2.89321598e-02 1.91444247e+02] [ 3.71120335e-02 -4.13356172e-04 9.99311026e-01 1.21516847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.2271056809999 meters 0.02129216385040121 Centerline is valid? [True, True] Translation: X:165.63, Y:191.46, Z:12.15 [[-6.29572167e-01 -7.76620607e-01 2.23454474e-02 1.65634900e+02] [ 7.76123268e-01 -6.29968578e-01 -2.77896342e-02 1.91462130e+02] [ 3.56589323e-02 -1.52758531e-04 9.99364006e-01 1.21548201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.2571056809999 meters 0.021961342023964343 Centerline is valid? [True, True] Translation: X:165.61, Y:191.48, Z:12.16 [[-6.17981163e-01 -7.85913610e-01 2.09542284e-02 1.65608985e+02] [ 7.85482182e-01 -6.18336205e-01 -2.60399678e-02 1.91475574e+02] [ 3.34219232e-02 3.66963436e-04 9.99441264e-01 1.21587481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.2871056809999 meters 0.025675979328145554 Centerline is valid? [True, True] Translation: X:165.59, Y:191.49, Z:12.16 [[-6.09085155e-01 -7.92853540e-01 1.99634271e-02 1.65586073e+02] [ 7.92466303e-01 -6.09411800e-01 -2.47874413e-02 1.91490072e+02] [ 3.18187587e-02 7.22680771e-04 9.99493394e-01 1.21611681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.31710568099993 meters 0.026412163222403983 Centerline is valid? [True, True] Translation: X:165.57, Y:191.51, Z:12.16 [[-6.06785609e-01 -7.94656529e-01 1.82270610e-02 1.65568252e+02] [ 7.94335135e-01 -6.07058832e-01 -2.26112335e-02 1.91510131e+02] [ 2.90330627e-02 7.58223917e-04 9.99578164e-01 1.21627301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.3471056809999 meters 0.027929813173606138 Centerline is valid? [True, True] Translation: X:165.55, Y:191.53, Z:12.17 [[-6.04518903e-01 -7.96431703e-01 1.59197529e-02 1.65552822e+02] [ 7.96187544e-01 -6.04728027e-01 -1.97334093e-02 1.91531075e+02] [ 2.53434335e-02 7.45890013e-04 9.99678525e-01 1.21673551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.37710568099993 meters 0.028861041829861888 Centerline is valid? [True, True] Translation: X:165.54, Y:191.55, Z:12.17 [[-6.04134422e-01 -7.96721263e-01 1.60258990e-02 1.65538713e+02] [ 7.96474291e-01 -6.04346452e-01 -1.98511966e-02 1.91552902e+02] [ 2.55010656e-02 7.71425373e-04 9.99674497e-01 1.21673666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.4071056809999 meters 0.027752002009817943 Centerline is valid? [True, True] Translation: X:165.53, Y:191.58, Z:12.16 [[-6.06380438e-01 -7.94980406e-01 1.75760677e-02 1.65530847e+02] [ 7.94683052e-01 -6.06634612e-01 -2.17553284e-02 1.91581952e+02] [ 2.79573108e-02 7.75397592e-04 9.99608817e-01 1.21649849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43710568099993 meters 0.024863438186134332 Centerline is valid? [True, True] Translation: X:165.52, Y:191.61, Z:12.16 [[-6.11373880e-01 -7.91140056e-01 1.78714975e-02 1.65524599e+02] [ 7.90831511e-01 -6.11634717e-01 -2.21019204e-02 1.91611924e+02] [ 2.84165429e-02 6.20806537e-04 9.99595976e-01 1.21637891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.4671056809999 meters 0.023521200135576428 Centerline is valid? [True, True] Translation: X:165.51, Y:191.64, Z:12.16 [[-6.15022869e-01 -7.88304463e-01 1.79706246e-02 1.65513138e+02] [ 7.87991829e-01 -6.15285153e-01 -2.22049046e-02 1.91638025e+02] [ 2.85612839e-02 5.04181194e-04 9.99591916e-01 1.21645470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49710568099994 meters 0.02172559948782168 Centerline is valid? [True, True] Translation: X:165.51, Y:191.67, Z:12.17 [[-6.21678390e-01 -7.83077952e-01 1.74614015e-02 1.65509209e+02] [ 7.82781179e-01 -6.21923509e-01 -2.15586394e-02 1.91668779e+02] [ 2.77417512e-02 2.65916226e-04 9.99615088e-01 1.21669303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5271056809999 meters 0.02120319046886479 Centerline is valid? [True, True] Translation: X:165.50, Y:191.69, Z:12.17 [[-6.24710131e-01 -7.80668143e-01 1.71610690e-02 1.65498264e+02] [ 7.80381090e-01 -6.24945775e-01 -2.11691312e-02 1.91693976e+02] [ 2.72508039e-02 1.67603023e-04 9.99628614e-01 1.21688069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.55710568099994 meters 0.021033600694780916 Centerline is valid? [True, True] Translation: X:165.49, Y:191.72, Z:12.17 [[-6.27128926e-01 -7.78732553e-01 1.68796063e-02 1.65486347e+02] [ 7.78454653e-01 -6.27356041e-01 -2.08026804e-02 1.91718447e+02] [ 2.67892474e-02 9.40454057e-05 9.99641099e-01 1.21702443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5871056809999 meters 0.020852008349679034 Centerline is valid? [True, True] Translation: X:165.48, Y:191.74, Z:12.17 [[-6.30603827e-01 -7.75921016e-01 1.68935063e-02 1.65476910e+02] [ 7.75642166e-01 -6.30830070e-01 -2.08003146e-02 1.91744533e+02] [ 2.67963330e-02 -1.34421545e-05 9.99640914e-01 1.21691348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.61710568099994 meters 0.02086318361517259 Centerline is valid? [True, True] Translation: X:165.46, Y:191.77, Z:12.17 [[-6.31418121e-01 -7.75245524e-01 1.74795153e-02 1.65463137e+02] [ 7.74947320e-01 -6.31660016e-01 -2.15005737e-02 1.91765987e+02] [ 2.77093345e-02 -3.01483107e-05 9.99616022e-01 1.21679739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.6471056809999 meters 0.02067727912412111 Centerline is valid? [True, True] Translation: X:165.45, Y:191.79, Z:12.16 [[-6.32482021e-01 -7.74323434e-01 1.97411500e-02 1.65451249e+02] [ 7.73943442e-01 -6.32790025e-01 -2.42555844e-02 1.91790581e+02] [ 3.12736702e-02 -6.26874881e-05 9.99510857e-01 1.21633624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.67710568099994 meters 0.020768407421953707 Centerline is valid? [True, True] Translation: X:165.44, Y:191.81, Z:12.16 [[-6.33317499e-01 -7.73612878e-01 2.07860800e-02 1.65436873e+02] [ 7.73192048e-01 -6.33658511e-01 -2.55137058e-02 1.91812534e+02] [ 3.29090078e-02 -8.66446130e-05 9.99458348e-01 1.21627361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.7071056809999 meters 0.02081048956544746 Centerline is valid? [True, True] Translation: X:165.43, Y:191.84, Z:12.16 [[-6.35063294e-01 -7.72153351e-01 2.17673074e-02 1.65426281e+02] [ 7.71691907e-01 -6.35436212e-01 -2.66912017e-02 1.91836743e+02] [ 3.44414361e-02 -1.52947498e-04 9.99406706e-01 1.21616265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.73710568099995 meters 0.021346178986565947 Centerline is valid? [True, True] Translation: X:165.42, Y:191.86, Z:12.16 [[-6.38638846e-01 -7.69206663e-01 2.14833144e-02 1.65415908e+02] [ 7.68756393e-01 -6.39000019e-01 -2.63169931e-02 1.91862276e+02] [ 3.39710447e-02 -2.91618784e-04 9.99422775e-01 1.21640478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.7671056809999 meters 0.021934499309202 Centerline is valid? [True, True] Translation: X:165.40, Y:191.89, Z:12.16 [[-6.40661776e-01 -7.67518621e-01 2.16253381e-02 1.65403616e+02] [ 7.67062298e-01 -6.41026545e-01 -2.64650640e-02 1.91885512e+02] [ 3.41748452e-02 -3.67173315e-04 9.99415802e-01 1.21648064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.79710568099995 meters 0.0233246629185473 Centerline is valid? [True, True] Translation: X:165.39, Y:191.91, Z:12.17 [[-6.44764548e-01 -7.64078296e-01 2.15182655e-02 1.65394400e+02] [ 7.63625386e-01 -6.45123302e-01 -2.63096115e-02 1.91911299e+02] [ 3.39845376e-02 -5.31610960e-04 9.99422217e-01 1.21679735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.8271056809999 meters 0.024857467675376454 Centerline is valid? [True, True] Translation: X:165.38, Y:191.93, Z:12.17 [[-6.47049273e-01 -7.62165666e-01 2.07541880e-02 1.65383474e+02] [ 7.61744145e-01 -6.47381761e-01 -2.53518072e-02 1.91934754e+02] [ 3.27581598e-02 -5.94487201e-04 9.99463131e-01 1.21696838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.8571056809999 meters 0.02553729091452948 Centerline is valid? [True, True] Translation: X:165.37, Y:191.96, Z:12.18 [[-6.51577236e-01 -7.58385919e-01 1.72598629e-02 1.65370736e+02] [ 7.58093531e-01 -6.51805481e-01 -2.10668483e-02 1.91959127e+02] [ 2.72268744e-02 -6.42088355e-04 9.99629074e-01 1.21772374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.8871056809999 meters 0.026336321344841877 Centerline is valid? [True, True] Translation: X:165.36, Y:191.98, Z:12.18 [[-6.52883300e-01 -7.57282005e-01 1.63512150e-02 1.65356190e+02] [ 7.57019685e-01 -6.53087708e-01 -1.99409643e-02 1.91980649e+02] [ 2.57797110e-02 -6.40930949e-04 9.99667443e-01 1.21800793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.9171056809999 meters 0.026927793276769255 Centerline is valid? [True, True] Translation: X:165.34, Y:192.00, Z:12.18 [[-6.53941479e-01 -7.56344896e-01 1.74051732e-02 1.65340458e+02] [ 7.56047734e-01 -6.54172677e-01 -2.12116207e-02 1.91999914e+02] [ 2.74292898e-02 -7.12016875e-04 9.99623493e-01 1.21788421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.9471056809999 meters 0.02589078609332961 Centerline is valid? [True, True] Translation: X:165.32, Y:192.02, Z:12.18 [[-6.53545058e-01 -7.56660087e-01 1.85572017e-02 1.65321067e+02] [ 7.56323104e-01 -6.53808061e-01 -2.25916236e-02 1.92018409e+02] [ 2.92270280e-02 -7.29403567e-04 9.99572533e-01 1.21774271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.9771056809999 meters 0.02589078609332961 Centerline is valid? [True, True] Translation: X:165.30, Y:192.04, Z:12.18 [[-6.53905198e-01 -7.56348612e-01 1.85679605e-02 1.65304416e+02] [ 7.56011755e-01 -6.54168361e-01 -2.25827776e-02 1.92038140e+02] [ 2.92270248e-02 -7.29399221e-04 9.99572533e-01 1.21781762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.0071056809999 meters 0.025690111812716777 Centerline is valid? [True, True] Translation: X:165.29, Y:192.06, Z:12.18 [[-6.52031813e-01 -7.57910741e-01 2.06354761e-02 1.65285684e+02] [ 7.57496291e-01 -6.52357874e-01 -2.50713758e-02 1.92057238e+02] [ 3.24635804e-02 -7.16038002e-04 9.99472663e-01 1.21755290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.0371056809999 meters 0.024892941728078332 Centerline is valid? [True, True] Translation: X:165.27, Y:192.08, Z:12.18 [[-6.51343173e-01 -7.58487516e-01 2.11839364e-02 1.65266992e+02] [ 7.58051658e-01 -6.51687201e-01 -2.57191835e-02 1.92075605e+02] [ 3.33129799e-02 -6.93496478e-04 9.99444728e-01 1.21760358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.06710568099993 meters 0.024052378235782178 Centerline is valid? [True, True] Translation: X:165.25, Y:192.09, Z:12.18 [[-6.50468166e-01 -7.59208396e-01 2.22210721e-02 1.65246319e+02] [ 7.58730136e-01 -6.50847263e-01 -2.69522051e-02 1.92092658e+02] [ 3.49248644e-02 -6.71754357e-04 9.99389715e-01 1.21765421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.0971056809999 meters 0.02382295691928507 Centerline is valid? [True, True] Translation: X:165.23, Y:192.11, Z:12.18 [[-6.50895828e-01 -7.58850548e-01 2.19195499e-02 1.65227242e+02] [ 7.58385848e-01 -6.51264465e-01 -2.65613078e-02 1.92110473e+02] [ 3.44314869e-02 -6.65168026e-04 9.99406839e-01 1.21779536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.12710568099993 meters 0.024741677428705797 Centerline is valid? [True, True] Translation: X:165.21, Y:192.13, Z:12.18 [[-6.52292808e-01 -7.57680378e-01 2.08455603e-02 1.65210656e+02] [ 7.57260267e-01 -6.52625457e-01 -2.52369147e-02 1.92129102e+02] [ 3.27258584e-02 -6.76343435e-04 9.99464137e-01 1.21810070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.1571056809999 meters 0.024943574976316458 Centerline is valid? [True, True] Translation: X:165.19, Y:192.15, Z:12.18 [[-6.52812405e-01 -7.57246004e-01 2.03581345e-02 1.65193948e+02] [ 7.56845711e-01 -6.53129422e-01 -2.46277900e-02 1.92148880e+02] [ 3.19457922e-02 -6.69360052e-04 9.99489379e-01 1.21826912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.18710568099993 meters 0.02505539512656535 Centerline is valid? [True, True] Translation: X:165.18, Y:192.17, Z:12.19 [[-6.54020176e-01 -7.56256675e-01 1.82606507e-02 1.65175172e+02] [ 7.55934782e-01 -6.54274746e-01 -2.20717715e-02 1.92167243e+02] [ 2.86394071e-02 -6.31522877e-04 9.99589609e-01 1.21868841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2171056809999 meters 0.02555670362920846 Centerline is valid? [True, True] Translation: X:165.16, Y:192.19, Z:12.19 [[-6.54756979e-01 -7.55638469e-01 1.74299126e-02 1.65158176e+02] [ 7.55345509e-01 -6.54988644e-01 -2.10484588e-02 1.92185342e+02] [ 2.73214200e-02 -6.16019130e-04 9.99626511e-01 1.21895705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.24710568099994 meters 0.02468217321211676 Centerline is valid? [True, True] Translation: X:165.14, Y:192.20, Z:12.19 [[-6.53369575e-01 -7.56823531e-01 1.80649337e-02 1.65136150e+02] [ 7.56509922e-01 -6.53619014e-01 -2.17927386e-02 1.92202524e+02] [ 2.83008415e-02 -5.72410764e-04 9.99599287e-01 1.21888484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2771056809999 meters 0.023734115387171857 Centerline is valid? [True, True] Translation: X:165.12, Y:192.22, Z:12.19 [[-6.51457287e-01 -7.58429325e-01 1.97069060e-02 1.65115200e+02] [ 7.58057500e-01 -6.51755072e-01 -2.37518919e-02 1.92221132e+02] [ 3.08582073e-02 -5.34375158e-04 9.99523629e-01 1.21871901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.30710568099994 meters 0.021923244672155253 Centerline is valid? [True, True] Translation: X:165.09, Y:192.24, Z:12.18 [[-6.46822450e-01 -7.62307404e-01 2.25419631e-02 1.65090223e+02] [ 7.61824064e-01 -6.47215014e-01 -2.71444621e-02 1.92235707e+02] [ 3.52819214e-02 -3.84637556e-04 9.99377325e-01 1.21829590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3371056809999 meters 0.020807545882365473 Centerline is valid? [True, True] Translation: X:165.06, Y:192.25, Z:12.18 [[-6.42250927e-01 -7.66136135e-01 2.34343596e-02 1.65064949e+02] [ 7.65617191e-01 -6.42678298e-01 -2.81943692e-02 1.92249835e+02] [ 3.66614794e-02 -1.66111246e-04 9.99327728e-01 1.21841938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.36710568099994 meters 0.020661675368222023 Centerline is valid? [True, True] Translation: X:165.04, Y:192.27, Z:12.19 [[-6.40400023e-01 -7.67693960e-01 2.31039954e-02 1.65044813e+02] [ 7.67191449e-01 -6.40816651e-01 -2.77722828e-02 1.92265643e+02] [ 3.61260387e-02 -6.01828047e-05 9.99347240e-01 1.21860664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3971056809999 meters 0.020531132056868823 Centerline is valid? [True, True] Translation: X:165.02, Y:192.28, Z:12.19 [[-6.36722705e-01 -7.70790723e-01 2.15837810e-02 1.65021061e+02] [ 7.70354775e-01 -6.37088414e-01 -2.59205186e-02 1.92280360e+02] [ 3.37300720e-02 1.22986013e-04 9.99430972e-01 1.21896265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.42710568099994 meters 0.020780492424982425 Centerline is valid? [True, True] Translation: X:165.00, Y:192.30, Z:12.19 [[-6.35788303e-01 -7.71576303e-01 2.10533403e-02 1.65002185e+02] [ 7.71162722e-01 -6.36136761e-01 -2.52601963e-02 1.92298514e+02] [ 3.28829725e-02 1.75413882e-04 9.99459193e-01 1.21920366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4571056809999 meters 0.021170146819178955 Centerline is valid? [True, True] Translation: X:164.98, Y:192.32, Z:12.19 [[-6.34105739e-01 -7.72967053e-01 2.07809217e-02 1.64982330e+02] [ 7.72565619e-01 -6.34446111e-01 -2.49097489e-02 1.92315275e+02] [ 3.24387901e-02 2.59210917e-04 9.99473690e-01 1.21944048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.48710568099995 meters 0.021330614328543225 Centerline is valid? [True, True] Translation: X:164.96, Y:192.33, Z:12.20 [[-6.33772678e-01 -7.73241578e-01 2.07280899e-02 1.64963930e+02] [ 7.72843119e-01 -6.34111488e-01 -2.48220586e-02 1.92334471e+02] [ 3.23373677e-02 2.88019114e-04 9.99476969e-01 1.21953788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5171056809999 meters 0.021690269461096163 Centerline is valid? [True, True] Translation: X:164.95, Y:192.35, Z:12.20 [[-6.32333363e-01 -7.74434129e-01 2.01568360e-02 1.64945888e+02] [ 7.74058614e-01 -6.32654452e-01 -2.41165171e-02 1.92352987e+02] [ 3.14289659e-02 3.52894176e-04 9.99505926e-01 1.21975034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.54710568099995 meters 0.02211886180242592 Centerline is valid? [True, True] Translation: X:164.93, Y:192.37, Z:12.20 [[-6.31907410e-01 -7.74774060e-01 2.04494775e-02 1.64928230e+02] [ 7.74388376e-01 -6.32238092e-01 -2.44466393e-02 1.92370815e+02] [ 3.18695607e-02 3.87825116e-04 9.99491961e-01 1.21969946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5771056809999 meters 0.022937140059959567 Centerline is valid? [True, True] Translation: X:164.91, Y:192.39, Z:12.19 [[-6.29366487e-01 -7.76798041e-01 2.19687928e-02 1.64910027e+02] [ 7.76355081e-01 -6.29749559e-01 -2.62351261e-02 1.92390845e+02] [ 3.42142322e-02 5.44074724e-04 9.99414374e-01 1.21949662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.6071056809999 meters 0.024710951263772013 Centerline is valid? [True, True] Translation: X:164.89, Y:192.41, Z:12.19 [[-6.25365544e-01 -7.79962366e-01 2.40133899e-02 1.64890548e+02] [ 7.79436386e-01 -6.25825908e-01 -2.86505290e-02 1.92409809e+02] [ 3.73745359e-02 7.99856178e-04 9.99301008e-01 1.21927192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.6371056809999 meters 0.02555773289415392 Centerline is valid? [True, True] Translation: X:164.87, Y:192.43, Z:12.19 [[-6.23873934e-01 -7.81142295e-01 2.44546575e-02 1.64872392e+02] [ 7.80598628e-01 -6.24352386e-01 -2.91527030e-02 1.92429384e+02] [ 3.80407331e-02 9.01660560e-04 9.99275783e-01 1.21918783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.6671056809999 meters 0.026887210411094986 Centerline is valid? [True, True] Translation: X:164.86, Y:192.45, Z:12.19 [[-6.21476634e-01 -7.83024813e-01 2.52771738e-02 1.64856551e+02] [ 7.82446388e-01 -6.21989556e-01 -3.01104893e-02 1.92450795e+02] [ 3.92993984e-02 1.06506782e-03 9.99226913e-01 1.21903753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.6971056809999 meters 0.027872102221665473 Centerline is valid? [True, True] Translation: X:164.84, Y:192.47, Z:12.19 [[-6.20828222e-01 -7.83517648e-01 2.59309364e-02 1.64841141e+02] [ 7.82910468e-01 -6.21368482e-01 -3.08611064e-02 1.92471425e+02] [ 4.02928881e-02 1.14215574e-03 9.99187259e-01 1.21894505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.7271056809999 meters 0.02730559045316067 Centerline is valid? [True, True] Translation: X:164.83, Y:192.50, Z:12.19 [[-6.22358625e-01 -7.82299252e-01 2.60311740e-02 1.64830619e+02] [ 7.81687360e-01 -6.22901843e-01 -3.09542391e-02 1.92498110e+02] [ 4.04303444e-02 1.08360200e-03 9.99181772e-01 1.21891351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.7571056809999 meters 0.026939251275090864 Centerline is valid? [True, True] Translation: X:164.82, Y:192.52, Z:12.19 [[-6.23660612e-01 -7.81268717e-01 2.58192444e-02 1.64818843e+02] [ 7.80666907e-01 -6.24193994e-01 -3.06763401e-02 1.92523267e+02] [ 4.00826822e-02 1.02460469e-03 9.99195841e-01 1.21911808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.7871056809999 meters 0.026695441255655074 Centerline is valid? [True, True] Translation: X:164.80, Y:192.55, Z:12.19 [[-6.24721480e-01 -7.80406067e-01 2.62572529e-02 1.64804644e+02] [ 7.79784017e-01 -6.25272232e-01 -3.11692582e-02 1.92545084e+02] [ 4.07426094e-02 1.00288107e-03 9.99169172e-01 1.21917584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.81710568099993 meters 0.026313940391023045 Centerline is valid? [True, True] Translation: X:164.79, Y:192.57, Z:12.19 [[-6.25866884e-01 -7.79511407e-01 2.55462168e-02 1.64790161e+02] [ 7.78922934e-01 -6.26387332e-01 -3.02980575e-02 1.92568134e+02] [ 3.96195080e-02 9.35983324e-04 9.99214401e-01 1.21923985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.8471056809999 meters 0.02593179781434128 Centerline is valid? [True, True] Translation: X:164.78, Y:192.59, Z:12.19 [[-6.27612934e-01 -7.78109350e-01 2.54527896e-02 1.64779182e+02] [ 7.77525069e-01 -6.28128250e-01 -3.01607077e-02 1.92592372e+02] [ 3.94559449e-02 8.60931750e-04 9.99220940e-01 1.21939293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.87710568099993 meters 0.025355400213284803 Centerline is valid? [True, True] Translation: X:164.77, Y:192.62, Z:12.19 [[-6.29471522e-01 -7.76595162e-01 2.57983897e-02 1.64765816e+02] [ 7.75994817e-01 -6.29999462e-01 -3.05404974e-02 1.92615466e+02] [ 3.99705742e-02 7.95043346e-04 9.99200541e-01 1.21936349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.9071056809999 meters 0.023754757485013784 Centerline is valid? [True, True] Translation: X:164.76, Y:192.64, Z:12.19 [[-6.34496244e-01 -7.72480609e-01 2.62340369e-02 1.64757857e+02] [ 7.71857448e-01 -6.35038103e-01 -3.10272089e-02 1.92642909e+02] [ 4.06275303e-02 5.62289259e-04 9.99174203e-01 1.21945348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93710568099993 meters 0.022507917386724106 Centerline is valid? [True, True] Translation: X:164.75, Y:192.67, Z:12.20 [[-6.41175971e-01 -7.67011005e-01 2.42382611e-02 1.64751200e+02] [ 7.66476024e-01 -6.41633909e-01 -2.86431847e-02 1.92669986e+02] [ 3.75217281e-02 2.12724243e-04 9.99295789e-01 1.21991724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.9671056809999 meters 0.022291582606180582 Centerline is valid? [True, True] Translation: X:164.74, Y:192.69, Z:12.20 [[-6.45017503e-01 -7.63799817e-01 2.37120343e-02 1.64739119e+02] [ 7.63286419e-01 -6.45453203e-01 -2.80000929e-02 1.92693936e+02] [ 3.66914743e-02 3.85237186e-05 9.99326640e-01 1.22019025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99710568099994 meters 0.022505053069325112 Centerline is valid? [True, True] Translation: X:164.73, Y:192.72, Z:12.20 [[-6.49195177e-01 -7.60272037e-01 2.30662393e-02 1.64726670e+02] [ 7.59784867e-01 -6.49604810e-01 -2.72129915e-02 1.92717718e+02] [ 3.56732164e-02 -1.41163307e-04 9.99363498e-01 1.22035255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0271056809999 meters 0.02445153261434115 Centerline is valid? [True, True] Translation: X:164.72, Y:192.74, Z:12.20 [[-6.56049559e-01 -7.54392336e-01 2.21625632e-02 1.64719967e+02] [ 7.53940037e-01 -6.56423659e-01 -2.61227952e-02 1.92744894e+02] [ 3.42548673e-02 -4.28604573e-04 9.99413038e-01 1.22045052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.05710568099994 meters 0.027250501652428413 Centerline is valid? [True, True] Translation: X:164.71, Y:192.77, Z:12.21 [[-6.62324638e-01 -7.48901762e-01 2.17307452e-02 1.64710274e+02] [ 7.48464757e-01 -6.62680680e-01 -2.55895173e-02 1.92771423e+02] [ 3.35645796e-02 -6.83870856e-04 9.99436317e-01 1.22055787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0871056809999 meters 0.02779182674582661 Centerline is valid? [True, True] Translation: X:164.69, Y:192.79, Z:12.21 [[-6.65407257e-01 -7.46147414e-01 2.22984113e-02 1.64693930e+02] [ 7.45686531e-01 -6.65780256e-01 -2.62344741e-02 1.92792591e+02] [ 3.44206270e-02 -8.28984511e-04 9.99407091e-01 1.22055614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.11710568099994 meters 0.03198116861753802 Centerline is valid? [True, True] Translation: X:164.68, Y:192.82, Z:12.20 [[-6.72391159e-01 -7.39819372e-01 2.36098715e-02 1.64682365e+02] [ 7.39299711e-01 -6.72804463e-01 -2.77505286e-02 1.92816654e+02] [ 3.64152056e-02 -1.20443891e-03 9.99336021e-01 1.22040405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.1471056809999 meters 0.03435107527130256 Centerline is valid? [True, True] Translation: X:164.67, Y:192.84, Z:12.21 [[-6.76436136e-01 -7.36142459e-01 2.29876831e-02 1.64667017e+02] [ 7.35648567e-01 -6.76825279e-01 -2.69949623e-02 1.92838386e+02] [ 3.54307829e-02 -1.34951185e-03 9.99371222e-01 1.22057170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.17710568099994 meters 0.0387040979403308 Centerline is valid? [True, True] Translation: X:164.65, Y:192.86, Z:12.21 [[-6.83527735e-01 -7.29624031e-01 2.09429938e-02 1.64652701e+02] [ 7.29211699e-01 -6.83846802e-01 -2.45733327e-02 1.92860748e+02] [ 3.22510934e-02 -1.52467836e-03 9.99478635e-01 1.22109340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2071056809999 meters 0.04054011620444598 Centerline is valid? [True, True] Translation: X:164.64, Y:192.88, Z:12.21 [[-6.87317354e-01 -7.26080774e-01 2.00390673e-02 1.64636288e+02] [ 7.25702391e-01 -6.87607544e-01 -2.34926602e-02 1.92881908e+02] [ 3.08365827e-02 -1.60451395e-03 9.99523152e-01 1.22133541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.23710568099995 meters 0.041016602157989024 Centerline is valid? [True, True] Translation: X:164.62, Y:192.90, Z:12.22 [[-6.91698903e-01 -7.21967114e-01 1.77795773e-02 1.64616341e+02] [ 7.21668345e-01 -6.91925577e-01 -2.08277686e-02 1.92899731e+02] [ 2.73391083e-02 -1.57558657e-03 9.99624975e-01 1.22169061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2671056809999 meters 0.04387677244320675 Centerline is valid? [True, True] Translation: X:164.60, Y:192.92, Z:12.22 [[-6.92280470e-01 -7.21399239e-01 1.81903439e-02 1.64599898e+02] [ 7.21086863e-01 -6.92517516e-01 -2.12890998e-02 1.92919880e+02] [ 2.79550721e-02 -1.62121003e-03 9.99607866e-01 1.22177021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.29710568099995 meters 0.04186874794418058 Centerline is valid? [True, True] Translation: X:164.57, Y:192.93, Z:12.21 [[-6.90774853e-01 -7.22770201e-01 2.08168137e-02 1.64572753e+02] [ 7.22362479e-01 -6.91086164e-01 -2.43385191e-02 1.92932738e+02] [ 3.19773682e-02 -1.77515185e-03 9.99487017e-01 1.22143652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.3271056809999 meters 0.041265580681153456 Centerline is valid? [True, True] Translation: X:164.55, Y:192.95, Z:12.21 [[-6.88680650e-01 -7.24754280e-01 2.12178410e-02 1.64551455e+02] [ 7.24332318e-01 -6.89005327e-01 -2.47861288e-02 1.92948164e+02] [ 3.25830584e-02 -1.70095933e-03 9.99467584e-01 1.22144228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.3571056809999 meters 0.035215443970911836 Centerline is valid? [True, True] Translation: X:164.52, Y:192.95, Z:12.22 [[-6.81369759e-01 -7.31660340e-01 2.02088879e-02 1.64518330e+02] [ 7.31281198e-01 -6.81668156e-01 -2.35867332e-02 1.92954122e+02] [ 3.10332326e-02 -1.29290694e-03 9.99517517e-01 1.22160535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.3871056809999 meters 0.027981837896471604 Centerline is valid? [True, True] Translation: X:164.48, Y:192.96, Z:12.22 [[-6.70686892e-01 -7.41478598e-01 1.97124410e-02 1.64481151e+02] [ 7.41122643e-01 -6.70976032e-01 -2.29867798e-02 1.92957316e+02] [ 3.02707807e-02 -8.07595544e-04 9.99541409e-01 1.22181471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.4171056809999 meters 0.02596962721569253 Centerline is valid? [True, True] Translation: X:164.46, Y:192.97, Z:12.22 [[-6.65035089e-01 -7.46558483e-01 1.94618230e-02 1.64455452e+02] [ 7.46214296e-01 -6.65319564e-01 -2.26738275e-02 1.92970121e+02] [ 2.98756699e-02 -5.56200328e-04 9.99553468e-01 1.22197068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.4471056809999 meters 0.022867920692945656 Centerline is valid? [True, True] Translation: X:164.42, Y:192.98, Z:12.22 [[-6.54403939e-01 -7.55882068e-01 1.99445211e-02 1.64421053e+02] [ 7.55525486e-01 -6.54707785e-01 -2.32154282e-02 1.92975250e+02] [ 3.06059591e-02 -1.23673681e-04 9.99531520e-01 1.22194747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.4771056809999 meters 0.022625503065813693 Centerline is valid? [True, True] Translation: X:164.40, Y:192.99, Z:12.22 [[-6.50911226e-01 -7.58870859e-01 2.07266925e-02 1.64397806e+02] [ 7.58487983e-01 -6.51241137e-01 -2.41031153e-02 1.92990035e+02] [ 3.17892266e-02 3.19588762e-05 9.99494594e-01 1.22186204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.5071056809999 meters 0.022831602974382664 Centerline is valid? [True, True] Translation: X:164.37, Y:193.00, Z:12.22 [[-6.47582614e-01 -7.61720460e-01 2.04621341e-02 1.64373581e+02] [ 7.61349388e-01 -6.47905786e-01 -2.37739938e-02 1.93002511e+02] [ 3.13666725e-02 1.83208210e-04 9.99507928e-01 1.22184552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.5371056809999 meters 0.022831672772686537 Centerline is valid? [True, True] Translation: X:164.35, Y:193.02, Z:12.22 [[-6.47308912e-01 -7.61954948e-01 2.03919158e-02 1.64354051e+02] [ 7.61587090e-01 -6.47629999e-01 -2.36746614e-02 1.93020852e+02] [ 3.12454418e-02 2.05400500e-04 9.99511721e-01 1.22196193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.56710568099993 meters 0.022777190709191472 Centerline is valid? [True, True] Translation: X:164.34, Y:193.04, Z:12.22 [[-6.47935223e-01 -7.61413246e-01 2.07320044e-02 1.64337070e+02] [ 7.61033445e-01 -6.48266789e-01 -2.40471482e-02 1.93039108e+02] [ 3.17496871e-02 1.96754405e-04 9.99495832e-01 1.22191432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.5971056809999 meters 0.022502919893714723 Centerline is valid? [True, True] Translation: X:164.32, Y:193.06, Z:12.22 [[-6.49239367e-01 -7.60237673e-01 2.29548342e-02 1.64322115e+02] [ 7.59772086e-01 -6.49645020e-01 -2.66031235e-02 1.93061196e+02] [ 3.51371904e-02 1.68647259e-04 9.99382484e-01 1.22153729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.62710568099993 meters 0.02256042977418523 Centerline is valid? [True, True] Translation: X:164.30, Y:193.08, Z:12.22 [[-6.48649355e-01 -7.60730163e-01 2.33159575e-02 1.64303676e+02] [ 7.60251059e-01 -6.49068235e-01 -2.69954557e-02 1.93079281e+02] [ 3.56699048e-02 2.15396473e-04 9.99363603e-01 1.22153071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.6571056809999 meters 0.022662521425062764 Centerline is valid? [True, True] Translation: X:164.29, Y:193.10, Z:12.22 [[-6.48273266e-01 -7.61083672e-01 2.22129843e-02 1.64285115e+02] [ 7.60649868e-01 -6.48653672e-01 -2.56942082e-02 1.93096791e+02] [ 3.39639761e-02 2.39435329e-04 9.99423029e-01 1.22175564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.68710568099993 meters 0.022819410654257397 Centerline is valid? [True, True] Translation: X:164.27, Y:193.12, Z:12.22 [[-6.46781391e-01 -7.62326967e-01 2.30527080e-02 1.64267087e+02] [ 7.61861418e-01 -6.47192000e-01 -2.66401108e-02 1.93116905e+02] [ 3.52280031e-02 3.32640853e-04 9.99379246e-01 1.22181310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7171056809999 meters 0.022537534503199567 Centerline is valid? [True, True] Translation: X:164.25, Y:193.14, Z:12.22 [[-6.47805739e-01 -7.61433789e-01 2.37972798e-02 1.64251088e+02] [ 7.60937974e-01 -6.48242616e-01 -2.74756338e-02 1.93138389e+02] [ 3.63472869e-02 3.09380590e-04 9.99339171e-01 1.22173366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.74710568099994 meters 0.02198293300976169 Centerline is valid? [True, True] Translation: X:164.24, Y:193.16, Z:12.22 [[-6.53514602e-01 -7.56582399e-01 2.23995481e-02 1.64241014e+02] [ 7.56141029e-01 -6.53898365e-01 -2.58393762e-02 1.93164215e+02] [ 3.41966451e-02 5.08077541e-05 9.99415122e-01 1.22199923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7771056809999 meters 0.022325232501431373 Centerline is valid? [True, True] Translation: X:164.23, Y:193.19, Z:12.22 [[-6.58365536e-01 -7.52416541e-01 2.05953740e-02 1.64228925e+02] [ 7.52041847e-01 -6.58687580e-01 -2.37430526e-02 1.93188363e+02] [ 3.14305826e-02 -1.43024470e-04 9.99505927e-01 1.22244166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.80710568099994 meters 0.026067316416509684 Centerline is valid? [True, True] Translation: X:164.22, Y:193.22, Z:12.23 [[-6.70603842e-01 -7.41602087e-01 1.77997704e-02 1.64223412e+02] [ 7.41318790e-01 -6.70839800e-01 -2.05040265e-02 1.93219529e+02] [ 2.71466232e-02 -5.54774726e-04 9.99631309e-01 1.22295563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8371056809999 meters 0.02853033924555083 Centerline is valid? [True, True] Translation: X:164.21, Y:193.24, Z:12.23 [[-6.76990415e-01 -7.35774834e-01 1.78709833e-02 1.64210741e+02] [ 7.35487686e-01 -6.77225800e-01 -2.05688923e-02 1.93244232e+02] [ 2.72367643e-02 -7.81054732e-04 9.99628705e-01 1.22303246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.86710568099994 meters 0.03502788546589132 Centerline is valid? [True, True] Translation: X:164.21, Y:193.27, Z:12.23 [[-6.87682490e-01 -7.25803182e-01 1.73935181e-02 1.64205179e+02] [ 7.25528380e-01 -6.87901483e-01 -2.00029665e-02 1.93273992e+02] [ 2.64832436e-02 -1.13619881e-03 9.99648612e-01 1.22298686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8971056809999 meters 0.03502788546589132 Centerline is valid? [True, True] Translation: X:164.19, Y:193.29, Z:12.23 [[-6.88014431e-01 -7.25488316e-01 1.74024551e-02 1.64187983e+02] [ 7.25213611e-01 -6.88233544e-01 -1.99951880e-02 1.93293257e+02] [ 2.64832286e-02 -1.13648061e-03 9.99648612e-01 1.22306182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.92710568099994 meters 0.037242249687668524 Centerline is valid? [True, True] Translation: X:164.18, Y:193.32, Z:12.23 [[-6.91751130e-01 -7.21925657e-01 1.74275496e-02 1.64175118e+02] [ 7.21649521e-01 -6.91969474e-01 -2.00054238e-02 1.93317371e+02] [ 2.65017611e-02 -1.26219167e-03 9.99647970e-01 1.22303412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9571056809999 meters 0.03978136910285716 Centerline is valid? [True, True] Translation: X:164.16, Y:193.34, Z:12.23 [[-6.96031770e-01 -7.17773164e-01 1.84786260e-02 1.64162581e+02] [ 7.17461800e-01 -6.96275417e-01 -2.11922048e-02 1.93341982e+02] [ 2.80774089e-02 -1.49273955e-03 9.99604637e-01 1.22287396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.98710568099995 meters 0.04110599592354148 Centerline is valid? [True, True] Translation: X:164.15, Y:193.36, Z:12.23 [[-6.97029491e-01 -7.16776904e-01 1.95130650e-02 1.64145509e+02] [ 7.16429920e-01 -6.97300722e-01 -2.23578616e-02 1.93361918e+02] [ 2.96320731e-02 -1.60434528e-03 9.99559586e-01 1.22282706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0171056809999 meters 0.04143663499295196 Centerline is valid? [True, True] Translation: X:164.13, Y:193.38, Z:12.23 [[-6.97124213e-01 -7.16655802e-01 2.05497744e-02 1.64125923e+02] [ 7.16271575e-01 -6.97425006e-01 -2.35242682e-02 1.93378240e+02] [ 3.11907298e-02 -1.68011764e-03 9.99512039e-01 1.22281374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.04710568099995 meters 0.040461285233276474 Centerline is valid? [True, True] Translation: X:164.11, Y:193.40, Z:12.23 [[-6.96514090e-01 -7.17248620e-01 2.05557520e-02 1.64105745e+02] [ 7.16865119e-01 -6.96815422e-01 -2.35089205e-02 1.93395410e+02] [ 3.11853058e-02 -1.63859272e-03 9.99512277e-01 1.22283404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0771056809999 meters 0.03920271826240348 Centerline is valid? [True, True] Translation: X:164.09, Y:193.41, Z:12.23 [[-6.96582241e-01 -7.17211930e-01 1.94994418e-02 1.64085849e+02] [ 7.16867387e-01 -6.96853404e-01 -2.22818692e-02 1.93412303e+02] [ 2.95690748e-02 -1.54264052e-03 9.99561549e-01 1.22311864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.1071056809999 meters 0.0390615903543545 Centerline is valid? [True, True] Translation: X:164.07, Y:193.43, Z:12.24 [[-6.96658726e-01 -7.17161014e-01 1.86198654e-02 1.64066355e+02] [ 7.16847367e-01 -6.96905978e-01 -2.12581823e-02 1.93430388e+02] [ 2.82218351e-02 -1.46209670e-03 9.99600615e-01 1.22350422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.1371056809999 meters 0.037980698117181785 Centerline is valid? [True, True] Translation: X:164.04, Y:193.44, Z:12.24 [[-6.93954071e-01 -7.19824075e-01 1.67644870e-02 1.64042934e+02] [ 7.19570997e-01 -6.94155488e-01 -1.91243152e-02 1.93443916e+02] [ 2.54033031e-02 -1.20815775e-03 9.99676554e-01 1.22413077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.1671056809999 meters 0.035657796656697625 Centerline is valid? [True, True] Translation: X:164.02, Y:193.46, Z:12.24 [[-6.90771064e-01 -7.22896707e-01 1.59902675e-02 1.64019518e+02] [ 7.22667661e-01 -6.90955340e-01 -1.82255434e-02 1.93458187e+02] [ 2.42237460e-02 -1.03402876e-03 9.99706027e-01 1.22446414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.1971056809999 meters 0.028411032744583994 Centerline is valid? [True, True] Translation: X:163.99, Y:193.46, Z:12.25 [[-6.79194466e-01 -7.33797698e-01 1.53562748e-02 1.63985643e+02] [ 7.33589536e-01 -6.79367767e-01 -1.74879869e-02 1.93462399e+02] [ 2.32652026e-02 -6.12541464e-04 9.99729141e-01 1.22461316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.2271056809999 meters 0.02210692446182692 Centerline is valid? [True, True] Translation: X:163.95, Y:193.46, Z:12.24 [[-6.64088363e-01 -7.47464354e-01 1.68429470e-02 1.63947638e+02] [ 7.47218706e-01 -6.64301904e-01 -1.91620936e-02 1.93462684e+02] [ 2.55117837e-02 -1.39958336e-04 9.99674512e-01 1.22435256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.2571056809999 meters 0.021724922686389068 Centerline is valid? [True, True] Translation: X:163.92, Y:193.47, Z:12.24 [[-6.57642994e-01 -7.53132460e-01 1.72392202e-02 1.63920225e+02] [ 7.52877523e-01 -6.57868900e-01 -1.95945489e-02 1.93473849e+02] [ 2.60984376e-02 9.28036074e-05 9.99659373e-01 1.22415020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.2871056809999 meters 0.02477407036224883 Centerline is valid? [True, True] Translation: X:163.89, Y:193.48, Z:12.24 [[-6.47563228e-01 -7.61768482e-01 1.92521760e-02 1.63888774e+02] [ 7.61454920e-01 -6.47849154e-01 -2.18604385e-02 1.93480382e+02] [ 2.91250990e-02 5.03648044e-04 9.99575647e-01 1.22368881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.31710568099993 meters 0.025088153886440517 Centerline is valid? [True, True] Translation: X:163.87, Y:193.50, Z:12.24 [[-6.44208695e-01 -7.64576960e-01 2.04261892e-02 1.63869661e+02] [ 7.64226061e-01 -6.44532083e-01 -2.31715831e-02 1.93498966e+02] [ 3.08817928e-02 6.82890762e-04 9.99522810e-01 1.22362111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.3471056809999 meters 0.029289805806866468 Centerline is valid? [True, True] Translation: X:163.85, Y:193.51, Z:12.23 [[-6.40884345e-01 -7.67333182e-01 2.16111807e-02 1.63845407e+02] [ 7.66942714e-01 -6.41248015e-01 -2.44919961e-02 1.93512091e+02] [ 3.26516480e-02 8.78000690e-04 9.99466407e-01 1.22332059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.37710568099993 meters 0.029627163621150494 Centerline is valid? [True, True] Translation: X:163.83, Y:193.53, Z:12.23 [[-6.40782293e-01 -7.67420341e-01 2.15423727e-02 1.63828870e+02] [ 7.67033136e-01 -6.41143682e-01 -2.43915318e-02 1.93530843e+02] [ 3.25303138e-02 8.94051991e-04 9.99470349e-01 1.22337016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.4071056809999 meters 0.02904253330718534 Centerline is valid? [True, True] Translation: X:163.81, Y:193.55, Z:12.23 [[-6.41304319e-01 -7.66996197e-01 2.11093498e-02 1.63814250e+02] [ 7.66624886e-01 -6.41651056e-01 -2.38789864e-02 1.93552249e+02] [ 3.18599284e-02 8.69255735e-04 9.99491966e-01 1.22346520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43710568099993 meters 0.026441227810223122 Centerline is valid? [True, True] Translation: X:163.81, Y:193.58, Z:12.24 [[-6.43887313e-01 -7.64854451e-01 2.01692048e-02 1.63805397e+02] [ 7.64515072e-01 -6.44202699e-01 -2.27944524e-02 1.93580725e+02] [ 3.04274945e-02 7.42602376e-04 9.99536701e-01 1.22375242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.4671056809999 meters 0.025030273218766816 Centerline is valid? [True, True] Translation: X:163.80, Y:193.61, Z:12.24 [[-6.48803805e-01 -7.60724907e-01 1.87413400e-02 1.63796601e+02] [ 7.60430625e-01 -6.49074222e-01 -2.11641066e-02 1.93607733e+02] [ 2.82645837e-02 5.20136002e-04 9.99600342e-01 1.22414211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49710568099994 meters 0.023149783894813373 Centerline is valid? [True, True] Translation: X:163.79, Y:193.63, Z:12.24 [[-6.52305484e-01 -7.57739275e-01 1.81313686e-02 1.63785121e+02] [ 7.57463154e-01 -6.52557308e-01 -2.04580311e-02 1.93634114e+02] [ 2.73336108e-02 3.88957788e-04 9.99626291e-01 1.22425607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5271056809999 meters 0.021658484901569252 Centerline is valid? [True, True] Translation: X:163.78, Y:193.67, Z:12.24 [[-6.59427405e-01 -7.51538687e-01 1.85768345e-02 1.63778861e+02] [ 7.51246854e-01 -6.59689003e-01 -2.09424216e-02 1.93665472e+02] [ 2.79939735e-02 1.45781781e-04 9.99608081e-01 1.22416887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.55710568099994 meters 0.021382197166687565 Centerline is valid? [True, True] Translation: X:163.77, Y:193.69, Z:12.24 [[-6.62389881e-01 -7.48907065e-01 1.94384575e-02 1.63766773e+02] [ 7.48586929e-01 -6.62675038e-01 -2.18953102e-02 1.93688900e+02] [ 2.92789331e-02 4.81433021e-05 9.99571279e-01 1.22417411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5871056809999 meters 0.02151812976030609 Centerline is valid? [True, True] Translation: X:163.76, Y:193.72, Z:12.24 [[-6.66443090e-01 -7.45319794e-01 1.87619721e-02 1.63758176e+02] [ 7.45020691e-01 -6.66707129e-01 -2.11133538e-02 1.93716460e+02] [ 2.82449410e-02 -9.27913568e-05 9.99601028e-01 1.22429395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.61710568099994 meters 0.021797246781549644 Centerline is valid? [True, True] Translation: X:163.74, Y:193.74, Z:12.24 [[-6.68330411e-01 -7.43632474e-01 1.85796836e-02 1.63744719e+02] [ 7.43339037e-01 -6.68588604e-01 -2.08891027e-02 1.93739651e+02] [ 2.79559799e-02 -1.49818449e-04 9.99609144e-01 1.22446142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.6471056809999 meters 0.02235715080047005 Centerline is valid? [True, True] Translation: X:163.73, Y:193.77, Z:12.24 [[-6.71903597e-01 -7.40363465e-01 2.01865586e-02 1.63734808e+02] [ 7.40016262e-01 -6.72206704e-01 -2.26733101e-02 1.93766441e+02] [ 3.03560305e-02 -2.95896961e-04 9.99539106e-01 1.22437854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.67710568099994 meters 0.022755663808382478 Centerline is valid? [True, True] Translation: X:163.72, Y:193.79, Z:12.24 [[-6.73650362e-01 -7.38761522e-01 2.06543722e-02 1.63720947e+02] [ 7.38397948e-01 -6.73966826e-01 -2.31773310e-02 1.93789063e+02] [ 3.10428820e-02 -3.62271406e-04 9.99517988e-01 1.22442362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7071056809999 meters 0.02307193731901796 Centerline is valid? [True, True] Translation: X:163.71, Y:193.81, Z:12.25 [[-6.75312638e-01 -7.37267747e-01 1.97258870e-02 1.63707356e+02] [ 7.36936057e-01 -6.75600555e-01 -2.21164505e-02 1.93812696e+02] [ 2.96325658e-02 -3.98801135e-04 9.99560780e-01 1.22467415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.73710568099995 meters 0.0228972551549123 Centerline is valid? [True, True] Translation: X:163.69, Y:193.83, Z:12.25 [[-6.75421427e-01 -7.37168000e-01 1.97290456e-02 1.63690819e+02] [ 7.36836775e-01 -6.75709396e-01 -2.20993018e-02 1.93832707e+02] [ 2.96219995e-02 -3.89255619e-04 9.99561096e-01 1.22482604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7671056809999 meters 0.022275399541864572 Centerline is valid? [True, True] Translation: X:163.67, Y:193.85, Z:12.25 [[-6.72972697e-01 -7.39391484e-01 2.01985749e-02 1.63673963e+02] [ 7.39045973e-01 -6.73275688e-01 -2.26030289e-02 1.93852493e+02] [ 3.03116965e-02 -2.83545828e-04 9.99540455e-01 1.22494431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.79710568099995 meters 0.021750882284934703 Centerline is valid? [True, True] Translation: X:163.65, Y:193.87, Z:12.25 [[-6.70808153e-01 -7.41331346e-01 2.10774087e-02 1.63654656e+02] [ 7.40956767e-01 -6.71139180e-01 -2.35641792e-02 1.93870578e+02] [ 3.16147395e-02 -1.89594945e-04 9.99500111e-01 1.22496265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.8271056809999 meters 0.02132108980215384 Centerline is valid? [True, True] Translation: X:163.63, Y:193.89, Z:12.25 [[-6.65133858e-01 -7.46385530e-01 2.24853765e-02 1.63632661e+02] [ 7.45962921e-01 -6.65513813e-01 -2.51134443e-02 1.93885971e+02] [ 3.37086401e-02 6.94550374e-05 9.99431700e-01 1.22490008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.8571056809999 meters 0.022764641817811446 Centerline is valid? [True, True] Translation: X:163.61, Y:193.90, Z:12.25 [[-6.58274632e-01 -7.52466295e-01 2.16560547e-02 1.63608343e+02] [ 7.52078257e-01 -6.58630649e-01 -2.41653362e-02 1.93899034e+02] [ 3.24469423e-02 3.79620090e-04 9.99473387e-01 1.22518967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.8871056809999 meters 0.024336229458249155 Centerline is valid? [True, True] Translation: X:163.59, Y:193.91, Z:12.25 [[-6.55589961e-01 -7.54818000e-01 2.12506427e-02 1.63587580e+02] [ 7.54446255e-01 -6.55934095e-01 -2.36920251e-02 1.93914404e+02] [ 3.18221881e-02 5.00213918e-04 9.99493421e-01 1.22529425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.9171056809999 meters 0.025791653537668977 Centerline is valid? [True, True] Translation: X:163.57, Y:193.93, Z:12.25 [[-6.53163716e-01 -7.56907618e-01 2.16337273e-02 1.63568116e+02] [ 7.56524238e-01 -6.53521586e-01 -2.40959300e-02 1.93932300e+02] [ 3.23765008e-02 6.27851896e-04 9.99475546e-01 1.22528951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.9471056809999 meters 0.026318926137675912 Centerline is valid? [True, True] Translation: X:163.55, Y:193.95, Z:12.25 [[-6.50858673e-01 -7.58831631e-01 2.36123572e-02 1.63552264e+02] [ 7.58377024e-01 -6.51286348e-01 -2.62751264e-02 1.93953857e+02] [ 3.53168029e-02 8.05675293e-04 9.99375842e-01 1.22503161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.9771056809999 meters 0.02661748414736759 Centerline is valid? [True, True] Translation: X:163.54, Y:193.97, Z:12.25 [[-6.51089164e-01 -7.58631035e-01 2.37034471e-02 1.63536378e+02] [ 7.58173640e-01 -6.51519985e-01 -2.63522427e-02 1.93973730e+02] [ 3.54348986e-02 8.13669115e-04 9.99371656e-01 1.22513095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.0071056809999 meters 0.02721354759296116 Centerline is valid? [True, True] Translation: X:163.52, Y:193.99, Z:12.25 [[-6.52376043e-01 -7.57564999e-01 2.23779233e-02 1.63521896e+02] [ 7.57157466e-01 -6.52759330e-01 -2.48561556e-02 1.93993750e+02] [ 3.34375517e-02 7.28051286e-04 9.99440544e-01 1.22536920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.0371056809999 meters 0.025616353010790415 Centerline is valid? [True, True] Translation: X:163.51, Y:194.02, Z:12.26 [[-6.53224712e-01 -7.56833832e-01 2.23612635e-02 1.63508845e+02] [ 7.56427269e-01 -6.53606956e-01 -2.48139839e-02 1.94017068e+02] [ 3.33955399e-02 7.05562002e-04 9.99441964e-01 1.22553929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.06710568099993 meters 0.025353035140038886 Centerline is valid? [True, True] Translation: X:163.50, Y:194.04, Z:12.26 [[-6.53646887e-01 -7.56477127e-01 2.20930541e-02 1.63497986e+02] [ 7.56080790e-01 -6.54019782e-01 -2.44941759e-02 1.94042162e+02] [ 3.29785783e-02 6.93591986e-04 9.99455818e-01 1.22576278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.0971056809999 meters 0.025340993134523263 Centerline is valid? [True, True] Translation: X:163.48, Y:194.07, Z:12.26 [[-6.53607233e-01 -7.56525849e-01 2.15922542e-02 1.63484650e+02] [ 7.56148010e-01 -6.53963422e-01 -2.39171226e-02 1.94065358e+02] [ 3.22144660e-02 6.94535751e-04 9.99480738e-01 1.22589782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.12710568099993 meters 0.025608361850186036 Centerline is valid? [True, True] Translation: X:163.47, Y:194.09, Z:12.26 [[-6.53589106e-01 -7.56539047e-01 2.16783340e-02 1.63469033e+02] [ 7.56158937e-01 -6.53948134e-01 -2.39895933e-02 1.94085436e+02] [ 3.23255701e-02 7.12929154e-04 9.99477138e-01 1.22598799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.1571056809999 meters 0.02553704177285049 Centerline is valid? [True, True] Translation: X:163.46, Y:194.11, Z:12.26 [[-6.53810799e-01 -7.56367967e-01 2.09508466e-02 1.63456605e+02] [ 7.56013544e-01 -6.54146020e-01 -2.31625944e-02 1.94109742e+02] [ 3.12243573e-02 6.95169428e-04 9.99512159e-01 1.22621852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.18710568099993 meters 0.025635134327667113 Centerline is valid? [True, True] Translation: X:163.44, Y:194.13, Z:12.26 [[-6.54654314e-01 -7.55603078e-01 2.21746921e-02 1.63441753e+02] [ 7.55206402e-01 -6.55029373e-01 -2.44910592e-02 1.94130576e+02] [ 3.30305944e-02 7.13291915e-04 9.99454087e-01 1.22610958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2171056809999 meters 0.024513664094616406 Centerline is valid? [True, True] Translation: X:163.43, Y:194.16, Z:12.26 [[-6.57334340e-01 -7.53210613e-01 2.41937390e-02 1.63429147e+02] [ 7.52737745e-01 -6.57779089e-01 -2.66937671e-02 1.94156632e+02] [ 3.60201643e-02 6.64810822e-04 9.99350842e-01 1.22580450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.24710568099994 meters 0.023690988107868727 Centerline is valid? [True, True] Translation: X:163.41, Y:194.18, Z:12.26 [[-6.59910936e-01 -7.50925617e-01 2.50653874e-02 1.63414454e+02] [ 7.50417264e-01 -6.60386544e-01 -2.76322765e-02 1.94179100e+02] [ 3.73026288e-02 5.74657967e-04 9.99303850e-01 1.22580443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2771056809999 meters 0.02187185387307889 Centerline is valid? [True, True] Translation: X:163.41, Y:194.21, Z:12.26 [[-6.67019039e-01 -7.44563290e-01 2.66666201e-02 1.63406567e+02] [ 7.43983876e-01 -6.67551829e-01 -2.93691702e-02 1.94207303e+02] [ 3.96685570e-02 2.49739638e-04 9.99212862e-01 1.22571360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.30710568099994 meters 0.021518213165867838 Centerline is valid? [True, True] Translation: X:163.39, Y:194.23, Z:12.26 [[-6.70899759e-01 -7.41074079e-01 2.65089003e-02 1.63393829e+02] [ 7.40499816e-01 -6.71423268e-01 -2.91687728e-02 1.94231717e+02] [ 3.94149139e-02 6.05131328e-05 9.99222929e-01 1.22586489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3371056809999 meters 0.022368762029492707 Centerline is valid? [True, True] Translation: X:163.38, Y:194.26, Z:12.27 [[-6.78368833e-01 -7.34310145e-01 2.45832838e-02 1.63384102e+02] [ 7.33812676e-01 -6.78814057e-01 -2.70265252e-02 1.94258683e+02] [ 3.65333303e-02 -2.94427112e-04 9.99332392e-01 1.22651810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.36710568099994 meters 0.02356166308884389 Centerline is valid? [True, True] Translation: X:163.37, Y:194.28, Z:12.27 [[-6.82091340e-01 -7.30879736e-01 2.37952867e-02 1.63370576e+02] [ 7.30412392e-01 -6.82506126e-01 -2.61366787e-02 1.94280474e+02] [ 3.53431978e-02 -4.47229879e-04 9.99375134e-01 1.22686443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3971056809999 meters 0.02710722012180349 Centerline is valid? [True, True] Translation: X:163.36, Y:194.31, Z:12.27 [[-6.89859765e-01 -7.23559590e-01 2.35589734e-02 1.63360889e+02] [ 7.23098026e-01 -6.90261459e-01 -2.58527230e-02 1.94305821e+02] [ 3.49678370e-02 -7.99306254e-04 9.99388119e-01 1.22696013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.42710568099994 meters 0.02999946115498865 Centerline is valid? [True, True] Translation: X:163.35, Y:194.33, Z:12.27 [[-6.94638030e-01 -7.18954736e-01 2.41266532e-02 1.63347242e+02] [ 7.18468764e-01 -6.95056118e-01 -2.64504795e-02 1.94329209e+02] [ 3.57860754e-02 -1.03926228e-03 9.99358933e-01 1.22685902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4571056809999 meters 0.03630621632791089 Centerline is valid? [True, True] Translation: X:163.34, Y:194.35, Z:12.27 [[-7.02894489e-01 -7.10826854e-01 2.57783053e-02 1.63337875e+02] [ 7.10267551e-01 -7.03365356e-01 -2.82344234e-02 1.94354708e+02] [ 3.82013532e-02 -1.53632685e-03 9.99268881e-01 1.22657281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.48710568099995 meters 0.04078934664883764 Centerline is valid? [True, True] Translation: X:163.32, Y:194.38, Z:12.27 [[-7.08243373e-01 -7.05480955e-01 2.62287220e-02 1.63324526e+02] [ 7.04899314e-01 -7.08726493e-01 -2.87004437e-02 1.94376574e+02] [ 3.88366066e-02 -1.83829092e-03 9.99243883e-01 1.22652686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5171056809999 meters 0.04256579888896218 Centerline is valid? [True, True] Translation: X:163.31, Y:194.40, Z:12.27 [[-7.10249328e-01 -7.03464363e-01 2.61492268e-02 1.63307327e+02] [ 7.02885882e-01 -7.10727927e-01 -2.85875973e-02 1.94396801e+02] [ 3.86953417e-02 -1.92439940e-03 9.99249202e-01 1.22662800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.54710568099995 meters 0.04398025588448333 Centerline is valid? [True, True] Translation: X:163.29, Y:194.42, Z:12.27 [[-7.11430868e-01 -7.02254897e-01 2.65363872e-02 1.63290426e+02] [ 7.01659325e-01 -7.11922786e-01 -2.89851395e-02 1.94415156e+02] [ 3.92468149e-02 -2.00141940e-03 9.99227543e-01 1.22667270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5771056809999 meters 0.04322660661078948 Centerline is valid? [True, True] Translation: X:163.27, Y:194.43, Z:12.27 [[-7.11431012e-01 -7.02228705e-01 2.72169296e-02 1.63268191e+02] [ 7.01603301e-01 -7.11948530e-01 -2.97001658e-02 1.94429162e+02] [ 4.02333619e-02 -2.03413135e-03 9.99188240e-01 1.22664364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.6071056809999 meters 0.042596418528366806 Centerline is valid? [True, True] Translation: X:163.25, Y:194.45, Z:12.27 [[-7.10450474e-01 -7.03214191e-01 2.73847849e-02 1.63246512e+02] [ 7.02582834e-01 -7.10975326e-01 -2.98571222e-02 1.94445712e+02] [ 4.04658584e-02 -1.97192680e-03 9.99178976e-01 1.22664317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.6371056809999 meters 0.038148433428526425 Centerline is valid? [True, True] Translation: X:163.22, Y:194.45, Z:12.26 [[-7.06906086e-01 -7.06750651e-01 2.80589138e-02 1.63217757e+02] [ 7.06091558e-01 -7.07460451e-01 -3.05683131e-02 1.94454504e+02] [ 4.14547470e-02 -1.79676445e-03 9.99138767e-01 1.22648291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.6671056809999 meters 0.036380166083557035 Centerline is valid? [True, True] Translation: X:163.19, Y:194.47, Z:12.27 [[-7.04319610e-01 -7.09384181e-01 2.66077292e-02 1.63192465e+02] [ 7.08794375e-01 -7.04820342e-01 -2.89623975e-02 1.94465781e+02] [ 3.92991355e-02 -1.53937574e-03 9.99226305e-01 1.22669392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.6971056809999 meters 0.03647288527276774 Centerline is valid? [True, True] Translation: X:163.17, Y:194.48, Z:12.27 [[-7.04247210e-01 -7.09523677e-01 2.47390142e-02 1.63171779e+02] [ 7.09014702e-01 -7.04680187e-01 -2.69069935e-02 1.94481519e+02] [ 3.65242422e-02 -1.40885031e-03 9.99331774e-01 1.22716884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.7271056809999 meters 0.03761828830066985 Centerline is valid? [True, True] Translation: X:163.15, Y:194.49, Z:12.28 [[-7.06239777e-01 -7.07637146e-01 2.17955476e-02 1.63147429e+02] [ 7.07241691e-01 -7.06574791e-01 -2.36908251e-02 1.94494202e+02] [ 3.21646923e-02 -1.31668312e-03 9.99481715e-01 1.22801108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.7571056809999 meters 0.03956628132844927 Centerline is valid? [True, True] Translation: X:163.13, Y:194.51, Z:12.28 [[-7.08115651e-01 -7.05800534e-01 2.04409400e-02 1.63128742e+02] [ 7.05452485e-01 -7.08409426e-01 -2.22008085e-02 1.94511766e+02] [ 3.01498971e-02 -1.30062802e-03 9.99544542e-01 1.22831451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.7871056809999 meters 0.03956628132844927 Centerline is valid? [True, True] Translation: X:163.11, Y:194.53, Z:12.28 [[-7.08436531e-01 -7.05478175e-01 2.04506118e-02 1.63111495e+02] [ 7.05130249e-01 -7.08730451e-01 -2.21918957e-02 1.94529880e+02] [ 3.01498694e-02 -1.30120460e-03 9.99544542e-01 1.22838704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.81710568099993 meters 0.04093609400359873 Centerline is valid? [True, True] Translation: X:163.09, Y:194.55, Z:12.28 [[-7.11993587e-01 -7.01887641e-01 2.04663328e-02 1.63090504e+02] [ 7.01538307e-01 -7.12286224e-01 -2.21887316e-02 1.94546237e+02] [ 3.01518834e-02 -1.44031818e-03 9.99544291e-01 1.22826038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.8471056809999 meters 0.044490800086464014 Centerline is valid? [True, True] Translation: X:163.07, Y:194.57, Z:12.28 [[-7.13757560e-01 -7.00078276e-01 2.09893481e-02 1.63074735e+02] [ 6.99710686e-01 -7.14064445e-01 -2.27359954e-02 1.94566531e+02] [ 3.09047237e-02 -1.54151750e-03 9.99521146e-01 1.22807634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.87710568099993 meters 0.040416919486603226 Centerline is valid? [True, True] Translation: X:163.05, Y:194.58, Z:12.28 [[-7.15250169e-01 -6.98523442e-01 2.19589627e-02 1.63045294e+02] [ 6.98120952e-01 -7.15585223e-01 -2.37681496e-02 1.94575201e+02] [ 3.23161189e-02 -1.67016109e-03 9.99476302e-01 1.22797630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.9071056809999 meters 0.040646831130623756 Centerline is valid? [True, True] Translation: X:163.02, Y:194.59, Z:12.28 [[-7.15178233e-01 -6.98557816e-01 2.31748323e-02 1.63022990e+02] [ 6.98110327e-01 -7.15551491e-01 -2.50606349e-02 1.94590257e+02] [ 3.40890881e-02 -1.74423082e-03 9.99417276e-01 1.22790954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93710568099993 meters 0.03903659617660284 Centerline is valid? [True, True] Translation: X:162.99, Y:194.60, Z:12.28 [[-7.13876188e-01 -6.99847268e-01 2.43841985e-02 1.62993040e+02] [ 6.99353466e-01 -7.14290367e-01 -2.63439043e-02 1.94598713e+02] [ 3.58541075e-02 -1.75311223e-03 9.99355497e-01 1.22791578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.9671056809999 meters 0.037610813682148345 Centerline is valid? [True, True] Translation: X:162.97, Y:194.61, Z:12.28 [[-7.12828257e-01 -7.00933790e-01 2.38264153e-02 1.62969192e+02] [ 7.00463727e-01 -7.13224453e-01 -2.57185964e-02 1.94612440e+02] [ 3.50206153e-02 -1.64340262e-03 9.99385239e-01 1.22817177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99710568099994 meters 0.035889864236153333 Centerline is valid? [True, True] Translation: X:162.94, Y:194.62, Z:12.29 [[-7.10342044e-01 -7.03484905e-01 2.28728866e-02 1.62940762e+02] [ 7.03053754e-01 -7.10708738e-01 -2.46679815e-02 1.94622796e+02] [ 3.36095130e-02 -1.44183560e-03 9.99434001e-01 1.22857074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0271056809999 meters 0.034447522655798285 Centerline is valid? [True, True] Translation: X:162.92, Y:194.64, Z:12.29 [[-7.09067076e-01 -7.04779097e-01 2.25899494e-02 1.62916903e+02] [ 7.04359889e-01 -7.09425546e-01 -2.43421711e-02 1.94636343e+02] [ 3.31817406e-02 -1.34877782e-03 9.99448424e-01 1.22875257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.05710568099994 meters 0.03238621024475008 Centerline is valid? [True, True] Translation: X:162.89, Y:194.64, Z:12.28 [[-7.05560900e-01 -7.08224432e-01 2.45350994e-02 1.62885923e+02] [ 7.07732876e-01 -7.05986216e-01 -2.64128623e-02 1.94643177e+02] [ 3.60276764e-02 -1.27158644e-03 9.99349984e-01 1.22842626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0871056809999 meters 0.028882663493279878 Centerline is valid? [True, True] Translation: X:162.85, Y:194.65, Z:12.28 [[-7.01614344e-01 -7.12095809e-01 2.56295160e-02 1.62853594e+02] [ 7.11562924e-01 -7.02081435e-01 -2.75656175e-02 1.94649174e+02] [ 3.76233681e-02 -1.10341925e-03 9.99291381e-01 1.22823388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.11710568099994 meters 0.027944897667575543 Centerline is valid? [True, True] Translation: X:162.83, Y:194.66, Z:12.28 [[-7.00267443e-01 -7.13444641e-01 2.49449902e-02 1.62829721e+02] [ 7.12941561e-01 -7.00710903e-01 -2.68059959e-02 1.94663377e+02] [ 3.66038207e-02 -9.87045987e-04 9.99329368e-01 1.22847912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.1471056809999 meters 0.02705559711558806 Centerline is valid? [True, True] Translation: X:162.81, Y:194.68, Z:12.29 [[-6.98991475e-01 -7.14742452e-01 2.35403050e-02 1.62805295e+02] [ 7.14295864e-01 -6.99387231e-01 -2.52768636e-02 1.94677299e+02] [ 3.45302362e-02 -8.53569652e-04 9.99403289e-01 1.22893207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.17710568099994 meters 0.02523892526077132 Centerline is valid? [True, True] Translation: X:162.77, Y:194.68, Z:12.29 [[-6.95252896e-01 -7.18439082e-01 2.16493811e-02 1.62772742e+02] [ 7.18063718e-01 -6.95589621e-01 -2.32287756e-02 1.94682860e+02] [ 3.17475450e-02 -6.04238392e-04 9.99495737e-01 1.22929377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2071056809999 meters 0.024089100477730264 Centerline is valid? [True, True] Translation: X:162.74, Y:194.69, Z:12.29 [[-6.91535368e-01 -7.22037591e-01 2.09893332e-02 1.62744297e+02] [ 7.21687029e-01 -6.91853704e-01 -2.25007735e-02 1.94691239e+02] [ 3.07679522e-02 -4.12351169e-04 9.99526469e-01 1.22917175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.23710568099995 meters 0.023555901604835568 Centerline is valid? [True, True] Translation: X:162.72, Y:194.71, Z:12.29 [[-6.90903381e-01 -7.22635646e-01 2.12188928e-02 1.62721791e+02] [ 7.22278323e-01 -6.91229037e-01 -2.27253454e-02 1.94706583e+02] [ 3.10892595e-02 -3.75071614e-04 9.99516542e-01 1.22910797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2671056809999 meters 0.023521534483655692 Centerline is valid? [True, True] Translation: X:162.70, Y:194.72, Z:12.29 [[-6.90543989e-01 -7.22946449e-01 2.23031718e-02 1.62701891e+02] [ 7.22552537e-01 -6.90903972e-01 -2.38648818e-02 1.94722205e+02] [ 3.26623815e-02 -3.64537245e-04 9.99466376e-01 1.22907236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2971056809999 meters 0.023266171874952474 Centerline is valid? [True, True] Translation: X:162.67, Y:194.73, Z:12.28 [[-6.89341019e-01 -7.23975062e-01 2.58663736e-02 1.62674369e+02] [ 7.23446774e-01 -6.89826056e-01 -2.76546168e-02 1.94732877e+02] [ 3.78645513e-02 -3.50517178e-04 9.99282819e-01 1.22842549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.3271056809999 meters 0.023432615334879392 Centerline is valid? [True, True] Translation: X:162.65, Y:194.74, Z:12.28 [[-6.88679440e-01 -7.24510893e-01 2.83653976e-02 1.62650152e+02] [ 7.23877191e-01 -6.89263270e-01 -3.02977941e-02 1.94744391e+02] [ 4.15023086e-02 -3.32403504e-04 9.99138353e-01 1.22796058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.3571056809999 meters 0.02343151129558028 Centerline is valid? [True, True] Translation: X:162.63, Y:194.76, Z:12.28 [[-6.89802965e-01 -7.23462019e-01 2.78312264e-02 1.62630952e+02] [ 7.22852216e-01 -6.90364086e-01 -2.97002137e-02 1.94761297e+02] [ 4.07006558e-02 -3.69431822e-04 9.99171317e-01 1.22817965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.3871056809999 meters 0.0239976829801582 Centerline is valid? [True, True] Translation: X:162.61, Y:194.78, Z:12.29 [[-6.91930417e-01 -7.21527995e-01 2.50928185e-02 1.62611657e+02] [ 7.21031881e-01 -6.92385135e-01 -2.67553842e-02 1.94776962e+02] [ 3.66786533e-02 -4.20141968e-04 9.99327023e-01 1.22885124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.4171056809999 meters 0.024141245567986528 Centerline is valid? [True, True] Translation: X:162.59, Y:194.79, Z:12.29 [[-6.93074850e-01 -7.20443186e-01 2.46752415e-02 1.62592451e+02] [ 7.19963535e-01 -6.93513813e-01 -2.62887863e-02 1.94794254e+02] [ 3.60521978e-02 -4.54822494e-04 9.99349805e-01 1.22907153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.4471056809999 meters 0.024615094554916245 Centerline is valid? [True, True] Translation: X:162.57, Y:194.81, Z:12.29 [[-6.94373441e-01 -7.19183117e-01 2.49232479e-02 1.62574102e+02] [ 7.18693863e-01 -6.94820398e-01 -2.65282120e-02 1.94811698e+02] [ 3.63958232e-02 -5.08300536e-04 9.99337323e-01 1.22904260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.4771056809999 meters 0.026127160028011954 Centerline is valid? [True, True] Translation: X:162.56, Y:194.83, Z:12.29 [[-6.97854070e-01 -7.15780786e-01 2.56429852e-02 1.62556687e+02] [ 7.15261501e-01 -6.98324704e-01 -2.72688952e-02 1.94830033e+02] [ 3.74256813e-02 -6.88269396e-04 9.99299177e-01 1.22905550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.5071056809999 meters 0.02759423921929843 Centerline is valid? [True, True] Translation: X:162.54, Y:194.85, Z:12.29 [[-7.00482413e-01 -7.13186727e-01 2.62503598e-02 1.62538420e+02] [ 7.12641651e-01 -7.00973612e-01 -2.78903907e-02 1.94849200e+02] [ 3.82918660e-02 -8.29628400e-04 9.99266253e-01 1.22908489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.5371056809999 meters 0.03123013934692386 Centerline is valid? [True, True] Translation: X:162.52, Y:194.87, Z:12.29 [[-7.05680086e-01 -7.08038404e-01 2.64052073e-02 1.62522258e+02] [ 7.07484151e-01 -7.06173073e-01 -2.80315526e-02 1.94868437e+02] [ 3.84940621e-02 -1.10004275e-03 9.99258223e-01 1.22916995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.56710568099993 meters 0.029427579477966016 Centerline is valid? [True, True] Translation: X:162.50, Y:194.88, Z:12.30 [[-7.08972239e-01 -7.04741430e-01 2.64174359e-02 1.62499664e+02] [ 7.04185289e-01 -7.09463122e-01 -2.80206633e-02 1.94884057e+02] [ 3.84895189e-02 -1.26310271e-03 9.99258206e-01 1.22955137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.5971056809999 meters 0.034760787394426514 Centerline is valid? [True, True] Translation: X:162.48, Y:194.90, Z:12.30 [[-7.17108314e-01 -6.96414889e-01 2.76037642e-02 1.62484213e+02] [ 6.95802423e-01 -7.17637208e-01 -2.92545140e-02 1.94904465e+02] [ 4.01827674e-02 -1.77188922e-03 9.99190775e-01 1.22952562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.62710568099993 meters 0.03771460943794205 Centerline is valid? [True, True] Translation: X:162.47, Y:194.93, Z:12.30 [[-7.21501082e-01 -6.91815244e-01 2.87725047e-02 1.62466632e+02] [ 6.91147113e-01 -7.22071512e-01 -3.04696712e-02 1.94925151e+02] [ 4.18551890e-02 -2.09786724e-03 9.99121485e-01 1.22950515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.6571056809999 meters 0.04194726191265343 Centerline is valid? [True, True] Translation: X:162.45, Y:194.94, Z:12.29 [[-7.28421709e-01 -6.84514738e-01 2.90066808e-02 1.62448659e+02] [ 6.83830977e-01 -7.28994664e-01 -3.06916013e-02 1.94944906e+02] [ 4.21545689e-02 -2.52076180e-03 9.99107921e-01 1.22948461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.68710568099993 meters 0.04473760203146446 Centerline is valid? [True, True] Translation: X:162.43, Y:194.96, Z:12.29 [[-7.32170032e-01 -6.80451617e-01 3.02099503e-02 1.62425034e+02] [ 6.79707729e-01 -7.32787474e-01 -3.19362064e-02 1.94959842e+02] [ 4.38685164e-02 -2.84879652e-03 9.99033252e-01 1.22934371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7171056809999 meters 0.04509119816756547 Centerline is valid? [True, True] Translation: X:162.40, Y:194.98, Z:12.29 [[-7.32993192e-01 -6.79562314e-01 3.02661755e-02 1.62402235e+02] [ 6.78816083e-01 -7.33612106e-01 -3.19687808e-02 1.94975092e+02] [ 4.39284114e-02 -2.88773197e-03 9.99030508e-01 1.22942207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.74710568099994 meters 0.043316216929452374 Centerline is valid? [True, True] Translation: X:162.37, Y:194.98, Z:12.30 [[-7.33066570e-01 -6.79511787e-01 2.96164507e-02 1.62371843e+02] [ 6.78798310e-01 -7.33659209e-01 -3.12573110e-02 1.94983715e+02] [ 4.29680931e-02 -2.81009305e-03 9.99072493e-01 1.22975815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7771056809999 meters 0.047467902052251064 Centerline is valid? [True, True] Translation: X:162.35, Y:195.00, Z:12.30 [[-7.32918209e-01 -6.79666204e-01 2.97447332e-02 1.62353810e+02] [ 6.78947742e-01 -7.33516217e-01 -3.13675553e-02 1.95001143e+02] [ 4.31377114e-02 -2.79473304e-03 9.99065227e-01 1.22956809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.80710568099994 meters 0.04344021839728203 Centerline is valid? [True, True] Translation: X:162.33, Y:195.01, Z:12.30 [[-7.32426503e-01 -6.80147914e-01 3.08258363e-02 1.62325411e+02] [ 6.79377807e-01 -7.33069370e-01 -3.24822190e-02 1.95012028e+02] [ 4.46901899e-02 -2.84844900e-03 9.98996833e-01 1.22968239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.8371056809999 meters 0.04190898758879722 Centerline is valid? [True, True] Translation: X:162.29, Y:195.02, Z:12.30 [[-7.30238781e-01 -6.82500933e-01 3.07213215e-02 1.62293820e+02] [ 6.81739330e-01 -7.30879826e-01 -3.23444890e-02 1.95018192e+02] [ 4.45287380e-02 -2.67526709e-03 9.99004522e-01 1.22983834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.86710568099994 meters 0.03894507881128883 Centerline is valid? [True, True] Translation: X:162.26, Y:195.02, Z:12.30 [[-7.25365837e-01 -6.87789606e-01 2.81044602e-02 1.62261329e+02] [ 6.87157230e-01 -7.25906957e-01 -2.95640226e-02 1.95022173e+02] [ 4.07350507e-02 -2.13254899e-03 9.99167708e-01 1.23011277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.8971056809999 meters 0.03800486220856667 Centerline is valid? [True, True] Translation: X:162.24, Y:195.03, Z:12.30 [[-7.22790045e-01 -6.90537327e-01 2.70693762e-02 1.62236361e+02] [ 6.89953591e-01 -7.23294297e-01 -2.84499862e-02 1.95033335e+02] [ 3.92249028e-02 -1.88675344e-03 9.99228626e-01 1.23016732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.92710568099994 meters 0.0336574672399826 Centerline is valid? [True, True] Translation: X:162.20, Y:195.04, Z:12.30 [[-7.18331972e-01 -6.95171744e-01 2.71187219e-02 1.62199271e+02] [ 6.94590128e-01 -7.18841863e-01 -2.84768465e-02 1.95035122e+02] [ 3.92903716e-02 -1.61943278e-03 9.99226523e-01 1.23010906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9571056809999 meters 0.03224994487223363 Centerline is valid? [True, True] Translation: X:162.17, Y:195.04, Z:12.30 [[-7.14968489e-01 -6.98564743e-01 2.87638441e-02 1.62167256e+02] [ 6.97914230e-01 -7.15545278e-01 -3.01775178e-02 1.95040886e+02] [ 4.16627828e-02 -1.50127824e-03 9.99130601e-01 1.22978757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.98710568099995 meters 0.03121622364585963 Centerline is valid? [True, True] Translation: X:162.14, Y:195.05, Z:12.30 [[-7.13019106e-01 -7.00517140e-01 2.96562130e-02 1.62142080e+02] [ 6.99828446e-01 -7.13634181e-01 -3.10870093e-02 1.95052335e+02] [ 4.29406701e-02 -1.41137013e-03 9.99076627e-01 1.22973038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0171056809999 meters 0.030110814296868738 Centerline is valid? [True, True] Translation: X:162.12, Y:195.06, Z:12.30 [[-7.11037636e-01 -7.02519103e-01 2.98728997e-02 1.62115292e+02] [ 7.01823201e-01 -7.11663732e-01 -3.12878004e-02 1.95064478e+02] [ 4.32397367e-02 -1.28130952e-03 9.99063904e-01 1.22970001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0471056809999 meters 0.028011496603392888 Centerline is valid? [True, True] Translation: X:162.08, Y:195.07, Z:12.30 [[-7.06744909e-01 -7.06829930e-01 3.00513376e-02 1.62084852e+02] [ 7.06130668e-01 -7.07382808e-01 -3.14490480e-02 1.95071482e+02] [ 4.34869280e-02 -1.00628351e-03 9.99053489e-01 1.22971960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0771056809999 meters 0.027065316905798793 Centerline is valid? [True, True] Translation: X:162.06, Y:195.08, Z:12.30 [[-7.04816332e-01 -7.08725643e-01 3.06903986e-02 1.62060589e+02] [ 7.07999290e-01 -7.05483644e-01 -3.20910290e-02 1.95084762e+02] [ 4.43953094e-02 -8.89500947e-04 9.99013646e-01 1.22980623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.1071056809999 meters 0.025281633075577493 Centerline is valid? [True, True] Translation: X:162.03, Y:195.09, Z:12.30 [[-7.00968064e-01 -7.12481736e-01 3.18362985e-02 1.62028727e+02] [ 7.11705226e-01 -7.01690348e-01 -3.32615032e-02 1.95091601e+02] [ 4.60374369e-02 -6.57191518e-04 9.98939499e-01 1.23005356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.1371056809999 meters 0.02397556382142363 Centerline is valid? [True, True] Translation: X:162.00, Y:195.10, Z:12.31 [[-6.97184219e-01 -7.16226524e-01 3.08825212e-02 1.61997573e+02] [ 7.15500627e-01 -6.97867767e-01 -3.22402184e-02 1.95098624e+02] [ 4.46432157e-02 -3.80908186e-04 9.99002922e-01 1.23052015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.1671056809999 meters 0.023431534098892138 Centerline is valid? [True, True] Translation: X:161.97, Y:195.11, Z:12.31 [[-6.95775479e-01 -7.17660352e-01 2.93275058e-02 1.61973995e+02] [ 7.17008006e-01 -6.96393246e-01 -3.05935621e-02 1.95112654e+02] [ 4.23792635e-02 -2.58193870e-04 9.99101562e-01 1.23091317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.1971056809999 meters 0.02289837917238443 Centerline is valid? [True, True] Translation: X:161.95, Y:195.12, Z:12.31 [[-6.94723910e-01 -7.18750235e-01 2.75097818e-02 1.61946879e+02] [ 7.18178001e-01 -6.95268346e-01 -2.86755458e-02 1.95123294e+02] [ 3.97372357e-02 -1.64667223e-04 9.99210151e-01 1.23146356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.2271056809999 meters 0.02276481211408089 Centerline is valid? [True, True] Translation: X:161.93, Y:195.14, Z:12.31 [[-6.94413129e-01 -7.19026764e-01 2.81232680e-02 1.61925165e+02] [ 7.18429975e-01 -6.94982370e-01 -2.92895345e-02 1.95138651e+02] [ 4.06051347e-02 -1.34438604e-04 9.99175262e-01 1.23144190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.2571056809999 meters 0.022739872601929875 Centerline is valid? [True, True] Translation: X:161.90, Y:195.15, Z:12.31 [[-6.93418949e-01 -7.19851933e-01 3.13585060e-02 1.61901414e+02] [ 7.19112042e-01 -6.94127646e-01 -3.26294716e-02 1.95151434e+02] [ 4.52551942e-02 -7.56145991e-05 9.98975456e-01 1.23078305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.2871056809999 meters 0.022730784784075843 Centerline is valid? [True, True] Translation: X:161.88, Y:195.17, Z:12.31 [[-6.93105430e-01 -7.20116373e-01 3.22067230e-02 1.61879740e+02] [ 7.19337395e-01 -6.93853305e-01 -3.34858849e-02 1.95166436e+02] [ 4.64604751e-02 -4.17484352e-05 9.98920128e-01 1.23086784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.31710568099993 meters 0.022731592999002237 Centerline is valid? [True, True] Translation: X:161.85, Y:195.18, Z:12.31 [[-6.90580657e-01 -7.22549661e-01 3.19428138e-02 1.61853367e+02] [ 7.21787401e-01 -6.91319005e-01 -3.31810227e-02 1.95177191e+02] [ 4.60576110e-02 1.41748111e-04 9.98938775e-01 1.23127129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.3471056809999 meters 0.022530158361777696 Centerline is valid? [True, True] Translation: X:161.83, Y:195.19, Z:12.32 [[-6.90283081e-01 -7.22861156e-01 3.13211996e-02 1.61832186e+02] [ 7.22129971e-01 -6.90993283e-01 -3.25052115e-02 1.95192871e+02] [ 4.51394933e-02 1.80179378e-04 9.98980677e-01 1.23157853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.37710568099993 meters 0.02263351168907115 Centerline is valid? [True, True] Translation: X:161.81, Y:195.21, Z:12.32 [[-6.90626883e-01 -7.22607088e-01 2.95551253e-02 1.61809417e+02] [ 7.21956987e-01 -6.91258973e-01 -3.06454291e-02 1.95206844e+02] [ 4.25748498e-02 1.72971979e-04 9.99093265e-01 1.23169823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.4071056809999 meters 0.022355898594260654 Centerline is valid? [True, True] Translation: X:161.79, Y:195.22, Z:12.32 [[-6.92559004e-01 -7.20798088e-01 2.84981350e-02 1.61789455e+02] [ 7.20193185e-01 -6.93145087e-01 -2.95239656e-02 1.95224349e+02] [ 4.10341601e-02 7.70744191e-05 9.99157741e-01 1.23211973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43710568099993 meters 0.022052907929053466 Centerline is valid? [True, True] Translation: X:161.77, Y:195.24, Z:12.32 [[-6.94043838e-01 -7.19363933e-01 2.86126270e-02 1.61771464e+02] [ 7.18754045e-01 -6.94633379e-01 -2.96157234e-02 1.95243048e+02] [ 4.11797691e-02 1.08310523e-05 9.99151753e-01 1.23205149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.4671056809999 meters 0.022143682692945012 Centerline is valid? [True, True] Translation: X:161.75, Y:195.26, Z:12.32 [[-6.98147970e-01 -7.15339264e-01 2.96504514e-02 1.61754242e+02] [ 7.14681769e-01 -6.98777282e-01 -3.06639527e-02 1.95261929e+02] [ 4.26541912e-02 -2.17339294e-04 9.99089872e-01 1.23188040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49710568099994 meters 0.022176175975195906 Centerline is valid? [True, True] Translation: X:161.74, Y:195.28, Z:12.32 [[-7.00320868e-01 -7.13204324e-01 2.98374517e-02 1.61735579e+02] [ 7.12537561e-01 -7.00956119e-01 -3.08341309e-02 1.95279807e+02] [ 4.29057799e-02 -3.33480270e-04 9.99079067e-01 1.23204025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5271056809999 meters 0.022938526492228654 Centerline is valid? [True, True] Translation: X:161.72, Y:195.30, Z:12.32 [[-7.05022134e-01 -7.08486465e-01 3.14756958e-02 1.61717247e+02] [ 7.07741084e-01 -7.05724115e-01 -3.24966411e-02 1.95297967e+02] [ 4.52365879e-02 -6.34208189e-04 9.98976100e-01 1.23189374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.55710568099994 meters 0.023326358909565203 Centerline is valid? [True, True] Translation: X:161.70, Y:195.32, Z:12.32 [[-7.07056968e-01 -7.06441473e-01 3.17944769e-02 1.61699447e+02] [ 7.05680101e-01 -7.07771063e-01 -3.27981303e-02 1.95316643e+02] [ 4.56731702e-02 -7.53416967e-04 9.98956152e-01 1.23189984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5871056809999 meters 0.0246511725681583 Centerline is valid? [True, True] Translation: X:161.68, Y:195.34, Z:12.32 [[-7.10559662e-01 -7.02942894e-01 3.12450520e-02 1.61681765e+02] [ 7.02205343e-01 -7.11245665e-01 -3.22065350e-02 1.95335153e+02] [ 4.48622627e-02 -9.44222184e-04 9.98992736e-01 1.23200358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.61710568099994 meters 0.025029578553664895 Centerline is valid? [True, True] Translation: X:161.66, Y:195.35, Z:12.32 [[-7.11675397e-01 -7.01852897e-01 3.03420738e-02 1.61661748e+02] [ 7.01157436e-01 -7.12321260e-01 -3.12517557e-02 1.95352680e+02] [ 4.35474395e-02 -9.66534976e-04 9.99050893e-01 1.23221120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.6471056809999 meters 0.02508596876800281 Centerline is valid? [True, True] Translation: X:161.64, Y:195.37, Z:12.32 [[-7.12110735e-01 -7.01447801e-01 2.94836096e-02 1.61642164e+02] [ 7.00791820e-01 -7.12720203e-01 -3.03436636e-02 1.95370008e+02] [ 4.22980603e-02 -9.46176190e-04 9.99104589e-01 1.23243536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.67710568099994 meters 0.02500012565187097 Centerline is valid? [True, True] Translation: X:161.62, Y:195.39, Z:12.33 [[-7.12507864e-01 -7.01055260e-01 2.92243992e-02 1.61622183e+02] [ 7.00411446e-01 -7.13106325e-01 -3.00528820e-02 1.95387385e+02] [ 4.19088349e-02 -9.43811074e-04 9.99120993e-01 1.23259934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7071056809999 meters 0.02500012565187097 Centerline is valid? [True, True] Translation: X:161.60, Y:195.41, Z:12.33 [[-7.12789538e-01 -7.00768365e-01 2.92364937e-02 1.61604120e+02] [ 7.00124792e-01 -7.13388259e-01 -3.00411128e-02 1.95405577e+02] [ 4.19088328e-02 -9.43796815e-04 9.99120993e-01 1.23267426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.73710568099995 meters 0.02623517962982011 Centerline is valid? [True, True] Translation: X:161.59, Y:195.42, Z:12.33 [[-7.14772566e-01 -6.98680647e-01 3.07495059e-02 1.61585610e+02] [ 6.97967869e-01 -7.15432831e-01 -3.15708483e-02 1.95422024e+02] [ 4.40571467e-02 -1.10380916e-03 9.99028403e-01 1.23262799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7671056809999 meters 0.0259219853975265 Centerline is valid? [True, True] Translation: X:161.57, Y:195.44, Z:12.33 [[-7.16207105e-01 -6.97176821e-01 3.14938511e-02 1.61565267e+02] [ 6.96428705e-01 -7.16898193e-01 -3.23116040e-02 1.95439258e+02] [ 4.51047863e-02 -1.20857839e-03 9.98981530e-01 1.23273599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7971056809999 meters 0.027339737559437437 Centerline is valid? [True, True] Translation: X:161.55, Y:195.46, Z:12.33 [[-7.19130785e-01 -6.94101028e-01 3.27822565e-02 1.61546922e+02] [ 6.93288450e-01 -7.19876162e-01 -3.36070967e-02 1.95459189e+02] [ 4.69258854e-02 -1.44033803e-03 9.98897335e-01 1.23253722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.8271056809999 meters 0.027947178242394156 Centerline is valid? [True, True] Translation: X:161.53, Y:195.48, Z:12.33 [[-7.20230632e-01 -6.92910394e-01 3.38086214e-02 1.61526345e+02] [ 6.92046052e-01 -7.21022047e-01 -3.46333499e-02 1.95477385e+02] [ 4.83745695e-02 -1.54687646e-03 9.98828067e-01 1.23251423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.8571056809999 meters 0.02797179404631106 Centerline is valid? [True, True] Translation: X:161.51, Y:195.49, Z:12.33 [[-7.20129766e-01 -6.93006058e-01 3.39959482e-02 1.61507155e+02] [ 6.92133536e-01 -7.20930139e-01 -3.47980441e-02 1.95493264e+02] [ 4.86239590e-02 -1.52937152e-03 9.98815985e-01 1.23260029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.8871056809999 meters 0.02622120933763723 Centerline is valid? [True, True] Translation: X:161.48, Y:195.50, Z:12.33 [[-7.16684080e-01 -6.96573510e-01 3.39009523e-02 1.61482615e+02] [ 6.95711242e-01 -7.17484320e-01 -3.46715937e-02 1.95504305e+02] [ 4.84747154e-02 -1.26330561e-03 9.98823611e-01 1.23289827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.9171056809999 meters 0.024549108056396617 Centerline is valid? [True, True] Translation: X:161.46, Y:195.52, Z:12.33 [[-7.13274425e-01 -7.00043744e-01 3.43271181e-02 1.61458592e+02] [ 6.99165062e-01 -7.14099233e-01 -3.50785033e-02 1.95517366e+02] [ 4.90694555e-02 -1.02027757e-03 9.98794848e-01 1.23316645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.9471056809999 meters 0.021867847162599728 Centerline is valid? [True, True] Translation: X:161.43, Y:195.52, Z:12.34 [[-7.04622537e-01 -7.08793843e-01 3.34420215e-02 1.61427598e+02] [ 7.07970906e-01 -7.05415579e-01 -3.41475782e-02 1.95522967e+02] [ 4.77941162e-02 -3.85174917e-04 9.98857134e-01 1.23363396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.9771056809999 meters 0.02149541815832962 Centerline is valid? [True, True] Translation: X:161.40, Y:195.53, Z:12.34 [[-7.00378466e-01 -7.13014306e-01 3.28725416e-02 1.61402920e+02] [ 7.12225003e-01 -7.01149480e-01 -3.35402986e-02 1.95534955e+02] [ 4.69632782e-02 -7.82568100e-05 9.98896613e-01 1.23392164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.0071056809999 meters 0.02251922132411107 Centerline is valid? [True, True] Translation: X:161.37, Y:195.54, Z:12.34 [[-6.93350276e-01 -7.19934791e-01 3.09724295e-02 1.61374029e+02] [ 7.19242057e-01 -6.94041606e-01 -3.15770941e-02 1.95540815e+02] [ 4.42296033e-02 3.82687021e-04 9.99021319e-01 1.23430790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.0371056809999 meters 0.023009999712492606 Centerline is valid? [True, True] Translation: X:161.35, Y:195.56, Z:12.35 [[-6.90850097e-01 -7.22381045e-01 2.98625090e-02 1.61351910e+02] [ 7.21740441e-01 -6.91495002e-01 -3.04203646e-02 1.95555120e+02] [ 4.26248705e-02 5.37068584e-04 9.99091003e-01 1.23465323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.06710568099993 meters 0.023633079412013768 Centerline is valid? [True, True] Translation: X:161.33, Y:195.57, Z:12.35 [[-6.87363708e-01 -7.25804429e-01 2.71857348e-02 1.61326863e+02] [ 7.25277004e-01 -6.87900754e-01 -2.76734645e-02 1.95568416e+02] [ 3.87866105e-02 6.95453140e-04 9.99247274e-01 1.23532331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.0971056809999 meters 0.024082224398078212 Centerline is valid? [True, True] Translation: X:161.30, Y:195.58, Z:12.36 [[-6.87303531e-01 -7.25978848e-01 2.38446593e-02 1.61304149e+02] [ 7.25573804e-01 -6.87716741e-01 -2.42557097e-02 1.95581137e+02] [ 3.40075036e-02 6.30025244e-04 9.99421379e-01 1.23589976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.12710568099993 meters 0.023603529815251007 Centerline is valid? [True, True] Translation: X:161.29, Y:195.60, Z:12.36 [[-6.88291678e-01 -7.25068801e-01 2.30173824e-02 1.61285116e+02] [ 7.24691516e-01 -6.88676193e-01 -2.33945918e-02 1.95598601e+02] [ 3.28142120e-02 5.78198939e-04 9.99461301e-01 1.23611376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.1571056809999 meters 0.02252381270033747 Centerline is valid? [True, True] Translation: X:161.27, Y:195.62, Z:12.36 [[-6.92843680e-01 -7.20686607e-01 2.40509548e-02 1.61266151e+02] [ 7.20272715e-01 -6.93260884e-01 -2.44246472e-02 1.95618646e+02] [ 3.42761023e-02 4.00784039e-04 9.99412321e-01 1.23602344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.18710568099993 meters 0.02188345594561108 Centerline is valid? [True, True] Translation: X:161.25, Y:195.64, Z:12.36 [[-6.96070742e-01 -7.17545690e-01 2.47730664e-02 1.61248130e+02] [ 7.17105209e-01 -6.96511387e-01 -2.51397561e-02 1.95638811e+02] [ 3.52936465e-02 2.65846265e-04 9.99376950e-01 1.23587241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2171056809999 meters 0.021328512343536176 Centerline is valid? [True, True] Translation: X:161.23, Y:195.66, Z:12.36 [[-7.01836681e-01 -7.11887319e-01 2.53321583e-02 1.61231198e+02] [ 7.11423726e-01 -7.02293703e-01 -2.56872864e-02 1.95658952e+02] [ 3.60770687e-02 -6.38133598e-06 9.99349011e-01 1.23580671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.24710568099994 meters 0.02190234073987785 Centerline is valid? [True, True] Translation: X:161.21, Y:195.68, Z:12.36 [[-7.08546489e-01 -7.05176702e-01 2.62238871e-02 1.61213867e+02] [ 7.04676080e-01 -7.09031522e-01 -2.65692221e-02 1.95678859e+02] [ 3.73295590e-02 -3.46183053e-04 9.99302949e-01 1.23553082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2771056809999 meters 0.022550767420745268 Centerline is valid? [True, True] Translation: X:161.20, Y:195.70, Z:12.36 [[-7.11704389e-01 -7.01993369e-01 2.61184469e-02 1.61196161e+02] [ 7.01495377e-01 -7.12183307e-01 -2.64418845e-02 1.95698137e+02] [ 3.71631495e-02 -4.96835535e-04 9.99309088e-01 1.23550167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.30710568099994 meters 0.02425513490120395 Centerline is valid? [True, True] Translation: X:161.18, Y:195.72, Z:12.35 [[-7.17153953e-01 -6.96383194e-01 2.72149706e-02 1.61177061e+02] [ 6.95839276e-01 -7.17669699e-01 -2.75300619e-02 1.95716381e+02] [ 3.87028322e-02 -8.06047344e-04 9.99250440e-01 1.23535581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3371056809999 meters 0.026522781459012195 Centerline is valid? [True, True] Translation: X:161.16, Y:195.74, Z:12.35 [[-7.20068427e-01 -6.93318683e-01 2.84721677e-02 1.61160107e+02] [ 6.92721858e-01 -7.20630422e-01 -2.87788517e-02 1.95736027e+02] [ 4.04708257e-02 -9.99449580e-04 9.99180221e-01 1.23519062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.36710568099994 meters 0.027248416092769692 Centerline is valid? [True, True] Translation: X:161.14, Y:195.75, Z:12.35 [[-7.25326027e-01 -6.87703213e-01 3.10877053e-02 1.61135813e+02] [ 6.86987578e-01 -7.25990554e-01 -3.13971887e-02 1.95750121e+02] [ 4.41613280e-02 -1.41633077e-03 9.99023409e-01 1.23497094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3971056809999 meters 0.02911768989584408 Centerline is valid? [True, True] Translation: X:161.12, Y:195.77, Z:12.35 [[-7.28349210e-01 -6.84464171e-01 3.18783030e-02 1.61116080e+02] [ 6.83709658e-01 -7.29044663e-01 -3.21711576e-02 1.95768857e+02] [ 4.52607114e-02 -1.63633361e-03 9.98973869e-01 1.23477218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.42710568099994 meters 0.03111630273041006 Centerline is valid? [True, True] Translation: X:161.10, Y:195.79, Z:12.35 [[-7.31620367e-01 -6.80948662e-01 3.22576911e-02 1.61096351e+02] [ 6.80173770e-01 -7.32328796e-01 -3.25296174e-02 1.95787522e+02] [ 4.57742355e-02 -1.85849524e-03 9.98950082e-01 1.23474601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4571056809999 meters 0.03516682218361623 Centerline is valid? [True, True] Translation: X:161.08, Y:195.80, Z:12.35 [[-7.36874803e-01 -6.75247004e-01 3.25116447e-02 1.61075260e+02] [ 6.74455462e-01 -7.37588359e-01 -3.27603897e-02 1.95802659e+02] [ 4.61015656e-02 -2.21264937e-03 9.98934307e-01 1.23496064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.48710568099995 meters 0.03638527692691777 Centerline is valid? [True, True] Translation: X:161.05, Y:195.82, Z:12.35 [[-7.39273776e-01 -6.72639866e-01 3.20919750e-02 1.61054250e+02] [ 6.71867357e-01 -7.39966351e-01 -3.23118050e-02 1.95818664e+02] [ 4.54811898e-02 -2.32571959e-03 9.98962488e-01 1.23535548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5171056809999 meters 0.038508342678941314 Centerline is valid? [True, True] Translation: X:161.03, Y:195.83, Z:12.36 [[-7.43603157e-01 -6.68026104e-01 2.82040661e-02 1.61030118e+02] [ 6.67427004e-01 -7.44134355e-01 -2.83770366e-02 1.95831306e+02] [ 3.99442158e-02 -2.27709867e-03 9.99199317e-01 1.23629152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5471056809999 meters 0.03654707132965557 Centerline is valid? [True, True] Translation: X:161.00, Y:195.84, Z:12.38 [[-7.37717492e-01 -6.74658004e-01 2.46876264e-02 1.61001995e+02] [ 6.74203312e-01 -7.38128579e-01 -2.48212615e-02 1.95837995e+02] [ 3.49685053e-02 -1.66659934e-03 9.99387025e-01 1.23757598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5771056809999 meters 0.03136520294137477 Centerline is valid? [True, True] Translation: X:160.97, Y:195.85, Z:12.38 [[-7.33532729e-01 -6.79278114e-01 2.26048657e-02 1.60972977e+02] [ 6.78899652e-01 -7.33879774e-01 -2.27099056e-02 1.95846346e+02] [ 3.20155956e-02 -1.31202356e-03 9.99486508e-01 1.23817651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.6071056809999 meters 0.028581600380440577 Centerline is valid? [True, True] Translation: X:160.95, Y:195.86, Z:12.38 [[-7.27627985e-01 -6.85681495e-01 1.99600293e-02 1.60947309e+02] [ 6.85389205e-01 -7.27901145e-01 -2.00390006e-02 1.95856053e+02] [ 2.82693000e-02 -9.00549021e-04 9.99599938e-01 1.23833847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.6371056809999 meters 0.02717416985889628 Centerline is valid? [True, True] Translation: X:160.93, Y:195.87, Z:12.38 [[-7.26381583e-01 -6.87019777e-01 1.93293073e-02 1.60925143e+02] [ 6.86746567e-01 -7.26638266e-01 -1.93902675e-02 1.95872765e+02] [ 2.73669116e-02 -8.10397754e-04 9.99625127e-01 1.23819990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.6671056809999 meters 0.02662152686025892 Centerline is valid? [True, True] Translation: X:160.91, Y:195.89, Z:12.38 [[-7.25415026e-01 -6.87994980e-01 2.08793563e-02 1.60905160e+02] [ 6.87677048e-01 -7.25714977e-01 -2.09296224e-02 1.95891491e+02] [ 2.95519367e-02 -8.24408422e-04 9.99562906e-01 1.23785122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.6971056809999 meters 0.026904013092258535 Centerline is valid? [True, True] Translation: X:160.89, Y:195.91, Z:12.38 [[-7.26148538e-01 -6.87176348e-01 2.22927769e-02 1.60887920e+02] [ 6.86814066e-01 -7.26490090e-01 -2.23290916e-02 1.95910697e+02] [ 3.15395052e-02 -9.03244506e-04 9.99502098e-01 1.23778084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.7271056809999 meters 0.028350396313097652 Centerline is valid? [True, True] Translation: X:160.87, Y:195.93, Z:12.38 [[-7.28601439e-01 -6.84473285e-01 2.52243181e-02 1.60871977e+02] [ 6.84008565e-01 -7.29037053e-01 -2.52439769e-02 1.95931719e+02] [ 3.56682903e-02 -1.13914830e-03 9.99363035e-01 1.23757179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.7571056809999 meters 0.03091076284622865 Centerline is valid? [True, True] Translation: X:160.86, Y:195.95, Z:12.37 [[-7.32025168e-01 -6.80742082e-01 2.70068616e-02 1.60859305e+02] [ 6.80207622e-01 -7.32521850e-01 -2.70061051e-02 1.95953893e+02] [ 3.81673084e-02 -1.39887551e-03 9.99270384e-01 1.23729182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.7871056809999 meters 0.032380794731510724 Centerline is valid? [True, True] Translation: X:161.58, Y:196.88, Z:12.70 [[-7.34697203e-01 6.78275949e-01 -1.27183999e-02 1.61577887e+02] [ 6.78136373e-01 7.34805649e-01 1.38462430e-02 1.96880299e+02] [ 1.87371257e-02 1.54798643e-03 -9.99823246e-01 1.26976609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.81710568099993 meters 0.03418429394991349 Centerline is valid? [True, True] Translation: X:161.47, Y:196.98, Z:12.70 [[-7.83261993e-01 6.21530265e-01 -1.41696575e-02 1.61468881e+02] [ 6.21394019e-01 7.83388808e-01 1.30938733e-02 1.96980354e+02] [ 1.92385896e-02 1.45099291e-03 -9.99813868e-01 1.27032567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.8471056809999 meters 0.03482627295859721 Centerline is valid? [True, True] Translation: X:161.36, Y:197.08, Z:12.71 [[-8.28387213e-01 5.59967433e-01 -1.45292568e-02 1.61356030e+02] [ 5.59850061e-01 8.28513373e-01 1.15542221e-02 1.97075875e+02] [ 1.85076716e-02 1.43716454e-03 -9.99827685e-01 1.27062554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.87710568099993 meters 0.03324856288517908 Centerline is valid? [True, True] Translation: X:161.25, Y:197.16, Z:12.71 [[-8.68940614e-01 4.94706520e-01 -1.44107312e-02 1.61245306e+02] [ 4.94610056e-01 8.69058884e-01 9.87669385e-03 1.97163357e+02] [ 1.74098388e-02 1.45456783e-03 -9.99847379e-01 1.27070738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.9071056809999 meters 0.031919364138784254 Centerline is valid? [True, True] Translation: X:161.13, Y:197.24, Z:12.71 [[-9.04798933e-01 4.25549026e-01 -1.57135911e-02 1.61130751e+02] [ 4.25456992e-01 9.04934249e-01 8.96397936e-03 1.97240118e+02] [ 1.80343795e-02 1.42514175e-03 -9.99836352e-01 1.27076405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93710568099993 meters 0.033859522913148504 Centerline is valid? [True, True] Translation: X:161.02, Y:197.30, Z:12.71 [[-9.34889645e-01 3.54525237e-01 -1.71233430e-02 1.61015449e+02] [ 3.54438293e-01 9.35045422e-01 7.97214091e-03 1.97298678e+02] [ 1.88374286e-02 1.38390352e-03 -9.99821602e-01 1.27101815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.9671056809999 meters 0.03413631668476867 Centerline is valid? [True, True] Translation: X:160.91, Y:197.35, Z:12.71 [[-9.58717134e-01 2.83748881e-01 -1.86555349e-02 1.60908040e+02] [ 2.83668628e-01 9.58897749e-01 6.87137717e-03 1.97348930e+02] [ 1.98384960e-02 1.29571706e-03 -9.99802358e-01 1.27100357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99710568099994 meters 0.03298638024970243 Centerline is valid? [True, True] Translation: X:160.81, Y:197.39, Z:12.71 [[-9.76758154e-01 2.13570766e-01 -1.81944056e-02 1.60810523e+02] [ 2.13509482e-01 9.76926781e-01 5.26940590e-03 1.97390536e+02] [ 1.88999932e-02 1.26225706e-03 -9.99820582e-01 1.27105297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0271056809999 meters 0.03566183022801628 Centerline is valid? [True, True] Translation: X:160.73, Y:197.41, Z:12.71 [[-9.89663355e-01 1.42314820e-01 -1.76899813e-02 1.60732343e+02] [ 1.42269542e-01 9.89820664e-01 3.79862962e-03 1.97414743e+02] [ 1.80505104e-02 1.24261899e-03 -9.99836304e-01 1.27133213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.05710568099994 meters 0.034219181482486795 Centerline is valid? [True, True] Translation: X:160.56, Y:196.27, Z:12.40 [[-9.92051039e-01 -1.19872573e-01 3.82792623e-02 1.60555233e+02] [ 1.19782450e-01 -9.92789286e-01 -4.64749819e-03 1.96270274e+02] [ 3.85603490e-02 -2.53716017e-05 9.99256273e-01 1.23970189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0871056809999 meters 0.033873679271512094 Centerline is valid? [True, True] Translation: X:160.68, Y:197.42, Z:12.72 [[-9.90584363e-01 1.35861353e-01 -1.68615799e-02 1.60675064e+02] [ 1.35819266e-01 9.90727010e-01 3.62193823e-03 1.97424434e+02] [ 1.71973040e-02 1.29770798e-03 -9.99851273e-01 1.27154238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.11710568099994 meters 0.033800991104366664 Centerline is valid? [True, True] Translation: X:160.51, Y:196.27, Z:12.40 [[-9.92534133e-01 -1.15460769e-01 3.93040062e-02 1.60506367e+02] [ 1.15369764e-01 -9.93312041e-01 -4.58334831e-03 1.96272238e+02] [ 3.95703395e-02 -1.46357332e-05 9.99216787e-01 1.23985163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.1471056809999 meters 0.03426057574995789 Centerline is valid? [True, True] Translation: X:160.43, Y:196.27, Z:12.40 [[-9.82304276e-01 -1.82840809e-01 4.05899975e-02 1.60432904e+02] [ 1.82685980e-01 -9.83142532e-01 -7.52293854e-03 1.96266043e+02] [ 4.12812531e-02 2.54088032e-05 9.99147565e-01 1.23976947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.17710568099994 meters 0.03436344385868084 Centerline is valid? [True, True] Translation: X:160.60, Y:197.42, Z:12.72 [[-9.80667221e-01 1.95265368e-01 -1.27764505e-02 1.60603711e+02] [ 1.95228682e-01 9.80749303e-01 4.07029460e-03 1.97420052e+02] [ 1.33252825e-02 1.49727490e-03 -9.99910093e-01 1.27219412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2071056809999 meters 0.03511401792022001 Centerline is valid? [True, True] Translation: X:160.53, Y:197.45, Z:12.73 [[-9.92215828e-01 1.24124024e-01 -1.00487083e-02 1.60531551e+02] [ 1.24101461e-01 9.92265466e-01 2.84103380e-03 1.97445070e+02] [ 1.03236268e-02 1.57185932e-03 -9.99945475e-01 1.27280148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.23710568099995 meters 0.03561772003364258 Centerline is valid? [True, True] Translation: X:160.47, Y:197.46, Z:12.73 [[-9.98532061e-01 5.35931572e-02 -7.84198728e-03 1.60471400e+02] [ 5.35785559e-02 9.98561512e-01 2.06047799e-03 1.97464986e+02] [ 7.94113420e-03 1.63729098e-03 -9.99967128e-01 1.27310196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2671056809999 meters 0.035603339550218875 Centerline is valid? [True, True] Translation: X:160.40, Y:196.30, Z:12.39 [[-9.98232152e-01 -3.37222960e-02 4.89425952e-02 1.60399447e+02] [ 3.36603753e-02 -9.99431146e-01 -2.08905980e-03 1.96302511e+02] [ 4.89852019e-02 -4.37940542e-04 9.98799408e-01 1.23891746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2971056809999 meters 0.03350240483763399 Centerline is valid? [True, True] Translation: X:160.44, Y:197.47, Z:12.73 [[-9.98804566e-01 4.84773986e-02 -6.27534949e-03 1.60436019e+02] [ 4.84656465e-02 9.98822825e-01 2.01154994e-03 1.97469079e+02] [ 6.36547702e-03 1.70500640e-03 -9.99978287e-01 1.27327970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.3271056809999 meters 0.03363458794590176 Centerline is valid? [True, True] Translation: X:160.37, Y:196.30, Z:12.39 [[-9.98361998e-01 -3.00455431e-02 4.86886646e-02 1.60369733e+02] [ 2.99837692e-02 -9.99548387e-01 -1.99878963e-03 1.96298994e+02] [ 4.87267309e-02 -5.35645928e-04 9.98812004e-01 1.23910818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.3571056809999 meters 0.03236874879430958 Centerline is valid? [True, True] Translation: X:160.41, Y:197.47, Z:12.73 [[-9.99068777e-01 4.26536310e-02 -6.49981305e-03 1.60405094e+02] [ 4.26415825e-02 9.99088470e-01 1.98117872e-03 1.97471461e+02] [ 6.57839274e-03 1.70217148e-03 -9.99976913e-01 1.27329357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.3871056809999 meters 0.031820380293680235 Centerline is valid? [True, True] Translation: X:160.34, Y:196.29, Z:12.40 [[-9.98451452e-01 -3.11115047e-02 4.61169375e-02 1.60340595e+02] [ 3.10634247e-02 -9.99515868e-01 -1.75903073e-03 1.96293783e+02] [ 4.61493369e-02 -3.23756766e-04 9.98934499e-01 1.23979140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.4171056809999 meters 0.031468749971253665 Centerline is valid? [True, True] Translation: X:160.37, Y:197.47, Z:12.73 [[-9.99363820e-01 3.39335405e-02 -1.09758721e-02 1.60371546e+02] [ 3.39142516e-02 9.99422866e-01 1.93882912e-03 1.97473404e+02] [ 1.10353289e-02 1.56535718e-03 -9.99937884e-01 1.27257263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.4471056809999 meters 0.029315706721041446 Centerline is valid? [True, True] Translation: X:160.31, Y:197.49, Z:12.72 [[-9.99047865e-01 -4.13344624e-02 -1.39580068e-02 1.60312589e+02] [-4.13514798e-02 9.99144226e-01 9.32664520e-04 1.97493235e+02] [ 1.39075107e-02 1.50896074e-03 -9.99902147e-01 1.27219614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.4771056809999 meters 0.02913302815151109 Centerline is valid? [True, True] Translation: X:160.34, Y:196.30, Z:12.41 [[-9.98563515e-01 3.61244946e-02 3.95717973e-02 1.60340104e+02] [-3.60876282e-02 -9.99347274e-01 1.64577592e-03 1.96302683e+02] [ 3.96054206e-02 2.15359480e-04 9.99215374e-01 1.24072635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.5071056809999 meters 0.026166363392421423 Centerline is valid? [True, True] Translation: X:160.29, Y:196.28, Z:12.42 [[-9.98748078e-01 -3.46043657e-02 3.61222049e-02 1.60289328e+02] [ 3.45848512e-02 -9.99401086e-01 -1.16512885e-03 1.96279201e+02] [ 3.61408893e-02 8.56108839e-05 9.99346701e-01 1.24153199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.5371056809999 meters 0.02700107560052086 Centerline is valid? [True, True] Translation: X:160.31, Y:197.48, Z:12.71 [[-9.99693301e-01 1.54648588e-02 -1.93427709e-02 1.60309909e+02] [ 1.54336832e-02 9.99879345e-01 1.75999573e-03 1.97478492e+02] [ 1.93676551e-02 1.46092574e-03 -9.99811362e-01 1.27125421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.56710568099993 meters 0.0245767171368656 Centerline is valid? [True, True] Translation: X:160.26, Y:196.27, Z:12.42 [[-9.98597119e-01 -3.74642681e-02 3.74195528e-02 1.60260979e+02] [ 3.74775991e-02 -9.99297408e-01 -3.45366544e-04 1.96273156e+02] [ 3.74062011e-02 1.05751297e-03 9.99299584e-01 1.24179264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.5971056809999 meters 0.0245767171368656 Centerline is valid? [True, True] Translation: X:160.28, Y:197.48, Z:12.71 [[-9.99833179e-01 6.63531882e-03 -1.70172722e-02 1.60275483e+02] [ 6.60717477e-03 9.99976711e-01 1.70954162e-03 1.97484238e+02] [ 1.70282192e-02 1.59682034e-03 -9.99853734e-01 1.27139046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.62710568099993 meters 0.024202352677661066 Centerline is valid? [True, True] Translation: X:160.22, Y:197.50, Z:12.72 [[-9.97587751e-01 -6.76252654e-02 -1.56685121e-02 1.60217716e+02] [-6.76430328e-02 9.97709403e-01 6.06175780e-04 1.97500279e+02] [ 1.55916291e-02 1.66457921e-03 -9.99877058e-01 1.27178790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.6571056809999 meters 0.023230467494414445 Centerline is valid? [True, True] Translation: X:160.16, Y:197.51, Z:12.72 [[-9.89455044e-01 -1.44317731e-01 -1.22926261e-02 1.60159614e+02] [-1.44328800e-01 9.89529786e-01 1.35486631e-05 1.97513732e+02] [ 1.21619644e-02 1.78758577e-03 -9.99924443e-01 1.27236213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.68710568099993 meters 0.02294424176188409 Centerline is valid? [True, True] Translation: X:160.29, Y:196.30, Z:12.41 [[-9.94318159e-01 9.55297422e-02 4.69624048e-02 1.60289673e+02] [-9.53554500e-02 -9.95425548e-01 5.94285037e-03 1.96300762e+02] [ 4.73152965e-02 1.43096280e-03 9.98878979e-01 1.24060024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7171056809999 meters 0.022915024632293828 Centerline is valid? [True, True] Translation: X:160.13, Y:197.51, Z:12.73 [[-9.87960888e-01 -1.54617476e-01 -5.16910305e-03 1.60131514e+02] [-1.54625098e-01 9.87972598e-01 1.10645696e-03 1.97510823e+02] [ 4.93585459e-03 1.89240927e-03 -9.99986028e-01 1.27306321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.74710568099994 meters 0.02286081839583504 Centerline is valid? [True, True] Translation: X:160.07, Y:197.52, Z:12.74 [[-9.73940234e-01 -2.26761739e-01 -4.41981186e-03 1.60071080e+02] [-2.26767815e-01 9.73948414e-01 9.19155165e-04 1.97516231e+02] [ 4.09623953e-03 1.89747327e-03 -9.99989810e-01 1.27352474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7771056809999 meters 0.023038749785765592 Centerline is valid? [True, True] Translation: X:160.01, Y:197.52, Z:12.74 [[-9.55199743e-01 -2.95926211e-01 -4.59654636e-03 1.60011829e+02] [-2.95931750e-01 9.55208922e-01 5.60075986e-04 1.97518497e+02] [ 4.22492093e-03 1.89524845e-03 -9.99989279e-01 1.27368684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.80710568099994 meters 0.02332510315523066 Centerline is valid? [True, True] Translation: X:159.95, Y:197.52, Z:12.74 [[-9.29687861e-01 -3.68327463e-01 -3.91933139e-03 1.59950624e+02] [-3.68332080e-01 9.29694157e-01 5.03426755e-04 1.97521377e+02] [ 3.45835359e-03 1.91164522e-03 -9.99992193e-01 1.27364573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8371056809999 meters 0.023377563184977083 Centerline is valid? [True, True] Translation: X:160.34, Y:196.36, Z:12.40 [[-9.54465098e-01 2.94589806e-01 4.70448986e-02 1.60341757e+02] [-2.94159065e-01 -9.55622743e-01 1.59880587e-02 1.96355709e+02] [ 4.96670942e-02 1.42136062e-03 9.98764817e-01 1.24016420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.86710568099994 meters 0.023449696487474518 Centerline is valid? [True, True] Translation: X:160.30, Y:196.32, Z:12.40 [[-9.72303518e-01 2.29086287e-01 4.63178374e-02 1.60297510e+02] [-2.28762721e-01 -9.73405243e-01 1.22413621e-02 1.96322820e+02] [ 4.78903540e-02 1.30652486e-03 9.98851744e-01 1.24030765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8971056809999 meters 0.023415099101277977 Centerline is valid? [True, True] Translation: X:159.96, Y:197.51, Z:12.74 [[-9.50798111e-01 -3.09745496e-01 -6.37805629e-03 1.59959507e+02] [-3.09751494e-01 9.50817548e-01 -4.98384726e-05 1.97505223e+02] [ 6.07980508e-03 1.92822614e-03 -9.99979659e-01 1.27361154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.92710568099994 meters 0.02340727872504635 Centerline is valid? [True, True] Translation: X:159.90, Y:197.50, Z:12.74 [[-9.26394358e-01 -3.76485670e-01 -7.21340683e-03 1.59895281e+02] [-3.76489657e-01 9.26420432e-01 -8.48870794e-04 1.97504970e+02] [ 7.00223516e-03 1.92938395e-03 -9.99973623e-01 1.27381404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9571056809999 meters 0.022917636347221524 Centerline is valid? [True, True] Translation: X:159.83, Y:197.49, Z:12.74 [[-8.99643264e-01 -4.36556065e-01 -7.79745065e-03 1.59833043e+02] [-4.36556917e-01 8.99675068e-01 -1.68233067e-03 1.97493969e+02] [ 7.74960360e-03 1.89053355e-03 -9.99968184e-01 1.27362000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.98710568099995 meters 0.023032713998128652 Centerline is valid? [True, True] Translation: X:160.31, Y:196.36, Z:12.41 [[-9.26396945e-01 3.74197215e-01 4.20136300e-02 1.60313707e+02] [-3.73762890e-01 -9.27348587e-01 1.80526984e-02 1.96360831e+02] [ 4.57165499e-02 1.02082888e-03 9.98953930e-01 1.24052899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0171056809999 meters 0.02305977045555784 Centerline is valid? [True, True] Translation: X:159.81, Y:197.48, Z:12.74 [[-8.99263350e-01 -4.37373556e-01 -5.45901020e-03 1.59805233e+02] [-4.37377146e-01 8.99277985e-01 -5.81073030e-04 1.97480338e+02] [ 5.16331367e-03 1.86510862e-03 -9.99984931e-01 1.27415471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0471056809999 meters 0.02316980478780742 Centerline is valid? [True, True] Translation: X:159.75, Y:197.47, Z:12.74 [[-8.66311773e-01 -4.99477439e-01 -5.11863063e-03 1.59745596e+02] [-4.99480229e-01 8.66324908e-01 -8.09376224e-04 1.97471516e+02] [ 4.83866237e-03 1.85548265e-03 -9.99986572e-01 1.27436488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0771056809999 meters 0.0235003661497278 Centerline is valid? [True, True] Translation: X:160.31, Y:196.37, Z:12.40 [[-8.94791515e-01 4.44229439e-01 4.48146185e-02 1.60311765e+02] [-4.43621044e-01 -8.95912572e-01 2.32601201e-02 1.96369406e+02] [ 5.04828102e-02 9.32250278e-04 9.98724495e-01 1.23989530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.1071056809999 meters 0.0235121278441123 Centerline is valid? [True, True] Translation: X:160.27, Y:196.33, Z:12.40 [[-9.22339922e-01 3.83416077e-01 4.77616933e-02 1.60272120e+02] [-3.82845894e-01 -9.23575161e-01 2.09270922e-02 1.96327266e+02] [ 5.21352971e-02 1.01652443e-03 9.98639513e-01 1.23988313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.1371056809999 meters 0.023639106455637406 Centerline is valid? [True, True] Translation: X:160.23, Y:196.29, Z:12.40 [[-9.45684554e-01 3.21300569e-01 4.94638128e-02 1.60233382e+02] [-3.20804425e-01 -9.46976696e-01 1.78789742e-02 1.96290284e+02] [ 5.25856027e-02 1.03965968e-03 9.98615879e-01 1.23984144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.1671056809999 meters 0.023749117427131167 Centerline is valid? [True, True] Translation: X:159.78, Y:197.46, Z:12.75 [[-9.25597946e-01 -3.78508179e-01 -4.06906358e-05 1.59783576e+02] [-3.78507500e-01 9.25596071e-01 1.99638518e-03 1.97463130e+02] [-7.17985027e-04 1.86325174e-03 -9.99998006e-01 1.27504470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.1971056809999 meters 0.023694004388419412 Centerline is valid? [True, True] Translation: X:159.72, Y:197.46, Z:12.75 [[-8.96313540e-01 -4.43420763e-01 2.55343739e-04 1.59719008e+02] [-4.43419201e-01 8.96311649e-01 2.20019714e-03 1.97459246e+02] [-1.20448066e-03 1.85884217e-03 -9.99997547e-01 1.27502906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.2271056809999 meters 0.024035811714839456 Centerline is valid? [True, True] Translation: X:160.23, Y:196.29, Z:12.40 [[-9.17686485e-01 3.94375591e-01 4.81602479e-02 1.60234900e+02] [-3.93805869e-01 -9.18949214e-01 2.11962312e-02 1.96294748e+02] [ 5.26160981e-02 4.85706602e-04 9.98614696e-01 1.23954581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.2571056809999 meters 0.024745233211007984 Centerline is valid? [True, True] Translation: X:159.70, Y:197.44, Z:12.75 [[-8.98427291e-01 -4.39118259e-01 -1.88610056e-03 1.59696437e+02] [-4.39120660e-01 8.98427402e-01 1.11755316e-03 1.97442728e+02] [ 1.20378643e-03 1.83226599e-03 -9.99997597e-01 1.27487125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.2871056809999 meters 0.025899951374700792 Centerline is valid? [True, True] Translation: X:160.21, Y:196.29, Z:12.41 [[-9.12694322e-01 4.06120608e-01 4.53335063e-02 1.60207150e+02] [-4.05621262e-01 -9.13819485e-01 2.01330577e-02 1.96286750e+02] [ 4.96030910e-02 -1.29065625e-05 9.98769009e-01 1.24070937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.31710568099993 meters 0.02437040130917448 Centerline is valid? [True, True] Translation: X:160.17, Y:196.24, Z:12.41 [[-9.39988108e-01 3.38056325e-01 4.62631380e-02 1.60167960e+02] [-3.37649341e-01 -9.41125879e-01 1.65832054e-02 1.96244089e+02] [ 4.91454939e-02 -3.27022136e-05 9.98791630e-01 1.24053650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.3471056809999 meters 0.023148153784995542 Centerline is valid? [True, True] Translation: X:160.13, Y:196.20, Z:12.41 [[-9.62560262e-01 2.67091793e-01 4.62570620e-02 1.60130607e+02] [-2.66788583e-01 -9.63671088e-01 1.27234548e-02 1.96204208e+02] [ 4.79749236e-02 -9.37640675e-05 9.98848536e-01 1.24057806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.37710568099993 meters 0.022717406654941232 Centerline is valid? [True, True] Translation: X:159.74, Y:197.45, Z:12.74 [[-9.41580307e-01 -3.36653314e-01 -9.54311153e-03 1.59744242e+02] [-3.36655955e-01 9.41626716e-01 -1.37656805e-03 1.97447235e+02] [ 9.44947496e-03 1.91659596e-03 -9.99953516e-01 1.27370864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.4071056809999 meters 0.0232634245319208 Centerline is valid? [True, True] Translation: X:160.12, Y:196.18, Z:12.42 [[-9.66211088e-01 2.54833348e-01 3.86794333e-02 1.60121404e+02] [-2.54567340e-01 -9.66983834e-01 1.17359982e-02 1.96183396e+02] [ 4.03931104e-02 1.49293117e-03 9.99182750e-01 1.24198431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43710568099993 meters 0.025465774429047756 Centerline is valid? [True, True] Translation: X:160.08, Y:196.14, Z:12.43 [[-9.83112857e-01 1.79107994e-01 3.75424709e-02 1.60078667e+02] [-1.78925697e-01 -9.83828517e-01 8.18804301e-03 1.96142553e+02] [ 3.84018974e-02 1.33245761e-03 9.99261487e-01 1.24275784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.4671056809999 meters 0.026847297794265243 Centerline is valid? [True, True] Translation: X:159.76, Y:197.45, Z:12.72 [[-9.55920947e-01 -2.93320094e-01 -1.33591262e-02 1.59755734e+02] [-2.93322638e-01 9.56011791e-01 -1.81255378e-03 1.97447014e+02] [ 1.33031407e-02 2.18587603e-03 -9.99909120e-01 1.27241175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49710568099994 meters 0.028669721679031812 Centerline is valid? [True, True] Translation: X:159.69, Y:197.44, Z:12.73 [[-9.29652621e-01 -3.68193847e-01 -1.33901660e-02 1.59694741e+02] [-3.68190146e-01 9.29746205e-01 -2.83028518e-03 1.97444918e+02] [ 1.34915496e-02 2.29894514e-03 -9.99906342e-01 1.27256137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5271056809999 meters 0.02964971095194982 Centerline is valid? [True, True] Translation: X:160.09, Y:196.16, Z:12.43 [[-9.70795365e-01 2.37318274e-01 3.51624184e-02 1.60088746e+02] [-2.37071285e-01 -9.71428900e-01 1.10949533e-02 1.96160750e+02] [ 3.67908246e-02 2.43492957e-03 9.99320022e-01 1.24279833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.55710568099994 meters 0.03390154691556796 Centerline is valid? [True, True] Translation: X:160.04, Y:196.13, Z:12.43 [[-9.86207687e-01 1.61896224e-01 3.44094633e-02 1.60042481e+02] [-1.61717096e-01 -9.86805176e-01 7.94516164e-03 1.96126540e+02] [ 3.52417282e-02 2.27098100e-03 9.99376237e-01 1.24303680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5871056809999 meters 0.03517191935933342 Centerline is valid? [True, True] Translation: X:159.99, Y:196.10, Z:12.43 [[-9.95149005e-01 9.17455388e-02 3.55135799e-02 1.59992227e+02] [-9.16030521e-02 -9.95779731e-01 5.62212543e-03 1.96095430e+02] [ 3.58795080e-02 2.34170022e-03 9.99353380e-01 1.24319701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.61710568099994 meters 0.035820146937853854 Centerline is valid? [True, True] Translation: X:159.75, Y:197.42, Z:12.72 [[-9.65305557e-01 -2.60628123e-01 -1.60674818e-02 1.59745509e+02] [-2.60636963e-01 9.65435592e-01 -1.57817541e-03 1.97423544e+02] [ 1.59234357e-02 2.66435817e-03 -9.99869664e-01 1.27230572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.6471056809999 meters 0.03621003232291293 Centerline is valid? [True, True] Translation: X:159.68, Y:197.43, Z:12.73 [[-9.43539764e-01 -3.30930240e-01 -1.47610641e-02 1.59681413e+02] [-3.30932108e-01 9.43651548e-01 -2.38667137e-03 1.97426750e+02] [ 1.47191228e-02 2.63299073e-03 -9.99888201e-01 1.27259889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.67710568099994 meters 0.034762957608221456 Centerline is valid? [True, True] Translation: X:159.61, Y:197.42, Z:12.73 [[-9.20322795e-01 -3.90906841e-01 -1.40639375e-02 1.59613280e+02] [-3.90901372e-01 9.20426834e-01 -3.24966940e-03 1.97419581e+02] [ 1.42151434e-02 2.50686762e-03 -9.99895817e-01 1.27276432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7071056809999 meters 0.033432257420728737 Centerline is valid? [True, True] Translation: X:160.02, Y:196.14, Z:12.43 [[-9.70051926e-01 2.40160942e-01 3.63590913e-02 1.60016748e+02] [-2.39878538e-01 -9.70728683e-01 1.20046109e-02 1.96137295e+02] [ 3.81778514e-02 2.92333030e-03 9.99266684e-01 1.24295444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.73710568099995 meters 0.027997085421427537 Centerline is valid? [True, True] Translation: X:159.58, Y:197.39, Z:12.73 [[-9.24605052e-01 -3.80765987e-01 -1.10797291e-02 1.59581901e+02] [-3.80765966e-01 9.24668841e-01 -2.19393016e-03 1.97392676e+02] [ 1.10804542e-02 2.19026483e-03 -9.99936211e-01 1.27315379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7671056809999 meters 0.027719854583628085 Centerline is valid? [True, True] Translation: X:159.98, Y:196.14, Z:12.42 [[-9.64578748e-01 2.60884267e-01 3.90798886e-02 1.59980472e+02] [-2.60579610e-01 -9.65367690e-01 1.27863086e-02 1.96140047e+02] [ 4.10622085e-02 2.14997943e-03 9.99154279e-01 1.24232768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7971056809999 meters 0.02385240576312184 Centerline is valid? [True, True] Translation: X:159.55, Y:197.37, Z:12.73 [[-9.29672408e-01 -3.68239856e-01 -1.04222524e-02 1.59553461e+02] [-3.68239812e-01 9.29728707e-01 -1.99309144e-03 1.97365725e+02] [ 1.04238029e-02 1.98496613e-03 -9.99943701e-01 1.27344566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.8271056809999 meters 0.02299042949189863 Centerline is valid? [True, True] Translation: X:159.94, Y:196.14, Z:12.43 [[-9.59058341e-01 2.80659067e-01 3.79155179e-02 1.59944005e+02] [-2.80385479e-01 -9.59806622e-01 1.24592178e-02 1.96140428e+02] [ 3.98883576e-02 1.31815607e-03 9.99203273e-01 1.24300007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.8571056809999 meters 0.02284150714461548 Centerline is valid? [True, True] Translation: X:159.52, Y:197.35, Z:12.73 [[-9.30882786e-01 -3.65140811e-01 -1.13765764e-02 1.59522333e+02] [-3.65137937e-01 9.30950328e-01 -2.40298685e-03 1.97351993e+02] [ 1.14684561e-02 1.91712053e-03 -9.99932397e-01 1.27305129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.8871056809999 meters 0.02258838602240695 Centerline is valid? [True, True] Translation: X:159.46, Y:197.34, Z:12.73 [[-9.03442700e-01 -4.28573640e-01 -1.07667180e-02 1.59456876e+02] [-4.28567180e-01 9.03504880e-01 -3.01716994e-03 1.97342781e+02] [ 1.10208618e-02 1.88842183e-03 -9.99937485e-01 1.27302899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.9171056809999 meters 0.022403877921338855 Centerline is valid? [True, True] Translation: X:159.40, Y:197.33, Z:12.73 [[-8.72824922e-01 -4.87945572e-01 -9.26140861e-03 1.59398788e+02] [-4.87939329e-01 8.72872128e-01 -3.07545331e-03 1.97330304e+02] [ 9.58467927e-03 1.83467321e-03 -9.99952383e-01 1.27315824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.9471056809999 meters 0.02249195395468552 Centerline is valid? [True, True] Translation: X:159.34, Y:197.31, Z:12.73 [[-8.38951577e-01 -5.44159245e-01 -7.13924007e-03 1.59338095e+02] [-5.44156413e-01 8.38980054e-01 -2.50329494e-03 1.97310643e+02] [ 7.35187110e-03 1.78472004e-03 -9.99971382e-01 1.27332408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.9771056809999 meters 0.022945564454023903 Centerline is valid? [True, True] Translation: X:159.97, Y:196.22, Z:12.43 [[-8.69084371e-01 4.93152255e-01 3.86420739e-02 1.59974654e+02] [-4.92633076e-01 -8.69942787e-01 2.26318224e-02 1.96217109e+02] [ 4.47773277e-02 6.32599347e-04 9.98996792e-01 1.24313020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.0071056809999 meters 0.023046242837195762 Centerline is valid? [True, True] Translation: X:159.94, Y:196.18, Z:12.43 [[-8.99484565e-01 4.35096093e-01 4.02356565e-02 1.59935953e+02] [-4.34629432e-01 -9.00383794e-01 2.01563835e-02 1.96177486e+02] [ 4.49974968e-02 6.42755252e-04 9.98986893e-01 1.24302682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.0371056809999 meters 0.023601587013018264 Centerline is valid? [True, True] Translation: X:159.35, Y:197.29, Z:12.74 [[-8.75937966e-01 -4.82391950e-01 -5.53951484e-03 1.59351952e+02] [-4.82393900e-01 8.75953759e-01 -1.06684282e-03 1.97287030e+02] [ 5.36699523e-03 1.73774003e-03 -9.99984088e-01 1.27400416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.06710568099993 meters 0.02368811427463629 Centerline is valid? [True, True] Translation: X:159.29, Y:197.27, Z:12.74 [[-8.40082821e-01 -5.42429947e-01 -5.53239315e-03 1.59290080e+02] [-5.42430575e-01 8.40099263e-01 -1.51666238e-03 1.97270455e+02] [ 5.47044250e-03 1.72681719e-03 -9.99983546e-01 1.27409835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.0971056809999 meters 0.02376172069729251 Centerline is valid? [True, True] Translation: X:159.23, Y:197.25, Z:12.74 [[-7.99638768e-01 -6.00458809e-01 -5.20184835e-03 1.59234830e+02] [-6.00458742e-01 7.99653826e-01 -1.74861470e-03 1.97254898e+02] [ 5.20964904e-03 1.72523521e-03 -9.99984941e-01 1.27397210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.12710568099993 meters 0.023416393228535032 Centerline is valid? [True, True] Translation: X:159.18, Y:197.24, Z:12.74 [[-7.53939016e-01 -6.56921122e-01 -5.53178262e-03 1.59175434e+02] [-6.56918512e-01 7.53957335e-01 -2.53110856e-03 1.97237928e+02] [ 5.83346676e-03 1.72562891e-03 -9.99981496e-01 1.27378183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.1571056809999 meters 0.023434046262038658 Centerline is valid? [True, True] Translation: X:159.12, Y:197.21, Z:12.73 [[-7.06734131e-01 -7.07447022e-01 -6.75118205e-03 1.59121506e+02] [-7.07435593e-01 7.06764350e-01 -4.36305533e-03 1.97209062e+02] [ 7.85812529e-03 1.69250635e-03 -9.99967692e-01 1.27337169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.18710568099993 meters 0.02344039342244789 Centerline is valid? [True, True] Translation: X:159.07, Y:197.18, Z:12.73 [[-6.54945170e-01 -7.55637331e-01 -7.68430046e-03 1.59066904e+02] [-7.55612794e-01 6.54988116e-01 -6.31453048e-03 1.97178837e+02] [ 9.80462044e-03 1.67068450e-03 -9.99950538e-01 1.27261717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2171056809999 meters 0.023553599341331173 Centerline is valid? [True, True] Translation: X:159.02, Y:197.14, Z:12.72 [[-5.99808907e-01 -8.00107634e-01 -7.55316288e-03 1.59017764e+02] [-8.00076034e-01 5.99854157e-01 -7.30275979e-03 1.97144559e+02] [ 1.03737900e-02 1.66284424e-03 -9.99944808e-01 1.27248245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.24710568099994 meters 0.02356211193717791 Centerline is valid? [True, True] Translation: X:160.00, Y:196.35, Z:12.44 [[-6.37230726e-01 7.70267768e-01 2.49913433e-02 1.59999933e+02] [-7.69659990e-01 -6.37720548e-01 3.05941711e-02 1.96349147e+02] [ 3.95031971e-02 2.60708839e-04 9.99219410e-01 1.24448559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2771056809999 meters 0.023159439280924763 Centerline is valid? [True, True] Translation: X:159.00, Y:197.13, Z:12.73 [[-5.93670119e-01 -8.04674501e-01 -7.39844418e-03 1.59004853e+02] [-8.04644470e-01 5.93713773e-01 -7.15774299e-03 1.97125032e+02] [ 1.01522115e-02 1.70377906e-03 -9.99947013e-01 1.27278306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.30710568099994 meters 0.023057797421477146 Centerline is valid? [True, True] Translation: X:158.96, Y:197.09, Z:12.73 [[-5.33299465e-01 -8.45897253e-01 -7.03694974e-03 1.58957221e+02] [-8.45861853e-01 5.33343103e-01 -7.92846207e-03 1.97090390e+02] [ 1.04597729e-02 1.72404276e-03 -9.99943809e-01 1.27258598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3371056809999 meters 0.023191369316451296 Centerline is valid? [True, True] Translation: X:158.91, Y:197.05, Z:12.72 [[-4.68284401e-01 -8.83551554e-01 -6.80961753e-03 1.58910079e+02] [-8.83506755e-01 4.68330571e-01 -9.07135911e-03 1.97052509e+02] [ 1.12041655e-02 1.76836712e-03 -9.99935668e-01 1.27210119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.36710568099994 meters 0.02473490123626158 Centerline is valid? [True, True] Translation: X:158.86, Y:197.02, Z:12.71 [[-3.91062825e-01 -9.20332993e-01 -7.55309880e-03 1.58859757e+02] [-9.20247647e-01 3.91130707e-01 -1.26901230e-02 1.97021094e+02] [ 1.46333878e-02 1.98808604e-03 -9.99890950e-01 1.27142468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3971056809999 meters 0.027782869605870706 Centerline is valid? [True, True] Translation: X:160.04, Y:196.44, Z:12.46 [[-4.91798652e-01 8.70607942e-01 1.32626266e-02 1.60035473e+02] [-8.70216039e-01 -4.91975677e-01 2.61529652e-02 1.96439016e+02] [ 2.92938689e-02 1.32064264e-03 9.99569970e-01 1.24615337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.42710568099994 meters 0.028910783806479663 Centerline is valid? [True, True] Translation: X:158.84, Y:197.01, Z:12.71 [[-3.74011900e-01 -9.27369750e-01 -1.00222473e-02 1.58842936e+02] [-9.27189940e-01 3.74138436e-01 -1.84186416e-02 1.97008801e+02] [ 2.08305990e-02 2.40373575e-03 -9.99780130e-01 1.27109283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4571056809999 meters 0.028694106403437947 Centerline is valid? [True, True] Translation: X:160.03, Y:196.42, Z:12.47 [[-4.93007649e-01 8.69942237e-01 1.19984738e-02 1.60027292e+02] [-8.69611987e-01 -4.93151637e-01 2.40094685e-02 1.96420042e+02] [ 2.68039177e-02 1.40283496e-03 9.99639726e-01 1.24655880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.48710568099995 meters 0.030030228732016523 Centerline is valid? [True, True] Translation: X:158.83, Y:196.99, Z:12.71 [[-3.67748841e-01 -9.29863094e-01 -1.07431923e-02 1.58832930e+02] [-9.29645989e-01 3.67896965e-01 -2.02523661e-02 1.96987362e+02] [ 2.27843156e-02 2.53958151e-03 -9.99737178e-01 1.27081799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5171056809999 meters 0.030030228732016523 Centerline is valid? [True, True] Translation: X:158.79, Y:196.94, Z:12.71 [[-3.01214720e-01 -9.53511346e-01 -9.26307455e-03 1.58793567e+02] [-9.53285555e-01 3.01346464e-01 -2.09035846e-02 1.96938531e+02] [ 2.27231999e-02 2.53388777e-03 -9.99738584e-01 1.27085302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5471056809999 meters 0.03132511850398328 Centerline is valid? [True, True] Translation: X:160.03, Y:196.43, Z:12.47 [[-4.30463682e-01 9.02549180e-01 1.02954692e-02 1.60027578e+02] [-9.02196032e-01 -4.30583809e-01 2.52963020e-02 1.96433979e+02] [ 2.72642190e-02 1.60060788e-03 9.99626981e-01 1.24696964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5771056809999 meters 0.02930412412028909 Centerline is valid? [True, True] Translation: X:158.78, Y:196.91, Z:12.71 [[-3.01594241e-01 -9.53393963e-01 -8.99248268e-03 1.58784283e+02] [-9.53179401e-01 3.01718507e-01 -2.03708780e-02 1.96911039e+02] [ 2.21346706e-02 2.42770974e-03 -9.99752051e-01 1.27104713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.6071056809999 meters 0.028930636879194907 Centerline is valid? [True, True] Translation: X:158.75, Y:196.86, Z:12.71 [[-2.36016956e-01 -9.71720704e-01 -7.40740198e-03 1.58749556e+02] [-9.71507024e-01 2.36121424e-01 -2.05127863e-02 1.96857996e+02] [ 2.16817455e-02 2.35497768e-03 -9.99762150e-01 1.27140692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.6371056809999 meters 0.02505635173903228 Centerline is valid? [True, True] Translation: X:160.00, Y:196.45, Z:12.46 [[-3.43302399e-01 9.39172476e-01 9.92588819e-03 1.59997573e+02] [-9.38700126e-01 -3.43444652e-01 2.97967287e-02 1.96447325e+02] [ 3.13932607e-02 9.11855953e-04 9.99506694e-01 1.24625960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.6671056809999 meters 0.02461748459660327 Centerline is valid? [True, True] Translation: X:158.75, Y:196.82, Z:12.72 [[-2.49978706e-01 -9.68237170e-01 -5.23729446e-03 1.58753157e+02] [-9.68154764e-01 2.50026510e-01 -1.27709586e-02 1.96821250e+02] [ 1.36747793e-02 1.87804388e-03 -9.99904732e-01 1.27202959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.6971056809999 meters 0.023765090252895724 Centerline is valid? [True, True] Translation: X:158.73, Y:196.76, Z:12.73 [[-1.90123384e-01 -9.81754560e-01 -3.32913308e-03 1.58728040e+02] [-9.81723101e-01 1.90144587e-01 -8.04915236e-03 1.96763088e+02] [ 8.53530867e-03 1.73795476e-03 -9.99962063e-01 1.27264860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.7271056809999 meters 0.023843302795649963 Centerline is valid? [True, True] Translation: X:159.97, Y:196.45, Z:12.45 [[-2.55263803e-01 9.66818066e-01 1.01596423e-02 1.59972454e+02] [-9.65987946e-01 -2.55465572e-01 4.00578356e-02 1.96454822e+02] [ 4.13240780e-02 4.11223427e-04 9.99145711e-01 1.24522048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.7571056809999 meters 0.02405301844410936 Centerline is valid? [True, True] Translation: X:158.73, Y:196.73, Z:12.73 [[-1.94240088e-01 -9.80949768e-01 -2.88817195e-03 1.58729040e+02] [-9.80933298e-01 1.94254280e-01 -5.92787758e-03 1.96731129e+02] [ 6.37598990e-03 1.68167257e-03 -9.99978259e-01 1.27314087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.7871056809999 meters 0.02450822242446818 Centerline is valid? [True, True] Translation: X:158.71, Y:196.67, Z:12.74 [[-1.27950017e-01 -9.91778348e-01 -2.12192471e-03 1.58706014e+02] [-9.91774231e-01 1.27956578e-01 -3.31496304e-03 1.96674394e+02] [ 3.55922279e-03 1.68032067e-03 -9.99992254e-01 1.27363715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.81710568099993 meters 0.024446171989022155 Centerline is valid? [True, True] Translation: X:158.68, Y:196.62, Z:12.74 [[-5.66956904e-02 -9.98389900e-01 -1.79058813e-03 1.58682417e+02] [-9.98389975e-01 5.66986526e-02 -1.64929806e-03 1.96620784e+02] [ 1.74816646e-03 1.69419715e-03 -9.99997037e-01 1.27379707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.8471056809999 meters 0.02430195094853156 Centerline is valid? [True, True] Translation: X:159.94, Y:196.50, Z:12.44 [[-1.09907690e-01 9.93929225e-01 4.99946492e-03 1.59942965e+02] [-9.92790249e-01 -1.10021020e-01 4.75699177e-02 1.96500057e+02] [ 4.78311777e-02 2.64879757e-04 9.98855399e-01 1.24437081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.87710568099993 meters 0.024407249268014193 Centerline is valid? [True, True] Translation: X:159.95, Y:196.45, Z:12.44 [[-1.77272346e-01 9.84126319e-01 8.36079643e-03 1.59954582e+02] [-9.82951415e-01 -1.77469139e-01 4.80751602e-02 1.96445906e+02] [ 4.87958138e-02 3.04139772e-04 9.98808728e-01 1.24441607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.9071056809999 meters 0.024185577091487633 Centerline is valid? [True, True] Translation: X:159.96, Y:196.39, Z:12.45 [[-2.43602148e-01 9.69808207e-01 1.14033294e-02 1.59962569e+02] [-9.68696257e-01 -2.43868762e-01 4.64283126e-02 1.96392237e+02] [ 4.78074744e-02 2.63674201e-04 9.98856534e-01 1.24480102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93710568099993 meters 0.024257825717611804 Centerline is valid? [True, True] Translation: X:158.72, Y:196.66, Z:12.73 [[-1.82893282e-01 -9.83130601e-01 -2.06603892e-03 1.58723882e+02] [-9.83130394e-01 1.82897058e-01 -1.81518844e-03 1.96658192e+02] [ 2.16243974e-03 1.69919989e-03 -9.99996218e-01 1.27348232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.9671056809999 meters 0.0240360194491521 Centerline is valid? [True, True] Translation: X:158.70, Y:196.60, Z:12.73 [[-1.11429552e-01 -9.93769191e-01 -2.49999072e-03 1.58696257e+02] [-9.93744959e-01 1.11444803e-01 -7.14228149e-03 1.96601647e+02] [ 7.37639027e-03 1.68849195e-03 -9.99971369e-01 1.27253354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99710568099994 meters 0.02395524692136028 Centerline is valid? [True, True] Translation: X:158.67, Y:196.55, Z:12.72 [[-3.98054909e-02 -9.99205298e-01 -2.07240290e-03 1.58673411e+02] [-9.99161386e-01 3.98234848e-02 -9.51918507e-03 1.96549540e+02] [ 9.59415046e-03 1.69174912e-03 -9.99952544e-01 1.27230113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0271056809999 meters 0.023934558416952273 Centerline is valid? [True, True] Translation: X:159.94, Y:196.44, Z:12.47 [[-1.06843857e-01 9.94269889e-01 3.43181688e-03 1.59941011e+02] [-9.93628776e-01 -1.06898192e-01 3.57019822e-02 1.96440469e+02] [ 3.58642609e-02 4.04585458e-04 9.99356589e-01 1.24654543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.05710568099994 meters 0.023917631655011755 Centerline is valid? [True, True] Translation: X:159.95, Y:196.39, Z:12.46 [[-1.71191757e-01 9.85219450e-01 6.00139479e-03 1.59949741e+02] [-9.84509702e-01 -1.71296210e-01 3.73932382e-02 1.96388630e+02] [ 3.78685618e-02 4.92982767e-04 9.99282607e-01 1.24632904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0871056809999 meters 0.024093593769542523 Centerline is valid? [True, True] Translation: X:159.95, Y:196.33, Z:12.46 [[-2.34374065e-01 9.72109180e-01 8.51705832e-03 1.59954481e+02] [-9.71385431e-01 -2.34528196e-01 3.75082499e-02 1.96331335e+02] [ 3.84596044e-02 5.17614653e-04 9.99260022e-01 1.24640209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.11710568099994 meters 0.024903006844271748 Centerline is valid? [True, True] Translation: X:158.73, Y:196.58, Z:12.73 [[-1.80952975e-01 -9.83488037e-01 -2.70208896e-03 1.58729257e+02] [-9.83472918e-01 1.80965829e-01 -5.69107749e-03 1.96577835e+02] [ 6.08609240e-03 1.62761392e-03 -9.99980155e-01 1.27287936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.1471056809999 meters 0.02519249853151755 Centerline is valid? [True, True] Translation: X:159.94, Y:196.31, Z:12.46 [[-2.20361590e-01 9.75368655e-01 9.83652845e-03 1.59939904e+02] [-9.74419720e-01 -2.20580998e-01 4.30143278e-02 1.96309073e+02] [ 4.41245783e-02 -1.06201614e-04 9.99026031e-01 1.24585914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.17710568099994 meters 0.026671616256509788 Centerline is valid? [True, True] Translation: X:158.74, Y:196.54, Z:12.74 [[-1.88062272e-01 -9.82155548e-01 -1.74961540e-03 1.58735930e+02] [-9.82156983e-01 1.88062843e-01 -1.66301829e-04 1.96544656e+02] [ 4.92371911e-04 1.68712188e-03 -9.99998456e-01 1.27384620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2071056809999 meters 0.027532386126014594 Centerline is valid? [True, True] Translation: X:159.92, Y:196.28, Z:12.45 [[-2.09061503e-01 9.77842405e-01 1.08405975e-02 1.59924399e+02] [-9.76670693e-01 -2.09341567e-01 4.78588173e-02 1.96283583e+02] [ 4.90677687e-02 -5.82257607e-04 9.98795282e-01 1.24505183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.23710568099995 meters 0.027500011417149996 Centerline is valid? [True, True] Translation: X:159.93, Y:196.23, Z:12.45 [[-2.74946149e-01 9.61350497e-01 1.44857681e-02 1.59929134e+02] [-9.60109119e-01 -2.75327065e-01 4.88414368e-02 1.96228877e+02] [ 5.09420636e-02 -4.79153069e-04 9.98701495e-01 1.24513813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2671056809999 meters 0.02634805649284498 Centerline is valid? [True, True] Translation: X:159.93, Y:196.18, Z:12.45 [[-3.42721826e-01 9.39266476e-01 1.78951874e-02 1.59934921e+02] [-9.38061011e-01 -3.43188367e-01 4.75739911e-02 1.96178998e+02] [ 5.08260751e-02 -4.82132433e-04 9.98707403e-01 1.24524997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2971056809999 meters 0.025735547014688175 Centerline is valid? [True, True] Translation: X:159.93, Y:196.13, Z:12.45 [[-4.08040374e-01 9.12720036e-01 2.10995065e-02 1.59934937e+02] [-9.11563588e-01 -4.08585236e-01 4.59339810e-02 1.96126193e+02] [ 5.05458116e-02 -4.90623036e-04 9.98721623e-01 1.24538430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.3271056809999 meters 0.02486568501732249 Centerline is valid? [True, True] Translation: X:158.81, Y:196.60, Z:12.73 [[-3.66756820e-01 -9.30315379e-01 -1.65221411e-03 1.58806407e+02] [-9.30316825e-01 3.66756615e-01 4.36295794e-04 1.96601741e+02] [ 2.00067768e-04 1.69709704e-03 -9.99998540e-01 1.27343268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.3571056809999 meters 0.02487695569662797 Centerline is valid? [True, True] Translation: X:158.77, Y:196.56, Z:12.73 [[-2.99585704e-01 -9.54066904e-01 -2.17924380e-03 1.58771855e+02] [-9.54067431e-01 2.99588938e-01 -1.34337886e-03 1.96555380e+02] [ 1.93455064e-03 1.67668843e-03 -9.99996723e-01 1.27323095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.3871056809999 meters 0.024443814890033475 Centerline is valid? [True, True] Translation: X:158.74, Y:196.51, Z:12.73 [[-2.27714837e-01 -9.73725501e-01 -2.14499925e-03 1.58740189e+02] [-9.73725279e-01 2.27718756e-01 -1.80281932e-03 1.96509180e+02] [ 2.24390771e-03 1.67811129e-03 -9.99996074e-01 1.27319484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.4171056809999 meters 0.024298334789720166 Centerline is valid? [True, True] Translation: X:158.71, Y:196.46, Z:12.73 [[-1.56000808e-01 -9.87754698e-01 -2.09878695e-03 1.58711200e+02] [-9.87752801e-01 1.56005946e-01 -2.55893490e-03 1.96458784e+02] [ 2.85502321e-03 1.67388678e-03 -9.99994523e-01 1.27335979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.4471056809999 meters 0.024646561926471265 Centerline is valid? [True, True] Translation: X:159.93, Y:196.22, Z:12.46 [[-2.24222923e-01 9.74495787e-01 9.05767917e-03 1.59925980e+02] [-9.73572678e-01 -2.24404730e-01 4.24117705e-02 1.96216910e+02] [ 4.33626778e-02 6.91382201e-04 9.99059157e-01 1.24613266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.4771056809999 meters 0.02476849848337788 Centerline is valid? [True, True] Translation: X:158.70, Y:196.44, Z:12.73 [[-1.40746227e-01 -9.90042301e-01 -2.59641986e-03 1.58698343e+02] [-9.90026315e-01 1.40759400e-01 -5.88955260e-03 1.96441879e+02] [ 6.19637671e-03 1.74159168e-03 -9.99979286e-01 1.27320772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.5071056809999 meters 0.025272864097502144 Centerline is valid? [True, True] Translation: X:158.67, Y:196.39, Z:12.73 [[-6.75492938e-02 -9.97712904e-01 -2.46039416e-03 1.58671408e+02] [-9.97667326e-01 6.75701402e-02 -9.70473363e-03 1.96389429e+02] [ 9.84878715e-03 1.79910696e-03 -9.99949881e-01 1.27272942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.5371056809999 meters 0.025261301520194818 Centerline is valid? [True, True] Translation: X:159.92, Y:196.23, Z:12.47 [[-1.59097322e-01 9.87250082e-01 5.03162483e-03 1.59920347e+02] [-9.86544984e-01 -1.59173891e-01 3.73184529e-02 1.96231979e+02] [ 3.76435490e-02 9.73341681e-04 9.99290756e-01 1.24709841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.56710568099993 meters 0.02543780314868872 Centerline is valid? [True, True] Translation: X:159.93, Y:196.18, Z:12.47 [[-2.25715648e-01 9.74159402e-01 8.11823936e-03 1.59934900e+02] [-9.73330371e-01 -2.25858555e-01 4.01982837e-02 1.96178444e+02] [ 4.09931098e-02 1.17165273e-03 9.99158742e-01 1.24665532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.5971056809999 meters 0.02572735250974691 Centerline is valid? [True, True] Translation: X:159.94, Y:196.12, Z:12.46 [[-2.91854499e-01 9.56393329e-01 1.15217849e-02 1.59943713e+02] [-9.55457231e-01 -2.92078744e-01 4.23259602e-02 1.96121622e+02] [ 4.38455344e-02 1.34444924e-03 9.99037418e-01 1.24622828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.62710568099993 meters 0.02619417979585311 Centerline is valid? [True, True] Translation: X:159.95, Y:196.06, Z:12.45 [[-3.55961724e-01 9.34364861e-01 1.59235029e-02 1.59953439e+02] [-9.33212626e-01 -3.56313823e-01 4.64182508e-02 1.96064759e+02] [ 4.90453467e-02 1.66310660e-03 9.98795168e-01 1.24520305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.6571056809999 meters 0.025756035294983458 Centerline is valid? [True, True] Translation: X:158.73, Y:196.46, Z:12.75 [[-2.63381444e-01 -9.64691445e-01 -7.94361107e-04 1.58726343e+02] [-9.64687130e-01 2.63377533e-01 3.31919237e-03 1.96455772e+02] [-2.99277962e-03 1.64052362e-03 -9.99994176e-01 1.27471867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.68710568099993 meters 0.02594756770630267 Centerline is valid? [True, True] Translation: X:158.69, Y:196.40, Z:12.75 [[-1.98552366e-01 -9.80090277e-01 -8.49048529e-05 1.58687053e+02] [-9.80061413e-01 1.98545852e-01 7.69225771e-03 1.96401280e+02] [-7.52224948e-03 1.61052794e-03 -9.99970411e-01 1.27496615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.7171056809999 meters 0.02552938457730491 Centerline is valid? [True, True] Translation: X:158.65, Y:196.34, Z:12.75 [[-1.34482062e-01 -9.90915978e-01 -3.15145150e-04 1.58654289e+02] [-9.90867879e-01 1.34472385e-01 9.90073007e-03 1.96344059e+02] [-9.76841330e-03 1.64373780e-03 -9.99950937e-01 1.27491758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.74710568099994 meters 0.025441725417021194 Centerline is valid? [True, True] Translation: X:158.63, Y:196.28, Z:12.75 [[-7.03712894e-02 -9.97520283e-01 -1.08019537e-03 1.58634440e+02] [-9.97483257e-01 7.03591914e-02 8.75993271e-03 1.96284775e+02] [-8.66220888e-03 1.69392455e-03 -9.99961048e-01 1.27477293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.7771056809999 meters 0.02625235674618731 Centerline is valid? [True, True] Translation: X:159.92, Y:196.13, Z:12.45 [[-1.21195252e-01 9.92607801e-01 6.43932911e-03 1.59919811e+02] [-9.91355005e-01 -1.21365718e-01 4.98559673e-02 1.96132981e+02] [ 5.02689359e-02 -3.41354603e-04 9.98735660e-01 1.24545156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.80710568099994 meters 0.026597153522692662 Centerline is valid? [True, True] Translation: X:159.93, Y:196.08, Z:12.46 [[-1.83515379e-01 9.82975127e-01 9.05564507e-03 1.59927955e+02] [-9.81894598e-01 -1.83738154e-01 4.60791655e-02 1.96077819e+02] [ 4.69585411e-02 -4.35453458e-04 9.98896744e-01 1.24597197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8371056809999 meters 0.028481834723719103 Centerline is valid? [True, True] Translation: X:158.67, Y:196.28, Z:12.73 [[-1.55603535e-01 -9.87817264e-01 -2.14324759e-03 1.58669059e+02] [-9.87812189e-01 1.55610401e-01 -3.53298850e-03 1.96276825e+02] [ 3.82345865e-03 1.56738059e-03 -9.99991462e-01 1.27326841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.86710568099994 meters 0.029693957605408102 Centerline is valid? [True, True] Translation: X:158.65, Y:196.22, Z:12.73 [[-8.80131949e-02 -9.96117456e-01 -1.92151022e-03 1.58647550e+02] [-9.96109314e-01 8.80207892e-02 -4.30981784e-03 1.96221225e+02] [ 4.46221763e-03 1.53471339e-03 -9.99988867e-01 1.27298426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8971056809999 meters 0.030000614781896286 Centerline is valid? [True, True] Translation: X:159.91, Y:196.08, Z:12.48 [[-9.62761940e-02 9.95343089e-01 4.79894380e-03 1.59905252e+02] [-9.94534354e-01 -9.63914320e-02 4.01261757e-02 1.96082010e+02] [ 4.04018887e-02 -9.09519000e-04 9.99183096e-01 1.24808865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.92710568099994 meters 0.03039759966818073 Centerline is valid? [True, True] Translation: X:158.65, Y:196.20, Z:12.73 [[-8.85734883e-02 -9.96067671e-01 -1.98280210e-03 1.58648869e+02] [-9.96052701e-01 8.85834170e-02 -5.65647086e-03 1.96195685e+02] [ 5.80987115e-03 1.47396203e-03 -9.99982036e-01 1.27281911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9571056809999 meters 0.03138854829068812 Centerline is valid? [True, True] Translation: X:158.63, Y:196.14, Z:12.73 [[-1.78953924e-02 -9.99838613e-01 -1.58182745e-03 1.58631979e+02] [-9.99825672e-01 1.79035456e-02 -5.29988878e-03 1.96138301e+02] [ 5.32735377e-03 1.48670810e-03 -9.99984704e-01 1.27333255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.98710568099995 meters 0.02952796871012646 Centerline is valid? [True, True] Translation: X:158.61, Y:196.08, Z:12.74 [[ 5.67474107e-02 -9.98387639e-01 -1.36166044e-03 1.58612874e+02] [-9.98382796e-01 -5.67423925e-02 -3.47759160e-03 1.96082294e+02] [ 3.39472059e-03 1.55680267e-03 -9.99993026e-01 1.27385657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0171056809999 meters 0.02902718947749259 Centerline is valid? [True, True] Translation: X:159.88, Y:196.13, Z:12.47 [[ 4.14172599e-02 9.99141163e-01 -1.24356205e-03 1.59878298e+02] [-9.98172423e-01 4.14318555e-02 4.39910811e-02 1.96133058e+02] [ 4.40048230e-02 -5.80700690e-04 9.99031150e-01 1.24663185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0471056809999 meters 0.0277867595250015 Centerline is valid? [True, True] Translation: X:158.61, Y:196.06, Z:12.74 [[ 6.61647445e-02 -9.97807601e-01 -1.48961763e-03 1.58609497e+02] [-9.97807141e-01 -6.61619169e-02 -1.87361045e-03 1.96061248e+02] [ 1.77094679e-03 1.61031807e-03 -9.99997135e-01 1.27370732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0771056809999 meters 0.025875646747361827 Centerline is valid? [True, True] Translation: X:159.89, Y:196.12, Z:12.47 [[ 3.24972769e-02 9.99470749e-01 -1.46588630e-03 1.59894151e+02] [-9.98402145e-01 3.25302995e-02 4.62053777e-02 1.96120092e+02] [ 4.62286092e-02 -3.80049307e-05 9.98930886e-01 1.24712376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.1071056809999 meters 0.025246754950244348 Centerline is valid? [True, True] Translation: X:158.60, Y:196.04, Z:12.74 [[ 8.28009735e-02 -9.96564843e-01 -1.58481987e-03 1.58597936e+02] [-9.96565923e-01 -8.27998953e-02 -7.34336266e-04 1.96041955e+02] [ 6.00590787e-04 1.64018123e-03 -9.99998475e-01 1.27364181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.1371056809999 meters 0.024911818226334828 Centerline is valid? [True, True] Translation: X:159.90, Y:196.10, Z:12.47 [[ 2.74754225e-02 9.99621290e-01 -1.54226977e-03 1.59903110e+02] [-9.98559488e-01 2.75173056e-02 4.60624334e-02 1.96103573e+02] [ 4.60874281e-02 2.74463288e-04 9.98937372e-01 1.24715302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.1671056809999 meters 0.024766664081965786 Centerline is valid? [True, True] Translation: X:159.92, Y:196.05, Z:12.47 [[-4.03161412e-02 9.99185717e-01 1.58513131e-03 1.59921816e+02] [-9.98118697e-01 -4.03463259e-02 4.61653592e-02 1.96051515e+02] [ 4.61917218e-02 2.79059946e-04 9.98932554e-01 1.24711467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.1971056809999 meters 0.02472895091039359 Centerline is valid? [True, True] Translation: X:159.94, Y:196.00, Z:12.47 [[-1.12362894e-01 9.93655118e-01 4.90785104e-03 1.59940570e+02] [-9.92600041e-01 -1.12469697e-01 4.57791096e-02 1.95998425e+02] [ 4.60406310e-02 2.72340094e-04 9.98939531e-01 1.24689495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.2271056809999 meters 0.024554526261327515 Centerline is valid? [True, True] Translation: X:159.95, Y:195.94, Z:12.47 [[-1.78927020e-01 9.83830931e-01 7.86262886e-03 1.59950236e+02] [-9.82824659e-01 -1.79099541e-01 4.44864536e-02 1.95943377e+02] [ 4.51753423e-02 2.32243036e-04 9.98979046e-01 1.24711750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.2571056809999 meters 0.024574285233648064 Centerline is valid? [True, True] Translation: X:159.96, Y:195.89, Z:12.48 [[-2.47347521e-01 9.68868235e-01 1.06557937e-02 1.59960693e+02] [-9.67942940e-01 -2.47576892e-01 4.23337582e-02 1.95888268e+02] [ 4.36539619e-02 1.56949934e-04 9.99046699e-01 1.24773124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.2871056809999 meters 0.024410204951268166 Centerline is valid? [True, True] Translation: X:158.67, Y:196.16, Z:12.73 [[-1.68909731e-01 -9.85628225e-01 -2.55030535e-03 1.58672340e+02] [-9.85617331e-01 1.68920619e-01 -4.92959981e-03 1.96157510e+02] [ 5.28955187e-03 1.68096778e-03 -9.99984597e-01 1.27272306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.31710568099993 meters 0.0245098676320985 Centerline is valid? [True, True] Translation: X:158.65, Y:196.10, Z:12.72 [[-9.78601029e-02 -9.95196991e-01 -2.51981384e-03 1.58645481e+02] [-9.95164467e-01 9.78777277e-02 -8.22401396e-03 1.96099390e+02] [ 8.43114760e-03 1.70282635e-03 -9.99963007e-01 1.27241708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.3471056809999 meters 0.024189322872618997 Centerline is valid? [True, True] Translation: X:159.95, Y:195.91, Z:12.49 [[-1.77935979e-01 9.84023249e-01 6.08537793e-03 1.59947834e+02] [-9.83296879e-01 -1.78038454e-01 3.78094685e-02 1.95905520e+02] [ 3.82888274e-02 7.43931689e-04 9.99266437e-01 1.24875326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.37710568099993 meters 0.024131214147356986 Centerline is valid? [True, True] Translation: X:159.96, Y:195.85, Z:12.49 [[-2.43913622e-01 9.69759368e-01 8.53888800e-03 1.59955067e+02] [-9.69058087e-01 -2.44061976e-01 3.68805718e-02 1.95849047e+02] [ 3.78492979e-02 7.20995385e-04 9.99283199e-01 1.24869620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.4071056809999 meters 0.024131214147356986 Centerline is valid? [True, True] Translation: X:159.96, Y:195.79, Z:12.49 [[-3.08482174e-01 9.51166476e-01 1.10037633e-02 1.59959404e+02] [-9.50475882e-01 -3.08677521e-01 3.62461921e-02 1.95792574e+02] [ 3.78727772e-02 7.22492471e-04 9.99282308e-01 1.24871829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43710568099993 meters 0.023951153637236836 Centerline is valid? [True, True] Translation: X:158.70, Y:196.14, Z:12.73 [[-2.27421481e-01 -9.73791315e-01 -3.15341460e-03 1.58696078e+02] [-9.73773874e-01 2.27437059e-01 -6.06852995e-03 1.96135420e+02] [ 6.62668510e-03 1.69059868e-03 -9.99976614e-01 1.27279851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.4671056809999 meters 0.02378894593656164 Centerline is valid? [True, True] Translation: X:158.67, Y:196.08, Z:12.73 [[-1.58413295e-01 -9.87369386e-01 -2.63124770e-03 1.58667315e+02] [-9.87353887e-01 1.58426218e-01 -5.78239716e-03 1.96080871e+02] [ 6.12622056e-03 1.68196406e-03 -9.99979820e-01 1.27287948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49710568099994 meters 0.023795252867060482 Centerline is valid? [True, True] Translation: X:159.94, Y:195.81, Z:12.49 [[-2.36740292e-01 9.71530473e-01 9.08705325e-03 1.59944412e+02] [-9.70679766e-01 -2.36913262e-01 4.06558497e-02 1.95807576e+02] [ 4.16512403e-02 8.04259014e-04 9.99131887e-01 1.24855657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5271056809999 meters 0.024205575331249448 Centerline is valid? [True, True] Translation: X:158.66, Y:196.06, Z:12.73 [[-1.52716913e-01 -9.88267440e-01 -2.23873614e-03 1.58662609e+02] [-9.88262616e-01 1.52724126e-01 -3.51330029e-03 1.96057837e+02] [ 3.81398931e-03 1.67591885e-03 -9.99991322e-01 1.27306555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.55710568099994 meters 0.024246876257800396 Centerline is valid? [True, True] Translation: X:159.94, Y:195.79, Z:12.48 [[-2.36846525e-01 9.71500695e-01 9.49332808e-03 1.59943655e+02] [-9.70547073e-01 -2.37034674e-01 4.30458197e-02 1.95785735e+02] [ 4.40692917e-02 9.81531064e-04 9.99027995e-01 1.24807986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5871056809999 meters 0.026056931473852796 Centerline is valid? [True, True] Translation: X:159.96, Y:195.73, Z:12.48 [[-3.10070566e-01 9.50616997e-01 1.35487963e-02 1.59959265e+02] [-9.49536243e-01 -3.10364153e-01 4.53322862e-02 1.95730504e+02] [ 4.72987024e-02 1.19113454e-03 9.98880080e-01 1.24762791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.61710568099994 meters 0.026950259443136688 Centerline is valid? [True, True] Translation: X:159.97, Y:195.68, Z:12.48 [[-3.77022843e-01 9.26043754e-01 1.72261612e-02 1.59967329e+02] [-9.24916398e-01 -3.77413942e-01 4.56987250e-02 1.95675967e+02] [ 4.88204122e-02 1.29670431e-03 9.98806731e-01 1.24761832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.6471056809999 meters 0.027213222249863504 Centerline is valid? [True, True] Translation: X:158.69, Y:196.10, Z:12.74 [[-2.65362385e-01 -9.64148090e-01 -1.12480186e-03 1.58694895e+02] [-9.64147427e-01 2.65359912e-01 1.96364684e-03 1.96098843e+02] [-1.59476903e-03 1.60555283e-03 -9.99997439e-01 1.27399780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.67710568099994 meters 0.027326301510516283 Centerline is valid? [True, True] Translation: X:158.66, Y:196.05, Z:12.74 [[-1.96937477e-01 -9.80414777e-01 -1.57957890e-03 1.58664493e+02] [-9.80416040e-01 1.96936994e-01 4.56733014e-04 1.96049046e+02] [-1.36710274e-04 1.63859234e-03 -9.99998648e-01 1.27365085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7071056809999 meters 0.026411734843554392 Centerline is valid? [True, True] Translation: X:158.64, Y:195.99, Z:12.73 [[-1.28465928e-01 -9.91712398e-01 -1.73934030e-03 1.58639419e+02] [-9.91713623e-01 1.28467056e-01 -5.52926183e-04 1.95991598e+02] [ 7.71791679e-04 1.65389529e-03 -9.99998334e-01 1.27334599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.73710568099995 meters 0.026718030262247134 Centerline is valid? [True, True] Translation: X:158.61, Y:195.94, Z:12.73 [[-5.67916962e-02 -9.98384463e-01 -1.77954785e-03 1.58613647e+02] [-9.98384339e-01 5.67948078e-02 -1.74968659e-03 1.95935228e+02] [ 1.84792899e-03 1.67730504e-03 -9.99996886e-01 1.27311993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7671056809999 meters 0.026575967552096142 Centerline is valid? [True, True] Translation: X:158.59, Y:195.88, Z:12.73 [[ 1.37002568e-02 -9.99904732e-01 -1.68244374e-03 1.58592561e+02] [-9.99893306e-01 -1.36915339e-02 -5.09112429e-03 1.95875833e+02] [ 5.06760404e-03 1.75201394e-03 -9.99985625e-01 1.27253906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7971056809999 meters 0.026442098432587234 Centerline is valid? [True, True] Translation: X:158.58, Y:195.82, Z:12.72 [[ 8.54217753e-02 -9.96344120e-01 -1.23055747e-03 1.58575950e+02] [-9.96323671e-01 -8.54118330e-02 -6.63038421e-03 1.95818127e+02] [ 6.50104015e-03 1.79241272e-03 -9.99977262e-01 1.27231013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.8271056809999 meters 0.026780536164472624 Centerline is valid? [True, True] Translation: X:158.56, Y:195.76, Z:12.72 [[ 1.56046914e-01 -9.87749579e-01 -3.59962380e-04 1.58564346e+02] [-9.87703626e-01 -1.56036116e-01 -9.70967238e-03 1.95757678e+02] [ 9.53455768e-03 1.87070056e-03 -9.99952795e-01 1.27232344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.8571056809999 meters 0.026897462338572008 Centerline is valid? [True, True] Translation: X:159.89, Y:195.87, Z:12.50 [[ 3.74242063e-02 9.99295856e-01 -2.68721762e-03 1.59887328e+02] [-9.98656074e-01 3.74964570e-02 3.57779490e-02 1.95870719e+02] [ 3.58535173e-02 1.34464486e-03 9.99356151e-01 1.24954162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.8871056809999 meters 0.026292059558000687 Centerline is valid? [True, True] Translation: X:158.57, Y:195.73, Z:12.72 [[ 1.57714281e-01 -9.87484738e-01 -3.12056505e-04 1.58571287e+02] [-9.87437713e-01 -1.57703669e-01 -9.81402156e-03 1.95731409e+02] [ 9.64198406e-03 1.85594772e-03 -9.99951793e-01 1.27238043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.9171056809999 meters 0.0266465424097569 Centerline is valid? [True, True] Translation: X:159.89, Y:195.85, Z:12.50 [[ 4.14954713e-02 9.99134202e-01 -2.99530579e-03 1.59890349e+02] [-9.98437392e-01 4.15784626e-02 3.73363934e-02 1.95847986e+02] [ 3.74286078e-02 1.44133406e-03 9.99298265e-01 1.24955499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.9471056809999 meters 0.026830718887827783 Centerline is valid? [True, True] Translation: X:159.91, Y:195.80, Z:12.49 [[-2.63744708e-02 9.99651961e-01 -5.87119261e-04 1.59912176e+02] [-9.98834212e-01 -2.63291327e-02 4.04597718e-02 1.95795794e+02] [ 4.04302319e-02 1.65353988e-03 9.99180996e-01 1.24935084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.9771056809999 meters 0.02725204359258146 Centerline is valid? [True, True] Translation: X:159.93, Y:195.74, Z:12.49 [[-9.39557237e-02 9.95574014e-01 2.16903069e-03 1.59932198e+02] [-9.94728689e-01 -9.39653884e-02 4.10528947e-02 1.95743390e+02] [ 4.10750090e-02 1.69955739e-03 9.99154620e-01 1.24908688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.0071056809999 meters 0.027556072589013166 Centerline is valid? [True, True] Translation: X:158.60, Y:195.78, Z:12.73 [[ 3.00852216e-02 -9.99546036e-01 -1.61306147e-03 1.58599871e+02] [-9.99545987e-01 -3.00824897e-02 -1.69196016e-03 1.95775243e+02] [ 1.64266717e-03 1.66323212e-03 -9.99997268e-01 1.27344024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.0371056809999 meters 0.027492592177796663 Centerline is valid? [True, True] Translation: X:158.58, Y:195.72, Z:12.73 [[ 9.95053468e-02 -9.95035964e-01 -1.45500700e-03 1.58582886e+02] [-9.95034889e-01 -9.95019948e-02 -2.21879653e-03 1.95718848e+02] [ 2.06300624e-03 1.66856485e-03 -9.99996480e-01 1.27348138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.06710568099993 meters 0.027586881812935837 Centerline is valid? [True, True] Translation: X:159.92, Y:195.75, Z:12.49 [[-2.04111590e-02 9.99791429e-01 -6.95773245e-04 1.59922947e+02] [-9.98833656e-01 -2.03611378e-02 4.37807189e-02 1.95754177e+02] [ 4.37574207e-02 1.58857695e-03 9.99040922e-01 1.24859285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.0971056809999 meters 0.02693891349933341 Centerline is valid? [True, True] Translation: X:158.59, Y:195.69, Z:12.74 [[ 1.00742335e-01 -9.94911360e-01 -1.53899182e-03 1.58587804e+02] [-9.94912199e-01 -1.00740879e-01 -9.96059571e-04 1.95690835e+02] [ 8.35951593e-04 1.63150710e-03 -9.99998320e-01 1.27387468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.12710568099993 meters 0.026925499028220914 Centerline is valid? [True, True] Translation: X:158.58, Y:195.63, Z:12.73 [[ 1.71441259e-01 -9.85193665e-01 -1.15639664e-03 1.58576626e+02] [-9.85190045e-01 -1.71436926e-01 -3.15541480e-03 1.95630967e+02] [ 2.91044559e-03 1.68023874e-03 -9.99994353e-01 1.27343276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.1571056809999 meters 0.02687472109379183 Centerline is valid? [True, True] Translation: X:159.90, Y:195.77, Z:12.50 [[ 5.27103566e-02 9.98604152e-01 -3.37144927e-03 1.59903049e+02] [-9.97855864e-01 5.28014288e-02 3.86740649e-02 1.95765762e+02] [ 3.87980991e-02 1.32569668e-03 9.99246191e-01 1.24987157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.18710568099993 meters 0.02669566249696623 Centerline is valid? [True, True] Translation: X:159.92, Y:195.71, Z:12.50 [[-1.52256846e-02 9.99883884e-01 -6.30745407e-04 1.59923554e+02] [-9.99200124e-01 -1.51919382e-02 3.69907808e-02 1.95714880e+02] [ 3.69769033e-02 1.19345085e-03 9.99315408e-01 1.25014094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.2171056809999 meters 0.02732797629911061 Centerline is valid? [True, True] Translation: X:158.60, Y:195.64, Z:12.72 [[ 1.11060975e-01 -9.93813304e-01 -7.59096409e-04 1.58596692e+02] [-9.93762109e-01 -1.11047414e-01 -1.02636428e-02 1.95643083e+02] [ 1.01158490e-02 1.89425142e-03 -9.99947039e-01 1.27242068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.24710568099994 meters 0.027657327792145373 Centerline is valid? [True, True] Translation: X:158.59, Y:195.58, Z:12.72 [[ 1.82457807e-01 -9.83213631e-01 3.22903631e-04 1.58588722e+02] [-9.83135308e-01 -1.82447399e-01 -1.25663040e-02 1.95582534e+02] [ 1.24142744e-02 1.97536231e-03 -9.99920989e-01 1.27240940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.2771056809999 meters 0.027269485443378504 Centerline is valid? [True, True] Translation: X:159.90, Y:195.73, Z:12.50 [[ 5.61395277e-02 9.98418428e-01 -2.99945686e-03 1.59900789e+02] [-9.97952206e-01 5.62050463e-02 3.05350219e-02 1.95727371e+02] [ 3.06553131e-02 1.27909289e-03 9.99529197e-01 1.25042202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.30710568099994 meters 0.02781184945161799 Centerline is valid? [True, True] Translation: X:159.92, Y:195.67, Z:12.51 [[-9.96543950e-03 9.99949962e-01 -8.73611403e-04 1.59922816e+02] [-9.99527035e-01 -9.93579863e-03 2.91030220e-02 1.95673799e+02] [ 2.90928857e-02 1.16322262e-03 9.99576036e-01 1.25060038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.3371056809999 meters 0.027819338333859144 Centerline is valid? [True, True] Translation: X:159.94, Y:195.62, Z:12.51 [[-7.83937891e-02 9.96921845e-01 1.11754274e-03 1.59940389e+02] [-9.96532607e-01 -7.83944300e-02 2.78760990e-02 1.95620221e+02] [ 2.78779011e-02 1.07164524e-03 9.99610761e-01 1.25094466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.36710568099994 meters 0.028390465465091847 Centerline is valid? [True, True] Translation: X:159.96, Y:195.57, Z:12.51 [[-1.46737897e-01 9.89170745e-01 3.03745812e-03 1.59956780e+02] [-9.88780131e-01 -1.46765369e-01 2.78168694e-02 1.95566572e+02] [ 2.79614271e-02 1.07841069e-03 9.99608421e-01 1.25106014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.3971056809999 meters 0.029896537634199014 Centerline is valid? [True, True] Translation: X:158.64, Y:195.67, Z:12.72 [[-6.28715104e-03 -9.99977275e-01 -2.43324570e-03 1.58641767e+02] [-9.99812182e-01 6.33068460e-03 -1.83173195e-02 1.95665364e+02] [ 1.83323074e-02 2.31762494e-03 -9.99829263e-01 1.27188271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.42710568099994 meters 0.030666143893043885 Centerline is valid? [True, True] Translation: X:159.97, Y:195.55, Z:12.51 [[-1.56060371e-01 9.87744434e-01 2.46862494e-03 1.59967740e+02] [-9.87380320e-01 -1.56070009e-01 2.68748184e-02 1.95550425e+02] [ 2.69307306e-02 1.75662245e-03 9.99635759e-01 1.25109152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4571056809999 meters 0.03576196474755904 Centerline is valid? [True, True] Translation: X:159.99, Y:195.49, Z:12.51 [[-2.29324499e-01 9.73339612e-01 4.50273029e-03 1.59994805e+02] [-9.72970110e-01 -2.29361774e-01 2.68764042e-02 1.95494360e+02] [ 2.71926230e-02 1.78239593e-03 9.99628623e-01 1.25106771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.48710568099995 meters 0.03639247777860434 Centerline is valid? [True, True] Translation: X:160.00, Y:195.44, Z:12.51 [[-2.93340405e-01 9.55987791e-01 6.22489961e-03 1.60003305e+02] [-9.55628268e-01 -2.93401175e-01 2.62747685e-02 1.95435472e+02] [ 2.69447508e-02 1.75876122e-03 9.99635377e-01 1.25101896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5171056809999 meters 0.032633488298489305 Centerline is valid? [True, True] Translation: X:158.67, Y:195.71, Z:12.72 [[-1.26596109e-01 -9.91942690e-01 -4.80888709e-03 1.58671350e+02] [-9.91785538e-01 1.26662511e-01 -1.78340916e-02 1.95710750e+02] [ 1.82995025e-02 2.51165807e-03 -9.99829395e-01 1.27208300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5471056809999 meters 0.0311366141872689 Centerline is valid? [True, True] Translation: X:159.99, Y:195.41, Z:12.51 [[-2.85065265e-01 9.58489344e-01 5.99760342e-03 1.59990586e+02] [-9.58149404e-01 -2.85124176e-01 2.55719312e-02 1.95413752e+02] [ 2.62204853e-02 1.54306921e-03 9.99654993e-01 1.25100405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5771056809999 meters 0.029328175303459162 Centerline is valid? [True, True] Translation: X:159.99, Y:195.35, Z:12.51 [[-3.41957020e-01 9.39688031e-01 7.19731971e-03 1.59989394e+02] [-9.39382968e-01 -3.42029718e-01 2.39856620e-02 1.95354714e+02] [ 2.50007368e-02 1.44102596e-03 9.99686394e-01 1.25109906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.6071056809999 meters 0.028509157018256008 Centerline is valid? [True, True] Translation: X:158.70, Y:195.71, Z:12.72 [[-2.02819471e-01 -9.79195500e-01 -6.35889071e-03 1.58701766e+02] [-9.79009963e-01 2.02905745e-01 -1.92028772e-02 1.95709270e+02] [ 2.00936263e-02 2.33069997e-03 -9.99795386e-01 1.27226819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.6371056809999 meters 0.02689354621212795 Centerline is valid? [True, True] Translation: X:158.68, Y:195.65, Z:12.73 [[-1.38963983e-01 -9.90286025e-01 -4.75394966e-03 1.58676125e+02] [-9.90120244e-01 1.39028326e-01 -1.82490242e-02 1.95646714e+02] [ 1.87326873e-02 2.17102470e-03 -9.99822171e-01 1.27262881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.6671056809999 meters 0.025651084203318637 Centerline is valid? [True, True] Translation: X:159.97, Y:195.37, Z:12.51 [[-2.57678395e-01 9.66211183e-01 6.14766470e-03 1.59966055e+02] [-9.65832273e-01 -2.57749624e-01 2.70767887e-02 1.95367089e+02] [ 2.77464543e-02 1.03949050e-03 9.99614453e-01 1.25069168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.6971056809999 meters 0.024926810030048686 Centerline is valid? [True, True] Translation: X:158.68, Y:195.62, Z:12.73 [[-1.44981311e-01 -9.89424931e-01 -4.32733459e-03 1.58676104e+02] [-9.89295989e-01 1.45032794e-01 -1.60914620e-02 1.95620777e+02] [ 1.65488991e-02 1.94805350e-03 -9.99861160e-01 1.27263394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.7271056809999 meters 0.024309986036372397 Centerline is valid? [True, True] Translation: X:158.65, Y:195.56, Z:12.73 [[-7.81444071e-02 -9.96937024e-01 -3.16579301e-03 1.58649870e+02] [-9.96806610e-01 7.81857390e-02 -1.62348958e-02 1.95560233e+02] [ 1.64326886e-02 1.88701709e-03 -9.99863194e-01 1.27280461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.7571056809999 meters 0.02436129040927797 Centerline is valid? [True, True] Translation: X:159.95, Y:195.38, Z:12.51 [[-1.77968624e-01 9.84027069e-01 4.23032770e-03 1.59952099e+02] [-9.83623202e-01 -1.78016826e-01 2.82029524e-02 1.95375555e+02] [ 2.85055381e-02 8.58192169e-04 9.99593266e-01 1.25064603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.7871056809999 meters 0.02336915387152855 Centerline is valid? [True, True] Translation: X:158.65, Y:195.53, Z:12.73 [[-8.25939356e-02 -9.96577213e-01 -3.47868507e-03 1.58654679e+02] [-9.96373405e-01 8.26476727e-02 -2.02336347e-02 1.95534479e+02] [ 2.04518845e-02 1.79489377e-03 -9.99789227e-01 1.27255212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.81710568099993 meters 0.022966850792244184 Centerline is valid? [True, True] Translation: X:158.64, Y:195.48, Z:12.72 [[-1.57841172e-02 -9.99873288e-01 -2.06650637e-03 1.58635196e+02] [-9.99640478e-01 1.58251759e-02 -2.16443597e-02 1.95476225e+02] [ 2.16743199e-02 1.72412630e-03 -9.99763598e-01 1.27222113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.8471056809999 meters 0.02304985014148372 Centerline is valid? [True, True] Translation: X:158.62, Y:195.41, Z:12.72 [[ 5.10417533e-02 -9.98696391e-01 -5.08707763e-04 1.58620754e+02] [-9.98450911e-01 -5.10178979e-02 -2.22025398e-02 1.95414952e+02] [ 2.21476431e-02 1.64117629e-03 -9.99753364e-01 1.27216664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.87710568099993 meters 0.02322658094747821 Centerline is valid? [True, True] Translation: X:159.91, Y:195.42, Z:12.51 [[-1.54785498e-02 9.99880199e-01 4.71432567e-05 1.59906775e+02] [-9.99573834e-01 -1.54749742e-02 2.47522761e-02 1.95416924e+02] [ 2.47500403e-02 3.36006172e-04 9.99693614e-01 1.25117985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.9071056809999 meters 0.023379113106284884 Centerline is valid? [True, True] Translation: X:159.92, Y:195.36, Z:12.51 [[-7.95104715e-02 9.96832663e-01 1.65163450e-03 1.59920305e+02] [-9.96515389e-01 -7.95268367e-02 2.51507846e-02 1.95362649e+02] [ 2.52024728e-02 3.53871544e-04 9.99682305e-01 1.25104697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93710568099993 meters 0.023784556163324984 Centerline is valid? [True, True] Translation: X:159.93, Y:195.31, Z:12.51 [[-1.42753839e-01 9.89752965e-01 3.22651771e-03 1.59928718e+02] [-9.89442436e-01 -1.42789876e-01 2.47934705e-02 1.95306545e+02] [ 2.50001250e-02 3.46909567e-04 9.99687388e-01 1.25090587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.9671056809999 meters 0.024019931588188086 Centerline is valid? [True, True] Translation: X:158.67, Y:195.45, Z:12.73 [[-9.25789024e-02 -9.95700190e-01 -3.20601309e-03 1.58672524e+02] [-9.95510937e-01 9.26239712e-02 -1.94621318e-02 1.95445734e+02] [ 1.96754020e-02 1.38983830e-03 -9.99805455e-01 1.27306313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99710568099994 meters 0.02422022516634023 Centerline is valid? [True, True] Translation: X:158.65, Y:195.39, Z:12.73 [[-2.35501659e-02 -9.99720995e-01 -1.82236211e-03 1.58652083e+02] [-9.99527550e-01 2.35815425e-02 -1.97126245e-02 1.95390544e+02] [ 1.97500987e-02 1.35726556e-03 -9.99804027e-01 1.27297902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0271056809999 meters 0.02458694597866244 Centerline is valid? [True, True] Translation: X:159.91, Y:195.32, Z:12.51 [[-6.60580972e-02 9.97814594e-01 1.53729583e-03 1.59911148e+02] [-9.97527096e-01 -6.60759647e-02 2.39511993e-02 1.95316281e+02] [ 2.40004345e-02 4.86764101e-05 9.99711947e-01 1.25112103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.05710568099994 meters 0.024780959718465802 Centerline is valid? [True, True] Translation: X:159.93, Y:195.27, Z:12.51 [[-1.33909790e-01 9.90988409e-01 3.18440747e-03 1.59925213e+02] [-9.90698506e-01 -1.33947637e-01 2.39687487e-02 1.95265057e+02] [ 2.41792960e-02 5.48623840e-05 9.99707637e-01 1.25103700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0871056809999 meters 0.02424923025696701 Centerline is valid? [True, True] Translation: X:159.94, Y:195.21, Z:12.51 [[-2.04926143e-01 9.78765594e-01 4.81544091e-03 1.59941201e+02] [-9.78491393e-01 -2.04982709e-01 2.31663983e-02 1.95209900e+02] [ 2.36615557e-02 3.55331557e-05 9.99720026e-01 1.25138747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.11710568099994 meters 0.023874032571219096 Centerline is valid? [True, True] Translation: X:158.68, Y:195.43, Z:12.72 [[-1.45375744e-01 -9.89365876e-01 -4.58872683e-03 1.58683877e+02] [-9.89150966e-01 1.45440068e-01 -2.06773349e-02 1.95431559e+02] [ 2.11248343e-02 1.53296062e-03 -9.99775671e-01 1.27248997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.1471056809999 meters 0.023934807183875563 Centerline is valid? [True, True] Translation: X:159.95, Y:195.19, Z:12.52 [[-2.10758262e-01 9.77527767e-01 4.51874489e-03 1.59951588e+02] [-9.77238138e-01 -2.10805843e-01 2.38016330e-02 1.95193371e+02] [ 2.42193350e-02 6.00500950e-04 9.99706489e-01 1.25188865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.17710568099994 meters 0.024655493708115126 Centerline is valid? [True, True] Translation: X:158.67, Y:195.41, Z:12.73 [[-1.29134456e-01 -9.91617146e-01 -4.44151163e-03 1.58669082e+02] [-9.91414175e-01 1.29198247e-01 -2.01431729e-02 1.95414989e+02] [ 2.05481512e-02 1.80219990e-03 -9.99787240e-01 1.27261092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2071056809999 meters 0.025493139100946617 Centerline is valid? [True, True] Translation: X:158.64, Y:195.36, Z:12.73 [[-5.30293354e-02 -9.98588507e-01 -2.98058397e-03 1.58642275e+02] [-9.98389010e-01 5.30785898e-02 -2.00511363e-02 1.95361192e+02] [ 2.01810395e-02 1.91248385e-03 -9.99794513e-01 1.27300101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.23710568099995 meters 0.025920865706659676 Centerline is valid? [True, True] Translation: X:158.62, Y:195.30, Z:12.73 [[ 1.90808592e-02 -9.99816733e-01 -1.55599255e-03 1.58621480e+02] [-9.99625933e-01 -1.90466728e-02 -1.96270010e-02 1.95303366e+02] [ 1.95937675e-02 1.92991054e-03 -9.99806161e-01 1.27318098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2671056809999 meters 0.02532880132859136 Centerline is valid? [True, True] Translation: X:158.61, Y:195.24, Z:12.73 [[ 8.87964428e-02 -9.96049780e-01 -1.66818237e-04 1.58608745e+02] [-9.95857978e-01 -8.87760547e-02 -1.96392658e-02 1.95243800e+02] [ 1.95468769e-02 1.91002421e-03 -9.99807117e-01 1.27318991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2971056809999 meters 0.025491810043852217 Centerline is valid? [True, True] Translation: X:159.92, Y:195.28, Z:12.51 [[-1.19397876e-02 9.99928603e-01 -4.80747658e-04 1.59917771e+02] [-9.99640867e-01 -1.19248137e-02 2.39986819e-02 1.95278823e+02] [ 2.39912356e-02 7.67114169e-04 9.99711875e-01 1.25147146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.3271056809999 meters 0.025491810043852217 Centerline is valid? [True, True] Translation: X:158.61, Y:195.22, Z:12.73 [[ 9.10760043e-02 -9.95843944e-01 -3.37719005e-05 1.58612117e+02] [-9.95634344e-01 -9.10561393e-02 -2.05190552e-02 1.95218384e+02] [ 2.04307017e-02 1.90241802e-03 -9.99789461e-01 1.27308582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.3571056809999 meters 0.024880881092313584 Centerline is valid? [True, True] Translation: X:158.61, Y:195.16, Z:12.73 [[ 1.56671246e-01 -9.87649014e-01 1.88324939e-03 1.58606259e+02] [-9.87367614e-01 -1.56671698e-01 -2.36468402e-02 1.95155098e+02] [ 2.36498303e-02 1.84532047e-03 -9.99718601e-01 1.27273924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.3871056809999 meters 0.02453232363241857 Centerline is valid? [True, True] Translation: X:159.89, Y:195.28, Z:12.52 [[ 6.96474721e-02 9.97569949e-01 -1.85133654e-03 1.59894283e+02] [-9.97380076e-01 6.96703465e-02 1.94685946e-02 1.95284910e+02] [ 1.95502681e-02 4.90547787e-04 9.99808755e-01 1.25208544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.4171056809999 meters 0.02435109098937202 Centerline is valid? [True, True] Translation: X:159.91, Y:195.23, Z:12.52 [[ 1.13513899e-02 9.99935411e-01 -5.64659963e-04 1.59908980e+02] [-9.99792405e-01 1.13593183e-02 1.69148726e-02 1.95227879e+02] [ 1.69201942e-02 3.72535428e-04 9.99856774e-01 1.25245360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.4471056809999 meters 0.024694389876387723 Centerline is valid? [True, True] Translation: X:159.92, Y:195.17, Z:12.53 [[-4.98873806e-02 9.98754736e-01 4.76251030e-04 1.59922568e+02] [-9.98604700e-01 -4.98881432e-02 1.73154942e-02 1.95172791e+02] [ 1.73176911e-02 3.88238131e-04 9.99849962e-01 1.25250221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.4771056809999 meters 0.02622509505490212 Centerline is valid? [True, True] Translation: X:159.93, Y:195.11, Z:12.52 [[-1.04207946e-01 9.94554359e-01 1.52689646e-03 1.59927064e+02] [-9.94379687e-01 -1.04218267e-01 1.86438106e-02 1.95114066e+02] [ 1.87014136e-02 4.24518383e-04 9.99825023e-01 1.25207129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.5071056809999 meters 0.028021722773000544 Centerline is valid? [True, True] Translation: X:158.69, Y:195.21, Z:12.73 [[-7.90643628e-02 -9.96865330e-01 -2.88783661e-03 1.58688909e+02] [-9.96555873e-01 7.91118183e-02 -2.48538121e-02 1.95212052e+02] [ 2.50043656e-02 9.12839715e-04 -9.99686925e-01 1.27309337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.5371056809999 meters 0.03238833673482541 Centerline is valid? [True, True] Translation: X:158.68, Y:195.15, Z:12.74 [[-2.19242779e-02 -9.99758953e-01 -1.16733111e-03 1.58680987e+02] [-9.99506467e-01 2.19449861e-02 -2.24775548e-02 1.95146527e+02] [ 2.24977538e-02 6.73950832e-04 -9.99746666e-01 1.27380693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.56710568099993 meters 0.033846846577226065 Centerline is valid? [True, True] Translation: X:159.89, Y:195.11, Z:12.51 [[-5.02997191e-03 9.99987071e-01 7.47084415e-04 1.59891770e+02] [-9.99698355e-01 -5.04647685e-03 2.40360449e-02 1.95111301e+02] [ 2.40395043e-02 -6.25958430e-04 9.99710813e-01 1.25107685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.5971056809999 meters 0.03413588914856407 Centerline is valid? [True, True] Translation: X:159.91, Y:195.06, Z:12.51 [[-7.16973389e-02 9.97422798e-01 2.69332599e-03 1.59907316e+02] [-9.97008268e-01 -7.17452017e-02 2.87600180e-02 1.95061720e+02] [ 2.88791308e-02 -6.23251519e-04 9.99582717e-01 1.25095202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.62710568099993 meters 0.035140773276094404 Centerline is valid? [True, True] Translation: X:158.71, Y:195.15, Z:12.75 [[-9.04806061e-02 -9.95895915e-01 -2.14152089e-03 1.58705335e+02] [-9.95818298e-01 9.05003776e-02 -1.24739309e-02 1.95150627e+02] [ 1.26165453e-02 1.00391687e-03 -9.99919904e-01 1.27450854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.6571056809999 meters 0.03246016936294554 Centerline is valid? [True, True] Translation: X:159.91, Y:195.04, Z:12.50 [[-7.44068813e-02 9.97222431e-01 3.32244347e-03 1.59913893e+02] [-9.96601923e-01 -7.44777933e-02 3.51804715e-02 1.95040775e+02] [ 3.53302036e-02 -6.93484387e-04 9.99375453e-01 1.25025810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.68710568099993 meters 0.03159142450475412 Centerline is valid? [True, True] Translation: X:159.93, Y:194.99, Z:12.50 [[-1.44019633e-01 9.89557116e-01 5.92114517e-03 1.59927405e+02] [-9.88905519e-01 -1.44139680e-01 3.59113720e-02 1.94989399e+02] [ 3.63898257e-02 -6.83510528e-04 9.99337437e-01 1.25010207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.7171056809999 meters 0.030292627281731325 Centerline is valid? [True, True] Translation: X:158.71, Y:195.16, Z:12.75 [[-1.43905811e-01 -9.89588934e-01 -2.20453211e-03 1.58711589e+02] [-9.89573178e-01 1.43916320e-01 -5.74610060e-03 1.95160668e+02] [ 6.00354572e-03 1.35464858e-03 -9.99981061e-01 1.27531601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.74710568099994 meters 0.03076629368708902 Centerline is valid? [True, True] Translation: X:158.69, Y:195.11, Z:12.75 [[-7.37106922e-02 -9.97278074e-01 -1.78259626e-03 1.58690468e+02] [-9.97262554e-01 7.37197809e-02 -5.72639709e-03 1.95107674e+02] [ 5.84222286e-03 1.35561980e-03 -9.99982015e-01 1.27529142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.7771056809999 meters 0.0317209976554264 Centerline is valid? [True, True] Translation: X:159.91, Y:195.00, Z:12.50 [[-7.16706608e-02 9.97422138e-01 3.52053297e-03 1.59914696e+02] [-9.96770808e-01 -7.17511085e-02 3.60518325e-02 1.95001075e+02] [ 3.62114980e-02 -9.25305837e-04 9.99343720e-01 1.25019621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.80710568099994 meters 0.031243655790118677 Centerline is valid? [True, True] Translation: X:159.93, Y:194.95, Z:12.50 [[-1.37336594e-01 9.90507546e-01 5.78462196e-03 1.59926296e+02] [-9.89892854e-01 -1.37455199e-01 3.49028006e-02 1.94948756e+02] [ 3.53666137e-02 -9.32724203e-04 9.99373970e-01 1.25033533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8371056809999 meters 0.0325739002026421 Centerline is valid? [True, True] Translation: X:159.93, Y:194.89, Z:12.50 [[-1.99710815e-01 9.79824053e-01 7.77276921e-03 1.59929767e+02] [-9.79254528e-01 -1.99859816e-01 3.34159063e-02 1.94893723e+02] [ 3.42951729e-02 -9.38001553e-04 9.99411307e-01 1.25045627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.86710568099994 meters 0.034786080778822864 Centerline is valid? [True, True] Translation: X:159.93, Y:194.84, Z:12.51 [[-2.60701663e-01 9.65372928e-01 9.47383795e-03 1.59929907e+02] [-9.64860574e-01 -2.60872056e-01 3.14617788e-02 1.94839723e+02] [ 3.28438091e-02 -9.38794667e-04 9.99460056e-01 1.25097245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8971056809999 meters 0.035170899183561755 Centerline is valid? [True, True] Translation: X:158.76, Y:195.16, Z:12.74 [[-2.81615704e-01 -9.59517165e-01 -4.40506361e-03 1.58764530e+02] [-9.59448318e-01 2.81648457e-01 -1.15356832e-02 1.95158365e+02] [ 1.23093654e-02 9.77801331e-04 -9.99923759e-01 1.27440568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.92710568099994 meters 0.03581054191630589 Centerline is valid? [True, True] Translation: X:158.74, Y:195.11, Z:12.74 [[-2.13710996e-01 -9.76889751e-01 -3.74481231e-03 1.58736783e+02] [-9.76806220e-01 2.13741820e-01 -1.28079522e-02 1.95106536e+02] [ 1.33123802e-02 9.20755740e-04 -9.99910962e-01 1.27427046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9571056809999 meters 0.034670896824659785 Centerline is valid? [True, True] Translation: X:159.92, Y:194.85, Z:12.52 [[-1.90336023e-01 9.81699517e-01 6.18524286e-03 1.59919637e+02] [-9.81313408e-01 -1.90434699e-01 2.75430756e-02 1.94852817e+02] [ 2.82169089e-02 -8.27222285e-04 9.99601481e-01 1.25167267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.98710568099995 meters 0.03388329405171929 Centerline is valid? [True, True] Translation: X:159.93, Y:194.80, Z:12.52 [[-2.57883892e-01 9.66142658e-01 8.01639904e-03 1.59925440e+02] [-9.65770953e-01 -2.58007129e-01 2.68102160e-02 1.94803183e+02] [ 2.79707814e-02 -8.28082502e-04 9.99608398e-01 1.25155822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0171056809999 meters 0.03239344875296006 Centerline is valid? [True, True] Translation: X:159.93, Y:194.75, Z:12.51 [[-3.27055562e-01 9.44944775e-01 1.06785303e-02 1.59930027e+02] [-9.44518897e-01 -3.27228856e-01 2.83783138e-02 1.94750675e+02] [ 3.03102626e-02 -8.04788305e-04 9.99540214e-01 1.25107972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0471056809999 meters 0.029988050745217588 Centerline is valid? [True, True] Translation: X:158.77, Y:195.15, Z:12.75 [[-3.25213601e-01 -9.45630345e-01 -4.40040870e-03 1.58773757e+02] [-9.45588320e-01 3.25241029e-01 -9.00012963e-03 1.95146574e+02] [ 9.94198915e-03 1.23401050e-03 -9.99949816e-01 1.27491279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0771056809999 meters 0.029656304395619646 Centerline is valid? [True, True] Translation: X:159.93, Y:194.73, Z:12.51 [[-3.29556792e-01 9.44060212e-01 1.19430811e-02 1.59932968e+02] [-9.43498144e-01 -3.29772699e-01 3.25763748e-02 1.94732640e+02] [ 3.46925613e-02 -5.32509291e-04 9.99397890e-01 1.25107790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.1071056809999 meters 0.028678405206673276 Centerline is valid? [True, True] Translation: X:158.77, Y:195.13, Z:12.75 [[-3.16935572e-01 -9.48435403e-01 -4.70421865e-03 1.58765231e+02] [-9.48382286e-01 3.16967996e-01 -1.01158285e-02 1.95127587e+02] [ 1.10852966e-02 1.25533176e-03 -9.99937768e-01 1.27470322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.1371056809999 meters 0.02847416822413783 Centerline is valid? [True, True] Translation: X:159.93, Y:194.71, Z:12.51 [[-3.31320726e-01 9.43449491e-01 1.13856903e-02 1.59931516e+02] [-9.42926049e-01 -3.31516142e-01 3.14247272e-02 1.94714501e+02] [ 3.34221830e-02 -3.24200552e-04 9.99441270e-01 1.25122215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.1671056809999 meters 0.027703673913230784 Centerline is valid? [True, True] Translation: X:158.76, Y:195.11, Z:12.75 [[-3.09676391e-01 -9.50830794e-01 -4.61878508e-03 1.58758188e+02] [-9.50779391e-01 3.09708092e-01 -9.97235405e-03 1.95106193e+02] [ 1.09124964e-02 1.30324305e-03 -9.99939608e-01 1.27498853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.1971056809999 meters 0.028198388968764233 Centerline is valid? [True, True] Translation: X:158.73, Y:195.06, Z:12.75 [[-2.41893854e-01 -9.70296218e-01 -3.55153942e-03 1.58729502e+02] [-9.70257848e-01 2.41916248e-01 -8.73138167e-03 1.95055740e+02] [ 9.33120170e-03 1.33384143e-03 -9.99955574e-01 1.27516675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.2271056809999 meters 0.028250787445085992 Centerline is valid? [True, True] Translation: X:158.70, Y:195.00, Z:12.75 [[-1.73734400e-01 -9.84788390e-01 -2.86107485e-03 1.58700957e+02] [-9.84752127e-01 1.73752858e-01 -8.55522699e-03 1.95003478e+02] [ 8.92220815e-03 1.33111232e-03 -9.99959310e-01 1.27501112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.2571056809999 meters 0.028907037496344323 Centerline is valid? [True, True] Translation: X:158.68, Y:194.95, Z:12.75 [[-1.08299647e-01 -9.94115861e-01 -2.20014814e-03 1.58677890e+02] [-9.94083192e-01 1.08314157e-01 -8.16400709e-03 1.94946005e+02] [ 8.35427613e-03 1.30297119e-03 -9.99964254e-01 1.27471654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.2871056809999 meters 0.03016038196409614 Centerline is valid? [True, True] Translation: X:159.90, Y:194.79, Z:12.51 [[-1.17631644e-01 9.93045236e-01 4.89444356e-03 1.59895887e+02] [-9.92384024e-01 -1.17731924e-01 3.62373290e-02 1.94789959e+02] [ 3.65615392e-02 -5.94511003e-04 9.99331227e-01 1.25123241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.31710568099993 meters 0.03329610040980136 Centerline is valid? [True, True] Translation: X:158.69, Y:194.92, Z:12.76 [[-1.13466449e-01 -9.93540113e-01 -1.84606623e-03 1.58686849e+02] [-9.93533176e-01 1.13473020e-01 -3.96269606e-03 1.94915882e+02] [ 4.14657621e-03 1.38449499e-03 -9.99990444e-01 1.27580179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.3471056809999 meters 0.032751065216365144 Centerline is valid? [True, True] Translation: X:159.89, Y:194.76, Z:12.51 [[-1.03834807e-01 9.94579734e-01 5.43009742e-03 1.59888166e+02] [-9.93736884e-01 -1.03970404e-01 4.09531577e-02 1.94764985e+02] [ 4.12957501e-02 -1.14372488e-03 9.99146312e-01 1.25058672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.37710568099993 meters 0.036786332270976586 Centerline is valid? [True, True] Translation: X:158.69, Y:194.89, Z:12.76 [[-1.17915617e-01 -9.93022383e-01 -1.56648456e-03 1.58690514e+02] [-9.93023435e-01 1.17916408e-01 -4.22232673e-04 1.94886411e+02] [ 6.04000729e-04 1.50576806e-03 -9.99998684e-01 1.27615439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.4071056809999 meters 0.03997356289780536 Centerline is valid? [True, True] Translation: X:158.67, Y:194.83, Z:12.76 [[-5.23873600e-02 -9.98625682e-01 -1.52024746e-03 1.58672418e+02] [-9.98625156e-01 5.23844155e-02 1.91607283e-03 1.94830280e+02] [-1.83380226e-03 1.61853535e-03 -9.99997009e-01 1.27636666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43710568099993 meters 0.04088018336208425 Centerline is valid? [True, True] Translation: X:158.66, Y:194.78, Z:12.77 [[ 1.78788371e-02 -9.99838778e-01 -1.66271655e-03 1.58656046e+02] [-9.99838044e-01 -1.78821968e-02 2.02817752e-03 1.94775549e+02] [-2.05758356e-03 1.62618581e-03 -9.99996561e-01 1.27663168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.4671056809999 meters 0.03661527392947281 Centerline is valid? [True, True] Translation: X:158.63, Y:194.72, Z:12.77 [[ 9.20253114e-02 -9.95755347e-01 -1.62215579e-03 1.58629842e+02] [-9.95756362e-01 -9.20264383e-02 6.34150165e-04 1.94720930e+02] [-7.80739637e-04 1.55691408e-03 -9.99998483e-01 1.27650807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49710568099994 meters 0.036672960616535896 Centerline is valid? [True, True] Translation: X:159.86, Y:194.83, Z:12.50 [[ 1.14114981e-01 9.93459188e-01 -4.07579181e-03 1.59855378e+02] [-9.92505320e-01 1.14184017e-01 4.35338983e-02 1.94833561e+02] [ 4.37145415e-02 -9.22624926e-04 9.99043637e-01 1.25021184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5271056809999 meters 0.038208083709349444 Centerline is valid? [True, True] Translation: X:158.63, Y:194.70, Z:12.77 [[ 9.55510452e-02 -9.95423125e-01 -1.67327321e-03 1.58628061e+02] [-9.95423807e-01 -9.55528689e-02 1.04597197e-03 1.94697664e+02] [-1.20107074e-03 1.56567227e-03 -9.99998053e-01 1.27663896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.55710568099994 meters 0.038020434538176606 Centerline is valid? [True, True] Translation: X:158.62, Y:194.64, Z:12.76 [[ 1.62709859e-01 -9.86672538e-01 -1.67464206e-03 1.58621150e+02] [-9.86673573e-01 -1.62711063e-01 6.09012331e-04 1.94638779e+02] [-8.73378531e-04 1.55323275e-03 -9.99998412e-01 1.27624178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5871056809999 meters 0.040955499057169775 Centerline is valid? [True, True] Translation: X:159.84, Y:194.84, Z:12.51 [[ 1.95338163e-01 9.80714491e-01 -6.48760586e-03 1.59835271e+02] [-9.79823973e-01 1.95437459e-01 4.18232212e-02 1.94837870e+02] [ 4.22845603e-02 -1.81295946e-03 9.99103963e-01 1.25094982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.61710568099994 meters 0.041419946957068646 Centerline is valid? [True, True] Translation: X:159.86, Y:194.79, Z:12.51 [[ 1.28925041e-01 9.91647958e-01 -3.55837951e-03 1.59858745e+02] [-9.90786524e-01 1.28961475e-01 4.13642515e-02 1.94787771e+02] [ 4.14776694e-02 -1.80729336e-03 9.99137797e-01 1.25097012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.6471056809999 meters 0.04055807135568129 Centerline is valid? [True, True] Translation: X:158.64, Y:194.65, Z:12.76 [[ 9.66402113e-02 -9.95318873e-01 -1.00536343e-03 1.58642549e+02] [-9.95313604e-01 -9.66361596e-02 -3.50470381e-03 1.94647115e+02] [ 3.39114338e-03 1.33934722e-03 -9.99993353e-01 1.27586918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.67710568099994 meters 0.03868018716607882 Centerline is valid? [True, True] Translation: X:158.63, Y:194.59, Z:12.76 [[ 1.70479851e-01 -9.85360981e-01 -5.97976942e-04 1.58630718e+02] [-9.85352653e-01 -1.70475826e-01 -4.25932625e-03 1.94590473e+02] [ 4.09503328e-03 1.31534747e-03 -9.99990750e-01 1.27582081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7071056809999 meters 0.03633347341308145 Centerline is valid? [True, True] Translation: X:158.62, Y:194.54, Z:12.75 [[ 2.45300802e-01 -9.69446901e-01 4.72272317e-04 1.58619978e+02] [-9.69423316e-01 -2.45298183e-01 -6.87278652e-03 1.94535196e+02] [ 6.77864914e-03 1.22806825e-03 -9.99976271e-01 1.27543332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.73710568099995 meters 0.03580689128276223 Centerline is valid? [True, True] Translation: X:158.62, Y:194.48, Z:12.75 [[ 3.15063175e-01 -9.49069829e-01 1.28672399e-03 1.58619958e+02] [-9.49039428e-01 -3.15063510e-01 -7.69080982e-03 1.94475748e+02] [ 7.70451534e-03 1.20193916e-03 -9.99969597e-01 1.27497755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7671056809999 meters 0.03317744013333981 Centerline is valid? [True, True] Translation: X:158.62, Y:194.42, Z:12.74 [[ 3.87334409e-01 -9.21934686e-01 2.91395490e-03 1.58619230e+02] [-9.21881769e-01 -3.87343614e-01 -9.94630207e-03 1.94416023e+02] [ 1.02985427e-02 1.16622314e-03 -9.99946289e-01 1.27419782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7971056809999 meters 0.029883120564973567 Centerline is valid? [True, True] Translation: X:158.62, Y:194.36, Z:12.74 [[ 4.55335102e-01 -8.90311664e-01 3.88407791e-03 1.58621627e+02] [-8.90253923e-01 -4.55350110e-01 -1.02092583e-02 1.94356227e+02] [ 1.08580370e-02 1.19081806e-03 -9.99940341e-01 1.27392247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.8271056809999 meters 0.02900468294102598 Centerline is valid? [True, True] Translation: X:158.63, Y:194.30, Z:12.74 [[ 5.19145325e-01 -8.54673289e-01 4.65841875e-03 1.58634351e+02] [-8.54615635e-01 -5.19164813e-01 -1.00006666e-02 1.94298269e+02] [ 1.09657898e-02 1.21064184e-03 -9.99939141e-01 1.27406530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.8571056809999 meters 0.02715324096574263 Centerline is valid? [True, True] Translation: X:158.65, Y:194.24, Z:12.75 [[ 5.83347723e-01 -8.12209986e-01 4.51350423e-03 1.58647565e+02] [-8.12166359e-01 -5.83363728e-01 -8.51860999e-03 1.94240139e+02] [ 9.55191475e-03 1.30359544e-03 -9.99953530e-01 1.27450964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.8871056809999 meters 0.026363680868540375 Centerline is valid? [True, True] Translation: X:158.66, Y:194.18, Z:12.75 [[ 6.43802735e-01 -7.65186303e-01 2.82120729e-03 1.58664605e+02] [-7.65167595e-01 -6.43807389e-01 -5.53148969e-03 1.94182718e+02] [ 6.04893425e-03 1.40249179e-03 -9.99980722e-01 1.27482291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.9171056809999 meters 0.026316307777355816 Centerline is valid? [True, True] Translation: X:158.69, Y:194.13, Z:12.75 [[ 6.99914075e-01 -7.14224175e-01 2.02883279e-03 1.58687689e+02] [-7.14213684e-01 -6.99915529e-01 -4.13119473e-03 1.94127761e+02] [ 4.37061073e-03 1.44246120e-03 -9.99989408e-01 1.27528089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.9471056809999 meters 0.025780213806890148 Centerline is valid? [True, True] Translation: X:158.72, Y:194.07, Z:12.75 [[ 7.50036789e-01 -6.61391713e-01 2.41180639e-03 1.58715915e+02] [-6.61380850e-01 -7.50039268e-01 -4.05816156e-03 1.94073072e+02] [ 4.49298393e-03 1.44864791e-03 -9.99988857e-01 1.27496285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.9771056809999 meters 0.025610005393433995 Centerline is valid? [True, True] Translation: X:158.79, Y:194.04, Z:12.75 [[ 8.00414246e-01 -5.99444321e-01 1.88184562e-03 1.58787079e+02] [-5.99436700e-01 -8.00414829e-01 -3.42708277e-03 1.94036214e+02] [ 3.56060244e-03 1.61503855e-03 -9.99992357e-01 1.27494735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.0071056809999 meters 0.025690712619320457 Centerline is valid? [True, True] Translation: X:159.58, Y:195.05, Z:12.52 [[ 8.04485429e-01 5.93073498e-01 -3.26652829e-02 1.59583895e+02] [-5.92578434e-01 8.05148314e-01 2.42279212e-02 1.95054783e+02] [ 4.06693354e-02 -1.34267378e-04 9.99172651e-01 1.25223730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.0371056809999 meters 0.025950343364844294 Centerline is valid? [True, True] Translation: X:159.61, Y:195.04, Z:12.52 [[ 8.06118921e-01 5.90819040e-01 -3.32437459e-02 1.59605737e+02] [-5.90304760e-01 8.06804067e-01 2.46472768e-02 1.95036725e+02] [ 4.13832699e-02 -2.44694757e-04 9.99143316e-01 1.25224464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.06710568099993 meters 0.026595534730980617 Centerline is valid? [True, True] Translation: X:159.63, Y:195.02, Z:12.52 [[ 8.06622976e-01 5.90089326e-01 -3.39700326e-02 1.59627005e+02] [-5.89551890e-01 8.07337914e-01 2.51805805e-02 1.95018013e+02] [ 4.22840870e-02 -2.84137859e-04 9.99105588e-01 1.25179857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.0971056809999 meters 0.026138587910815986 Centerline is valid? [True, True] Translation: X:159.65, Y:195.00, Z:12.53 [[ 8.09138534e-01 5.86690984e-01 -3.29927546e-02 1.59649587e+02] [-5.86181635e-01 8.09810777e-01 2.44457602e-02 1.95001447e+02] [ 4.10599954e-02 -4.40259726e-04 9.99156586e-01 1.25252163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.12710568099993 meters 0.026575214872942298 Centerline is valid? [True, True] Translation: X:159.67, Y:194.98, Z:12.53 [[ 8.10748770e-01 5.84528164e-01 -3.18317191e-02 1.59670508e+02] [-5.84052853e-01 8.11373252e-01 2.35735145e-02 1.94983979e+02] [ 3.96067886e-02 -5.20791548e-04 9.99215208e-01 1.25255516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.1571056809999 meters 0.02810277531949812 Centerline is valid? [True, True] Translation: X:159.69, Y:194.96, Z:12.53 [[ 8.15244640e-01 5.78248849e-01 -3.16929988e-02 1.59690185e+02] [-5.77773328e-01 8.15860041e-01 2.34600885e-02 1.94962003e+02] [ 3.94228204e-02 -8.14342025e-04 9.99222287e-01 1.25251506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.18710568099993 meters 0.028825579627402433 Centerline is valid? [True, True] Translation: X:159.71, Y:194.94, Z:12.53 [[ 8.17249599e-01 5.75370888e-01 -3.24258222e-02 1.59710991e+02] [-5.74871399e-01 8.17892054e-01 2.39888038e-02 1.94941786e+02] [ 4.03232817e-02 -9.64162554e-04 9.99186221e-01 1.25260740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.2171056809999 meters 0.028825579627402433 Centerline is valid? [True, True] Translation: X:159.73, Y:194.93, Z:12.53 [[ 8.17430887e-01 5.75112903e-01 -3.24328956e-02 1.59733039e+02] [-5.74613591e-01 8.18073479e-01 2.39792382e-02 1.94925701e+02] [ 4.03232610e-02 -9.64987310e-04 9.99186221e-01 1.25266445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.24710568099994 meters 0.02983994290891314 Centerline is valid? [True, True] Translation: X:159.75, Y:194.91, Z:12.53 [[ 8.18754255e-01 5.73185329e-01 -3.31669811e-02 1.59752514e+02] [-5.72662012e-01 8.19425056e-01 2.45111733e-02 1.94905697e+02] [ 4.12273003e-02 -1.07515726e-03 9.99149215e-01 1.25263855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.2771056809999 meters 0.029398081557581023 Centerline is valid? [True, True] Translation: X:159.78, Y:194.89, Z:12.53 [[ 8.18574111e-01 5.73497829e-01 -3.21972871e-02 1.59776134e+02] [-5.73005259e-01 8.19206443e-01 2.37860519e-02 1.94888669e+02] [ 4.00174742e-02 -1.02143145e-03 9.99198458e-01 1.25286002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.30710568099994 meters 0.02800553251889507 Centerline is valid? [True, True] Translation: X:159.80, Y:194.87, Z:12.53 [[ 8.16107493e-01 5.77062571e-01 -3.11022521e-02 1.59799963e+02] [-5.76605853e-01 8.16699536e-01 2.29686422e-02 1.94874737e+02] [ 3.86555385e-02 -8.11140358e-04 9.99252266e-01 1.25300073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3371056809999 meters 0.027461387765063773 Centerline is valid? [True, True] Translation: X:159.82, Y:194.86, Z:12.53 [[ 8.14596818e-01 5.79224236e-01 -3.05173353e-02 1.59823250e+02] [-5.78786363e-01 8.15167964e-01 2.25285545e-02 1.94858846e+02] [ 3.79258389e-02 -6.88671314e-04 9.99280319e-01 1.25294398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.36710568099994 meters 0.027253924712668177 Centerline is valid? [True, True] Translation: X:159.85, Y:194.84, Z:12.53 [[ 8.13994289e-01 5.80006250e-01 -3.17182507e-02 1.59845521e+02] [-5.79534370e-01 8.14611752e-01 2.34010361e-02 1.94842133e+02] [ 3.94108070e-02 -6.66493284e-04 9.99222870e-01 1.25300524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3971056809999 meters 0.027340069277927606 Centerline is valid? [True, True] Translation: X:159.87, Y:194.82, Z:12.53 [[ 8.16647776e-01 5.76269542e-01 -3.16200248e-02 1.59866840e+02] [-5.75798331e-01 8.17259274e-01 2.33143907e-02 1.94823173e+02] [ 3.92771318e-02 -8.32887775e-04 9.99228009e-01 1.25327282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.42710568099994 meters 0.02859009114210008 Centerline is valid? [True, True] Translation: X:159.89, Y:194.80, Z:12.53 [[ 8.18687990e-01 5.73334367e-01 -3.22130079e-02 1.59886711e+02] [-5.72843446e-01 8.19320899e-01 2.37413344e-02 1.94802739e+02] [ 4.00045136e-02 -9.83734912e-04 9.99199015e-01 1.25319738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4571056809999 meters 0.02985332449870871 Centerline is valid? [True, True] Translation: X:159.91, Y:194.78, Z:12.53 [[ 8.20528113e-01 5.70665669e-01 -3.27766619e-02 1.59906341e+02] [-5.70155555e-01 8.21181723e-01 2.41499737e-02 1.94782934e+02] [ 4.06971566e-02 -1.12793646e-03 9.99170891e-01 1.25315051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.48710568099995 meters 0.033008607307570874 Centerline is valid? [True, True] Translation: X:159.92, Y:194.76, Z:12.53 [[ 8.23730824e-01 5.65910720e-01 -3.48222172e-02 1.59923679e+02] [-5.65331000e-01 8.24465267e-01 2.56492259e-02 1.94759225e+02] [ 4.32248806e-02 -1.44197913e-03 9.99064327e-01 1.25264637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5171056809999 meters 0.03298217980501104 Centerline is valid? [True, True] Translation: X:159.95, Y:194.74, Z:12.53 [[ 8.24451347e-01 5.64805944e-01 -3.56962523e-02 1.59946271e+02] [-5.64196221e-01 8.25222340e-01 2.62814331e-02 1.94741598e+02] [ 4.43012545e-02 -1.52807227e-03 9.99017049e-01 1.25259621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5471056809999 meters 0.03189091794759397 Centerline is valid? [True, True] Translation: X:159.97, Y:194.73, Z:12.53 [[ 8.23512414e-01 5.66190511e-01 -3.54345787e-02 1.59970726e+02] [-5.65591627e-01 8.24273170e-01 2.60740034e-02 1.94726229e+02] [ 4.39706258e-02 -1.43076450e-03 9.99031800e-01 1.25300370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5771056809999 meters 0.030958263606938395 Centerline is valid? [True, True] Translation: X:160.00, Y:194.71, Z:12.53 [[ 8.22317643e-01 5.67954885e-01 -3.49419961e-02 1.59995475e+02] [-5.67374763e-01 8.23058651e-01 2.56969921e-02 1.94711130e+02] [ 4.33540444e-02 -1.30588319e-03 9.99058918e-01 1.25345676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.6071056809999 meters 0.027769731857385713 Centerline is valid? [True, True] Translation: X:160.02, Y:194.70, Z:12.54 [[ 8.17724891e-01 5.74575675e-01 -3.44789313e-02 1.60023855e+02] [-5.74017283e-01 8.18450931e-01 2.53423128e-02 1.94701284e+02] [ 4.27803899e-02 -9.31537578e-04 9.99084066e-01 1.25416747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.6371056809999 meters 0.02581661372639263 Centerline is valid? [True, True] Translation: X:160.05, Y:194.69, Z:12.54 [[ 8.12632492e-01 5.81742965e-01 -3.46923002e-02 1.60053475e+02] [-5.81184722e-01 8.13372500e-01 2.54852109e-02 1.94692457e+02] [ 4.30436051e-02 -5.47475666e-04 9.99073045e-01 1.25427002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.6671056809999 meters 0.024902228452389152 Centerline is valid? [True, True] Translation: X:160.09, Y:194.69, Z:12.54 [[ 8.01847041e-01 5.96632788e-01 -3.27206275e-02 1.60088551e+02] [-5.96148973e-01 8.02514335e-01 2.40238387e-02 1.94691514e+02] [ 4.05921825e-02 2.42924559e-04 9.99175768e-01 1.25423909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.6971056809999 meters 0.027135780050838824 Centerline is valid? [True, True] Translation: X:160.12, Y:194.69, Z:12.55 [[ 7.94400027e-01 6.06622773e-01 -3.06171180e-02 1.60120647e+02] [-6.06206897e-01 7.94989501e-01 2.24697857e-02 1.94688464e+02] [ 3.79709711e-02 7.10309799e-04 9.99278590e-01 1.25478770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.7271056809999 meters 0.027712062195655588 Centerline is valid? [True, True] Translation: X:160.15, Y:194.67, Z:12.55 [[ 7.92443457e-01 6.09156312e-01 -3.10153983e-02 1.60146286e+02] [-6.08731849e-01 7.93049724e-01 2.27523919e-02 1.94674687e+02] [ 3.84565162e-02 8.50076644e-04 9.99259913e-01 1.25511433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.7571056809999 meters 0.029578594143176654 Centerline is valid? [True, True] Translation: X:160.18, Y:194.67, Z:12.55 [[ 7.89066437e-01 6.13406127e-01 -3.32728182e-02 1.60175255e+02] [-6.12921943e-01 7.89766809e-01 2.43942465e-02 1.94665345e+02] [ 4.12413477e-02 1.14495923e-03 9.99148558e-01 1.25486217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.7871056809999 meters 0.029154209781602297 Centerline is valid? [True, True] Translation: X:160.20, Y:194.65, Z:12.55 [[ 7.90745681e-01 6.11288456e-01 -3.23680670e-02 1.60196459e+02] [-6.10828834e-01 7.91407226e-01 2.37220962e-02 1.94646719e+02] [ 4.01173656e-02 1.01320353e-03 9.99194461e-01 1.25450258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.81710568099993 meters 0.02727760358457226 Centerline is valid? [True, True] Translation: X:160.21, Y:194.62, Z:12.55 [[ 7.95487635e-01 6.05134970e-01 -3.17976575e-02 1.60214248e+02] [-6.04686817e-01 7.96122593e-01 2.32952978e-02 1.94622357e+02] [ 3.94116328e-02 6.96502978e-04 9.99222817e-01 1.25467298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.8471056809999 meters 0.026750667889381255 Centerline is valid? [True, True] Translation: X:160.24, Y:194.60, Z:12.55 [[ 7.97405980e-01 6.02637478e-01 -3.11732703e-02 1.60235784e+02] [-6.02205344e-01 7.98014876e-01 2.28250127e-02 1.94603476e+02] [ 3.86319415e-02 5.71908315e-04 9.99253344e-01 1.25471660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.87710568099993 meters 0.025905050069091145 Centerline is valid? [True, True] Translation: X:160.26, Y:194.58, Z:12.54 [[ 8.02107294e-01 5.96206859e-01 -3.40774306e-02 1.60255485e+02] [-5.95685205e-01 8.02830800e-01 2.49367749e-02 1.94581323e+02] [ 4.22258871e-02 2.97452183e-04 9.99108045e-01 1.25436422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.9071056809999 meters 0.025754274387421384 Centerline is valid? [True, True] Translation: X:160.27, Y:194.56, Z:12.54 [[ 8.04864318e-01 5.92440689e-01 -3.47485279e-02 1.60274493e+02] [-5.91895307e-01 8.05614063e-01 2.54151125e-02 1.94562618e+02] [ 4.30508495e-02 1.11773352e-04 9.99072876e-01 1.25437317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93710568099993 meters 0.02558234759173034 Centerline is valid? [True, True] Translation: X:160.29, Y:194.54, Z:12.55 [[ 8.08443163e-01 5.87551607e-01 -3.46808580e-02 1.60293868e+02] [-5.87004433e-01 8.09186685e-01 2.53516406e-02 1.94542789e+02] [ 4.29586857e-02 -1.37543130e-04 9.99076840e-01 1.25495022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.9671056809999 meters 0.026057437484502042 Centerline is valid? [True, True] Translation: X:160.31, Y:194.52, Z:12.55 [[ 8.10952945e-01 5.84051951e-01 -3.51943224e-02 1.60314775e+02] [-5.83485620e-01 8.11716217e-01 2.57160227e-02 1.94524087e+02] [ 4.35872954e-02 -3.19103293e-04 9.99049571e-01 1.25471531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99710568099994 meters 0.026356486774551227 Centerline is valid? [True, True] Translation: X:160.34, Y:194.51, Z:12.55 [[ 8.12045516e-01 5.82492892e-01 -3.58344986e-02 1.60337470e+02] [-5.81904477e-01 8.12835694e-01 2.61785042e-02 1.94507187e+02] [ 4.43763522e-02 -4.05881819e-04 9.99014802e-01 1.25479427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0271056809999 meters 0.02730923808310538 Centerline is valid? [True, True] Translation: X:160.36, Y:194.49, Z:12.55 [[ 8.13970361e-01 5.79747258e-01 -3.66792636e-02 1.60358603e+02] [-5.79128207e-01 8.14796170e-01 2.67903369e-02 1.94489568e+02] [ 4.54177478e-02 -5.64544030e-04 9.98967922e-01 1.25455483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.05710568099994 meters 0.027760525123036204 Centerline is valid? [True, True] Translation: X:160.38, Y:194.47, Z:12.55 [[ 8.16412905e-01 5.76169114e-01 -3.87184874e-02 1.60380504e+02] [-5.75475786e-01 8.17330115e-01 2.82684154e-02 1.94470646e+02] [ 4.79331736e-02 -7.97147154e-04 9.98850227e-01 1.25463876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0871056809999 meters 0.02890508105265304 Centerline is valid? [True, True] Translation: X:160.40, Y:194.45, Z:12.55 [[ 8.19427055e-01 5.71926286e-01 -3.79423773e-02 1.60400851e+02] [-5.71256649e-01 8.20304394e-01 2.76865013e-02 1.94450292e+02] [ 4.69589367e-02 -1.01223294e-03 9.98896308e-01 1.25477872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.11710568099994 meters 0.029567771593288487 Centerline is valid? [True, True] Translation: X:160.42, Y:194.43, Z:12.55 [[ 8.20933810e-01 5.69820058e-01 -3.70510602e-02 1.60423031e+02] [-5.69180068e-01 8.21768766e-01 2.70211792e-02 1.94431906e+02] [ 4.58446139e-02 -1.09387457e-03 9.98947984e-01 1.25516765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.1471056809999 meters 0.03152569257862098 Centerline is valid? [True, True] Translation: X:160.44, Y:194.41, Z:12.55 [[ 8.24087261e-01 5.65261178e-01 -3.68779950e-02 1.60444377e+02] [-5.64623253e-01 8.24910924e-01 2.68802801e-02 1.94411992e+02] [ 4.56154397e-02 -1.32952288e-03 9.98958189e-01 1.25546434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.17710568099994 meters 0.03171801631132584 Centerline is valid? [True, True] Translation: X:160.47, Y:194.39, Z:12.55 [[ 8.24374937e-01 5.64811046e-01 -3.73422599e-02 1.60467407e+02] [-5.64157178e-01 8.25219143e-01 2.72037389e-02 1.94394682e+02] [ 4.61805200e-02 -1.35917654e-03 9.98932186e-01 1.25537547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2071056809999 meters 0.030098580913562056 Centerline is valid? [True, True] Translation: X:160.49, Y:194.38, Z:12.55 [[ 8.23085711e-01 5.66680814e-01 -3.74535388e-02 1.60493926e+02] [-5.66025680e-01 8.23936468e-01 2.72695005e-02 1.94383012e+02] [ 4.63124392e-02 -1.24547140e-03 9.98926227e-01 1.25535103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.23710568099995 meters 0.02820028850328337 Centerline is valid? [True, True] Translation: X:160.52, Y:194.37, Z:12.56 [[ 8.21064157e-01 5.69605332e-01 -3.74621976e-02 1.60522036e+02] [-5.68953660e-01 8.21917651e-01 2.72599974e-02 1.94373563e+02] [ 4.63182813e-02 -1.06795230e-03 9.98926162e-01 1.25575071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2671056809999 meters 0.02603618322992605 Centerline is valid? [True, True] Translation: X:160.56, Y:194.38, Z:12.56 [[ 8.13415638e-01 5.80534361e-01 -3.65356739e-02 1.60557863e+02] [-5.79925935e-01 8.14235637e-01 2.65751389e-02 1.94376746e+02] [ 4.51764290e-02 -4.28648739e-04 9.98978932e-01 1.25606279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2971056809999 meters 0.025460660267168818 Centerline is valid? [True, True] Translation: X:160.58, Y:194.36, Z:12.57 [[ 8.13781738e-01 5.80233512e-01 -3.29902184e-02 1.60583593e+02] [-5.79737615e-01 8.14450070e-01 2.39871240e-02 1.94363055e+02] [ 4.07870189e-02 -3.94612978e-04 9.99167785e-01 1.25692292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.3271056809999 meters 0.02539350841564673 Centerline is valid? [True, True] Translation: X:160.61, Y:194.35, Z:12.57 [[ 8.13526696e-01 5.80645417e-01 -3.20189684e-02 1.60607680e+02] [-5.80179124e-01 8.14156481e-01 2.32681867e-02 1.94348495e+02] [ 3.95790167e-02 -3.52554001e-04 9.99216382e-01 1.25731740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.3571056809999 meters 0.025360356624429252 Centerline is valid? [True, True] Translation: X:160.63, Y:194.33, Z:12.58 [[ 8.14266471e-01 5.79737383e-01 -2.95750098e-02 1.60630304e+02] [-5.79339409e-01 8.14803313e-01 2.14804459e-02 1.94332000e+02] [ 3.65508334e-02 -3.56838209e-04 9.99331731e-01 1.25759405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.3871056809999 meters 0.02511390504765987 Centerline is valid? [True, True] Translation: X:160.65, Y:194.32, Z:12.58 [[ 8.14256638e-01 5.79764722e-01 -2.93086210e-02 1.60652863e+02] [-5.79374373e-01 8.14783868e-01 2.12740470e-02 1.94315344e+02] [ 3.62141335e-02 -3.41870108e-04 9.99343995e-01 1.25784922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.4171056809999 meters 0.025016138816195438 Centerline is valid? [True, True] Translation: X:160.67, Y:194.30, Z:12.58 [[ 8.13941514e-01 5.80260194e-01 -2.82368384e-02 1.60674474e+02] [-5.79898514e-01 8.14431101e-01 2.04864695e-02 1.94297929e+02] [ 3.48844422e-02 -3.00287349e-04 9.99391308e-01 1.25797529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.4471056809999 meters 0.024363696888687406 Centerline is valid? [True, True] Translation: X:160.70, Y:194.29, Z:12.58 [[ 8.09146119e-01 5.86909763e-01 -2.86266924e-02 1.60701572e+02] [-5.86542424e-01 8.09652351e-01 2.07618784e-02 1.94287146e+02] [ 3.53630179e-02 -8.62375259e-06 9.99374533e-01 1.25842634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.4771056809999 meters 0.024445976389712007 Centerline is valid? [True, True] Translation: X:160.73, Y:194.27, Z:12.59 [[ 8.06297625e-01 5.90824772e-01 -2.84645286e-02 1.60726142e+02] [-5.90464425e-01 8.06799888e-01 2.06325639e-02 1.94272513e+02] [ 3.51554083e-02 1.71304270e-04 9.99381843e-01 1.25851297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.5071056809999 meters 0.026042755115070156 Centerline is valid? [True, True] Translation: X:160.75, Y:194.26, Z:12.59 [[ 7.99588869e-01 5.99906717e-01 -2.77411299e-02 1.60752423e+02] [-5.99570171e-01 8.00069757e-01 2.00996089e-02 1.94262411e+02] [ 3.42527295e-02 5.61330437e-04 9.99413045e-01 1.25856700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.5371056809999 meters 0.027137557443175076 Centerline is valid? [True, True] Translation: X:160.78, Y:194.25, Z:12.59 [[ 7.95555892e-01 6.05232347e-01 -2.80112226e-02 1.60776010e+02] [-6.04892680e-01 7.96048468e-01 2.02899738e-02 1.94246552e+02] [ 3.45784393e-02 8.01975246e-04 9.99401665e-01 1.25877366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.56710568099993 meters 0.02807251315194531 Centerline is valid? [True, True] Translation: X:160.80, Y:194.23, Z:12.59 [[ 7.92629405e-01 6.09058234e-01 -2.80480582e-02 1.60800923e+02] [-6.08720350e-01 7.93124904e-01 2.03081807e-02 1.94231467e+02] [ 3.46144782e-02 9.76562657e-04 9.99400262e-01 1.25882637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.5971056809999 meters 0.030761677096245228 Centerline is valid? [True, True] Translation: X:160.83, Y:194.22, Z:12.59 [[ 7.87637255e-01 6.15467772e-01 -2.87572039e-02 1.60827266e+02] [-6.15117147e-01 7.88160987e-01 2.08123649e-02 1.94221048e+02] [ 3.54746460e-02 1.29645519e-03 9.99369736e-01 1.25877191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.62710568099993 meters 0.03181221281069576 Centerline is valid? [True, True] Translation: X:160.85, Y:194.21, Z:12.59 [[ 7.86239293e-01 6.17274022e-01 -2.82940987e-02 1.60850673e+02] [-6.16935935e-01 7.86747058e-01 2.04723810e-02 1.94206914e+02] [ 3.48973679e-02 1.35945593e-03 9.99389977e-01 1.25892801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.6571056809999 meters 0.03272258422434348 Centerline is valid? [True, True] Translation: X:160.88, Y:194.19, Z:12.59 [[ 7.85190790e-01 6.18675140e-01 -2.67674243e-02 1.60875339e+02] [-6.18373516e-01 7.85645756e-01 1.93634138e-02 1.94193519e+02] [ 3.30093761e-02 1.34829215e-03 9.99454133e-01 1.25925520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.68710568099993 meters 0.0315409708657964 Centerline is valid? [True, True] Translation: X:160.90, Y:194.18, Z:12.59 [[ 7.86653853e-01 6.16775628e-01 -2.76322347e-02 1.60898151e+02] [-6.16453265e-01 7.87137913e-01 1.99819303e-02 1.94176076e+02] [ 3.40747472e-02 1.31511880e-03 9.99418422e-01 1.25940381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.7171056809999 meters 0.030676065209908093 Centerline is valid? [True, True] Translation: X:160.92, Y:194.16, Z:12.59 [[ 7.88021349e-01 6.14993041e-01 -2.83886088e-02 1.60920688e+02] [-6.14652049e-01 7.88531494e-01 2.05168405e-02 1.94158826e+02] [ 3.50030262e-02 1.28140823e-03 9.99386385e-01 1.25929001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.74710568099994 meters 0.030084238593551933 Centerline is valid? [True, True] Translation: X:160.94, Y:194.14, Z:12.59 [[ 7.89833314e-01 6.12587361e-01 -3.00010193e-02 1.60943860e+02] [-6.12205265e-01 7.90401897e-01 2.16692262e-02 1.94141690e+02] [ 3.69871566e-02 1.25170520e-03 9.99314957e-01 1.25900312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.7771056809999 meters 0.02818080225167193 Centerline is valid? [True, True] Translation: X:160.97, Y:194.12, Z:12.59 [[ 7.93335928e-01 6.07994604e-01 -3.09946300e-02 1.60966508e+02] [-6.07583747e-01 7.93940420e-01 2.23740860e-02 1.94124403e+02] [ 3.82112132e-02 1.08166714e-03 9.99269099e-01 1.25869935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.80710568099994 meters 0.027477508187645706 Centerline is valid? [True, True] Translation: X:160.99, Y:194.11, Z:12.59 [[ 7.94648469e-01 6.06264942e-01 -3.12510931e-02 1.60991466e+02] [-6.05846409e-01 7.95262086e-01 2.25464659e-02 1.94109421e+02] [ 3.85219414e-02 1.01684788e-03 9.99257237e-01 1.25882192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.8371056809999 meters 0.024419230047840215 Centerline is valid? [True, True] Translation: X:161.01, Y:194.09, Z:12.60 [[ 8.04410230e-01 5.93296702e-01 -3.03843027e-02 1.61008084e+02] [-5.92892056e-01 8.04983772e-01 2.19120342e-02 1.94085506e+02] [ 3.74592082e-02 3.88347253e-04 9.99298082e-01 1.25951021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.86710568099994 meters 0.02380809774679319 Centerline is valid? [True, True] Translation: X:161.03, Y:194.07, Z:12.60 [[ 8.07966621e-01 5.88473577e-01 -2.98125600e-02 1.61028771e+02] [-5.88081026e-01 8.08516432e-01 2.14915134e-02 1.94065406e+02] [ 3.67511324e-02 1.67775423e-04 9.99324435e-01 1.26010212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.8971056809999 meters 0.023828112766126203 Centerline is valid? [True, True] Translation: X:161.05, Y:194.05, Z:12.61 [[ 8.07388161e-01 5.89360759e-01 -2.78972056e-02 1.61051967e+02] [-5.89017899e-01 8.07869949e-01 2.01012336e-02 1.94050926e+02] [ 3.43841923e-02 2.02455413e-04 9.99408668e-01 1.26100263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.92710568099994 meters 0.024138485373809172 Centerline is valid? [True, True] Translation: X:161.08, Y:194.03, Z:12.61 [[ 8.06212329e-01 5.91108862e-01 -2.47385239e-02 1.61075234e+02] [-5.90840300e-01 8.06591749e-01 1.78182239e-02 1.94034400e+02] [ 3.04863993e-02 2.51245126e-04 9.99535150e-01 1.26104916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9571056809999 meters 0.024246188992781102 Centerline is valid? [True, True] Translation: X:161.10, Y:194.02, Z:12.61 [[ 8.05488323e-01 5.92129796e-01 -2.38928133e-02 1.61098248e+02] [-5.91880032e-01 8.05842554e-01 1.71990037e-02 1.94018067e+02] [ 2.94378882e-02 2.88082504e-04 9.99566570e-01 1.26106759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.98710568099995 meters 0.02460791073123754 Centerline is valid? [True, True] Translation: X:161.12, Y:194.00, Z:12.61 [[ 8.03868032e-01 5.94246013e-01 -2.58430584e-02 1.61121066e+02] [-5.93955288e-01 8.04283229e-01 1.85904369e-02 1.94001079e+02] [ 3.18324315e-02 4.05363210e-04 9.99493138e-01 1.26061732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0171056809999 meters 0.025222277650443655 Centerline is valid? [True, True] Translation: X:161.15, Y:193.99, Z:12.60 [[ 8.02144930e-01 5.96473796e-01 -2.79735854e-02 1.61146002e+02] [-5.96134925e-01 8.02632366e-01 2.01106264e-02 1.93986039e+02] [ 3.44479667e-02 5.44394202e-04 9.99406344e-01 1.26046914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0471056809999 meters 0.02659124706098178 Centerline is valid? [True, True] Translation: X:161.17, Y:193.97, Z:12.60 [[ 7.98609388e-01 6.01097464e-01 -3.00812867e-02 1.61170884e+02] [-6.00709214e-01 7.99175317e-01 2.16160368e-02 1.93973699e+02] [ 3.70335667e-02 8.07336217e-04 9.99313696e-01 1.26042016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0771056809999 meters 0.026947564957773968 Centerline is valid? [True, True] Translation: X:161.19, Y:193.96, Z:12.60 [[ 7.98120538e-01 6.01732270e-01 -3.03625156e-02 1.61193932e+02] [-6.01337497e-01 7.98697409e-01 2.18097289e-02 1.93957369e+02] [ 3.73740802e-02 8.51326611e-04 9.99300982e-01 1.26043296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.1071056809999 meters 0.026772156828540217 Centerline is valid? [True, True] Translation: X:161.21, Y:193.94, Z:12.60 [[ 7.97927362e-01 6.01933544e-01 -3.14314100e-02 1.61214780e+02] [-6.01511153e-01 7.98545675e-01 2.25640909e-02 1.93936554e+02] [ 3.86814998e-02 9.01838131e-04 9.99251184e-01 1.26014569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.1371056809999 meters 0.026772156828540217 Centerline is valid? [True, True] Translation: X:161.24, Y:193.92, Z:12.60 [[ 7.98120947e-01 6.01676487e-01 -3.14381823e-02 1.61237027e+02] [-6.01254267e-01 7.98739378e-01 2.25546527e-02 1.93920789e+02] [ 3.86815184e-02 9.01000444e-04 9.99251184e-01 1.26020273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.1671056809999 meters 0.026778870003321624 Centerline is valid? [True, True] Translation: X:161.26, Y:193.90, Z:12.60 [[ 7.99178982e-01 6.00235071e-01 -3.21062780e-02 1.61258352e+02] [-5.99794030e-01 7.99823182e-01 2.30217359e-02 1.93902632e+02] [ 3.94977987e-02 8.58666371e-04 9.99219289e-01 1.26017948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.1971056809999 meters 0.027041959661453816 Centerline is valid? [True, True] Translation: X:161.28, Y:193.89, Z:12.61 [[ 7.98260160e-01 6.01373058e-01 -3.36327538e-02 1.61281129e+02] [-6.00890550e-01 7.98967777e-01 2.41047267e-02 1.93885108e+02] [ 4.13674198e-02 9.67760944e-04 9.99143533e-01 1.26052319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.2271056809999 meters 0.027938128832988973 Centerline is valid? [True, True] Translation: X:161.30, Y:193.87, Z:12.61 [[ 7.96777893e-01 6.03330682e-01 -3.37205823e-02 1.61304871e+02] [-6.02847800e-01 7.97490390e-01 2.41579562e-02 1.93870896e+02] [ 4.14670766e-02 1.07985344e-03 9.99139287e-01 1.26075796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.2571056809999 meters 0.03095156571772254 Centerline is valid? [True, True] Translation: X:161.33, Y:193.86, Z:12.61 [[ 7.93355861e-01 6.07908005e-01 -3.21610845e-02 1.61331056e+02] [-6.07472831e-01 7.94006461e-01 2.30325891e-02 1.93859668e+02] [ 3.95378042e-02 1.26394556e-03 9.99217276e-01 1.26128930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.2871056809999 meters 0.029891320464897595 Centerline is valid? [True, True] Translation: X:161.35, Y:193.84, Z:12.62 [[ 7.91674364e-01 6.10169366e-01 -3.07415987e-02 1.61352254e+02] [-6.09773917e-01 7.92269896e-01 2.20041426e-02 1.93840022e+02] [ 3.77818969e-02 1.32530943e-03 9.99285130e-01 1.26177274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.31710568099993 meters 0.030589591696359938 Centerline is valid? [True, True] Translation: X:161.38, Y:193.82, Z:12.62 [[ 7.90591418e-01 6.11644835e-01 -2.92541417e-02 1.61375585e+02] [-6.11288176e-01 7.91131346e-01 2.09274814e-02 1.93823552e+02] [ 3.59440544e-02 1.33762371e-03 9.99352908e-01 1.26194955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.3471056809999 meters 0.03211007283321599 Centerline is valid? [True, True] Translation: X:161.40, Y:193.81, Z:12.62 [[ 7.88923266e-01 6.13920305e-01 -2.64941222e-02 1.61397139e+02] [-6.13629328e-01 7.89366923e-01 1.89449057e-02 1.93806935e+02] [ 3.25442460e-02 1.31149350e-03 9.99469435e-01 1.26193758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.37710568099993 meters 0.03230077740530364 Centerline is valid? [True, True] Translation: X:161.42, Y:193.79, Z:12.62 [[ 7.87278686e-01 6.16069724e-01 -2.55022635e-02 1.61418176e+02] [-6.15801404e-01 7.87690465e-01 1.82308046e-02 1.93787569e+02] [ 3.13193365e-02 1.35160580e-03 9.99508515e-01 1.26188308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.4071056809999 meters 0.034025921851608895 Centerline is valid? [True, True] Translation: X:161.44, Y:193.77, Z:12.62 [[ 7.86662542e-01 6.16817869e-01 -2.64151839e-02 1.61441435e+02] [-6.16530595e-01 7.87104603e-01 1.88777266e-02 1.93773094e+02] [ 3.24356319e-02 1.43536860e-03 9.99472796e-01 1.26161638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43710568099993 meters 0.032756431132802806 Centerline is valid? [True, True] Translation: X:161.46, Y:193.75, Z:12.61 [[ 7.85778908e-01 6.17811942e-01 -2.93242526e-02 1.61462388e+02] [-6.17458818e-01 7.86324170e-01 2.09501074e-02 1.93753543e+02] [ 3.60015951e-02 1.64436587e-03 9.99350380e-01 1.26134092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.4671056809999 meters 0.03437624328820641 Centerline is valid? [True, True] Translation: X:161.49, Y:193.74, Z:12.61 [[ 7.85753398e-01 6.17726371e-01 -3.17132257e-02 1.61487414e+02] [-6.17313552e-01 7.86391100e-01 2.26498650e-02 1.93741129e+02] [ 3.89304174e-02 1.77979563e-03 9.99240339e-01 1.26103006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49710568099994 meters 0.03528859655907269 Centerline is valid? [True, True] Translation: X:161.51, Y:193.73, Z:12.61 [[ 7.85879189e-01 6.17366403e-01 -3.53924367e-02 1.61513796e+02] [-6.16852166e-01 7.86673269e-01 2.52699938e-02 1.93731223e+02] [ 4.34431291e-02 1.97273901e-03 9.99053954e-01 1.26061998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5271056809999 meters 0.034046720570693245 Centerline is valid? [True, True] Translation: X:161.54, Y:193.72, Z:12.61 [[ 7.85868099e-01 6.17330583e-01 -3.62530360e-02 1.61537857e+02] [-6.16791374e-01 7.86701244e-01 2.58757237e-02 1.93716455e+02] [ 4.44941841e-02 2.02565408e-03 9.99007590e-01 1.26073121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.55710568099994 meters 0.03516252378054879 Centerline is valid? [True, True] Translation: X:161.57, Y:193.71, Z:12.60 [[ 7.85382289e-01 6.17970180e-01 -3.58819834e-02 1.61568328e+02] [-6.17442933e-01 7.86198874e-01 2.56038187e-02 1.93712036e+02] [ 4.40327714e-02 2.04629133e-03 9.99027991e-01 1.26039578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5871056809999 meters 0.029650647215830415 Centerline is valid? [True, True] Translation: X:161.59, Y:193.69, Z:12.61 [[ 7.95856348e-01 6.04476120e-01 -3.49470246e-02 1.61585756e+02] [-6.03963144e-01 7.96622256e-01 2.49299655e-02 1.93687473e+02] [ 4.29091464e-02 1.26604349e-03 9.99078176e-01 1.26088802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.61710568099994 meters 0.027594432726476884 Centerline is valid? [True, True] Translation: X:161.61, Y:193.67, Z:12.61 [[ 8.00426356e-01 5.98391832e-01 -3.52826421e-02 1.61607552e+02] [-5.97863359e-01 8.01203036e-01 2.51614622e-02 1.93668347e+02] [ 4.33249734e-02 9.54301465e-04 9.99060577e-01 1.26103084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.6471056809999 meters 0.026070505306508483 Centerline is valid? [True, True] Translation: X:161.63, Y:193.65, Z:12.61 [[ 8.04657128e-01 5.92708255e-01 -3.49833082e-02 1.61628492e+02] [-5.92183815e-01 8.05416973e-01 2.49364855e-02 1.93648523e+02] [ 4.29562110e-02 6.51228133e-04 9.99076744e-01 1.26126334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.67710568099994 meters 0.02477945242896048 Centerline is valid? [True, True] Translation: X:161.65, Y:193.62, Z:12.61 [[ 8.13413273e-01 5.80647829e-01 -3.47411281e-02 1.61645432e+02] [-5.80119929e-01 8.14154837e-01 2.47541931e-02 1.93624620e+02] [ 4.26581259e-02 1.86315500e-05 9.99089728e-01 1.26122283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7071056809999 meters 0.02484075880465073 Centerline is valid? [True, True] Translation: X:161.67, Y:193.60, Z:12.61 [[ 8.17467047e-01 5.74971989e-01 -3.39829367e-02 1.61665389e+02] [-5.74462414e-01 8.18173052e-01 2.42031362e-02 1.93604717e+02] [ 4.17200484e-02 -2.63346382e-04 9.99129305e-01 1.26147046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.73710568099995 meters 0.026999969800581048 Centerline is valid? [True, True] Translation: X:161.68, Y:193.58, Z:12.62 [[ 8.24692100e-01 5.64577266e-01 -3.36964491e-02 1.61680808e+02] [-5.64068025e-01 8.25379858e-01 2.39865074e-02 1.93579627e+02] [ 4.13546072e-02 -7.74393680e-04 9.99144232e-01 1.26203151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7671056809999 meters 0.027874440663377825 Centerline is valid? [True, True] Translation: X:161.70, Y:193.56, Z:12.62 [[ 8.27161054e-01 5.61032189e-01 -3.23646954e-02 1.61701619e+02] [-5.60560129e-01 8.27793490e-01 2.30277814e-02 1.93559334e+02] [ 3.97106108e-02 -9.05326099e-04 9.99210812e-01 1.26236079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7971056809999 meters 0.02816101096540639 Centerline is valid? [True, True] Translation: X:161.72, Y:193.54, Z:12.62 [[ 8.27816922e-01 5.60095721e-01 -3.18107925e-02 1.61723232e+02] [-5.59639548e-01 8.28427385e-01 2.26195402e-02 1.93541930e+02] [ 3.90220393e-02 -9.22260566e-04 9.99237925e-01 1.26236610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.8271056809999 meters 0.028370525740979795 Centerline is valid? [True, True] Translation: X:161.74, Y:193.52, Z:12.62 [[ 8.27495004e-01 5.60595321e-01 -3.13831768e-02 1.61744052e+02] [-5.60152084e-01 8.28089436e-01 2.23053417e-02 1.93523840e+02] [ 3.84923474e-02 -8.78206945e-04 9.99258509e-01 1.26191073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.8571056809999 meters 0.02957866527389024 Centerline is valid? [True, True] Translation: X:161.76, Y:193.50, Z:12.62 [[ 8.27785265e-01 5.60145894e-01 -3.17510936e-02 1.61763552e+02] [-5.59692094e-01 8.28393480e-01 2.25610744e-02 1.93503880e+02] [ 3.89398922e-02 -9.04888901e-04 9.99241145e-01 1.26161885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.8871056809999 meters 0.028285404258984258 Centerline is valid? [True, True] Translation: X:161.79, Y:193.49, Z:12.62 [[ 8.26802465e-01 5.61593254e-01 -3.17915136e-02 1.61788691e+02] [-5.61139744e-01 8.27413034e-01 2.25800587e-02 1.93490607e+02] [ 3.89855213e-02 -8.29766374e-04 9.99239431e-01 1.26199307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.9171056809999 meters 0.02779723236516332 Centerline is valid? [True, True] Translation: X:161.81, Y:193.48, Z:12.63 [[ 8.26184926e-01 5.62529195e-01 -3.12949460e-02 1.61813678e+02] [-5.62090904e-01 8.26777070e-01 2.22146983e-02 1.93475886e+02] [ 3.83703601e-02 -7.62844396e-04 9.99263295e-01 1.26250974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.9471056809999 meters 0.02763715757820685 Centerline is valid? [True, True] Translation: X:161.84, Y:193.46, Z:12.63 [[ 8.25691793e-01 5.63245379e-01 -3.14277850e-02 1.61837041e+02] [-5.62804372e-01 8.26289370e-01 2.22961071e-02 1.93459715e+02] [ 3.85266239e-02 -7.22017820e-04 9.99257313e-01 1.26253331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.9771056809999 meters 0.027085019163464848 Centerline is valid? [True, True] Translation: X:161.86, Y:193.44, Z:12.62 [[ 8.24630065e-01 5.64772387e-01 -3.18967956e-02 1.61861366e+02] [-5.64319777e-01 8.25246465e-01 2.26155063e-02 1.93444215e+02] [ 3.90953313e-02 -6.49433835e-04 9.99235274e-01 1.26217641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.0071056809999 meters 0.026956446156755902 Centerline is valid? [True, True] Translation: X:161.89, Y:193.43, Z:12.62 [[ 8.22939930e-01 5.67063653e-01 -3.47661378e-02 1.61887696e+02] [-5.66528600e-01 8.23673771e-01 2.46346305e-02 1.93431162e+02] [ 4.26053594e-02 -5.76809775e-04 9.99091813e-01 1.26192578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.0371056809999 meters 0.026835525599608893 Centerline is valid? [True, True] Translation: X:161.91, Y:193.42, Z:12.62 [[ 8.21802895e-01 5.68555560e-01 -3.72099081e-02 1.61912545e+02] [-5.67944613e-01 8.22644698e-01 2.63555968e-02 1.93417258e+02] [ 4.55951546e-02 -5.25938903e-04 9.98959862e-01 1.26177410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.06710568099993 meters 0.026800714954499785 Centerline is valid? [True, True] Translation: X:161.94, Y:193.40, Z:12.61 [[ 8.20483048e-01 5.70301858e-01 -3.95393348e-02 1.61937609e+02] [-5.69614291e-01 8.21435078e-01 2.79994966e-02 1.93404851e+02] [ 4.84471615e-02 -4.50942181e-04 9.98825645e-01 1.26137306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.0971056809999 meters 0.027056284060309386 Centerline is valid? [True, True] Translation: X:161.96, Y:193.39, Z:12.62 [[ 8.21887990e-01 5.68319557e-01 -3.88974618e-02 1.61958740e+02] [-5.67652535e-01 8.22807742e-01 2.75321522e-02 1.93386525e+02] [ 4.76521933e-02 -5.48102452e-04 9.98863839e-01 1.26151712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.12710568099993 meters 0.02758842254668832 Centerline is valid? [True, True] Translation: X:161.98, Y:193.37, Z:12.62 [[ 8.24133992e-01 5.65256262e-01 -3.58959991e-02 1.61979374e+02] [-5.64685791e-01 8.24915100e-01 2.53975477e-02 1.93368313e+02] [ 4.39672745e-02 -6.61021687e-04 9.99032753e-01 1.26221686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.1571056809999 meters 0.02793190224342514 Centerline is valid? [True, True] Translation: X:162.00, Y:193.35, Z:12.63 [[ 8.25412777e-01 5.63526261e-01 -3.36437431e-02 1.62002178e+02] [-5.63024100e-01 8.26097855e-01 2.37948990e-02 1.93351277e+02] [ 4.12020745e-02 -6.98375523e-04 9.99150590e-01 1.26265782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.18710568099993 meters 0.028335643308417265 Centerline is valid? [True, True] Translation: X:162.02, Y:193.33, Z:12.63 [[ 8.26326803e-01 5.62355419e-01 -3.06659045e-02 1.62024898e+02] [-5.61937887e-01 8.26895350e-01 2.16769766e-02 1.93334758e+02] [ 3.75476591e-02 -6.79933246e-04 9.99294607e-01 1.26317428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.2171056809999 meters 0.027762848995304304 Centerline is valid? [True, True] Translation: X:162.05, Y:193.32, Z:12.64 [[ 8.25033442e-01 5.64283830e-01 -3.00595896e-02 1.62050277e+02] [-5.63884369e-01 8.25580665e-01 2.12364060e-02 1.93321292e+02] [ 3.67999765e-02 -5.70612453e-04 9.99322489e-01 1.26350041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.24710568099994 meters 0.02658732576260237 Centerline is valid? [True, True] Translation: X:162.08, Y:193.31, Z:12.64 [[ 8.21744480e-01 5.69168784e-01 -2.79804328e-02 1.62078377e+02] [-5.68825810e-01 8.22220647e-01 1.97586833e-02 1.93313778e+02] [ 3.42521153e-02 -3.20596604e-04 9.99413173e-01 1.26402548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.2771056809999 meters 0.026410258958197735 Centerline is valid? [True, True] Translation: X:162.10, Y:193.30, Z:12.65 [[ 8.20720388e-01 5.70662039e-01 -2.76203014e-02 1.62104231e+02] [-5.70328964e-01 8.21184982e-01 1.94960737e-02 1.93301096e+02] [ 3.38070459e-02 -2.48167251e-04 9.99428348e-01 1.26462176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.30710568099994 meters 0.02620258815269077 Centerline is valid? [True, True] Translation: X:162.14, Y:193.30, Z:12.65 [[ 8.16243339e-01 5.76905199e-01 -3.04500078e-02 1.62135524e+02] [-5.76505185e-01 8.16811111e-01 2.14797819e-02 1.93295460e+02] [ 3.72637025e-02 2.18585089e-05 9.99305467e-01 1.26465020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3371056809999 meters 0.02636130881038159 Centerline is valid? [True, True] Translation: X:162.16, Y:193.27, Z:12.65 [[ 8.18799282e-01 5.73205225e-01 -3.16781655e-02 1.62156177e+02] [-5.72770035e-01 8.19411832e-01 2.23324174e-02 1.93274646e+02] [ 3.87585220e-02 -1.41463411e-04 9.99248596e-01 1.26457706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.36710568099994 meters 0.02644083060808168 Centerline is valid? [True, True] Translation: X:162.18, Y:193.26, Z:12.64 [[ 8.16895301e-01 5.75723958e-01 -3.49855944e-02 1.62180073e+02] [-5.75196073e-01 8.17644131e-01 2.46486080e-02 1.93258921e+02] [ 4.27965601e-02 -1.17555474e-05 9.99083807e-01 1.26405407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3971056809999 meters 0.026970322059123565 Centerline is valid? [True, True] Translation: X:162.21, Y:193.25, Z:12.64 [[ 8.12990328e-01 5.81183629e-01 -3.56695409e-02 1.62205836e+02] [-5.80640777e-01 8.13772391e-01 2.51154120e-02 1.93245238e+02] [ 4.36235539e-02 2.92602940e-04 9.99047997e-01 1.26373472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.42710568099994 meters 0.027142233723341253 Centerline is valid? [True, True] Translation: X:162.23, Y:193.23, Z:12.64 [[ 8.11726175e-01 5.83001859e-01 -3.47771433e-02 1.62228893e+02] [-5.82488165e-01 8.12470725e-01 2.44715935e-02 1.93230572e+02] [ 4.25223953e-02 3.93041420e-04 9.99095437e-01 1.26410358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4571056809999 meters 0.02896015051881416 Centerline is valid? [True, True] Translation: X:162.26, Y:193.22, Z:12.65 [[ 8.04219284e-01 5.93356392e-01 -3.40519542e-02 1.62259581e+02] [-5.92873718e-01 8.04939331e-01 2.39463499e-02 1.93224146e+02] [ 4.16184771e-02 9.30392308e-04 9.99133143e-01 1.26517693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.48710568099995 meters 0.03046110157650728 Centerline is valid? [True, True] Translation: X:162.29, Y:193.21, Z:12.65 [[ 8.00687695e-01 5.98188141e-01 -3.27133415e-02 1.62285365e+02] [-5.97747122e-01 8.01354879e-01 2.29942837e-02 1.93213500e+02] [ 3.99699036e-02 1.14306567e-03 9.99200230e-01 1.26547832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5171056809999 meters 0.031913667990904664 Centerline is valid? [True, True] Translation: X:162.31, Y:193.20, Z:12.66 [[ 7.97603514e-01 6.02431023e-01 -3.00914659e-02 1.62308974e+02] [-6.02061181e-01 7.98169965e-01 2.11433833e-02 1.93198443e+02] [ 3.67555343e-02 1.25286671e-03 9.99323502e-01 1.26643183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5471056809999 meters 0.032772570763461 Centerline is valid? [True, True] Translation: X:162.33, Y:193.18, Z:12.67 [[ 7.96456111e-01 6.04023850e-01 -2.85105435e-02 1.62332504e+02] [-6.03693102e-01 7.96965242e-01 2.00260427e-02 1.93183606e+02] [ 3.48181196e-02 1.26175430e-03 9.99392869e-01 1.26654735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5771056809999 meters 0.032910357803153496 Centerline is valid? [True, True] Translation: X:162.35, Y:193.16, Z:12.67 [[ 7.95512282e-01 6.05327680e-01 -2.71773729e-02 1.62354148e+02] [-6.05028126e-01 7.95975381e-01 1.90829958e-02 1.93164204e+02] [ 3.31839853e-02 1.26231746e-03 9.99448463e-01 1.26664223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.6071056809999 meters 0.03304639398274973 Centerline is valid? [True, True] Translation: X:162.38, Y:193.15, Z:12.66 [[ 7.94290671e-01 6.06941207e-01 -2.69202741e-02 1.62376613e+02] [-6.06648523e-01 7.94745631e-01 1.88931920e-02 1.93147086e+02] [ 3.28618269e-02 1.32445839e-03 9.99459027e-01 1.26646462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.6371056809999 meters 0.035192708762117664 Centerline is valid? [True, True] Translation: X:162.40, Y:193.13, Z:12.66 [[ 7.93319949e-01 6.08123351e-01 -2.88001491e-02 1.62401826e+02] [-6.07789352e-01 7.93841178e-01 2.02061367e-02 1.93134474e+02] [ 3.51505679e-02 1.47449263e-03 9.99380940e-01 1.26596443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.6671056809999 meters 0.037475484155755315 Centerline is valid? [True, True] Translation: X:162.43, Y:193.13, Z:12.66 [[ 7.90932495e-01 6.11134218e-01 -3.06717448e-02 1.62429427e+02] [-6.10757976e-01 7.91525116e-01 2.15101104e-02 1.93125028e+02] [ 3.74230209e-02 1.71996743e-03 9.99298033e-01 1.26591142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.6971056809999 meters 0.037629619044373876 Centerline is valid? [True, True] Translation: X:162.45, Y:193.11, Z:12.66 [[ 7.88774570e-01 6.13868948e-01 -3.16163254e-02 1.62454354e+02] [-6.13471868e-01 7.89405624e-01 2.21591561e-02 1.93111614e+02] [ 3.85609229e-02 1.91714736e-03 9.99254412e-01 1.26611267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.7271056809999 meters 0.036061314313019566 Centerline is valid? [True, True] Translation: X:162.48, Y:193.10, Z:12.66 [[ 7.91416632e-01 6.10423170e-01 -3.22996727e-02 1.62477322e+02] [-6.10006407e-01 7.92073432e-01 2.26243499e-02 1.93095658e+02] [ 3.93941400e-02 1.79772053e-03 9.99222132e-01 1.26607960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.7571056809999 meters 0.033206332177067574 Centerline is valid? [True, True] Translation: X:162.50, Y:193.07, Z:12.66 [[ 7.97473529e-01 6.02427697e-01 -3.34191630e-02 1.62495061e+02] [-6.01975066e-01 7.98172121e-01 2.33941356e-02 1.93072442e+02] [ 4.07675195e-02 1.46129894e-03 9.99167591e-01 1.26623916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.7871056809999 meters 0.03009454232110396 Centerline is valid? [True, True] Translation: X:162.51, Y:193.05, Z:12.66 [[ 8.02647016e-01 5.95336975e-01 -3.64918217e-02 1.62514747e+02] [-5.94790600e-01 8.03475209e-01 2.55290182e-02 1.93050343e+02] [ 4.45186425e-02 1.21420227e-03 9.99007816e-01 1.26615053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.81710568099993 meters 0.029280167686851693 Centerline is valid? [True, True] Translation: X:162.54, Y:193.03, Z:12.66 [[ 8.06867061e-01 5.89570351e-01 -3.70452062e-02 1.62535617e+02] [-5.89001852e-01 8.07716505e-01 2.59010729e-02 1.93030856e+02] [ 4.51925292e-02 9.20972468e-04 9.98977871e-01 1.26583736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.8471056809999 meters 0.027400351967603948 Centerline is valid? [True, True] Translation: X:162.55, Y:193.01, Z:12.66 [[ 8.12387039e-01 5.81919265e-01 -3.73800334e-02 1.62554640e+02] [-5.81332948e-01 8.13246401e-01 2.61207730e-02 1.93007262e+02] [ 4.55993587e-02 5.10067550e-04 9.98959678e-01 1.26590274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.87710568099993 meters 0.027262160718385532 Centerline is valid? [True, True] Translation: X:162.58, Y:192.99, Z:12.66 [[ 8.14109446e-01 5.79476842e-01 -3.78470525e-02 1.62577365e+02] [-5.78873579e-01 8.14988614e-01 2.64374511e-02 1.92990683e+02] [ 4.61648075e-02 3.85680042e-04 9.98933762e-01 1.26592522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.9071056809999 meters 0.02692161695955718 Centerline is valid? [True, True] Translation: X:162.60, Y:192.97, Z:12.66 [[ 8.16085076e-01 5.76687179e-01 -3.79084081e-02 1.62601380e+02] [-5.76079424e-01 8.16965019e-01 2.64699003e-02 1.92974182e+02] [ 4.62346955e-02 2.36563287e-04 9.98930577e-01 1.26601023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93710568099993 meters 0.02665417074046593 Centerline is valid? [True, True] Translation: X:162.62, Y:192.96, Z:12.66 [[ 8.17401077e-01 5.74885473e-01 -3.69076229e-02 1.62624402e+02] [-5.74308205e-01 8.18233874e-01 2.57568052e-02 1.92957876e+02] [ 4.50062804e-02 1.42710394e-04 9.98986694e-01 1.26642756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.9671056809999 meters 0.026516297969805286 Centerline is valid? [True, True] Translation: X:162.65, Y:192.94, Z:12.67 [[ 8.17990968e-01 5.74132437e-01 -3.55347752e-02 1.62649567e+02] [-5.73597238e-01 8.18762440e-01 2.47845961e-02 1.92944247e+02] [ 4.33241798e-02 1.09073155e-04 9.99061061e-01 1.26721846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99710568099994 meters 0.026428572498028866 Centerline is valid? [True, True] Translation: X:162.67, Y:192.93, Z:12.68 [[ 8.19199062e-01 5.72451958e-01 -3.48087987e-02 1.62671701e+02] [-5.71937494e-01 8.19938263e-01 2.42641317e-02 1.92926441e+02] [ 4.24311157e-02 3.13031923e-05 9.99099394e-01 1.26776044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0271056809999 meters 0.026428572498028866 Centerline is valid? [True, True] Translation: X:162.69, Y:192.91, Z:12.68 [[ 8.19381675e-01 5.72190102e-01 -3.48160655e-02 1.62694162e+02] [-5.71675845e-01 8.20121020e-01 2.42537020e-02 1.92910995e+02] [ 4.24311153e-02 3.04647318e-05 9.99099394e-01 1.26781747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.05710568099994 meters 0.026480890808786475 Centerline is valid? [True, True] Translation: X:162.72, Y:192.90, Z:12.68 [[ 8.17722490e-01 5.74669279e-01 -3.29415909e-02 1.62717530e+02] [-5.74211335e-01 8.18385725e-01 2.29379226e-02 1.92896512e+02] [ 4.01406472e-02 1.58579733e-04 9.99194027e-01 1.26823451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0871056809999 meters 0.02684226395609293 Centerline is valid? [True, True] Translation: X:162.74, Y:192.88, Z:12.68 [[ 8.14835889e-01 5.78729601e-01 -3.33844713e-02 1.62741768e+02] [-5.78263025e-01 8.15519412e-01 2.32370845e-02 1.92881384e+02] [ 4.06736730e-02 3.70594990e-04 9.99172415e-01 1.26818863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.11710568099994 meters 0.027299064975802527 Centerline is valid? [True, True] Translation: X:162.77, Y:192.87, Z:12.68 [[ 8.13251156e-01 5.80918995e-01 -3.39952764e-02 1.62765171e+02] [-5.80437671e-01 8.13961222e-01 2.36482345e-02 1.92865336e+02] [ 4.14085453e-02 5.00185048e-04 9.99142173e-01 1.26766154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.1471056809999 meters 0.028798494700690163 Centerline is valid? [True, True] Translation: X:162.79, Y:192.85, Z:12.67 [[ 8.08439942e-01 5.87440222e-01 -3.65902359e-02 1.62789996e+02] [-5.86889887e-01 8.09267051e-01 2.54381796e-02 1.92850294e+02] [ 4.45546822e-02 9.09198971e-04 9.99006533e-01 1.26721223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.17710568099994 meters 0.029815853097055884 Centerline is valid? [True, True] Translation: X:162.81, Y:192.84, Z:12.67 [[ 8.06737031e-01 5.89772277e-01 -3.66609276e-02 1.62813882e+02] [-5.89222643e-01 8.07568922e-01 2.54777196e-02 1.92836066e+02] [ 4.46322784e-02 1.04762874e-03 9.99002934e-01 1.26727577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2071056809999 meters 0.03045142021703056 Centerline is valid? [True, True] Translation: X:162.84, Y:192.82, Z:12.68 [[ 8.04023034e-01 5.93471000e-01 -3.65941691e-02 1.62838379e+02] [-5.92927596e-01 8.04854391e-01 2.54219602e-02 1.92821677e+02] [ 4.45401738e-02 1.25785114e-03 9.99006802e-01 1.26783291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2371056809999 meters 0.034889606588703916 Centerline is valid? [True, True] Translation: X:162.87, Y:192.82, Z:12.68 [[ 7.97470226e-01 6.02310555e-01 -3.55419933e-02 1.62869166e+02] [-6.01807140e-01 7.98260031e-01 2.46797177e-02 1.92817201e+02] [ 4.32366071e-02 1.70808529e-03 9.99063401e-01 1.26827085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2671056809999 meters 0.03717647825248848 Centerline is valid? [True, True] Translation: X:162.90, Y:192.81, Z:12.68 [[ 7.87361283e-01 6.15413351e-01 -3.64501971e-02 1.62899255e+02] [-6.14898105e-01 7.88200606e-01 2.53007029e-02 1.92810628e+02] [ 4.43004578e-02 2.49236319e-03 9.99015144e-01 1.26849226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2971056809999 meters 0.041916605482538075 Centerline is valid? [True, True] Translation: X:162.93, Y:192.81, Z:12.68 [[ 7.82954662e-01 6.20973934e-01 -3.70590154e-02 1.62929665e+02] [-6.20447875e-01 7.83825998e-01 2.57145671e-02 1.92805562e+02] [ 4.50158956e-02 2.85984719e-03 9.98982177e-01 1.26817072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.3271056809999 meters 0.03943244071284848 Centerline is valid? [True, True] Translation: X:162.95, Y:192.79, Z:12.68 [[ 7.86173028e-01 6.17007380e-01 -3.51263944e-02 1.62950542e+02] [-6.16531319e-01 7.86953381e-01 2.43620249e-02 1.92786289e+02] [ 4.26743840e-02 2.50375535e-03 9.99085896e-01 1.26820425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.3571056809999 meters 0.03693288578321394 Centerline is valid? [True, True] Translation: X:162.97, Y:192.77, Z:12.69 [[ 7.89723408e-01 6.12472988e-01 -3.48392982e-02 1.62971541e+02] [-6.12000900e-01 7.90488311e-01 2.41480644e-02 1.92767123e+02] [ 4.23300952e-02 2.25139009e-03 9.99101143e-01 1.26871536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.3871056809999 meters 0.03247444030869178 Centerline is valid? [True, True] Translation: X:162.99, Y:192.74, Z:12.69 [[ 7.99268862e-01 6.00067322e-01 -3.29923529e-02 1.62987082e+02] [-5.99633708e-01 7.99948073e-01 2.28582034e-02 1.92741992e+02] [ 4.01086300e-02 1.51347670e-03 9.99194179e-01 1.26885314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.4171056809999 meters 0.031317174327118766 Centerline is valid? [True, True] Translation: X:163.01, Y:192.72, Z:12.68 [[ 8.02947732e-01 5.95128574e-01 -3.31197811e-02 1.63007374e+02] [-5.94687768e-01 8.03629482e-01 2.29371710e-02 1.92722834e+02] [ 4.02665985e-02 1.27857927e-03 9.99188154e-01 1.26844944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.4471056809999 meters 0.028862944682007903 Centerline is valid? [True, True] Translation: X:163.03, Y:192.70, Z:12.68 [[ 8.07521962e-01 5.88925070e-01 -3.27954749e-02 1.63025341e+02] [-5.88488226e-01 8.08187059e-01 2.26999011e-02 1.92699443e+02] [ 3.98734193e-02 9.69082110e-04 9.99204269e-01 1.26819654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.4771056809999 meters 0.026473717392611645 Centerline is valid? [True, True] Translation: X:163.04, Y:192.67, Z:12.68 [[ 8.14970823e-01 5.78587396e-01 -3.25450927e-02 1.63041540e+02] [-5.78149324e-01 8.15620259e-01 2.25155857e-02 1.92673599e+02] [ 3.95716711e-02 4.66377912e-04 9.99216626e-01 1.26847282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.5071056809999 meters 0.025582483895895135 Centerline is valid? [True, True] Translation: X:163.06, Y:192.65, Z:12.69 [[ 8.19629864e-01 5.72004760e-01 -3.18973511e-02 1.63061516e+02] [-5.71579370e-01 8.20250286e-01 2.20565900e-02 1.92652825e+02] [ 3.87802858e-02 1.53627983e-04 9.99247750e-01 1.26912494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.5371056809999 meters 0.02530779217405449 Centerline is valid? [True, True] Translation: X:163.08, Y:192.63, Z:12.69 [[ 8.21421492e-01 5.69471518e-01 -3.11275243e-02 1.63083069e+02] [-5.69065070e-01 8.22011063e-01 2.15118244e-02 1.92634135e+02] [ 3.78375407e-02 4.33119284e-05 9.99283903e-01 1.26933908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.56710568099993 meters 0.025543897477689172 Centerline is valid? [True, True] Translation: X:163.10, Y:192.62, Z:12.69 [[ 8.23150718e-01 5.66925625e-01 -3.19097369e-02 1.63104953e+02] [-5.66496965e-01 8.23768979e-01 2.20421751e-02 1.92616479e+02] [ 3.87825253e-02 -6.72632055e-05 9.99247673e-01 1.26907297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.5971056809999 meters 0.025637199567494197 Centerline is valid? [True, True] Translation: X:163.13, Y:192.60, Z:12.69 [[ 8.24480933e-01 5.64915639e-01 -3.31890439e-02 1.63126203e+02] [-5.64450686e-01 8.25148650e-01 2.29156568e-02 1.92597204e+02] [ 4.03313077e-02 -1.59943475e-04 9.99186349e-01 1.26876043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.62710568099993 meters 0.025847412467472113 Centerline is valid? [True, True] Translation: X:163.15, Y:192.58, Z:12.68 [[ 8.24975935e-01 5.63957923e-01 -3.69617058e-02 1.63148304e+02] [-5.63380943e-01 8.25803496e-01 2.55048716e-02 1.92577924e+02] [ 4.49067803e-02 -2.17384590e-04 9.98991158e-01 1.26790120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.6571056809999 meters 0.02601985561621563 Centerline is valid? [True, True] Translation: X:163.17, Y:192.56, Z:12.68 [[ 8.24312813e-01 5.64803776e-01 -3.87953689e-02 1.63171919e+02] [-5.64169515e-01 8.25225221e-01 2.67599204e-02 1.92563067e+02] [ 4.71290210e-02 -1.71380833e-04 9.98888796e-01 1.26768728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.68710568099993 meters 0.026123873269474435 Centerline is valid? [True, True] Translation: X:163.20, Y:192.55, Z:12.68 [[ 8.20562839e-01 5.70192174e-01 -3.94653229e-02 1.63199452e+02] [-5.69542565e-01 8.21511328e-01 2.72103711e-02 1.92552001e+02] [ 4.79363505e-02 1.49361922e-04 9.98850381e-01 1.26767797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.7171056809999 meters 0.02761052976591389 Centerline is valid? [True, True] Translation: X:163.23, Y:192.55, Z:12.68 [[ 8.13012680e-01 5.80996546e-01 -3.81234342e-02 1.63232054e+02] [-5.80402855e-01 8.13905659e-01 2.62698365e-02 1.92548593e+02] [ 4.62915631e-02 7.69239859e-04 9.98927675e-01 1.26807140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.74710568099994 meters 0.03012744622250054 Centerline is valid? [True, True] Translation: X:163.26, Y:192.54, Z:12.68 [[ 8.07735609e-01 5.88406349e-01 -3.66217645e-02 1.63262010e+02] [-5.87866520e-01 8.08564554e-01 2.52253130e-02 1.92544090e+02] [ 4.44537951e-02 1.15332570e-03 9.99010776e-01 1.26835496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.7771056809999 meters 0.032765127400769214 Centerline is valid? [True, True] Translation: X:163.29, Y:192.54, Z:12.69 [[ 8.02152652e-01 5.96076976e-01 -3.52613430e-02 1.63293007e+02] [-5.95584279e-01 8.02925844e-01 2.42787022e-02 1.92538193e+02] [ 4.27842190e-02 1.52587617e-03 9.99083171e-01 1.26863925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.80710568099994 meters 0.035381516104481495 Centerline is valid? [True, True] Translation: X:163.32, Y:192.53, Z:12.69 [[ 8.00177920e-01 5.98918449e-01 -3.18117442e-02 1.63318150e+02] [-5.98520025e-01 8.00808579e-01 2.18951720e-02 1.92526938e+02] [ 3.85885402e-02 1.51993273e-03 9.99254029e-01 1.26917705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8371056809999 meters 0.034703373384505 Centerline is valid? [True, True] Translation: X:163.34, Y:192.51, Z:12.69 [[ 7.99248004e-01 6.00201875e-01 -3.09893136e-02 1.63340928e+02] [-5.99825062e-01 7.99847057e-01 2.13209063e-02 1.92509041e+02] [ 3.75835592e-02 1.54747518e-03 9.99292290e-01 1.26941561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.86710568099994 meters 0.035585260785938516 Centerline is valid? [True, True] Translation: X:163.36, Y:192.49, Z:12.69 [[ 7.97598165e-01 6.02367238e-01 -3.14782170e-02 1.63364084e+02] [-6.01980585e-01 7.98217308e-01 2.16449545e-02 1.92491313e+02] [ 3.81646691e-02 1.68529943e-03 9.99270042e-01 1.26922800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8971056809999 meters 0.03583783512547763 Centerline is valid? [True, True] Translation: X:163.38, Y:192.47, Z:12.69 [[ 7.95774758e-01 6.04749610e-01 -3.19443959e-02 1.63384489e+02] [-6.04353813e-01 7.96413547e-01 2.19529239e-02 1.92471315e+02] [ 3.87169718e-02 1.83613473e-03 9.99248530e-01 1.26940923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.92710568099994 meters 0.037704377041206306 Centerline is valid? [True, True] Translation: X:163.41, Y:192.46, Z:12.69 [[ 7.94590054e-01 6.06356704e-01 -3.09547032e-02 1.63407674e+02] [-6.05986595e-01 7.95190594e-01 2.12641839e-02 1.92456428e+02] [ 3.75085693e-02 1.86182619e-03 9.99294572e-01 1.26948810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9571056809999 meters 0.04207723040660153 Centerline is valid? [True, True] Translation: X:163.43, Y:192.44, Z:12.70 [[ 7.88432081e-01 6.14496546e-01 -2.77281184e-02 1.63432042e+02] [-6.14204713e-01 7.88916934e-01 1.90431640e-02 1.92442222e+02] [ 3.35771406e-02 2.01649960e-03 9.99434095e-01 1.26964928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9871056809999 meters 0.04385120674312478 Centerline is valid? [True, True] Translation: X:163.46, Y:192.43, Z:12.70 [[ 7.85795246e-01 6.17906481e-01 -2.67845558e-02 1.63455286e+02] [-6.17636383e-01 7.86248812e-01 1.83875889e-02 1.92426027e+02] [ 3.24211355e-02 2.09423620e-03 9.99472103e-01 1.26980485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0171056809999 meters 0.04552181407527335 Centerline is valid? [True, True] Translation: X:163.48, Y:192.41, Z:12.70 [[ 7.81044009e-01 6.23931787e-01 -2.60649277e-02 1.63477917e+02] [-6.23679599e-01 7.81475459e-01 1.78847563e-02 1.92409023e+02] [ 3.15279693e-02 2.28738193e-03 9.99500253e-01 1.26981872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0471056809999 meters 0.04770679660476054 Centerline is valid? [True, True] Translation: X:163.50, Y:192.39, Z:12.70 [[ 7.78190158e-01 6.27541645e-01 -2.47297762e-02 1.63502102e+02] [-6.27316594e-01 7.78579563e-01 1.69633677e-02 1.92394263e+02] [ 2.98993181e-02 2.31267318e-03 9.99550240e-01 1.26980093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0771056809999 meters 0.05304234438353157 Centerline is valid? [True, True] Translation: X:163.53, Y:192.39, Z:12.70 [[ 7.73479975e-01 6.33375082e-01 -2.37641316e-02 1.63528676e+02] [-6.33170136e-01 7.73841094e-01 1.62953793e-02 1.92385332e+02] [ 2.87107488e-02 2.44258889e-03 9.99584777e-01 1.26984673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.1071056809999 meters 0.050784699535670864 Centerline is valid? [True, True] Translation: X:163.55, Y:192.37, Z:12.70 [[ 7.71771737e-01 6.35468720e-01 -2.34070927e-02 1.63550413e+02] [-6.35271055e-01 7.72122603e-01 1.60428441e-02 1.92367470e+02] [ 2.82678709e-02 2.48843479e-03 9.99597286e-01 1.26991462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.1371056809999 meters 0.052890854152932425 Centerline is valid? [True, True] Translation: X:163.58, Y:192.36, Z:12.70 [[ 7.67432763e-01 6.40739931e-01 -2.23449059e-02 1.63578393e+02] [-6.40562238e-01 7.67753705e-01 1.53058379e-02 1.92357812e+02] [ 2.69624459e-02 2.56710145e-03 9.99633151e-01 1.26986747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.1671056809999 meters 0.054821527164501706 Centerline is valid? [True, True] Translation: X:163.61, Y:192.35, Z:12.70 [[ 7.63728427e-01 6.45143957e-01 -2.25425097e-02 1.63607168e+02] [-6.44965247e-01 7.64056080e-01 1.54316904e-02 1.92349788e+02] [ 2.71794034e-02 2.75351475e-03 9.99626779e-01 1.26984105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.1971056809999 meters 0.055622758558297083 Centerline is valid? [True, True] Translation: X:163.63, Y:192.34, Z:12.70 [[ 7.62576663e-01 6.46498142e-01 -2.27373149e-02 1.63633141e+02] [-6.46317188e-01 7.62910299e-01 1.55553350e-02 1.92337568e+02] [ 2.74030269e-02 2.83338196e-03 9.99620451e-01 1.26967851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.2271056809999 meters 0.0627050424356336 Centerline is valid? [True, True] Translation: X:163.66, Y:192.33, Z:12.69 [[ 7.62457192e-01 6.46644555e-01 -2.25798467e-02 1.63663830e+02] [-6.46466395e-01 7.62786232e-01 1.54390685e-02 1.92333431e+02] [ 2.72071858e-02 2.82548332e-03 9.99625823e-01 1.26942978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.2571056809999 meters 0.05250906586498686 Centerline is valid? [True, True] Translation: X:163.68, Y:192.30, Z:12.70 [[ 7.69195181e-01 6.38636668e-01 -2.19540603e-02 1.63678069e+02] [-6.38465130e-01 7.69504442e-01 1.50064061e-02 1.92304582e+02] [ 2.64773881e-02 2.47404670e-03 9.99646351e-01 1.26985888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.2871056809999 meters 0.04935529303742952 Centerline is valid? [True, True] Translation: X:163.70, Y:192.28, Z:12.70 [[ 7.76936581e-01 6.29169077e-01 -2.27116983e-02 1.63697327e+02] [-6.28981624e-01 7.77265273e-01 1.55180908e-02 1.92284232e+02] [ 2.74165173e-02 2.22866842e-03 9.99621612e-01 1.26973958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.31710568099993 meters 0.046122166138450806 Centerline is valid? [True, True] Translation: X:163.71, Y:192.26, Z:12.70 [[ 7.83532658e-01 6.20951710e-01 -2.22609045e-02 1.63714567e+02] [-6.20768557e-01 7.83846498e-01 1.52008882e-02 1.92261126e+02] [ 2.68881496e-02 1.90847719e-03 9.99636627e-01 1.26976843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.3471056809999 meters 0.040380644557749215 Centerline is valid? [True, True] Translation: X:163.73, Y:192.23, Z:12.70 [[ 7.91350787e-01 6.11064486e-01 -1.90820830e-02 1.63728240e+02] [-6.10927173e-01 7.91579666e-01 1.30238589e-02 1.92231331e+02] [ 2.30634065e-02 1.35132205e-03 9.99733091e-01 1.26995498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.37710568099993 meters 0.03959935413407253 Centerline is valid? [True, True] Translation: X:163.75, Y:192.21, Z:12.70 [[ 7.93693785e-01 6.08056811e-01 -1.78070389e-02 1.63748470e+02] [-6.07936615e-01 7.93892633e-01 1.21474304e-02 1.92212627e+02] [ 2.15232048e-02 1.18421092e-03 9.99767648e-01 1.27004287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.4071056809999 meters 0.03972338124118513 Centerline is valid? [True, True] Translation: X:163.77, Y:192.19, Z:12.70 [[ 7.96936835e-01 6.03855059e-01 -1.58350545e-02 1.63768537e+02] [-6.03759260e-01 7.97093568e-01 1.07981593e-02 1.92194087e+02] [ 1.91425432e-02 9.55109841e-04 9.99816309e-01 1.27023986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43710568099993 meters 0.03733738777432149 Centerline is valid? [True, True] Translation: X:163.79, Y:192.17, Z:12.70 [[ 7.98188673e-01 6.02207340e-01 -1.55294228e-02 1.63788633e+02] [-6.02114937e-01 7.98339220e-01 1.05873885e-02 1.92172947e+02] [ 1.87735504e-02 8.99763816e-04 9.99823357e-01 1.27035067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.4671056809999 meters 0.035520810223368005 Centerline is valid? [True, True] Translation: X:163.81, Y:192.15, Z:12.70 [[ 7.96965959e-01 6.03805351e-01 -1.62590930e-02 1.63808463e+02] [-6.03704522e-01 7.97131184e-01 1.10781773e-02 1.92151096e+02] [ 1.96496928e-02 9.86757792e-04 9.99806439e-01 1.27038317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49710568099994 meters 0.03785692510391472 Centerline is valid? [True, True] Translation: X:163.83, Y:192.14, Z:12.70 [[ 7.95907832e-01 6.05191879e-01 -1.65381828e-02 1.63833198e+02] [-6.05087997e-01 7.96078953e-01 1.12612752e-02 1.92139035e+02] [ 1.99809315e-02 1.04411878e-03 9.99799816e-01 1.27038379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5271056809999 meters 0.038303954003470864 Centerline is valid? [True, True] Translation: X:163.86, Y:192.12, Z:12.70 [[ 7.93569432e-01 6.08258183e-01 -1.64176673e-02 1.63856222e+02] [-6.08156516e-01 7.93738458e-01 1.11763990e-02 1.92122089e+02] [ 1.98294700e-02 1.11526273e-03 9.99802755e-01 1.27046860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.55710568099994 meters 0.04147533094337249 Centerline is valid? [True, True] Translation: X:163.88, Y:192.11, Z:12.70 [[ 7.90505721e-01 6.12175670e-01 -1.84839069e-02 1.63880762e+02] [-6.12047957e-01 7.90720604e-01 1.25787209e-02 1.92109506e+02] [ 2.23159929e-02 1.36948663e-03 9.99750029e-01 1.27003630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5871056809999 meters 0.04180608791281286 Centerline is valid? [True, True] Translation: X:163.90, Y:192.09, Z:12.70 [[ 7.88886324e-01 6.14220232e-01 -1.97958234e-02 1.63904197e+02] [-6.14074475e-01 7.89133171e-01 1.34676573e-02 1.92092754e+02] [ 2.38936485e-02 1.53165915e-03 9.99713333e-01 1.26978456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.61710568099994 meters 0.0449400083979336 Centerline is valid? [True, True] Translation: X:163.93, Y:192.08, Z:12.70 [[ 7.84037338e-01 6.20379334e-01 -2.03699515e-02 1.63930900e+02] [-6.20227235e-01 7.84299900e-01 1.38507807e-02 1.92080923e+02] [ 2.45688890e-02 1.77446943e-03 9.99696564e-01 1.26970188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.6471056809999 meters 0.0462520243449577 Centerline is valid? [True, True] Translation: X:163.96, Y:192.07, Z:12.70 [[ 7.80708662e-01 6.24584051e-01 -1.97166751e-02 1.63956955e+02] [-6.24442986e-01 7.80955405e-01 1.34019589e-02 1.92068544e+02] [ 2.37684938e-02 1.84891406e-03 9.99715780e-01 1.26991498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.67710568099994 meters 0.04920513882117718 Centerline is valid? [True, True] Translation: X:163.99, Y:192.06, Z:12.70 [[ 7.73032729e-01 6.34108652e-01 -1.80725569e-02 1.63987517e+02] [-6.33992825e-01 7.73241456e-01 1.22779456e-02 1.92062845e+02] [ 2.17600018e-02 1.96661766e-03 9.99761289e-01 1.27028484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7071056809999 meters 0.0492449000074233 Centerline is valid? [True, True] Translation: X:164.01, Y:192.05, Z:12.71 [[ 7.69352502e-01 6.38611463e-01 -1.64962453e-02 1.64013557e+02] [-6.38516037e-01 7.69526958e-01 1.12041028e-02 1.92050320e+02] [ 1.98493740e-02 1.91321269e-03 9.99801151e-01 1.27054018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7371056809999 meters 0.057336188024196606 Centerline is valid? [True, True] Translation: X:164.04, Y:192.05, Z:12.71 [[ 7.71560107e-01 6.36051947e-01 -1.15291527e-02 1.64044028e+02] [-6.36005105e-01 7.71645156e-01 7.82682476e-03 1.92047246e+02] [ 1.38746820e-02 1.29373424e-03 9.99902905e-01 1.27120621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7671056809999 meters 0.04912943759238392 Centerline is valid? [True, True] Translation: X:164.06, Y:192.02, Z:12.71 [[ 7.73992596e-01 6.33094607e-01 -1.12552104e-02 1.64060450e+02] [-6.33049699e-01 7.74073476e-01 7.63758733e-03 1.92021004e+02] [ 1.35476751e-02 1.21367148e-03 9.99907489e-01 1.27129370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7971056809999 meters 0.04876075671713764 Centerline is valid? [True, True] Translation: X:164.08, Y:192.00, Z:12.71 [[ 7.75368054e-01 6.31416442e-01 -1.08470241e-02 1.64082959e+02] [-6.31374581e-01 7.75443082e-01 7.35972878e-03 1.92003853e+02] [ 1.30583036e-02 1.14203674e-03 9.99914085e-01 1.27124878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.8271056809999 meters 0.049456654190610266 Centerline is valid? [True, True] Translation: X:164.11, Y:191.99, Z:12.71 [[ 7.74172389e-01 6.32901064e-01 -9.66203400e-03 1.64107511e+02] [-6.32868008e-01 7.74231979e-01 6.55193917e-03 1.91988547e+02] [ 1.16273850e-02 1.04246180e-03 9.99931856e-01 1.27118163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.8571056809999 meters 0.053233279250344795 Centerline is valid? [True, True] Translation: X:164.13, Y:191.98, Z:12.71 [[ 7.73628504e-01 6.33568460e-01 -9.48394664e-03 1.64133828e+02] [-6.33536701e-01 7.73685940e-01 6.42766999e-03 1.91978336e+02] [ 1.14099651e-02 1.03579954e-03 9.99934368e-01 1.27137854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.8871056809999 meters 0.054348326219921674 Centerline is valid? [True, True] Translation: X:164.16, Y:191.97, Z:12.71 [[ 7.66600357e-01 6.42045431e-01 -1.00775361e-02 1.64159612e+02] [-6.42010355e-01 7.66665593e-01 6.82447193e-03 1.91965981e+02] [ 1.21077212e-02 1.23823993e-03 9.99925932e-01 1.27099586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.9171056809999 meters 0.0598163847609522 Centerline is valid? [True, True] Translation: X:164.19, Y:191.96, Z:12.71 [[ 7.66551967e-01 6.42112989e-01 -9.43352505e-03 1.64186632e+02] [-6.42082281e-01 7.66609131e-01 6.38626423e-03 1.91955889e+02] [ 1.13325297e-02 1.16169587e-03 9.99935110e-01 1.27117720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.9471056809999 meters 0.0598163847609522 Centerline is valid? [True, True] Translation: X:164.21, Y:191.94, Z:12.71 [[ 7.66743296e-01 6.41884509e-01 -9.43370005e-03 1.64209423e+02] [-6.41853787e-01 7.66800453e-01 6.38600633e-03 1.91940681e+02] [ 1.13328440e-02 1.15862856e-03 9.99935110e-01 1.27123434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.9771056809999 meters 0.0534776257602428 Centerline is valid? [True, True] Translation: X:164.23, Y:191.92, Z:12.71 [[ 7.64444675e-01 6.44625402e-01 -9.07910664e-03 1.64227079e+02] [-6.44597178e-01 7.64497712e-01 6.14212728e-03 1.91915417e+02] [ 1.09003275e-02 1.15705003e-03 9.99939920e-01 1.27133833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.0071056809999 meters 0.06019273398309462 Centerline is valid? [True, True] Translation: X:164.25, Y:191.91, Z:12.71 [[ 7.61842819e-01 6.47683478e-01 -1.00812918e-02 1.64254115e+02] [-6.47649011e-01 7.61908343e-01 6.81433382e-03 1.91907127e+02] [ 1.20945518e-02 1.33768741e-03 9.99925963e-01 1.27093899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.0371056809999 meters 0.06700706412699431 Centerline is valid? [True, True] Translation: X:164.28, Y:191.90, Z:12.71 [[ 7.60666392e-01 6.49046500e-01 -1.11928426e-02 1.64282066e+02] [-6.49004221e-01 7.60747233e-01 7.56106133e-03 1.91899948e+02] [ 1.34224044e-02 1.51275685e-03 9.99908771e-01 1.27070295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.06710568099993 meters 0.06302936526687151 Centerline is valid? [True, True] Translation: X:164.30, Y:191.88, Z:12.70 [[ 7.58518740e-01 6.51541357e-01 -1.19658326e-02 1.64301467e+02] [-6.51493351e-01 7.58611289e-01 8.08244606e-03 1.91878514e+02] [ 1.43434636e-02 1.66497361e-03 9.99895741e-01 1.27041212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.0971056809999 meters 0.05777887518318564 Centerline is valid? [True, True] Translation: X:164.32, Y:191.86, Z:12.70 [[ 7.58960001e-01 6.51014005e-01 -1.26681500e-02 1.64320372e+02] [-6.50960216e-01 7.59063686e-01 8.55087601e-03 1.91855974e+02] [ 1.51826727e-02 1.75668881e-03 9.99883193e-01 1.27030268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.12710568099993 meters 0.05562748073962545 Centerline is valid? [True, True] Translation: X:164.34, Y:191.84, Z:12.70 [[ 7.64385479e-01 6.44586034e-01 -1.49560710e-02 1.64340688e+02] [-6.44509981e-01 7.64529349e-01 1.00875164e-02 1.91835151e+02] [ 1.79366274e-02 1.92858602e-03 9.99837266e-01 1.27018159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.1571056809999 meters 0.05988302330992764 Centerline is valid? [True, True] Translation: X:164.37, Y:191.82, Z:12.70 [[ 7.66833818e-01 6.41652284e-01 -1.57557061e-02 1.64366952e+02] [-6.41567340e-01 7.66993153e-01 1.06231764e-02 1.91824587e+02] [ 1.89009041e-02 1.96213554e-03 9.99819437e-01 1.27021238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.18710568099993 meters 0.05334378978269122 Centerline is valid? [True, True] Translation: X:164.39, Y:191.80, Z:12.70 [[ 7.72097140e-01 6.35305121e-01 -1.59188492e-02 1.64385001e+02] [-6.35217131e-01 7.72259066e-01 1.07299717e-02 1.91799882e+02] [ 1.91102816e-02 1.82734522e-03 9.99815712e-01 1.27029028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.2171056809999 meters 0.051024604915257586 Centerline is valid? [True, True] Translation: X:164.41, Y:191.78, Z:12.70 [[ 7.74536734e-01 6.32335397e-01 -1.56459120e-02 1.64406917e+02] [-6.32249915e-01 7.74692815e-01 1.05398147e-02 1.91780761e+02] [ 1.87854735e-02 1.72865285e-03 9.99822043e-01 1.27019622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.24710568099994 meters 0.04592275331346562 Centerline is valid? [True, True] Translation: X:164.42, Y:191.75, Z:12.70 [[ 7.84943509e-01 6.19382607e-01 -1.51285742e-02 1.64421881e+02] [-6.19300382e-01 7.85088083e-01 1.01852684e-02 1.91753906e+02] [ 1.81858414e-02 1.37427149e-03 9.99833679e-01 1.27005452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.2771056809999 meters 0.04168215786473457 Centerline is valid? [True, True] Translation: X:164.44, Y:191.73, Z:12.70 [[ 7.91304077e-01 6.11230121e-01 -1.53491528e-02 1.64441019e+02] [-6.11144003e-01 7.91452010e-01 1.03306834e-02 1.91730737e+02] [ 1.84625427e-02 1.20583079e-03 9.99828826e-01 1.26980293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.30710568099994 meters 0.03927305620928096 Centerline is valid? [True, True] Translation: X:164.46, Y:191.71, Z:12.70 [[ 7.94821299e-01 6.06677266e-01 -1.42055704e-02 1.64461977e+02] [-6.06602818e-01 7.94947580e-01 9.55853230e-03 1.91710820e+02] [ 1.70916280e-02 1.01981396e-03 9.99853407e-01 1.26992606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3371056809999 meters 0.03741267158861201 Centerline is valid? [True, True] Translation: X:164.48, Y:191.69, Z:12.71 [[ 7.98689744e-01 6.01648190e-01 -1.06840485e-02 1.64484324e+02] [-6.01605680e-01 7.98760904e-01 7.18499335e-03 1.91693430e+02] [ 1.28568385e-02 6.89003778e-04 9.99917110e-01 1.27068269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.36710568099994 meters 0.036634239638427435 Centerline is valid? [True, True] Translation: X:164.51, Y:191.68, Z:12.71 [[ 7.99615583e-01 6.00431657e-01 -9.83593522e-03 1.64508271e+02] [-6.00395540e-01 7.99675838e-01 6.61436060e-03 1.91677501e+02] [ 1.18370312e-02 6.16505840e-04 9.99929750e-01 1.27083718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3971056809999 meters 0.03706291512711509 Centerline is valid? [True, True] Translation: X:164.53, Y:191.66, Z:12.71 [[ 7.99544908e-01 6.00531163e-01 -9.50063774e-03 1.64533372e+02] [-6.00497515e-01 7.99601127e-01 6.38533425e-03 1.91663329e+02] [ 1.14313129e-02 5.99747865e-04 9.99934481e-01 1.27070278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.42710568099994 meters 0.037254497954826674 Centerline is valid? [True, True] Translation: X:164.56, Y:191.65, Z:12.70 [[ 7.97066074e-01 6.03812518e-01 -9.80392385e-03 1.64560326e+02] [-6.03776982e-01 7.97126084e-01 6.58507907e-03 1.91651518e+02] [ 1.17911166e-02 6.70640438e-04 9.99930257e-01 1.27013484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4571056809999 meters 0.0377092633245241 Centerline is valid? [True, True] Translation: X:164.59, Y:191.64, Z:12.70 [[ 7.98470098e-01 6.01973403e-01 -8.57466106e-03 1.64585992e+02] [-6.01946139e-01 7.98515938e-01 5.75699689e-03 1.91639275e+02] [ 1.03125625e-02 5.64694247e-04 9.99946665e-01 1.27005889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4871056809999 meters 0.04073218140127091 Centerline is valid? [True, True] Translation: X:164.61, Y:191.63, Z:12.70 [[ 8.00083220e-01 5.99820225e-01 -9.08509627e-03 1.64613155e+02] [-5.99789525e-01 8.00134595e-01 6.09549177e-03 1.91629279e+02] [ 1.09254991e-02 5.72244898e-04 9.99940151e-01 1.27028494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5171056809999 meters 0.03313210092479263 Centerline is valid? [True, True] Translation: X:164.63, Y:191.60, Z:12.70 [[ 8.05062972e-01 5.93090157e-01 -1.08478759e-02 1.64629030e+02] [-5.93045846e-01 8.05135846e-01 7.27278040e-03 1.91601427e+02] [ 1.30474282e-02 5.78241551e-04 9.99914711e-01 1.27004879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5471056809999 meters 0.03041112250434402 Centerline is valid? [True, True] Translation: X:164.65, Y:191.58, Z:12.69 [[ 8.10050123e-01 5.86239623e-01 -1.19122823e-02 1.64648102e+02] [-5.86185520e-01 8.10137542e-01 7.98119496e-03 1.91578933e+02] [ 1.43294798e-02 5.17639422e-04 9.99897194e-01 1.26943224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5771056809999 meters 0.029095565954221293 Centerline is valid? [True, True] Translation: X:164.67, Y:191.56, Z:12.69 [[ 8.12123544e-01 5.83353524e-01 -1.24102466e-02 1.64669878e+02] [-5.83294550e-01 8.12218213e-01 8.30921379e-03 1.91558737e+02] [ 1.49270375e-02 4.90721049e-04 9.99888465e-01 1.26928424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.6071056809999 meters 0.028120912616397674 Centerline is valid? [True, True] Translation: X:164.69, Y:191.54, Z:12.69 [[ 8.14945137e-01 5.79419334e-01 -1.17328672e-02 1.64690493e+02] [-5.79366269e-01 8.15029494e-01 7.85171849e-03 1.91538578e+02] [ 1.41120703e-02 3.98907681e-04 9.99900340e-01 1.26925379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.6371056809999 meters 0.02820400286829483 Centerline is valid? [True, True] Translation: X:164.71, Y:191.52, Z:12.69 [[ 8.14974666e-01 5.79358479e-01 -1.26509910e-02 1.64713289e+02] [-5.79296875e-01 8.15072736e-01 8.45968158e-03 1.91523608e+02] [ 1.52126661e-02 4.34253352e-04 9.99884186e-01 1.26919168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.6671056809999 meters 0.029050754266676037 Centerline is valid? [True, True] Translation: X:164.74, Y:191.51, Z:12.69 [[ 8.13846062e-01 5.80931916e-01 -1.31414080e-02 1.64737183e+02] [-5.80865705e-01 8.13952010e-01 8.78395167e-03 1.91508947e+02] [ 1.57993533e-02 4.84608761e-04 9.99875065e-01 1.26939380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.6971056809999 meters 0.029980016890543065 Centerline is valid? [True, True] Translation: X:164.76, Y:191.50, Z:12.70 [[ 8.12219075e-01 5.83210069e-01 -1.28915062e-02 1.64762511e+02] [-5.83146683e-01 8.12321208e-01 8.61407194e-03 1.91496136e+02] [ 1.54958574e-02 5.21125533e-04 9.99879796e-01 1.26956942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.7271056809999 meters 0.03143772713832365 Centerline is valid? [True, True] Translation: X:164.79, Y:191.48, Z:12.70 [[ 8.09804219e-01 5.86582663e-01 -1.17433314e-02 1.64787624e+02] [-5.86530428e-01 8.09889186e-01 7.84620808e-03 1.91482187e+02] [ 1.41132467e-02 5.33928793e-04 9.99900261e-01 1.26977693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.7571056809999 meters 0.032207447080740345 Centerline is valid? [True, True] Translation: X:164.81, Y:191.47, Z:12.70 [[ 8.09046227e-01 5.87628710e-01 -1.16919655e-02 1.64812092e+02] [-5.87577106e-01 8.09130517e-01 7.80716339e-03 1.91467027e+02] [ 1.40480394e-02 5.53575144e-04 9.99901168e-01 1.26984128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.7871056809999 meters 0.03362919806386637 Centerline is valid? [True, True] Translation: X:164.84, Y:191.45, Z:12.70 [[ 8.07583388e-01 5.89671589e-01 -9.82279509e-03 1.64835085e+02] [-5.89635363e-01 8.07642971e-01 6.55513428e-03 1.91452491e+02] [ 1.17986879e-02 4.98049801e-04 9.99930269e-01 1.26989310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.81710568099993 meters 0.035368203148682276 Centerline is valid? [True, True] Translation: X:164.86, Y:191.44, Z:12.70 [[ 8.05442528e-01 5.92618374e-01 -8.11149801e-03 1.64859329e+02] [-5.92593820e-01 8.05483248e-01 5.41310962e-03 1.91436634e+02] [ 9.74158398e-03 4.46874899e-04 9.99952450e-01 1.26973309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.8471056809999 meters 0.0361378542960349 Centerline is valid? [True, True] Translation: X:164.88, Y:191.42, Z:12.70 [[ 8.04755173e-01 5.93550147e-01 -8.20578639e-03 1.64882653e+02] [-5.93525096e-01 8.04796872e-01 5.47303105e-03 1.91420591e+02] [ 9.85250961e-03 4.65890114e-04 9.99951354e-01 1.26963231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.87710568099993 meters 0.03380805570874554 Centerline is valid? [True, True] Translation: X:164.90, Y:191.40, Z:12.69 [[ 8.02794384e-01 5.96187218e-01 -9.05418139e-03 1.64902925e+02] [-5.96156930e-01 8.02845250e-01 6.03490615e-03 1.91399025e+02] [ 1.08670404e-02 5.52924207e-04 9.99940799e-01 1.26943969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.9071056809999 meters 0.035839171821055706 Centerline is valid? [True, True] Translation: X:164.93, Y:191.39, Z:12.70 [[ 8.00364534e-01 5.99431445e-01 -9.92748633e-03 1.64928697e+02] [-5.99395356e-01 8.00425829e-01 6.61059132e-03 1.91387796e+02] [ 1.19088128e-02 6.59606356e-04 9.99928870e-01 1.26951114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93710568099993 meters 0.037387166890466825 Centerline is valid? [True, True] Translation: X:164.96, Y:191.38, Z:12.70 [[ 7.93852784e-01 6.08014104e-01 -1.07984581e-02 1.64956484e+02] [-6.07972209e-01 7.93925760e-01 7.18888104e-03 1.91377652e+02] [ 1.29441151e-02 8.58249217e-04 9.99915853e-01 1.26954738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.9671056809999 meters 0.03973509614895683 Centerline is valid? [True, True] Translation: X:164.98, Y:191.37, Z:12.69 [[ 7.91827608e-01 6.10653022e-01 -1.05794943e-02 1.64981821e+02] [-6.10613065e-01 7.91897787e-01 7.04134841e-03 1.91365948e+02] [ 1.26776988e-02 8.84443353e-04 9.99919244e-01 1.26948390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99710568099994 meters 0.04320979044813232 Centerline is valid? [True, True] Translation: X:165.01, Y:191.35, Z:12.70 [[ 7.90746990e-01 6.12058068e-01 -1.02038496e-02 1.65007070e+02] [-6.12021052e-01 7.90812337e-01 6.78820788e-03 1.91354524e+02] [ 1.22241075e-02 8.77215792e-04 9.99924898e-01 1.26955339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0271056809999 meters 0.04091088516486425 Centerline is valid? [True, True] Translation: X:165.03, Y:191.33, Z:12.69 [[ 7.89416712e-01 6.13768710e-01 -1.04510887e-02 1.65028251e+02] [-6.13730027e-01 7.89485347e-01 6.95269126e-03 1.91334981e+02] [ 1.25183257e-02 9.25576293e-04 9.99921214e-01 1.26934551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.05710568099994 meters 0.042062561920668526 Centerline is valid? [True, True] Translation: X:165.05, Y:191.32, Z:12.69 [[ 7.89650673e-01 6.13472406e-01 -1.01696600e-02 1.65051553e+02] [-6.13435828e-01 7.89715642e-01 6.75938784e-03 1.91319771e+02] [ 1.21778375e-02 9.00878655e-04 9.99925442e-01 1.26924401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0871056809999 meters 0.042736442224374865 Centerline is valid? [True, True] Translation: X:165.07, Y:191.30, Z:12.69 [[ 7.89322857e-01 6.13923373e-01 -8.21700597e-03 1.65073860e+02] [-6.13899501e-01 7.89365287e-01 5.46315437e-03 1.91301467e+02] [ 9.84017744e-03 7.32223250e-04 9.99951316e-01 1.26946952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.11710568099994 meters 0.03938225283638879 Centerline is valid? [True, True] Translation: X:165.09, Y:191.28, Z:12.69 [[ 7.88882641e-01 6.14491776e-01 -8.00229962e-03 1.65094197e+02] [-6.14469192e-01 7.88922896e-01 5.31756803e-03 1.91280172e+02] [ 9.58079922e-03 7.22229469e-04 9.99953842e-01 1.26945490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.1471056809999 meters 0.04720317524656345 Centerline is valid? [True, True] Translation: X:165.12, Y:191.28, Z:12.70 [[ 7.84133317e-01 6.20560257e-01 -6.31732446e-03 1.65124489e+02] [-6.20546407e-01 7.84158510e-01 4.19380010e-03 1.91276462e+02] [ 7.55628940e-03 6.31694616e-04 9.99971251e-01 1.26984524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.17710568099994 meters 0.04337311971183413 Centerline is valid? [True, True] Translation: X:165.15, Y:191.26, Z:12.70 [[ 7.80663205e-01 6.24936652e-01 -4.37503807e-03 1.65145568e+02] [-6.24930059e-01 7.80675327e-01 2.90784484e-03 1.91255906e+02] [ 5.23270309e-03 4.64045324e-04 9.99986202e-01 1.26986289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2071056809999 meters 0.045462048410262156 Centerline is valid? [True, True] Translation: X:165.17, Y:191.24, Z:12.70 [[ 7.79363571e-01 6.26570179e-01 -1.49471124e-03 1.65168593e+02] [-6.26569410e-01 7.79364988e-01 9.95122856e-04 1.91241398e+02] [ 1.78843991e-03 1.60977836e-04 9.99998388e-01 1.27005887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2371056809999 meters 0.048532287124015736 Centerline is valid? [True, True] Translation: X:165.19, Y:191.23, Z:12.70 [[ 7.78661457e-01 6.27442410e-01 -1.53531808e-03 1.65193772e+02] [-6.27441599e-01 7.78662953e-01 1.02281090e-03 1.91229642e+02] [ 1.83725025e-03 1.66899005e-04 9.99998298e-01 1.27014275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2671056809999 meters 0.045516994803560556 Centerline is valid? [True, True] Translation: X:165.21, Y:191.21, Z:12.70 [[ 7.78601843e-01 6.27508812e-01 -3.44383522e-03 1.65213865e+02] [-6.27504756e-01 7.78609367e-01 2.28789641e-03 1.91209203e+02] [ 4.11707752e-03 3.79662617e-04 9.99991453e-01 1.26971065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2971056809999 meters 0.04657450962000774 Centerline is valid? [True, True] Translation: X:165.24, Y:191.19, Z:12.69 [[ 7.79604605e-01 6.26253540e-01 -4.81280244e-03 1.65237455e+02] [-6.26245633e-01 7.79619283e-01 3.19080805e-03 1.91193995e+02] [ 5.75040842e-03 5.26427859e-04 9.99983328e-01 1.26917537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.3271056809999 meters 0.045877197872811956 Centerline is valid? [True, True] Translation: X:165.26, Y:191.18, Z:12.69 [[ 7.80653907e-01 6.24940547e-01 -5.36558077e-03 1.65260803e+02] [-6.24930709e-01 7.80672132e-01 3.55413829e-03 1.91176125e+02] [ 6.40988451e-03 5.78564257e-04 9.99979289e-01 1.26893423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.3571056809999 meters 0.04614198507833275 Centerline is valid? [True, True] Translation: X:165.28, Y:191.16, Z:12.69 [[ 7.83156627e-01 6.21790324e-01 -6.51854826e-03 1.65284009e+02] [-6.21775743e-01 7.83183463e-01 4.31154371e-03 1.91160836e+02] [ 7.78609536e-03 6.76461157e-04 9.99969459e-01 1.26865891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.3871056809999 meters 0.04590595630723248 Centerline is valid? [True, True] Translation: X:165.31, Y:191.15, Z:12.69 [[ 7.85119356e-01 6.19301497e-01 -7.29746970e-03 1.65307565e+02] [-6.19283122e-01 7.85152930e-01 4.82619546e-03 1.91145864e+02] [ 8.71849979e-03 7.30060345e-04 9.99961727e-01 1.26866517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.4171056809999 meters 0.04287222595565789 Centerline is valid? [True, True] Translation: X:165.33, Y:191.13, Z:12.69 [[ 7.90976514e-01 6.11803810e-01 -7.22856117e-03 1.65330152e+02] [-6.11785488e-01 7.91009282e-01 4.77826415e-03 1.91128401e+02] [ 8.64121919e-03 6.42834106e-04 9.99962457e-01 1.26877114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.4471056809999 meters 0.04129559673366299 Centerline is valid? [True, True] Translation: X:165.35, Y:191.11, Z:12.69 [[ 7.94071298e-01 6.07791810e-01 -6.31583907e-03 1.65352877e+02] [-6.07777685e-01 7.94096243e-01 4.17641876e-03 1.91111446e+02] [ 7.55377719e-03 5.22251790e-04 9.99971333e-01 1.26873317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.4771056809999 meters 0.03902516104587201 Centerline is valid? [True, True] Translation: X:165.37, Y:191.09, Z:12.68 [[ 8.00167027e-01 5.99760383e-01 -4.49578786e-03 1.65373746e+02] [-5.99753116e-01 8.00179592e-01 2.96978430e-03 1.91093447e+02] [ 5.37859666e-03 3.20039306e-04 9.99985484e-01 1.26829091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.5071056809999 meters 0.034935404642070726 Centerline is valid? [True, True] Translation: X:165.39, Y:191.07, Z:12.68 [[ 8.03475227e-01 5.95325988e-01 -3.81161374e-03 1.65393980e+02] [-5.95320699e-01 8.03484231e-01 2.52117262e-03 1.91071988e+02] [ 4.56349111e-03 2.43432814e-04 9.99989558e-01 1.26796408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.5371056809999 meters 0.03257619032988998 Centerline is valid? [True, True] Translation: X:165.42, Y:191.06, Z:12.68 [[ 8.09863420e-01 5.86617080e-01 -1.28172127e-03 1.65416223e+02] [-5.86616464e-01 8.09864432e-01 8.52037691e-04 1.91055502e+02] [ 1.53784033e-03 6.18446401e-05 9.99998816e-01 1.26818119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.56710568099993 meters 0.030783151375253538 Centerline is valid? [True, True] Translation: X:165.44, Y:191.04, Z:12.69 [[ 8.13505570e-01 5.81556805e-01 6.08284915e-04 1.65439136e+02] [-5.81556673e-01 8.13505797e-01 -3.93819294e-04 1.91038188e+02] [-7.23871595e-04 -3.33779621e-05 9.99999737e-01 1.26859716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.5971056809999 meters 0.032217512906742005 Centerline is valid? [True, True] Translation: X:165.46, Y:191.02, Z:12.69 [[ 8.13597750e-01 5.81424260e-01 2.12857710e-03 1.65462253e+02] [-5.81422585e-01 8.13600529e-01 -1.39899418e-03 1.91023828e+02] [-2.54522061e-03 -9.93842821e-05 9.99996756e-01 1.26910047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.62710568099993 meters 0.031946795407591384 Centerline is valid? [True, True] Translation: X:165.49, Y:191.01, Z:12.69 [[ 8.13618612e-01 5.81360700e-01 6.67010252e-03 1.65485457e+02] [-5.81344254e-01 8.13645893e-01 -4.38397576e-03 1.91006231e+02] [-7.97577274e-03 -3.10741501e-04 9.99968145e-01 1.26914603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.6571056809999 meters 0.033837665360817934 Centerline is valid? [True, True] Translation: X:165.51, Y:190.99, Z:12.69 [[ 8.12725891e-01 5.82601400e-01 7.22741146e-03 1.65509150e+02] [-5.82582109e-01 8.12757952e-01 -4.75364595e-03 1.90991098e+02] [-8.64361692e-03 -3.47149476e-04 9.99962583e-01 1.26892869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.68710568099993 meters 0.033930514655792506 Centerline is valid? [True, True] Translation: X:165.53, Y:190.97, Z:12.68 [[ 8.11909702e-01 5.83724825e-01 8.24408351e-03 1.65531432e+02] [-5.83699848e-01 8.11951450e-01 -5.41574111e-03 1.90972111e+02] [-9.85509809e-03 -4.14977545e-04 9.99951351e-01 1.26821615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.7171056809999 meters 0.030274831619349445 Centerline is valid? [True, True] Translation: X:165.55, Y:190.95, Z:12.68 [[ 8.12845784e-01 5.82414832e-01 8.64255714e-03 1.65551051e+02] [-5.82387350e-01 8.12891620e-01 -5.67358447e-03 1.90949630e+02] [-1.03298420e-02 -4.21566732e-04 9.99946557e-01 1.26777957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.74710568099994 meters 0.030273246376448903 Centerline is valid? [True, True] Translation: X:165.57, Y:190.93, Z:12.68 [[ 8.14449702e-01 5.80162688e-01 9.10706139e-03 1.65573279e+02] [-5.80132066e-01 8.14500511e-01 -5.97526287e-03 1.90932251e+02] [-1.08843307e-02 -4.16747280e-04 9.99940677e-01 1.26787562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.7771056809999 meters 0.029373642100808842 Centerline is valid? [True, True] Translation: X:165.60, Y:190.91, Z:12.68 [[ 8.15661737e-01 5.78457583e-01 9.09697699e-03 1.65596263e+02] [-5.78426964e-01 8.15712368e-01 -5.96497070e-03 1.90914439e+02] [-1.08709992e-02 -3.96538414e-04 9.99940830e-01 1.26785491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.80710568099994 meters 0.028889632046961503 Centerline is valid? [True, True] Translation: X:165.62, Y:190.90, Z:12.68 [[ 8.16861239e-01 5.76759370e-01 9.29222988e-03 1.65618977e+02] [-5.76727352e-01 8.16913998e-01 -6.08944986e-03 1.90897548e+02] [-1.11030999e-02 -3.84847572e-04 9.99938285e-01 1.26779228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8371056809999 meters 0.028889632046961503 Centerline is valid? [True, True] Translation: X:165.64, Y:190.88, Z:12.68 [[ 8.17047184e-01 5.76495888e-01 9.29465821e-03 1.65641887e+02] [-5.76463894e-01 8.17099958e-01 -6.08574558e-03 1.90882711e+02] [-1.11030721e-02 -3.85693580e-04 9.99938285e-01 1.26784936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.86710568099994 meters 0.028826968431059478 Centerline is valid? [True, True] Translation: X:165.67, Y:190.87, Z:12.68 [[ 8.17185906e-01 5.76309585e-01 8.62893295e-03 1.65665572e+02] [-5.76282031e-01 8.17231384e-01 -5.64682922e-03 1.90865729e+02] [-1.03061566e-02 -3.58189753e-04 9.99946826e-01 1.26765395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8971056809999 meters 0.029322238348347546 Centerline is valid? [True, True] Translation: X:165.69, Y:190.85, Z:12.67 [[ 8.16490441e-01 5.77300046e-01 8.24727153e-03 1.65687570e+02] [-5.77274914e-01 8.16532015e-01 -5.39830501e-03 1.90848504e+02] [-9.85060297e-03 -3.53278529e-04 9.99951419e-01 1.26698452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.92710568099994 meters 0.030011896994720257 Centerline is valid? [True, True] Translation: X:165.71, Y:190.83, Z:12.67 [[ 8.16266957e-01 5.77606407e-01 8.89342543e-03 1.65710797e+02] [-5.77577198e-01 8.16315313e-01 -5.82154227e-03 1.90833553e+02] [-1.06223995e-02 -3.84707144e-04 9.99943507e-01 1.26695788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9571056809999 meters 0.030430895438229473 Centerline is valid? [True, True] Translation: X:165.73, Y:190.82, Z:12.67 [[ 8.16251064e-01 5.77596498e-01 1.07928828e-02 1.65734931e+02] [-5.77553581e-01 8.16322278e-01 -7.05690672e-03 1.90817986e+02] [-1.28865153e-02 -4.73260489e-04 9.99916853e-01 1.26726858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9871056809999 meters 0.03089999832461309 Centerline is valid? [True, True] Translation: X:165.76, Y:190.80, Z:12.68 [[ 8.15538559e-01 5.78565367e-01 1.26085212e-02 1.65759030e+02] [-5.78506961e-01 8.15635818e-01 -8.24064516e-03 1.90802148e+02] [-1.50517134e-02 -5.73553419e-04 9.99886552e-01 1.26756373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0171056809999 meters 0.030746071244057645 Centerline is valid? [True, True] Translation: X:165.78, Y:190.79, Z:12.67 [[ 8.15353206e-01 5.78808718e-01 1.34021314e-02 1.65782151e+02] [-5.78742842e-01 8.15463111e-01 -8.75428691e-03 1.90785577e+02] [-1.59960014e-02 -6.18551738e-04 9.99871864e-01 1.26745025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0471056809999 meters 0.03115054390952023 Centerline is valid? [True, True] Translation: X:165.80, Y:190.77, Z:12.67 [[ 8.15292562e-01 5.78885031e-01 1.37898616e-02 1.65804311e+02] [-5.78815290e-01 8.15408925e-01 -9.00809774e-03 1.90768282e+02] [-1.64590292e-02 -6.37547654e-04 9.99864338e-01 1.26723093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0771056809999 meters 0.03072163349148681 Centerline is valid? [True, True] Translation: X:165.83, Y:190.75, Z:12.67 [[ 8.16186046e-01 5.77611215e-01 1.43395221e-02 1.65827142e+02] [-5.77535753e-01 8.16311748e-01 -9.35861458e-03 1.90750941e+02] [-1.71111611e-02 -6.43216076e-04 9.99853386e-01 1.26713336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.1071056809999 meters 0.028551389388719307 Centerline is valid? [True, True] Translation: X:165.85, Y:190.73, Z:12.67 [[ 8.17472533e-01 5.75749780e-01 1.58381813e-02 1.65847490e+02] [-5.75657520e-01 8.17625670e-01 -1.03287353e-02 1.90730668e+02] [-1.88964707e-02 -6.73910737e-04 9.99821219e-01 1.26685719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.1371056809999 meters 0.028511583610549812 Centerline is valid? [True, True] Translation: X:165.87, Y:190.71, Z:12.67 [[ 8.17970112e-01 5.75026725e-01 1.64061550e-02 1.65869647e+02] [-5.74927725e-01 8.18134337e-01 -1.06919155e-02 1.90714061e+02] [-1.95705759e-02 -6.86686078e-04 9.99808242e-01 1.26701232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.1671056809999 meters 0.027948760128459742 Centerline is valid? [True, True] Translation: X:165.89, Y:190.70, Z:12.67 [[ 8.16478872e-01 5.77187082e-01 1.47419162e-02 1.65893886e+02] [-5.77107610e-01 8.16611674e-01 -9.60108962e-03 1.90698811e+02] [-1.75800458e-02 -6.68585219e-04 9.99845236e-01 1.26665406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.1971056809999 meters 0.02815602730736563 Centerline is valid? [True, True] Translation: X:165.92, Y:190.68, Z:12.66 [[ 8.15592268e-01 5.78456062e-01 1.40654204e-02 1.65917784e+02] [-5.78384010e-01 8.15713268e-01 -9.15427048e-03 1.90683607e+02] [-1.67686933e-02 -6.69062009e-04 9.99859172e-01 1.26645152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.2271056809999 meters 0.028897759778085085 Centerline is valid? [True, True] Translation: X:165.94, Y:190.67, Z:12.66 [[ 8.14679792e-01 5.79743960e-01 1.39204010e-02 1.65943046e+02] [-5.79673670e-01 8.14798417e-01 -9.05405403e-03 1.90669743e+02] [-1.65913538e-02 -6.93135047e-04 9.99862114e-01 1.26634596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.2571056809999 meters 0.030330739865787014 Centerline is valid? [True, True] Translation: X:165.97, Y:190.66, Z:12.66 [[ 8.12560597e-01 5.82749117e-01 1.21960227e-02 1.65968761e+02] [-5.82695520e-01 8.12651849e-01 -7.93116930e-03 1.90659394e+02] [-1.45330023e-02 -6.62012149e-04 9.99894171e-01 1.26609009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.2871056809999 meters 0.032070837723291765 Centerline is valid? [True, True] Translation: X:165.99, Y:190.65, Z:12.66 [[ 8.12038775e-01 5.83488960e-01 1.15612187e-02 1.65993917e+02] [-5.83440914e-01 8.12120817e-01 -7.51521863e-03 1.90648192e+02] [-1.37741535e-02 -6.42639095e-04 9.99904925e-01 1.26609568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.31710568099993 meters 0.028507485416190515 Centerline is valid? [True, True] Translation: X:166.01, Y:190.63, Z:12.66 [[ 8.14737123e-01 5.79719177e-01 1.13620217e-02 1.66013675e+02] [-5.79672445e-01 8.14816145e-01 -7.38289346e-03 1.90625724e+02] [-1.35379636e-02 -5.71133526e-04 9.99908194e-01 1.26569086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.3471056809999 meters 0.02784618617024377 Centerline is valid? [True, True] Translation: X:166.04, Y:190.61, Z:12.66 [[ 8.19000097e-01 5.73709114e-01 9.83327427e-03 1.66035553e+02] [-5.73673680e-01 8.19059024e-01 -6.38933992e-03 1.90608630e+02] [-1.17196546e-02 -4.08220617e-04 9.99931239e-01 1.26561436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.37710568099993 meters 0.026507479654689053 Centerline is valid? [True, True] Translation: X:166.06, Y:190.59, Z:12.66 [[ 8.21773791e-01 5.69746954e-01 8.73182389e-03 1.66057378e+02] [-5.69718834e-01 8.21820119e-01 -5.66937769e-03 1.90590017e+02] [-1.04060992e-02 -3.15738534e-04 9.99945805e-01 1.26555275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.4071056809999 meters 0.02531022409009473 Centerline is valid? [True, True] Translation: X:166.08, Y:190.57, Z:12.65 [[ 8.25657372e-01 5.64140330e-01 5.96592900e-03 1.66078793e+02] [-5.64127057e-01 8.25678909e-01 -3.87342173e-03 1.90571765e+02] [-7.11109516e-03 -1.67422762e-04 9.99974702e-01 1.26535522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43710568099993 meters 0.023475184833890755 Centerline is valid? [True, True] Translation: X:166.10, Y:190.55, Z:12.65 [[ 8.30028813e-01 5.57692722e-01 5.56746152e-03 1.66098362e+02] [-5.57681059e-01 8.30047478e-01 -3.60848191e-03 1.90547939e+02] [-6.63368149e-03 -1.09723880e-04 9.99977991e-01 1.26518334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.4671056809999 meters 0.023161437691538604 Centerline is valid? [True, True] Translation: X:166.12, Y:190.53, Z:12.65 [[ 8.31688768e-01 5.55211193e-01 5.85875345e-03 1.66120323e+02] [-5.55198191e-01 8.31709398e-01 -3.80072991e-03 1.90530384e+02] [-6.98298809e-03 -9.17449452e-05 9.99975614e-01 1.26533225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49710568099994 meters 0.02242932972385268 Centerline is valid? [True, True] Translation: X:166.14, Y:190.51, Z:12.66 [[ 8.34651812e-01 5.50719794e-01 8.00383549e-03 1.66140660e+02] [-5.50695388e-01 8.34690184e-01 -5.18529472e-03 1.90509962e+02] [-9.53636736e-03 -7.97596561e-05 9.99954525e-01 1.26570198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5271056809999 meters 0.022654422097446777 Centerline is valid? [True, True] Translation: X:166.16, Y:190.49, Z:12.66 [[ 8.35584746e-01 5.49296087e-01 8.48182615e-03 1.66163340e+02] [-5.49268653e-01 8.35627790e-01 -5.49035608e-03 1.90494139e+02] [-1.01034808e-02 -7.11434296e-05 9.99948956e-01 1.26592597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.55710568099994 meters 0.022452205192054313 Centerline is valid? [True, True] Translation: X:166.19, Y:190.48, Z:12.66 [[ 8.35868704e-01 5.48846011e-01 9.56903360e-03 1.66185664e+02] [-5.48811085e-01 8.35923472e-01 -6.19206837e-03 1.90475864e+02] [-1.13974718e-02 -7.58355581e-05 9.99935044e-01 1.26571259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5871056809999 meters 0.022466401568793162 Centerline is valid? [True, True] Translation: X:166.21, Y:190.46, Z:12.66 [[ 8.38044866e-01 5.45527296e-01 8.98734092e-03 1.66207510e+02] [-5.45496342e-01 8.38093055e-01 -5.81135442e-03 1.90456274e+02] [-1.07024805e-02 -3.23858617e-05 9.99942726e-01 1.26558048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.61710568099994 meters 0.02279522374764928 Centerline is valid? [True, True] Translation: X:166.23, Y:190.44, Z:12.66 [[ 8.39915207e-01 5.42645402e-01 8.85511956e-03 1.66228655e+02] [-5.42615172e-01 8.39961885e-01 -5.72773734e-03 1.90439467e+02] [-1.05460932e-02 5.89147098e-06 9.99944388e-01 1.26610573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.6471056809999 meters 0.02338413837525109 Centerline is valid? [True, True] Translation: X:166.25, Y:190.42, Z:12.66 [[ 8.45583555e-01 5.33797362e-01 6.98771488e-03 1.66249033e+02] [-5.33778309e-01 8.45612423e-01 -4.51077708e-03 1.90419226e+02] [-8.31673941e-03 8.43482825e-05 9.99965412e-01 1.26599125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.67710568099994 meters 0.024322168458646418 Centerline is valid? [True, True] Translation: X:166.27, Y:190.40, Z:12.66 [[ 8.48324187e-01 5.29450519e-01 5.31238557e-03 1.66269839e+02] [-5.29439403e-01 8.48340815e-01 -3.43232390e-03 1.90399565e+02] [-6.32395917e-03 9.91371379e-05 9.99979999e-01 1.26589694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7071056809999 meters 0.027499014004704107 Centerline is valid? [True, True] Translation: X:166.29, Y:190.38, Z:12.65 [[ 8.53400823e-01 5.21252728e-01 1.62127031e-03 1.66286921e+02] [-5.21251683e-01 8.53402362e-01 -1.04496550e-03 1.90375319e+02] [-1.92828703e-03 4.66845400e-05 9.99998140e-01 1.26523888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7371056809999 meters 0.029092084357314085 Centerline is valid? [True, True] Translation: X:166.31, Y:190.36, Z:12.65 [[ 8.55633980e-01 5.17581371e-01 1.28567518e-04 1.66308174e+02] [-5.17581365e-01 8.55633990e-01 -8.06396755e-05 1.90355895e+02] [-1.51744332e-04 2.45389508e-06 9.99999988e-01 1.26498703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7671056809999 meters 0.028435093316799734 Centerline is valid? [True, True] Translation: X:166.33, Y:190.34, Z:12.64 [[ 8.57333650e-01 5.14746524e-01 -3.87674074e-03 1.66332177e+02] [-5.14740419e-01 8.57342400e-01 2.51194942e-03 1.90341774e+02] [ 4.61671144e-03 -1.58063606e-04 9.99989330e-01 1.26434912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7971056809999 meters 0.030283835182422954 Centerline is valid? [True, True] Translation: X:166.35, Y:190.32, Z:12.65 [[ 8.57207707e-01 5.14947612e-01 -4.88916107e-03 1.66353181e+02] [-5.14937951e-01 8.57221628e-01 3.16016488e-03 1.90323863e+02] [ 5.81841397e-03 -1.91303107e-04 9.99983055e-01 1.26461164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.8271056809999 meters 0.02748795017174266 Centerline is valid? [True, True] Translation: X:166.38, Y:190.32, Z:12.65 [[ 8.56518498e-01 5.16088876e-01 -5.32306329e-03 1.66381540e+02] [-5.16077440e-01 8.56535015e-01 3.44153692e-03 1.90315334e+02] [ 6.33552902e-03 -2.00627150e-04 9.99979910e-01 1.26516740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.8571056809999 meters 0.025424155612600204 Centerline is valid? [True, True] Translation: X:166.41, Y:190.31, Z:12.65 [[ 8.52935342e-01 5.21976336e-01 -6.48124325e-03 1.66410593e+02] [-5.21959586e-01 8.52959946e-01 4.18572822e-03 1.90307374e+02] [ 7.71309197e-03 -1.87208487e-04 9.99970236e-01 1.26544083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.8871056809999 meters 0.024565470397339435 Centerline is valid? [True, True] Translation: X:166.44, Y:190.29, Z:12.65 [[ 8.51142578e-01 5.24892146e-01 -6.67431697e-03 1.66436132e+02] [-5.24874493e-01 8.51168731e-01 4.30784628e-03 1.90294559e+02] [ 7.94212458e-03 -1.63412651e-04 9.99968447e-01 1.26536185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.9171056809999 meters 0.02305431750867234 Centerline is valid? [True, True] Translation: X:166.46, Y:190.28, Z:12.65 [[ 8.47332828e-01 5.30993028e-01 -8.57226384e-03 1.66463483e+02] [-5.30964286e-01 8.47376178e-01 5.52621695e-03 1.90284333e+02] [ 1.01983148e-02 -1.30979082e-04 9.99947987e-01 1.26526131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.9471056809999 meters 0.022290961836333466 Centerline is valid? [True, True] Translation: X:166.49, Y:190.27, Z:12.65 [[ 8.45672337e-01 5.33625648e-01 -9.05345626e-03 1.66488520e+02] [-5.33593764e-01 8.45720791e-01 5.83424389e-03 1.90271060e+02] [ 1.07699984e-02 -1.02990862e-04 9.99941997e-01 1.26526819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.9771056809999 meters 0.022156885768338307 Centerline is valid? [True, True] Translation: X:166.51, Y:190.26, Z:12.65 [[ 8.43574614e-01 5.36925335e-01 -9.64654682e-03 1.66513946e+02] [-5.36889402e-01 8.43629765e-01 6.21196224e-03 1.90256984e+02] [ 1.14734739e-02 -6.11248953e-05 9.99934176e-01 1.26526593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.0071056809999 meters 0.021895462307525718 Centerline is valid? [True, True] Translation: X:166.54, Y:190.24, Z:12.65 [[ 8.42763125e-01 5.38175255e-01 -1.08494085e-02 1.66538787e+02] [-5.38129975e-01 8.42832957e-01 6.98123746e-03 1.90242166e+02] [ 1.29013683e-02 -4.51375991e-05 9.99916773e-01 1.26522613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.0371056809999 meters 0.021956653883954957 Centerline is valid? [True, True] Translation: X:166.56, Y:190.23, Z:12.65 [[ 8.41958746e-01 5.39356747e-01 -1.41339837e-02 1.66562724e+02] [-5.39280214e-01 8.42077371e-01 9.08577260e-03 1.90228752e+02] [ 1.68023806e-02 -2.76679270e-05 9.99858830e-01 1.26509417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.06710568099993 meters 0.022037333175664718 Centerline is valid? [True, True] Translation: X:166.59, Y:190.21, Z:12.65 [[ 8.41753305e-01 5.39612542e-01 -1.64218821e-02 1.66585422e+02] [-5.39509326e-01 8.41913478e-01 1.05538473e-02 1.90214093e+02] [ 1.95207922e-02 -2.39772755e-05 9.99809451e-01 1.26491434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.0971056809999 meters 0.02189767201324996 Centerline is valid? [True, True] Translation: X:166.61, Y:190.20, Z:12.65 [[ 8.41782444e-01 5.39560918e-01 -1.66232414e-02 1.66608500e+02] [-5.39455245e-01 8.41946563e-01 1.06782090e-02 1.90198696e+02] [ 1.97574252e-02 -2.12341375e-05 9.99804803e-01 1.26485344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.12710568099993 meters 0.022271319898630022 Centerline is valid? [True, True] Translation: X:166.63, Y:190.18, Z:12.65 [[ 8.42486745e-01 5.38453467e-01 -1.68507795e-02 1.66630341e+02] [-5.38344822e-01 8.42655245e-01 1.08162173e-02 1.90183082e+02] [ 2.00234274e-02 -4.09898453e-05 9.99799510e-01 1.26480283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.1571056809999 meters 0.022326322106352395 Centerline is valid? [True, True] Translation: X:166.65, Y:190.17, Z:12.65 [[ 8.43657076e-01 5.36565964e-01 -1.84310802e-02 1.66653192e+02] [-5.36435626e-01 8.43858376e-01 1.18262735e-02 1.90168155e+02] [ 2.18987973e-02 -9.02312805e-05 9.99760189e-01 1.26489934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.18710568099993 meters 0.02253498860247968 Centerline is valid? [True, True] Translation: X:166.68, Y:190.15, Z:12.65 [[ 8.44970215e-01 5.34490093e-01 -1.85923627e-02 1.66677132e+02] [-5.34357155e-01 8.45174729e-01 1.19209744e-02 1.90153003e+02] [ 2.20854378e-02 -1.37906286e-04 9.99756077e-01 1.26512600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.2171056809999 meters 0.023788210953717262 Centerline is valid? [True, True] Translation: X:166.70, Y:190.13, Z:12.65 [[ 8.50245457e-01 5.26038416e-01 -1.91375786e-02 1.66696153e+02] [-5.25895596e-01 8.50460730e-01 1.22624865e-02 1.90129745e+02] [ 2.27262980e-02 -3.61755142e-04 9.99741659e-01 1.26516910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.24710568099994 meters 0.02499977961634918 Centerline is valid? [True, True] Translation: X:166.72, Y:190.11, Z:12.65 [[ 8.52779710e-01 5.21908941e-01 -1.94376636e-02 1.66716207e+02] [-5.21760709e-01 8.53001075e-01 1.24470528e-02 1.90110299e+02] [ 2.30765761e-02 -4.72784999e-04 9.99733589e-01 1.26496567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.2771056809999 meters 0.027438544534854753 Centerline is valid? [True, True] Translation: X:166.73, Y:190.09, Z:12.64 [[ 8.57325855e-01 5.14367751e-01 -2.04498212e-02 1.66734677e+02] [-5.14201631e-01 8.57569423e-01 1.30907062e-02 1.90085704e+02] [ 2.42705785e-02 -7.07669453e-04 9.99705176e-01 1.26449624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.30710568099994 meters 0.029675457504346192 Centerline is valid? [True, True] Translation: X:166.76, Y:190.07, Z:12.64 [[ 8.59923260e-01 5.09908272e-01 -2.29246690e-02 1.66755416e+02] [-5.09698153e-01 8.60228281e-01 1.46662339e-02 1.90065957e+02] [ 2.71988826e-02 -9.27174243e-04 9.99629612e-01 1.26419422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3371056809999 meters 0.030524713971300795 Centerline is valid? [True, True] Translation: X:166.78, Y:190.05, Z:12.64 [[ 8.60190788e-01 5.09415438e-01 -2.38268774e-02 1.66777657e+02] [-5.09188358e-01 8.60520167e-01 1.52400376e-02 1.90049255e+02] [ 2.82670189e-02 -9.76971388e-04 9.99599931e-01 1.26418295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.36710568099994 meters 0.029688978196697836 Centerline is valid? [True, True] Translation: X:166.80, Y:190.04, Z:12.64 [[ 8.60025846e-01 5.09563733e-01 -2.64640550e-02 1.66803221e+02] [-5.09283865e-01 8.60432245e-01 1.69202932e-02 1.90035549e+02] [ 3.13924940e-02 -1.07417321e-03 9.99506557e-01 1.26418799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3971056809999 meters 0.029905391554868495 Centerline is valid? [True, True] Translation: X:166.83, Y:190.02, Z:12.64 [[ 8.59615391e-01 5.10279093e-01 -2.60120382e-02 1.66826299e+02] [-5.10009292e-01 8.60008256e-01 1.66229387e-02 1.90020310e+02] [ 3.08529057e-02 -1.02295281e-03 9.99523412e-01 1.26425932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.42710568099994 meters 0.028967388149870422 Centerline is valid? [True, True] Translation: X:166.85, Y:190.01, Z:12.64 [[ 8.58713959e-01 5.11760971e-01 -2.66654299e-02 1.66851848e+02] [-5.11478347e-01 8.59127307e-01 1.70343744e-02 1.90006127e+02] [ 3.16265270e-02 -9.88865025e-04 9.99499267e-01 1.26420465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4571056809999 meters 0.028818197064342747 Centerline is valid? [True, True] Translation: X:166.88, Y:189.99, Z:12.64 [[ 8.58444439e-01 5.12135435e-01 -2.81147896e-02 1.66875658e+02] [-5.11821844e-01 8.58904105e-01 1.79482333e-02 1.89990990e+02] [ 3.33398344e-02 -1.01779758e-03 9.99443555e-01 1.26401471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4871056809999 meters 0.029438943513571625 Centerline is valid? [True, True] Translation: X:166.90, Y:189.97, Z:12.63 [[ 8.57524716e-01 5.13410191e-01 -3.25781537e-02 1.66897866e+02] [-5.12990457e-01 8.58142610e-01 2.07858840e-02 1.89973642e+02] [ 3.86283865e-02 -1.11212737e-03 9.99253026e-01 1.26322337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5171056809999 meters 0.028552805846988386 Centerline is valid? [True, True] Translation: X:166.92, Y:189.96, Z:12.63 [[ 8.57282918e-01 5.13750671e-01 -3.35596009e-02 1.66921425e+02] [-5.13305915e-01 8.57938804e-01 2.14020171e-02 1.89959673e+02] [ 3.97873845e-02 -1.12124201e-03 9.99207539e-01 1.26318594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5471056809999 meters 0.027848147163233423 Centerline is valid? [True, True] Translation: X:166.95, Y:189.95, Z:12.63 [[ 8.55923105e-01 5.16022789e-01 -3.34083732e-02 1.66946787e+02] [-5.15584336e-01 8.56574273e-01 2.12910213e-02 1.89945782e+02] [ 3.96034052e-02 -9.98643157e-04 9.99214978e-01 1.26340842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5771056809999 meters 0.02698430652964777 Centerline is valid? [True, True] Translation: X:166.97, Y:189.93, Z:12.64 [[ 8.54316851e-01 5.18593335e-01 -3.46939680e-02 1.66973202e+02] [-5.18123181e-01 8.55020550e-01 2.20959045e-02 1.89934451e+02] [ 4.11228444e-02 -9.01154460e-04 9.99153692e-01 1.26355533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.6071056809999 meters 0.02485060618652093 Centerline is valid? [True, True] Translation: X:167.01, Y:189.93, Z:12.64 [[ 8.47397019e-01 5.29662515e-01 -3.70932862e-02 1.67007057e+02] [-5.29136159e-01 8.48208392e-01 2.36103518e-02 1.89934229e+02] [ 4.39683549e-02 -3.79942726e-04 9.99032852e-01 1.26358978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.6371056809999 meters 0.02454374044571078 Centerline is valid? [True, True] Translation: X:167.03, Y:189.92, Z:12.64 [[ 8.45909190e-01 5.32123260e-01 -3.58117116e-02 1.67032705e+02] [-5.31635399e-01 8.46666866e-01 2.27820207e-02 1.89920653e+02] [ 4.24434328e-02 -2.32747101e-04 9.99098844e-01 1.26379689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.6671056809999 meters 0.02454377507774774 Centerline is valid? [True, True] Translation: X:167.06, Y:189.91, Z:12.64 [[ 8.41153426e-01 5.39805757e-01 -3.27209102e-02 1.67061345e+02] [-5.39404770e-01 8.41789595e-01 2.08031731e-02 1.89913222e+02] [ 3.87737944e-02 1.51154751e-04 9.99248002e-01 1.26410212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.6971056809999 meters 0.024584066784887806 Centerline is valid? [True, True] Translation: X:167.09, Y:189.90, Z:12.64 [[ 8.40798499e-01 5.40407189e-01 -3.19053963e-02 1.67085849e+02] [-5.40026855e-01 8.41403611e-01 2.02721506e-02 1.89898425e+02] [ 3.78005316e-02 1.84976970e-04 9.99285287e-01 1.26436828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.7271056809999 meters 0.024675387825783896 Centerline is valid? [True, True] Translation: X:167.11, Y:189.88, Z:12.65 [[ 8.39797602e-01 5.42075216e-01 -2.99073212e-02 1.67110178e+02] [-5.41742505e-01 8.40329933e-01 1.89911038e-02 1.89883536e+02] [ 3.54266239e-02 2.53383658e-04 9.99372248e-01 1.26476622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.7571056809999 meters 0.024675387825783896 Centerline is valid? [True, True] Translation: X:167.13, Y:189.87, Z:12.65 [[ 8.39976465e-01 5.41797696e-01 -2.99131306e-02 1.67133295e+02] [-5.41465135e-01 8.40508889e-01 1.89819501e-02 1.89869051e+02] [ 3.54266290e-02 2.52525994e-04 9.99372248e-01 1.26482325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.7871056809999 meters 0.025097050906938603 Centerline is valid? [True, True] Translation: X:167.16, Y:189.85, Z:12.65 [[ 8.38597815e-01 5.43940295e-01 -2.97095977e-02 1.67156724e+02] [-5.43613933e-01 8.39123849e-01 1.88429878e-02 1.89854757e+02] [ 3.51794923e-02 3.48862820e-04 9.99380949e-01 1.26468668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.81710568099993 meters 0.02549609799727522 Centerline is valid? [True, True] Translation: X:167.18, Y:189.84, Z:12.65 [[ 8.36910368e-01 5.46550329e-01 -2.93900377e-02 1.67182097e+02] [-5.46232703e-01 8.37426133e-01 1.86361424e-02 1.89841891e+02] [ 3.47975753e-02 4.57018934e-04 9.99394276e-01 1.26461184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.8471056809999 meters 0.0275983965009949 Centerline is valid? [True, True] Translation: X:167.21, Y:189.83, Z:12.64 [[ 8.32921777e-01 5.52617589e-01 -2.92423433e-02 1.67210753e+02] [-5.52307024e-01 8.33434638e-01 1.85379303e-02 1.89834707e+02] [ 3.46159681e-02 7.10105763e-04 9.99400436e-01 1.26426198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.87710568099993 meters 0.027227922658721402 Centerline is valid? [True, True] Translation: X:167.23, Y:189.82, Z:12.65 [[ 8.32744691e-01 5.52906124e-01 -2.88287644e-02 1.67233728e+02] [-5.52604733e-01 8.33243243e-01 1.82676675e-02 1.89819156e+02] [ 3.41216784e-02 7.18608487e-04 9.99417428e-01 1.26453675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.9071056809999 meters 0.0281473907531331 Centerline is valid? [True, True] Translation: X:167.26, Y:189.81, Z:12.65 [[ 8.31291851e-01 5.55024525e-01 -3.00272422e-02 1.67259655e+02] [-5.54699305e-01 8.31833551e-01 1.90164102e-02 1.89808334e+02] [ 3.55322416e-02 8.47903524e-04 9.99368171e-01 1.26473090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93710568099993 meters 0.02904608280547447 Centerline is valid? [True, True] Translation: X:167.29, Y:189.80, Z:12.65 [[ 8.30101015e-01 5.56645781e-01 -3.28295545e-02 1.67285348e+02] [-5.56258556e-01 8.30749334e-01 2.07836935e-02 1.89796373e+02] [ 3.88422859e-02 1.00915548e-03 9.99244844e-01 1.26454252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.9671056809999 meters 0.029407070625917957 Centerline is valid? [True, True] Translation: X:167.31, Y:189.78, Z:12.64 [[ 8.29364753e-01 5.57487763e-01 -3.68985032e-02 1.67310553e+02] [-5.56999903e-01 8.30184306e-01 2.33479403e-02 1.89781495e+02] [ 4.36487493e-02 1.18850399e-03 9.99046232e-01 1.26377542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99710568099994 meters 0.028650731553612235 Centerline is valid? [True, True] Translation: X:167.33, Y:189.76, Z:12.63 [[ 8.31100340e-01 5.54809040e-01 -3.81988853e-02 1.67333631e+02] [-5.54284002e-01 8.31976999e-01 2.41561264e-02 1.89764841e+02] [ 4.51826312e-02 1.09686611e-03 9.98978141e-01 1.26332511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0271056809999 meters 0.027636367764387767 Centerline is valid? [True, True] Translation: X:167.36, Y:189.75, Z:12.63 [[ 8.34050487e-01 5.50438532e-01 -3.71107548e-02 1.67355205e+02] [-5.49939257e-01 8.34875264e-01 2.34543755e-02 1.89746317e+02] [ 4.38930432e-02 8.46527614e-04 9.99035877e-01 1.26328170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.05710568099994 meters 0.024923348267443156 Centerline is valid? [True, True] Translation: X:167.38, Y:189.72, Z:12.64 [[ 8.38468058e-01 5.43775366e-01 -3.57724406e-02 1.67376057e+02] [-5.43305924e-01 8.39230667e-01 2.25955990e-02 1.89724706e+02] [ 4.23082593e-02 4.89690892e-04 9.99104485e-01 1.26401112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0871056809999 meters 0.024379294669079142 Centerline is valid? [True, True] Translation: X:167.40, Y:189.71, Z:12.64 [[ 8.41547052e-01 5.39045113e-01 -3.50560217e-02 1.67397579e+02] [-5.38590546e-01 8.42276856e-01 2.21341979e-02 1.89706882e+02] [ 4.14582070e-02 2.53872814e-04 9.99140207e-01 1.26401439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.11710568099994 meters 0.023887124190060702 Centerline is valid? [True, True] Translation: X:167.42, Y:189.69, Z:12.64 [[ 8.44812390e-01 5.33975504e-01 -3.40908609e-02 1.67419870e+02] [-5.33541848e-01 8.45499947e-01 2.15159507e-02 1.89689453e+02] [ 4.03128117e-02 1.19592065e-05 9.99187108e-01 1.26396692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.1471056809999 meters 0.023982302143463547 Centerline is valid? [True, True] Translation: X:167.44, Y:189.68, Z:12.64 [[ 8.46550249e-01 5.31221399e-01 -3.40073720e-02 1.67444018e+02] [-5.30788203e-01 8.47233034e-01 2.14492385e-02 1.89675010e+02] [ 4.02064634e-02 -1.07146326e-04 9.99191387e-01 1.26402410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.17710568099994 meters 0.02385601875399153 Centerline is valid? [True, True] Translation: X:167.47, Y:189.66, Z:12.65 [[ 8.50173973e-01 5.25675900e-01 -2.94798831e-02 1.67467225e+02] [-5.25347454e-01 8.50684872e-01 1.85822934e-02 1.89657889e+02] [ 3.48463544e-02 -3.11000705e-04 9.99392633e-01 1.26466584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2071056809999 meters 0.02469274598786462 Centerline is valid? [True, True] Translation: X:167.49, Y:189.64, Z:12.65 [[ 8.52449191e-01 5.22041682e-01 -2.83347684e-02 1.67488970e+02] [-5.21736523e-01 8.52919863e-01 1.78523817e-02 1.89640648e+02] [ 3.34869742e-02 -4.34964802e-04 9.99439059e-01 1.26488125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2371056809999 meters 0.025822017998065917 Centerline is valid? [True, True] Translation: X:167.51, Y:189.62, Z:12.65 [[ 8.55825983e-01 5.16501079e-01 -2.80806443e-02 1.67510336e+02] [-5.16198504e-01 8.56286297e-01 1.76885023e-02 1.89621011e+02] [ 3.31812015e-02 -6.43093304e-04 9.99449145e-01 1.26491738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2671056809999 meters 0.025311540562354535 Centerline is valid? [True, True] Translation: X:167.53, Y:189.61, Z:12.65 [[ 8.55239118e-01 5.17443709e-01 -2.86017506e-02 1.67534272e+02] [-5.17130543e-01 8.55717029e-01 1.80102065e-02 1.89605297e+02] [ 3.37942731e-02 -6.12194323e-04 9.99428623e-01 1.26472135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2971056809999 meters 0.02432170821281403 Centerline is valid? [True, True] Translation: X:167.56, Y:189.59, Z:12.65 [[ 8.53288121e-01 5.20706711e-01 -2.76388110e-02 1.67560774e+02] [-5.20416320e-01 8.53735504e-01 1.73937496e-02 1.89592648e+02] [ 3.26532764e-02 -4.58191620e-04 9.99466635e-01 1.26487631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.3271056809999 meters 0.02291227449569425 Centerline is valid? [True, True] Translation: X:167.59, Y:189.58, Z:12.65 [[ 8.49831997e-01 5.26360507e-01 -2.70220780e-02 1.67588225e+02] [-5.26086090e-01 8.50261468e-01 1.69959080e-02 1.89582392e+02] [ 3.19218064e-02 -2.27727090e-04 9.99490343e-01 1.26514697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.3571056809999 meters 0.02253647434857598 Centerline is valid? [True, True] Translation: X:167.61, Y:189.57, Z:12.65 [[ 8.48046598e-01 5.29223494e-01 -2.71930101e-02 1.67612638e+02] [-5.28947321e-01 8.48482457e-01 1.70953567e-02 1.89569895e+02] [ 3.21200564e-02 -1.13989281e-04 9.99484011e-01 1.26507953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.3871056809999 meters 0.02243257428410967 Centerline is valid? [True, True] Translation: X:167.64, Y:189.56, Z:12.65 [[ 8.45832853e-01 5.32640068e-01 -2.93486400e-02 1.67638369e+02] [-5.32320659e-01 8.46341868e-01 1.84433862e-02 1.89557200e+02] [ 3.46626693e-02 2.28653820e-05 9.99399069e-01 1.26503226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.4171056809999 meters 0.02253670645870406 Centerline is valid? [True, True] Translation: X:167.66, Y:189.54, Z:12.64 [[ 8.43517425e-01 5.36074418e-01 -3.32050097e-02 1.67661719e+02] [-5.35668562e-01 8.44170706e-01 2.08569239e-02 1.89542346e+02] [ 3.92115598e-02 1.93701018e-04 9.99230912e-01 1.26428792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.4471056809999 meters 0.02259241247498046 Centerline is valid? [True, True] Translation: X:167.69, Y:189.53, Z:12.64 [[ 8.42006403e-01 5.38368103e-01 -3.44238640e-02 1.67685610e+02] [-5.37934171e-01 8.42709727e-01 2.16135057e-02 1.89526037e+02] [ 4.06453471e-02 3.19062501e-04 9.99173586e-01 1.26403768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.4771056809999 meters 0.023332836399776905 Centerline is valid? [True, True] Translation: X:167.71, Y:189.51, Z:12.64 [[ 8.40020971e-01 5.41485350e-01 -3.40350296e-02 1.67709650e+02] [-5.41064081e-01 8.40710053e-01 2.13604138e-02 1.89512708e+02] [ 4.01799427e-02 4.71936463e-04 9.99192349e-01 1.26402280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.5071056809999 meters 0.025628509883790385 Centerline is valid? [True, True] Translation: X:167.74, Y:189.50, Z:12.65 [[ 8.34244321e-01 5.50498271e-01 -3.14335261e-02 1.67737070e+02] [-5.50145448e-01 8.34835883e-01 1.97239815e-02 1.89502635e+02] [ 3.70998532e-02 8.38391705e-04 9.99311212e-01 1.26476099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.5371056809999 meters 0.03061405205141962 Centerline is valid? [True, True] Translation: X:167.77, Y:189.50, Z:12.65 [[ 8.26368191e-01 5.62446764e-01 -2.77353706e-02 1.67766258e+02] [-5.62178885e-01 8.26832609e-01 1.73993765e-02 1.89496471e+02] [ 3.27187318e-02 1.21394847e-03 9.99463862e-01 1.26544543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.56710568099993 meters 0.0342739811007389 Centerline is valid? [True, True] Translation: X:167.79, Y:189.49, Z:12.66 [[ 8.21995363e-01 5.68925880e-01 -2.54355362e-02 1.67793222e+02] [-5.68703832e-01 8.22387689e-01 1.59511901e-02 1.89487682e+02] [ 2.99929167e-02 1.35348261e-03 9.99549195e-01 1.26581040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.5971056809999 meters 0.038492730705119715 Centerline is valid? [True, True] Translation: X:167.82, Y:189.48, Z:12.66 [[ 8.17311922e-01 5.75719544e-01 -2.34142765e-02 1.67821573e+02] [-5.75534300e-01 8.17645901e-01 1.46782320e-02 1.89479407e+02] [ 2.75951322e-02 1.47902524e-03 9.99618088e-01 1.26615728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.62710568099993 meters 0.044727142472993114 Centerline is valid? [True, True] Translation: X:167.85, Y:189.48, Z:12.67 [[ 8.09306634e-01 5.87031106e-01 -2.04267580e-02 1.67852668e+02] [-5.86893825e-01 8.09562736e-01 1.27989895e-02 1.89475404e+02] [ 2.40501471e-02 1.63003100e-03 9.99709424e-01 1.26650730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.6571056809999 meters 0.047385995553365375 Centerline is valid? [True, True] Translation: X:167.88, Y:189.47, Z:12.67 [[ 8.04937169e-01 5.93075202e-01 -1.83836496e-02 1.67880100e+02] [-5.92965704e-01 8.05145412e-01 1.15125540e-02 1.89466089e+02] [ 2.16293214e-02 1.63399110e-03 9.99764724e-01 1.26663432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.68710568099993 meters 0.049561685165115076 Centerline is valid? [True, True] Translation: X:167.91, Y:189.46, Z:12.67 [[ 8.05918687e-01 5.91765075e-01 -1.75830871e-02 1.67906200e+02] [-5.91664730e-01 8.06109013e-01 1.10047923e-02 1.89455008e+02] [ 2.06861368e-02 1.53432469e-03 9.99784842e-01 1.26665407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.7171056809999 meters 0.04360112750720077 Centerline is valid? [True, True] Translation: X:167.93, Y:189.43, Z:12.67 [[ 8.10376776e-01 5.85639208e-01 -1.77819923e-02 1.67926697e+02] [-5.85535246e-01 8.10570640e-01 1.11226441e-02 1.89433456e+02] [ 2.09274174e-02 1.39845079e-03 9.99780020e-01 1.26656012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.74710568099994 meters 0.042703908098617245 Centerline is valid? [True, True] Translation: X:167.95, Y:189.42, Z:12.66 [[ 8.13255361e-01 5.81608539e-01 -1.86339539e-02 1.67950281e+02] [-5.81493475e-01 8.13467671e-01 1.16484862e-02 1.89418236e+02] [ 2.19329781e-02 1.36232876e-03 9.99758515e-01 1.26646565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.7771056809999 meters 0.03633623505005446 Centerline is valid? [True, True] Translation: X:167.97, Y:189.40, Z:12.66 [[ 8.20521272e-01 5.71264225e-01 -2.00506214e-02 1.67971915e+02] [-5.71127970e-01 8.20765385e-01 1.25309303e-02 1.89398167e+02] [ 2.36153281e-02 1.16957579e-03 9.99720435e-01 1.26637268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.80710568099994 meters 0.03277621402243297 Centerline is valid? [True, True] Translation: X:167.99, Y:189.38, Z:12.66 [[ 8.27199601e-01 5.61517837e-01 -2.09413223e-02 1.67994973e+02] [-5.61366177e-01 8.27464106e-01 1.30831073e-02 1.89383410e+02] [ 2.46745907e-02 9.33408900e-04 9.99695100e-01 1.26632127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8371056809999 meters 0.029526112312220434 Centerline is valid? [True, True] Translation: X:168.02, Y:189.36, Z:12.66 [[ 8.31332122e-01 5.55399084e-01 -2.04636353e-02 1.68016688e+02] [-5.55252529e-01 8.31583617e-01 1.27795383e-02 1.89364343e+02] [ 2.41149677e-02 7.38444507e-04 9.99708919e-01 1.26633604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.86710568099994 meters 0.023192535215253735 Centerline is valid? [True, True] Translation: X:168.03, Y:189.34, Z:12.67 [[ 8.40024809e-01 5.42171414e-01 -2.02108279e-02 1.68034909e+02] [-5.42024754e-01 8.40267832e-01 1.26149285e-02 1.89338587e+02] [ 2.38219622e-02 3.57916109e-04 9.99716153e-01 1.26656144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8971056809999 meters 0.021946713769715027 Centerline is valid? [True, True] Translation: X:168.06, Y:189.32, Z:12.67 [[ 8.43848869e-01 5.36166205e-01 -2.10923520e-02 1.68057083e+02] [-5.36004709e-01 8.44112410e-01 1.31602415e-02 1.89320235e+02] [ 2.48603928e-02 2.00345135e-04 9.99690913e-01 1.26661197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.92710568099994 meters 0.021093577389304303 Centerline is valid? [True, True] Translation: X:168.08, Y:189.30, Z:12.67 [[ 8.49396928e-01 5.27276689e-01 -2.24533372e-02 1.68077860e+02] [-5.27090778e-01 8.49693645e-01 1.40007937e-02 1.89299269e+02] [ 2.64607500e-02 -5.72842307e-05 9.99649851e-01 1.26653769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9571056809999 meters 0.02134049253538062 Centerline is valid? [True, True] Translation: X:168.10, Y:189.28, Z:12.67 [[ 8.51596441e-01 5.23735690e-01 -2.20097507e-02 1.68100473e+02] [-5.23556071e-01 8.51880803e-01 1.37163309e-02 1.89281729e+02] [ 2.59334161e-02 -1.57439962e-04 9.99663660e-01 1.26657207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9871056809999 meters 0.021609292393390156 Centerline is valid? [True, True] Translation: X:168.12, Y:189.27, Z:12.67 [[ 8.52897222e-01 5.21698905e-01 -1.99143661e-02 1.68123762e+02] [-5.21551453e-01 8.53129659e-01 1.24042657e-02 1.89266272e+02] [ 2.34608282e-02 -1.93197127e-04 9.99724738e-01 1.26718114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0171056809999 meters 0.021068525591371446 Centerline is valid? [True, True] Translation: X:168.15, Y:189.25, Z:12.68 [[ 8.51421452e-01 5.24197907e-01 -1.72646006e-02 1.68149996e+02] [-5.24087661e-01 8.51596468e-01 1.07508349e-02 1.89254438e+02] [ 2.03380380e-02 -1.05327294e-04 9.99793155e-01 1.26772546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0471056809999 meters 0.020880227252258046 Centerline is valid? [True, True] Translation: X:168.17, Y:189.24, Z:12.68 [[ 8.50937932e-01 5.25028023e-01 -1.58180674e-02 1.68173386e+02] [-5.24935723e-01 8.51084937e-01 9.84461121e-03 1.89241431e+02] [ 1.86312157e-02 -7.36844397e-05 9.99826421e-01 1.26811839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0771056809999 meters 0.020798100973231346 Centerline is valid? [True, True] Translation: X:168.20, Y:189.23, Z:12.68 [[ 8.49408992e-01 5.27558930e-01 -1.36359854e-02 1.68197801e+02] [-5.27490698e-01 8.49518438e-01 8.48456982e-03 1.89229576e+02] [ 1.60601316e-02 -1.40144611e-05 9.99871028e-01 1.26843845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.1071056809999 meters 0.02072587605324771 Centerline is valid? [True, True] Translation: X:168.22, Y:189.22, Z:12.68 [[ 8.48768283e-01 5.28590186e-01 -1.35947182e-02 1.68221710e+02] [-5.28522520e-01 8.48877150e-01 8.45758572e-03 1.89215122e+02] [ 1.60108424e-02 6.58418994e-06 9.99871818e-01 1.26824772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.1371056809999 meters 0.020325298359042416 Centerline is valid? [True, True] Translation: X:168.25, Y:189.20, Z:12.68 [[ 8.48111712e-01 5.29609691e-01 -1.48357414e-02 1.68245023e+02] [-5.29529387e-01 8.48241460e-01 9.22252137e-03 1.89200737e+02] [ 1.74686276e-02 3.42326611e-05 9.99847411e-01 1.26792555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.1671056809999 meters 0.020025597574514543 Centerline is valid? [True, True] Translation: X:168.27, Y:189.19, Z:12.68 [[ 8.47823781e-01 5.30033981e-01 -1.60877568e-02 1.68269473e+02] [-5.29939777e-01 8.47976401e-01 9.99278249e-03 1.89187058e+02] [ 1.89385524e-02 5.34236386e-05 9.99820648e-01 1.26809875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.1971056809999 meters 0.02017072537264934 Centerline is valid? [True, True] Translation: X:168.29, Y:189.17, Z:12.68 [[ 8.47316662e-01 5.30845445e-01 -1.60495805e-02 1.68292814e+02] [-5.30751980e-01 8.47468647e-01 9.96131387e-03 1.89173986e+02] [ 1.88894344e-02 7.79594173e-05 9.99821576e-01 1.26830272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.2271056809999 meters 0.02020623524508507 Centerline is valid? [True, True] Translation: X:168.32, Y:189.16, Z:12.68 [[ 8.46721748e-01 5.31817759e-01 -1.52365400e-02 1.68317625e+02] [-5.31733724e-01 8.46858821e-01 9.45433068e-03 1.89159673e+02] [ 1.79311792e-02 9.65947426e-05 9.99839219e-01 1.26845273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.2571056809999 meters 0.020612790902918232 Centerline is valid? [True, True] Translation: X:168.34, Y:189.15, Z:12.68 [[ 8.44097365e-01 5.35949674e-01 -1.60494921e-02 1.68342486e+02] [-5.35857304e-01 8.44249908e-01 9.95201257e-03 1.89145688e+02] [ 1.88835601e-02 1.99769980e-04 9.99821670e-01 1.26831573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.2871056809999 meters 0.021668215167063683 Centerline is valid? [True, True] Translation: X:168.37, Y:189.13, Z:12.68 [[ 8.41072420e-01 5.40650008e-01 -1.71683860e-02 1.68367372e+02] [-5.40545434e-01 8.41247561e-01 1.06384302e-02 1.89132906e+02] [ 2.01945302e-02 3.32602370e-04 9.99796014e-01 1.26816403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.31710568099993 meters 0.02191402806514658 Centerline is valid? [True, True] Translation: X:168.39, Y:189.12, Z:12.68 [[ 8.40777669e-01 5.41079758e-01 -1.80445693e-02 1.68390831e+02] [-5.40964392e-01 8.40971203e-01 1.11786912e-02 1.89118947e+02] [ 2.12235266e-02 3.62675536e-04 9.99774690e-01 1.26821824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.3471056809999 meters 0.022242711640836077 Centerline is valid? [True, True] Translation: X:168.42, Y:189.10, Z:12.68 [[ 8.40307079e-01 5.41706060e-01 -2.09417494e-02 1.68415212e+02] [-5.41550998e-01 8.40567872e-01 1.29680122e-02 1.89103268e+02] [ 2.46278125e-02 4.43912849e-04 9.99696591e-01 1.26787388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.37710568099993 meters 0.021690535572885465 Centerline is valid? [True, True] Translation: X:168.44, Y:189.09, Z:12.68 [[ 8.40158117e-01 5.41898824e-01 -2.19089456e-02 1.68438071e+02] [-5.41729395e-01 8.40443595e-01 1.35582660e-02 1.89086271e+02] [ 2.57604414e-02 4.77632589e-04 9.99668031e-01 1.26775266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.4071056809999 meters 0.022461280778280194 Centerline is valid? [True, True] Translation: X:168.46, Y:189.07, Z:12.68 [[ 8.39018945e-01 5.43639083e-01 -2.24445267e-02 1.68463118e+02] [-5.43462096e-01 8.39318917e-01 1.38818491e-02 1.89074114e+02] [ 2.63848316e-02 5.50615129e-04 9.99651708e-01 1.26765805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43710568099993 meters 0.02196847532527793 Centerline is valid? [True, True] Translation: X:168.49, Y:189.06, Z:12.68 [[ 8.39153057e-01 5.43498349e-01 -2.07772185e-02 1.68485647e+02] [-5.43346732e-01 8.39410082e-01 1.28468816e-02 1.89057663e+02] [ 2.44228656e-02 5.08733789e-04 9.99701588e-01 1.26803724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.4671056809999 meters 0.02190182370863283 Centerline is valid? [True, True] Translation: X:168.51, Y:189.04, Z:12.68 [[ 8.39936961e-01 5.42336753e-01 -1.94099862e-02 1.68509651e+02] [-5.42204317e-01 8.40161082e-01 1.19931216e-02 1.89041493e+02] [ 2.28118256e-02 4.50712222e-04 9.99739675e-01 1.26824491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49710568099994 meters 0.021297241688111184 Centerline is valid? [True, True] Translation: X:168.53, Y:189.02, Z:12.69 [[ 8.41990986e-01 5.39212636e-01 -1.73468367e-02 1.68532539e+02] [-5.39106324e-01 8.42169593e-01 1.07121045e-02 1.89024099e+02] [ 2.03850805e-02 3.32293930e-04 9.99792147e-01 1.26859621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5271056809999 meters 0.021131269959909185 Centerline is valid? [True, True] Translation: X:168.56, Y:189.01, Z:12.69 [[ 8.42709206e-01 5.38087832e-01 -1.73976564e-02 1.68556212e+02] [-5.37980802e-01 8.42888716e-01 1.07363518e-02 1.89009199e+02] [ 2.04413885e-02 3.11982592e-04 9.99791004e-01 1.26871649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.55710568099994 meters 0.020954319773729215 Centerline is valid? [True, True] Translation: X:168.58, Y:188.99, Z:12.68 [[ 8.43992757e-01 5.36041329e-01 -1.83281224e-02 1.68577784e+02] [-5.35922147e-01 8.44191694e-01 1.13064725e-02 1.88992036e+02] [ 2.15331852e-02 2.79865879e-04 9.99768095e-01 1.26848006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5871056809999 meters 0.0207045523172093 Centerline is valid? [True, True] Translation: X:168.60, Y:188.97, Z:12.68 [[ 8.44454723e-01 5.35270921e-01 -1.95259201e-02 1.68600273e+02] [-5.35135524e-01 8.44680391e-01 1.20419566e-02 1.88974835e+02] [ 2.29388710e-02 2.80126372e-04 9.99736830e-01 1.26835182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.61710568099994 meters 0.02059547291085464 Centerline is valid? [True, True] Translation: X:168.62, Y:188.96, Z:12.68 [[ 8.44804079e-01 5.34677308e-01 -2.06457116e-02 1.68622322e+02] [-5.34525974e-01 8.45056267e-01 1.27235221e-02 1.88958464e+02] [ 2.42497665e-02 2.86785788e-04 9.99705890e-01 1.26826530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.6471056809999 meters 0.02059547291085464 Centerline is valid? [True, True] Translation: X:168.65, Y:188.94, Z:12.68 [[ 8.44975308e-01 5.34406582e-01 -2.06478400e-02 1.68645636e+02] [-5.34255253e-01 8.45227499e-01 1.27200672e-02 1.88944295e+02] [ 2.42498098e-02 2.83074267e-04 9.99705890e-01 1.26832215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.67710568099994 meters 0.02067510690887486 Centerline is valid? [True, True] Translation: X:168.67, Y:188.93, Z:12.68 [[ 8.45210970e-01 5.34003069e-01 -2.14274961e-02 1.68668892e+02] [-5.33840197e-01 8.45482488e-01 1.31911412e-02 1.88930250e+02] [ 2.51606827e-02 2.89561471e-04 9.99683378e-01 1.26837617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7071056809999 meters 0.02041655703707255 Centerline is valid? [True, True] Translation: X:168.69, Y:188.91, Z:12.68 [[ 8.45398583e-01 5.33650922e-01 -2.27580601e-02 1.68690898e+02] [-5.33467275e-01 8.45704796e-01 1.40023264e-02 1.88912862e+02] [ 2.67189550e-02 3.03133441e-04 9.99642939e-01 1.26829911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7371056809999 meters 0.020412689194190817 Centerline is valid? [True, True] Translation: X:168.72, Y:188.90, Z:12.68 [[ 8.45161100e-01 5.33973443e-01 -2.39807415e-02 1.68715051e+02] [-5.33769968e-01 8.45501181e-01 1.47436476e-02 1.88897068e+02] [ 2.81484616e-02 3.39442165e-04 9.99603696e-01 1.26817418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7671056809999 meters 0.021025395758679857 Centerline is valid? [True, True] Translation: X:168.74, Y:188.88, Z:12.68 [[ 8.43687089e-01 5.36127489e-01 -2.75574241e-02 1.68739679e+02] [-5.35860228e-01 8.44136887e-01 1.69331397e-02 1.88884269e+02] [ 3.23405598e-02 4.80656213e-04 9.99476792e-01 1.26778044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7971056809999 meters 0.021245316976609346 Centerline is valid? [True, True] Translation: X:168.77, Y:188.87, Z:12.68 [[ 8.42475111e-01 5.37945805e-01 -2.91547415e-02 1.68765317e+02] [-5.37647888e-01 8.42979222e-01 1.79103540e-02 1.88871854e+02] [ 3.42116411e-02 5.85957733e-04 9.99414439e-01 1.26783008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.8271056809999 meters 0.023425888858561655 Centerline is valid? [True, True] Translation: X:168.79, Y:188.87, Z:12.68 [[ 8.39292773e-01 5.42907033e-01 -2.89757776e-02 1.68793775e+02] [-5.42615849e-01 8.39792436e-01 1.77962155e-02 1.88865586e+02] [ 3.39953294e-02 7.86481131e-04 9.99421682e-01 1.26756280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.8571056809999 meters 0.02203993951938294 Centerline is valid? [True, True] Translation: X:168.82, Y:188.85, Z:12.68 [[ 8.41105260e-01 5.40307562e-01 -2.46916900e-02 1.68815618e+02] [-5.40095141e-01 8.41467407e-01 1.51605242e-02 1.88846431e+02] [ 2.89685983e-02 5.84265187e-04 9.99580151e-01 1.26827651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.8871056809999 meters 0.02150662078841818 Centerline is valid? [True, True] Translation: X:168.84, Y:188.83, Z:12.69 [[ 8.42713631e-01 5.37874392e-01 -2.29101181e-02 1.68839201e+02] [-5.37690823e-01 8.43024861e-01 1.40592397e-02 1.88830306e+02] [ 2.68759042e-02 4.70647320e-04 9.99638667e-01 1.26871761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.9171056809999 meters 0.020762779004978332 Centerline is valid? [True, True] Translation: X:168.86, Y:188.81, Z:12.69 [[ 8.45114853e-01 5.34138621e-01 -2.18361755e-02 1.68861983e+02] [-5.33970797e-01 8.45396840e-01 1.33929347e-02 1.88813919e+02] [ 2.56139174e-02 3.41311953e-04 9.99671852e-01 1.26898503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.9471056809999 meters 0.02076900118386532 Centerline is valid? [True, True] Translation: X:168.89, Y:188.80, Z:12.69 [[ 8.45649126e-01 5.33291729e-01 -2.18514759e-02 1.68885617e+02] [-5.33123498e-01 8.45931338e-01 1.33980021e-02 1.88798662e+02] [ 2.56298920e-02 3.19526472e-04 9.99671449e-01 1.26897553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.9771056809999 meters 0.020564291719514547 Centerline is valid? [True, True] Translation: X:168.91, Y:188.78, Z:12.69 [[ 8.46980580e-01 5.31163336e-01 -2.21225515e-02 1.68907679e+02] [-5.30990399e-01 8.47269402e-01 1.35556649e-02 1.88781340e+02] [ 2.59440331e-02 2.65477532e-04 9.99663362e-01 1.26883158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.0071056809999 meters 0.02042830187890395 Centerline is valid? [True, True] Translation: X:168.93, Y:188.77, Z:12.69 [[ 8.47408761e-01 5.30432125e-01 -2.32411724e-02 1.68931311e+02] [-5.30241114e-01 8.47727370e-01 1.42361296e-02 1.88766327e+02] [ 2.72534784e-02 2.59604230e-04 9.99628521e-01 1.26880785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.0371056809999 meters 0.020323082626836207 Centerline is valid? [True, True] Translation: X:168.95, Y:188.75, Z:12.69 [[ 8.48673506e-01 5.28312321e-01 -2.52858118e-02 1.68952764e+02] [-5.28085592e-01 8.49050084e-01 1.54778435e-02 1.88750383e+02] [ 2.96460560e-02 2.17437214e-04 9.99560435e-01 1.26875296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.06710568099993 meters 0.020196548246497636 Centerline is valid? [True, True] Translation: X:168.98, Y:188.73, Z:12.69 [[ 8.49675524e-01 5.26629152e-01 -2.67065410e-02 1.68975690e+02] [-5.26375686e-01 8.50095115e-01 1.63380549e-02 1.88734764e+02] [ 3.13071961e-02 1.75628450e-04 9.99509794e-01 1.26881268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.0971056809999 meters 0.02031674395403979 Centerline is valid? [True, True] Translation: X:169.00, Y:188.72, Z:12.68 [[ 8.49764460e-01 5.26322698e-01 -2.97452570e-02 1.68998546e+02] [-5.26008521e-01 8.50284881e-01 1.81839466e-02 1.88717612e+02] [ 3.48625661e-02 1.94187075e-04 9.99392097e-01 1.26832705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.12710568099993 meters 0.020888514987444703 Centerline is valid? [True, True] Translation: X:169.02, Y:188.70, Z:12.68 [[ 8.48230030e-01 5.28609266e-01 -3.28338109e-02 1.69021663e+02] [-5.28228547e-01 8.48865205e-01 2.00615432e-02 1.88701894e+02] [ 3.84761973e-02 3.26952789e-04 9.99259463e-01 1.26770148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.1571056809999 meters 0.021561684285101208 Centerline is valid? [True, True] Translation: X:169.05, Y:188.69, Z:12.68 [[ 8.46780772e-01 5.30847322e-01 -3.41093061e-02 1.69047143e+02] [-5.30438644e-01 8.47467353e-01 2.08309939e-02 1.88688307e+02] [ 3.99646007e-02 4.53608965e-04 9.99200993e-01 1.26770751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.18710568099993 meters 0.02312931856031252 Centerline is valid? [True, True] Translation: X:169.07, Y:188.68, Z:12.68 [[ 8.43944906e-01 5.35367554e-01 -3.37428264e-02 1.69072827e+02] [-5.34971556e-01 8.44618930e-01 2.05984804e-02 1.88676462e+02] [ 3.95275880e-02 6.67469755e-04 9.99218257e-01 1.26785118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.2171056809999 meters 0.02337330521997974 Centerline is valid? [True, True] Translation: X:169.10, Y:188.66, Z:12.68 [[ 8.42053883e-01 5.38326813e-01 -3.39042667e-02 1.69097100e+02] [-5.37929590e-01 8.42735771e-01 2.06924442e-02 1.88661970e+02] [ 3.97116358e-02 8.13955292e-04 9.99210850e-01 1.26815201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.24710568099994 meters 0.026633614820203474 Centerline is valid? [True, True] Translation: X:169.13, Y:188.65, Z:12.68 [[ 8.38788532e-01 5.43384485e-01 -3.41628398e-02 1.69125492e+02] [-5.42985533e-01 8.39483274e-01 2.08456946e-02 1.88653808e+02] [ 4.00063596e-02 1.06479820e-03 9.99198858e-01 1.26797455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.2771056809999 meters 0.0257410330327862 Centerline is valid? [True, True] Translation: X:169.15, Y:188.64, Z:12.68 [[ 8.38431642e-01 5.43953905e-01 -3.38604676e-02 1.69148572e+02] [-5.43562783e-01 8.39114392e-01 2.06528060e-02 1.88637390e+02] [ 3.96469801e-02 1.08932393e-03 9.99213156e-01 1.26811150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.30710568099994 meters 0.02446164712229205 Centerline is valid? [True, True] Translation: X:169.17, Y:188.62, Z:12.68 [[ 8.40677494e-01 5.40485315e-01 -3.37190664e-02 1.69171784e+02] [-5.40095150e-01 8.41352931e-01 2.05541618e-02 1.88619327e+02] [ 3.94788580e-02 9.32082985e-04 9.99219971e-01 1.26829766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3371056809999 meters 0.02404517956586456 Centerline is valid? [True, True] Translation: X:169.20, Y:188.60, Z:12.68 [[ 8.42244720e-01 5.38062381e-01 -3.33572346e-02 1.69195052e+02] [-5.37679011e-01 8.42904624e-01 2.03242648e-02 1.88604687e+02] [ 3.90526896e-02 8.17480166e-04 9.99236818e-01 1.26838602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.36710568099994 meters 0.02232608808907583 Centerline is valid? [True, True] Translation: X:169.22, Y:188.59, Z:12.68 [[ 8.46312975e-01 5.31580583e-01 -3.42991659e-02 1.69217163e+02] [-5.31170255e-01 8.47007552e-01 2.08894143e-02 1.88585735e+02] [ 4.01560596e-02 5.39714355e-04 9.99193274e-01 1.26823107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3971056809999 meters 0.0216984150344418 Centerline is valid? [True, True] Translation: X:169.24, Y:188.57, Z:12.68 [[ 8.50082213e-01 5.25479418e-01 -3.50943368e-02 1.69238914e+02] [-5.25044943e-01 8.50806272e-01 2.13657768e-02 1.88567429e+02] [ 4.10857579e-02 2.63437215e-04 9.99155589e-01 1.26783345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.42710568099994 meters 0.02158691006727909 Centerline is valid? [True, True] Translation: X:169.26, Y:188.55, Z:12.68 [[ 8.51950777e-01 5.22386233e-01 -3.59513261e-02 1.69262474e+02] [-5.21927932e-01 8.52708982e-01 2.18775209e-02 1.88552019e+02] [ 4.20845344e-02 1.25430377e-04 9.99114046e-01 1.26778068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4571056809999 meters 0.021497441864666254 Centerline is valid? [True, True] Translation: X:169.29, Y:188.54, Z:12.68 [[ 8.53020036e-01 5.20597243e-01 -3.65421474e-02 1.69288895e+02] [-5.20122729e-01 8.53802382e-01 2.22224731e-02 1.88541014e+02] [ 4.27687307e-02 5.01866850e-05 9.99084998e-01 1.26824575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4871056809999 meters 0.021505906978575517 Centerline is valid? [True, True] Translation: X:169.31, Y:188.53, Z:12.69 [[ 8.54418325e-01 5.18327111e-01 -3.61432187e-02 1.69312916e+02] [-5.17861485e-01 8.55182439e-01 2.19653963e-02 1.88526773e+02] [ 4.22943064e-02 -5.04561628e-05 9.99105194e-01 1.26857049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5171056809999 meters 0.021955534431756397 Centerline is valid? [True, True] Translation: X:169.34, Y:188.51, Z:12.68 [[ 8.56327955e-01 5.15144778e-01 -3.64457338e-02 1.69337607e+02] [-5.14668867e-01 8.57103155e-01 2.21390990e-02 1.88513338e+02] [ 4.26425947e-02 -2.00844847e-04 9.99090371e-01 1.26846172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5471056809999 meters 0.022023995953745434 Centerline is valid? [True, True] Translation: X:169.36, Y:188.50, Z:12.68 [[ 8.57137687e-01 5.13828918e-01 -3.59837114e-02 1.69361750e+02] [-5.13364265e-01 8.57892638e-01 2.18484180e-02 1.88499518e+02] [ 4.20965101e-02 -2.54350939e-04 9.99113517e-01 1.26829039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5771056809999 meters 0.02352504135679284 Centerline is valid? [True, True] Translation: X:169.38, Y:188.48, Z:12.68 [[ 8.61402504e-01 5.06806683e-01 -3.36557892e-02 1.69381952e+02] [-5.06395203e-01 8.62059558e-01 2.04258742e-02 1.88479010e+02] [ 3.93652643e-02 -5.51768958e-04 9.99224735e-01 1.26826810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.6071056809999 meters 0.025418874192937292 Centerline is valid? [True, True] Translation: X:169.40, Y:188.46, Z:12.68 [[ 8.64621932e-01 5.01331081e-01 -3.31068171e-02 1.69404786e+02] [-5.00929198e-01 8.65255186e-01 2.00848860e-02 1.88461263e+02] [ 3.87150228e-02 -7.81661608e-04 9.99249987e-01 1.26846022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.6371056809999 meters 0.025293850471258515 Centerline is valid? [True, True] Translation: X:169.43, Y:188.45, Z:12.69 [[ 8.64688945e-01 5.01237117e-01 -3.27777411e-02 1.69429355e+02] [-5.00843601e-01 8.65309635e-01 1.98726812e-02 1.88448114e+02] [ 3.83238206e-02 -7.67165847e-04 9.99265078e-01 1.26861994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.6671056809999 meters 0.027121563118212778 Centerline is valid? [True, True] Translation: X:169.45, Y:188.43, Z:12.69 [[ 8.66322051e-01 4.98447849e-01 -3.21845448e-02 1.69451829e+02] [-4.98066903e-01 8.66919254e-01 1.95030250e-02 1.88430928e+02] [ 3.76226424e-02 -8.65844063e-04 9.99291643e-01 1.26871521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.6971056809999 meters 0.02691651017137337 Centerline is valid? [True, True] Translation: X:169.48, Y:188.42, Z:12.69 [[ 8.66876688e-01 4.97531987e-01 -3.14122606e-02 1.69475614e+02] [-4.97168838e-01 8.67445188e-01 1.90260962e-02 1.88416570e+02] [ 3.67145058e-02 -8.76082152e-04 9.99325411e-01 1.26906652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.7271056809999 meters 0.026819591520486206 Centerline is valid? [True, True] Translation: X:169.50, Y:188.40, Z:12.69 [[ 8.66525446e-01 4.98267967e-01 -2.93715014e-02 1.69498783e+02] [-4.97951192e-01 8.67022733e-01 1.77817346e-02 1.88401413e+02] [ 3.43258282e-02 -7.82751306e-04 9.99410389e-01 1.26943996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.7571056809999 meters 0.02453213795279359 Centerline is valid? [True, True] Translation: X:169.53, Y:188.39, Z:12.70 [[ 8.66197951e-01 4.98874031e-01 -2.87369265e-02 1.69525932e+02] [-4.98571341e-01 8.66674194e-01 1.73913817e-02 1.88390128e+02] [ 3.35816613e-02 -7.36971197e-04 9.99435705e-01 1.26982424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.7871056809999 meters 0.025165203934556013 Centerline is valid? [True, True] Translation: X:169.55, Y:188.37, Z:12.70 [[ 8.65835138e-01 4.99504175e-01 -2.87244345e-02 1.69549086e+02] [-4.99202360e-01 8.66311192e-01 1.73758906e-02 1.88374955e+02] [ 3.35636290e-02 -7.05351154e-04 9.99436334e-01 1.26985977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.81710568099993 meters 0.024676535957879938 Centerline is valid? [True, True] Translation: X:169.57, Y:188.36, Z:12.70 [[ 8.65959015e-01 4.99275611e-01 -2.89628819e-02 1.69573001e+02] [-4.98968771e-01 8.66442930e-01 1.75161580e-02 1.88359905e+02] [ 3.38400747e-02 -7.16701388e-04 9.99427004e-01 1.26992196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.8471056809999 meters 0.02454095185340525 Centerline is valid? [True, True] Translation: X:169.60, Y:188.34, Z:12.70 [[ 8.65309740e-01 5.00369490e-01 -2.94860608e-02 1.69595948e+02] [-5.00052232e-01 8.65811705e-01 1.78285661e-02 1.88344611e+02] [ 3.44502471e-02 -6.82661335e-04 9.99406181e-01 1.26960344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.87710568099993 meters 0.02314466878160506 Centerline is valid? [True, True] Translation: X:169.62, Y:188.34, Z:12.70 [[ 8.63159336e-01 5.04032100e-01 -3.01264469e-02 1.69623901e+02] [-5.03703381e-01 8.63684750e-01 1.82086717e-02 1.88335835e+02] [ 3.51975078e-02 -5.42191816e-04 9.99380229e-01 1.26959854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.9071056809999 meters 0.022359935379556713 Centerline is valid? [True, True] Translation: X:169.65, Y:188.32, Z:12.70 [[ 8.61616399e-01 5.06686780e-01 -2.97605124e-02 1.69650039e+02] [-5.06367968e-01 8.62130113e-01 1.79763618e-02 1.88324804e+02] [ 3.47658188e-02 -4.18957909e-04 9.99395398e-01 1.26954238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93710568099993 meters 0.021653326907212334 Centerline is valid? [True, True] Translation: X:169.67, Y:188.31, Z:12.70 [[ 8.60599389e-01 5.08501121e-01 -2.82010846e-02 1.69674814e+02] [-5.08216164e-01 8.61061268e-01 1.70241946e-02 1.88310400e+02] [ 3.29396837e-02 -3.18764433e-04 9.99457291e-01 1.26976330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.9671056809999 meters 0.02141554104579647 Centerline is valid? [True, True] Translation: X:169.70, Y:188.30, Z:12.70 [[ 8.60302962e-01 5.09041648e-01 -2.74848010e-02 1.69699497e+02] [-5.08771587e-01 8.60741844e-01 1.65816361e-02 1.88295590e+02] [ 3.20980616e-02 -2.81744877e-04 9.99484685e-01 1.27000456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99710568099994 meters 0.020910176660764564 Centerline is valid? [True, True] Translation: X:169.72, Y:188.28, Z:12.70 [[ 8.59191591e-01 5.10920059e-01 -2.73953280e-02 1.69723949e+02] [-5.10652962e-01 8.59628206e-01 1.65196931e-02 1.88282582e+02] [ 3.19900392e-02 -2.04075975e-04 9.99488167e-01 1.27021600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0271056809999 meters 0.02065485569148172 Centerline is valid? [True, True] Translation: X:169.75, Y:188.27, Z:12.70 [[ 8.58794567e-01 5.11560384e-01 -2.78902359e-02 1.69748367e+02] [-5.11284106e-01 8.59247312e-01 1.68113332e-02 1.88269870e+02] [ 3.25646222e-02 -1.77647322e-04 9.99469616e-01 1.27025557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.05710568099994 meters 0.020406034838042805 Centerline is valid? [True, True] Translation: X:169.77, Y:188.25, Z:12.70 [[ 8.58931355e-01 5.11398996e-01 -2.66081613e-02 1.69772368e+02] [-5.11147797e-01 8.59343377e-01 1.60278027e-02 1.88254161e+02] [ 3.10621494e-02 -1.66079252e-04 9.99517441e-01 1.27049329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0871056809999 meters 0.02046330601074464 Centerline is valid? [True, True] Translation: X:169.80, Y:188.24, Z:12.70 [[ 8.58959729e-01 5.11370565e-01 -2.62360287e-02 1.69795388e+02] [-5.11126615e-01 8.59360297e-01 1.57944131e-02 1.88239819e+02] [ 3.06229994e-02 -1.56832323e-04 9.99530994e-01 1.27044428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.11710568099994 meters 0.02012391131470146 Centerline is valid? [True, True] Translation: X:169.82, Y:188.22, Z:12.70 [[ 8.58954843e-01 5.11438183e-01 -2.50512076e-02 1.69818815e+02] [-5.11216031e-01 8.59320060e-01 1.50733082e-02 1.88222873e+02] [ 2.92360706e-02 -1.40712181e-04 9.99572525e-01 1.27038699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.1471056809999 meters 0.020613115354393478 Centerline is valid? [True, True] Translation: X:169.84, Y:188.21, Z:12.71 [[ 8.60786983e-01 5.08394632e-01 -2.40970625e-02 1.69841330e+02] [-5.08188098e-01 8.61124175e-01 1.44917923e-02 1.88206396e+02] [ 2.81181125e-02 -2.28505804e-04 9.99604582e-01 1.27074034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.17710568099994 meters 0.020717833539595856 Centerline is valid? [True, True] Translation: X:169.87, Y:188.19, Z:12.71 [[ 8.61415905e-01 5.07294132e-01 -2.48052954e-02 1.69865898e+02] [-5.07074966e-01 8.61772935e-01 1.49126347e-02 1.88192123e+02] [ 2.89416243e-02 -2.67836435e-04 9.99581068e-01 1.27088807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2071056809999 meters 0.020131334262999536 Centerline is valid? [True, True] Translation: X:169.89, Y:188.18, Z:12.71 [[ 8.59669774e-01 5.10145998e-01 -2.68130646e-02 1.69893264e+02] [-5.09891635e-01 8.60087803e-01 1.61087165e-02 1.88182970e+02] [ 3.12793871e-02 -1.76419278e-04 9.99510665e-01 1.27071435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2371056809999 meters 0.019682989973890615 Centerline is valid? [True, True] Translation: X:169.92, Y:188.17, Z:12.71 [[ 8.58113334e-01 5.12783596e-01 -2.63531803e-02 1.69921252e+02] [-5.12539457e-01 8.58517897e-01 1.58216985e-02 1.88173409e+02] [ 3.07377844e-02 -6.97657261e-05 9.99527480e-01 1.27066567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2671056809999 meters 0.019929046787177506 Centerline is valid? [True, True] Translation: X:169.94, Y:188.16, Z:12.71 [[ 8.59949429e-01 5.09890997e-01 -2.23192858e-02 1.69943471e+02] [-5.09715091e-01 8.60239008e-01 1.33930885e-02 1.88157255e+02] [ 2.60289355e-02 -1.40901953e-04 9.99661180e-01 1.27133313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2971056809999 meters 0.02022602658714896 Centerline is valid? [True, True] Translation: X:169.97, Y:188.14, Z:12.72 [[ 8.61236003e-01 5.07755538e-01 -2.13742963e-02 1.69967302e+02] [-5.07593676e-01 8.61501176e-01 1.28212059e-02 1.88142105e+02] [ 2.49240197e-02 -1.92626467e-04 9.99689330e-01 1.27163811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.3271056809999 meters 0.01998639304398107 Centerline is valid? [True, True] Translation: X:169.99, Y:188.13, Z:12.72 [[ 8.61421165e-01 5.07435713e-01 -2.15075331e-02 1.69991671e+02] [-5.07271936e-01 8.61689595e-01 1.28928112e-02 1.88128189e+02] [ 2.50750903e-02 -1.95972480e-04 9.99685551e-01 1.27157904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.3571056809999 meters 0.020360320505511318 Centerline is valid? [True, True] Translation: X:170.02, Y:188.11, Z:12.72 [[ 8.61930242e-01 5.06594091e-01 -2.09448173e-02 1.70015494e+02] [-5.06438720e-01 8.62184658e-01 1.25474579e-02 1.88114764e+02] [ 2.44147682e-02 -2.07766916e-04 9.99701894e-01 1.27170359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.3871056809999 meters 0.02030048333784977 Centerline is valid? [True, True] Translation: X:170.04, Y:188.10, Z:12.72 [[ 8.62140030e-01 5.06252255e-01 -2.05723840e-02 1.70039769e+02] [-5.06102370e-01 8.62385419e-01 1.23199364e-02 1.88100376e+02] [ 2.39783196e-02 -2.09778045e-04 9.99712457e-01 1.27178965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.4171056809999 meters 0.020068784171926098 Centerline is valid? [True, True] Translation: X:170.06, Y:188.09, Z:12.72 [[ 8.61494282e-01 5.07369051e-01 -2.01059362e-02 1.70063959e+02] [-5.07226381e-01 8.61728854e-01 1.20324501e-02 1.88085511e+02] [ 2.34307581e-02 -1.67625719e-04 9.99725448e-01 1.27178229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.4471056809999 meters 0.01961709647750758 Centerline is valid? [True, True] Translation: X:170.09, Y:188.07, Z:12.72 [[ 8.60248579e-01 5.09488680e-01 -1.98410486e-02 1.70089149e+02] [-5.09350474e-01 8.60477353e-01 1.18667712e-02 1.88072114e+02] [ 2.31187585e-02 -1.02325558e-04 9.99732721e-01 1.27194010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.4771056809999 meters 0.019313395494320713 Centerline is valid? [True, True] Translation: X:170.11, Y:188.06, Z:12.72 [[ 8.58638683e-01 5.12192721e-01 -1.99556611e-02 1.70113907e+02] [-5.12053815e-01 8.58870547e-01 1.19278827e-02 1.88060182e+02] [ 2.32487043e-02 -2.33691412e-05 9.99729712e-01 1.27201911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.5071056809999 meters 0.01954614523523767 Centerline is valid? [True, True] Translation: X:170.14, Y:188.05, Z:12.72 [[ 8.57162020e-01 5.14654512e-01 -2.00998594e-02 1.70138901e+02] [-5.14514470e-01 8.57397650e-01 1.20053678e-02 1.88047022e+02] [ 2.34121889e-02 5.11232339e-05 9.99725896e-01 1.27197987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.5371056809999 meters 0.02054613935820358 Centerline is valid? [True, True] Translation: X:170.17, Y:188.04, Z:12.72 [[ 8.52375575e-01 5.22552821e-01 -1.98602352e-02 1.70165473e+02] [-5.22418413e-01 8.52606871e-01 1.18543891e-02 1.88037603e+02] [ 2.31275174e-02 2.70960865e-04 9.99732486e-01 1.27208240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.56710568099993 meters 0.02054613935820358 Centerline is valid? [True, True] Translation: X:170.19, Y:188.02, Z:12.72 [[ 8.52539081e-01 5.22285966e-01 -1.98616568e-02 1.70188990e+02] [-5.22151540e-01 8.52770367e-01 1.18520066e-02 1.88023769e+02] [ 2.31275691e-02 2.66495878e-04 9.99732486e-01 1.27213920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.5971056809999 meters 0.02163125550760758 Centerline is valid? [True, True] Translation: X:170.21, Y:188.01, Z:12.72 [[ 8.50368619e-01 5.25809716e-01 -1.99337405e-02 1.70214578e+02] [-5.25675461e-01 8.50602143e-01 1.18871491e-02 1.88011859e+02] [ 2.32060609e-02 3.70219698e-04 9.99730635e-01 1.27223190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.62710568099993 meters 0.023470247418452102 Centerline is valid? [True, True] Translation: X:170.24, Y:188.00, Z:12.72 [[ 8.46437551e-01 5.32112093e-01 -2.00048122e-02 1.70240027e+02] [-5.31978692e-01 8.46673739e-01 1.19268745e-02 1.87998506e+02] [ 2.32839833e-02 5.46779430e-04 9.99728742e-01 1.27228939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.6571056809999 meters 0.024535297041161783 Centerline is valid? [True, True] Translation: X:170.27, Y:187.99, Z:12.72 [[ 8.45118694e-01 5.34218952e-01 -1.96087922e-02 1.70265654e+02] [-5.34091417e-01 8.45345939e-01 1.16876264e-02 1.87985634e+02] [ 2.28199644e-02 5.95456064e-04 9.99739413e-01 1.27245217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.68710568099993 meters 0.026248569866507424 Centerline is valid? [True, True] Translation: X:170.29, Y:187.97, Z:12.73 [[ 8.42677654e-01 5.38096424e-01 -1.86174436e-02 1.70292685e+02] [-5.37982543e-01 8.42883022e-01 1.10902612e-02 1.87974145e+02] [ 2.16599571e-02 6.70344382e-04 9.99765171e-01 1.27285022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.7171056809999 meters 0.026259098647691322 Centerline is valid? [True, True] Translation: X:170.32, Y:187.96, Z:12.73 [[ 8.42165681e-01 5.38931826e-01 -1.75912999e-02 1.70317389e+02] [-5.38830450e-01 8.42349128e-01 1.04733877e-02 1.87959534e+02] [ 2.04624581e-02 6.58400345e-04 9.99790405e-01 1.27295840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.74710568099994 meters 0.026444784143177698 Centerline is valid? [True, True] Translation: X:170.34, Y:187.94, Z:12.73 [[ 8.42725365e-01 5.38062193e-01 -1.74079135e-02 1.70341201e+02] [-5.37962867e-01 8.42904901e-01 1.03576995e-02 1.87944633e+02] [ 2.02463021e-02 6.36114926e-04 9.99794820e-01 1.27269650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.7771056809999 meters 0.023939473242478367 Centerline is valid? [True, True] Translation: X:170.36, Y:187.93, Z:12.73 [[ 8.46224718e-01 5.32439143e-01 -2.03048285e-02 1.70364221e+02] [-5.32302454e-01 8.46468082e-01 1.20782041e-02 1.87926329e+02] [ 2.36182979e-02 5.87435244e-04 9.99720877e-01 1.27255004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.80710568099994 meters 0.02212633826106887 Centerline is valid? [True, True] Translation: X:170.39, Y:187.91, Z:12.73 [[ 8.49388222e-01 5.27368610e-01 -2.05425587e-02 1.70386884e+02] [-5.27227312e-01 8.49636476e-01 1.22155502e-02 1.87907252e+02] [ 2.38958049e-02 4.54853478e-04 9.99714351e-01 1.27251534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8371056809999 meters 0.02024865804265459 Centerline is valid? [True, True] Translation: X:170.41, Y:187.89, Z:12.72 [[ 8.54258971e-01 5.19418936e-01 -2.11087214e-02 1.70407455e+02] [-5.19267481e-01 8.54519695e-01 1.25448870e-02 1.87885875e+02] [ 2.45538701e-02 2.44490369e-04 9.99698478e-01 1.27244906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.86710568099994 meters 0.019735926111703685 Centerline is valid? [True, True] Translation: X:170.43, Y:187.87, Z:12.72 [[ 8.55642889e-01 5.17108237e-01 -2.17788268e-02 1.70430793e+02] [-5.16946431e-01 8.55919994e-01 1.29364566e-02 1.87869779e+02] [ 2.53304816e-02 1.89499639e-04 9.99679114e-01 1.27231834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8971056809999 meters 0.019463987873173966 Centerline is valid? [True, True] Translation: X:170.45, Y:187.85, Z:12.72 [[ 8.57765830e-01 5.13454966e-01 -2.45311803e-02 1.70453847e+02] [-5.13248471e-01 8.58116535e-01 1.45608772e-02 1.87853493e+02] [ 2.85269662e-02 1.00767884e-04 9.99593018e-01 1.27200192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.92710568099994 meters 0.01942336017889135 Centerline is valid? [True, True] Translation: X:170.48, Y:187.84, Z:12.72 [[ 8.58382351e-01 5.12360013e-01 -2.58254939e-02 1.70477317e+02] [-5.12130927e-01 8.58770756e-01 1.53199901e-02 1.87838259e+02] [ 3.00275293e-02 7.56249867e-05 9.99549069e-01 1.27196560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9571056809999 meters 0.019533959884179466 Centerline is valid? [True, True] Translation: X:170.50, Y:187.82, Z:12.72 [[ 8.58180028e-01 5.12583920e-01 -2.80136436e-02 1.70502146e+02] [-5.12314690e-01 8.58637127e-01 1.66115109e-02 1.87823569e+02] [ 3.25683478e-02 9.61342164e-05 9.99469506e-01 1.27200566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9871056809999 meters 0.020071523506436477 Centerline is valid? [True, True] Translation: X:170.53, Y:187.81, Z:12.72 [[ 8.55122983e-01 5.17584353e-01 -2.95147749e-02 1.70526864e+02] [-5.17288761e-01 8.55632130e-01 1.74927537e-02 1.87811085e+02] [ 3.43077653e-02 3.09205630e-04 9.99411268e-01 1.27169254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0171056809999 meters 0.02088014423353952 Centerline is valid? [True, True] Translation: X:170.55, Y:187.80, Z:12.72 [[ 8.52848240e-01 5.21345976e-01 -2.91247661e-02 1.70552445e+02] [-5.21060466e-01 8.53345278e-01 1.72576763e-02 1.87798839e+02] [ 3.38507017e-02 4.57585316e-04 9.99426796e-01 1.27166519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0471056809999 meters 0.022999359901086085 Centerline is valid? [True, True] Translation: X:170.58, Y:187.79, Z:12.72 [[ 8.48452797e-01 5.28447954e-01 -2.95061363e-02 1.70579566e+02] [-5.28159334e-01 8.48965366e-01 1.74792817e-02 1.87788210e+02] [ 3.42865784e-02 7.53595865e-04 9.99411758e-01 1.27187289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0771056809999 meters 0.02468954054509385 Centerline is valid? [True, True] Translation: X:170.61, Y:187.78, Z:12.72 [[ 8.45749095e-01 5.32733417e-01 -3.00595249e-02 1.70606178e+02] [-5.32436714e-01 8.46282581e-01 1.78027796e-02 1.87776317e+02] [ 3.49229879e-02 9.48109886e-04 9.99389557e-01 1.27188111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.1071056809999 meters 0.029015368096677235 Centerline is valid? [True, True] Translation: X:170.63, Y:187.77, Z:12.72 [[ 8.39523032e-01 5.42484690e-01 -3.01900674e-02 1.70634762e+02] [-5.42191872e-01 8.40064582e-01 1.78737711e-02 1.87767793e+02] [ 3.50578535e-02 1.36336666e-03 9.99384355e-01 1.27184502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.1371056809999 meters 0.031885230598622714 Centerline is valid? [True, True] Translation: X:170.66, Y:187.76, Z:12.72 [[ 8.35948935e-01 5.48065008e-01 -2.85328629e-02 1.70661970e+02] [-5.47806950e-01 8.36434366e-01 1.68848058e-02 1.87757565e+02] [ 3.31198383e-02 1.51566517e-03 9.99450238e-01 1.27207856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.1671056809999 meters 0.03787327442745773 Centerline is valid? [True, True] Translation: X:170.69, Y:187.75, Z:12.72 [[ 8.29991779e-01 5.57234319e-01 -2.45674693e-02 1.70689372e+02] [-5.57047086e-01 8.30353710e-01 1.45347765e-02 1.87749885e+02] [ 2.84989656e-02 1.62149218e-03 9.99592507e-01 1.27244789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.1971056809999 meters 0.03903030154988132 Centerline is valid? [True, True] Translation: X:170.71, Y:187.74, Z:12.73 [[ 8.26785865e-01 5.62019924e-01 -2.36376332e-02 1.70714890e+02] [-5.61848657e-01 8.27121901e-01 1.39802677e-02 1.87736501e+02] [ 2.74083931e-02 1.72208474e-03 9.99622836e-01 1.27262407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.2271056809999 meters 0.04092545141973622 Centerline is valid? [True, True] Translation: X:170.74, Y:187.72, Z:12.73 [[ 8.23958499e-01 5.66183315e-01 -2.29966671e-02 1.70740739e+02] [-5.66023010e-01 8.24277355e-01 1.35939301e-02 1.87723587e+02] [ 2.66522884e-02 1.81580849e-03 9.99643116e-01 1.27273524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.2571056809999 meters 0.04091094283281281 Centerline is valid? [True, True] Translation: X:170.76, Y:187.71, Z:12.73 [[ 8.20260814e-01 5.71531653e-01 -2.28859214e-02 1.70764760e+02] [-5.71375078e-01 8.20577622e-01 1.35235180e-02 1.87708060e+02] [ 2.65087936e-02 1.98363322e-03 9.99646612e-01 1.27293991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.2871056809999 meters 0.04334091355558021 Centerline is valid? [True, True] Translation: X:170.79, Y:187.70, Z:12.73 [[ 8.17896308e-01 5.74910935e-01 -2.28701993e-02 1.70791060e+02] [-5.74756108e-01 8.18213305e-01 1.35056786e-02 1.87695835e+02] [ 2.64772637e-02 2.09854205e-03 9.99647213e-01 1.27309759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.31710568099993 meters 0.04459196625425483 Centerline is valid? [True, True] Translation: X:170.82, Y:187.68, Z:12.73 [[ 8.17228844e-01 5.75837342e-01 -2.34173239e-02 1.70815725e+02] [-5.75675612e-01 8.17561359e-01 1.38207622e-02 1.87683146e+02] [ 2.71036101e-02 2.18605670e-03 9.99630239e-01 1.27314130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.3471056809999 meters 0.049139574766898404 Centerline is valid? [True, True] Translation: X:170.84, Y:187.68, Z:12.73 [[ 8.16722568e-01 5.76503288e-01 -2.46618547e-02 1.70842808e+02] [-5.76324346e-01 8.17091508e-01 1.45504334e-02 1.87675302e+02] [ 2.85393647e-02 2.32955992e-03 9.99589955e-01 1.27301997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.37710568099993 meters 0.04922012549011395 Centerline is valid? [True, True] Translation: X:170.87, Y:187.66, Z:12.73 [[ 8.16346168e-01 5.77014876e-01 -2.51548370e-02 1.70867643e+02] [-5.76829111e-01 8.16730113e-01 1.48357446e-02 1.87661118e+02] [ 2.91051582e-02 2.39893901e-03 9.99573476e-01 1.27304988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.4071056809999 meters 0.04778194484621358 Centerline is valid? [True, True] Translation: X:170.89, Y:187.64, Z:12.73 [[ 8.17073881e-01 5.75944887e-01 -2.60338230e-02 1.70889985e+02] [-5.75745664e-01 8.17484849e-01 1.53444638e-02 1.87643207e+02] [ 3.01198214e-02 2.45130011e-03 9.99543289e-01 1.27308580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43710568099993 meters 0.0464011284439033 Centerline is valid? [True, True] Translation: X:170.91, Y:187.63, Z:12.73 [[ 8.17066042e-01 5.75946544e-01 -2.62423612e-02 1.70912645e+02] [-5.75744351e-01 8.17483603e-01 1.54596539e-02 1.87625970e+02] [ 3.03566342e-02 2.47733293e-03 9.99536061e-01 1.27299852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.4671056809999 meters 0.04395891889298844 Centerline is valid? [True, True] Translation: X:170.94, Y:187.61, Z:12.73 [[ 8.15778741e-01 5.77774664e-01 -2.61052446e-02 1.70936661e+02] [-5.77575616e-01 8.16192386e-01 1.53751829e-02 1.87609435e+02] [ 3.01902930e-02 2.53500539e-03 9.99540955e-01 1.27315005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49710568099994 meters 0.045138148359200825 Centerline is valid? [True, True] Translation: X:170.96, Y:187.60, Z:12.73 [[ 8.14510141e-01 5.79558273e-01 -2.61808808e-02 1.70963496e+02] [-5.79359163e-01 8.14926609e-01 1.54136923e-02 1.87598772e+02] [ 3.02686293e-02 2.61352451e-03 9.99538383e-01 1.27328961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5271056809999 meters 0.049837726421104865 Centerline is valid? [True, True] Translation: X:171.00, Y:187.60, Z:12.73 [[ 8.09203876e-01 5.86988627e-01 -2.51681951e-02 1.70995353e+02] [-5.86808375e-01 8.09590389e-01 1.48099175e-02 1.87599028e+02] [ 2.90691820e-02 2.78466499e-03 9.99573523e-01 1.27341693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.55710568099994 meters 0.04946452560736092 Centerline is valid? [True, True] Translation: X:171.02, Y:187.59, Z:12.74 [[ 8.10605797e-01 5.85198144e-01 -2.14796169e-02 1.71021069e+02] [-5.85066327e-01 8.10887002e-01 1.26358242e-02 1.87586240e+02] [ 2.48120030e-02 2.32432820e-03 9.99689433e-01 1.27357790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5871056809999 meters 0.05318462668770101 Centerline is valid? [True, True] Translation: X:171.05, Y:187.58, Z:12.74 [[ 8.13428623e-01 5.81320074e-01 -2.00211659e-02 1.71048671e+02] [-5.81204541e-01 8.13672368e-01 1.17711394e-02 1.87578474e+02] [ 2.31334691e-02 2.06141079e-03 9.99730260e-01 1.27392944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.61710568099994 meters 0.044228397787896986 Centerline is valid? [True, True] Translation: X:171.07, Y:187.56, Z:12.75 [[ 8.21727216e-01 5.69584226e-01 -1.83900170e-02 1.71068830e+02] [-5.69483862e-01 8.21931433e-01 1.08097124e-02 1.87556804e+02] [ 2.12723747e-02 1.59018300e-03 9.99772453e-01 1.27469357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.6471056809999 meters 0.04083962357540978 Centerline is valid? [True, True] Translation: X:171.09, Y:187.54, Z:12.75 [[ 8.26621419e-01 5.62447486e-01 -1.87044281e-02 1.71091646e+02] [-5.62341914e-01 8.26831768e-01 1.09909146e-02 1.87538906e+02] [ 2.16472276e-02 1.43295846e-03 9.99764644e-01 1.27487938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.67710568099994 meters 0.033884740368919065 Centerline is valid? [True, True] Translation: X:171.11, Y:187.51, Z:12.75 [[ 8.32651853e-01 5.53420589e-01 -2.04093890e-02 1.71110805e+02] [-5.53292366e-01 8.32900911e-01 1.19846190e-02 1.87514717e+02] [ 2.36315336e-02 1.31334386e-03 9.99719874e-01 1.27455981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7071056809999 meters 0.03481329349421496 Centerline is valid? [True, True] Translation: X:171.14, Y:187.50, Z:12.74 [[ 8.35707741e-01 5.48766007e-01 -2.11764475e-02 1.71136767e+02] [-5.48626654e-01 8.35975090e-01 1.24275212e-02 1.87504137e+02] [ 2.45227838e-02 1.23218785e-03 9.99698512e-01 1.27426410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7371056809999 meters 0.0338296337078602 Centerline is valid? [True, True] Translation: X:171.16, Y:187.49, Z:12.74 [[ 8.37316394e-01 5.46318212e-01 -2.09205109e-02 1.71161449e+02] [-5.46181524e-01 8.37576916e-01 1.22740394e-02 1.87489067e+02] [ 2.42280682e-02 1.14914217e-03 9.99705797e-01 1.27426887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7671056809999 meters 0.03320370610224357 Centerline is valid? [True, True] Translation: X:171.19, Y:187.48, Z:12.74 [[ 8.38803056e-01 5.44000480e-01 -2.17465147e-02 1.71185699e+02] [-5.43852177e-01 8.39084143e-01 1.27519012e-02 1.87475988e+02] [ 2.51841961e-02 1.13055571e-03 9.99682189e-01 1.27429050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7971056809999 meters 0.03200196998149572 Centerline is valid? [True, True] Translation: X:171.21, Y:187.46, Z:12.74 [[ 8.39978344e-01 5.42182172e-01 -2.17916237e-02 1.71209416e+02] [-5.42032732e-01 8.40260271e-01 1.27747491e-02 1.87459010e+02] [ 2.52368769e-02 1.08126076e-03 9.99680915e-01 1.27447932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8271056809999 meters 0.032414050489749956 Centerline is valid? [True, True] Translation: X:171.23, Y:187.44, Z:12.75 [[ 8.39137220e-01 5.43425290e-01 -2.31879120e-02 1.71234504e+02] [-5.43256780e-01 8.39456682e-01 1.35849591e-02 1.87444623e+02] [ 2.68476580e-02 1.19734558e-03 9.99638820e-01 1.27453359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8571056809999 meters 0.03416063843820215 Centerline is valid? [True, True] Translation: X:171.26, Y:187.43, Z:12.74 [[ 8.37685923e-01 5.45657028e-01 -2.32530308e-02 1.71259505e+02] [-5.45488648e-01 8.38007620e-01 1.36148053e-02 1.87432534e+02] [ 2.69152312e-02 1.27933361e-03 9.99636901e-01 1.27448410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8871056809999 meters 0.03549957914004164 Centerline is valid? [True, True] Translation: X:171.28, Y:187.42, Z:12.74 [[ 8.34097408e-01 5.51077629e-01 -2.43918144e-02 1.71284510e+02] [-5.50894891e-01 8.34452574e-01 1.42730651e-02 1.87419051e+02] [ 2.82193792e-02 1.53219931e-03 9.99600580e-01 1.27446801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.9171056809999 meters 0.037852210529592006 Centerline is valid? [True, True] Translation: X:171.31, Y:187.41, Z:12.74 [[ 8.31669220e-01 5.54685484e-01 -2.55014252e-02 1.71310160e+02] [-5.54487669e-01 8.32058290e-01 1.49139915e-02 1.87408789e+02] [ 2.94912468e-02 1.73671817e-03 9.99563530e-01 1.27443383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.9471056809999 meters 0.0440984691160009 Centerline is valid? [True, True] Translation: X:171.34, Y:187.40, Z:12.74 [[ 8.25588893e-01 5.63644772e-01 -2.65998247e-02 1.71339369e+02] [-5.63434303e-01 8.26014500e-01 1.55509206e-02 1.87403005e+02] [ 3.07370360e-02 2.14858640e-03 9.99525196e-01 1.27441861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.9771056809999 meters 0.048090734062030384 Centerline is valid? [True, True] Translation: X:171.37, Y:187.39, Z:12.74 [[ 8.20002343e-01 5.71762952e-01 -2.61396885e-02 1.71366448e+02] [-5.71563920e-01 8.20415323e-01 1.52768992e-02 1.87393025e+02] [ 3.01801660e-02 2.41340964e-03 9.99541561e-01 1.27445868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.0071056809999 meters 0.047098514639420636 Centerline is valid? [True, True] Translation: X:171.39, Y:187.38, Z:12.75 [[ 8.16845715e-01 5.76293615e-01 -2.54705092e-02 1.71390496e+02] [-5.76107003e-01 8.17238840e-01 1.48794921e-02 1.87377652e+02] [ 2.93904457e-02 2.51948933e-03 9.99564832e-01 1.27469109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.0371056809999 meters 0.053185202668534985 Centerline is valid? [True, True] Translation: X:171.42, Y:187.37, Z:12.75 [[ 8.12227513e-01 5.82872350e-01 -2.33728867e-02 1.71418439e+02] [-5.82718099e-01 8.12559778e-01 1.36463904e-02 1.87371762e+02] [ 2.69459713e-02 2.53583043e-03 9.99633675e-01 1.27532479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.06710568099993 meters 0.05069687289840706 Centerline is valid? [True, True] Translation: X:171.44, Y:187.35, Z:12.76 [[ 8.10217106e-01 5.85691491e-01 -2.26653508e-02 1.71440779e+02] [-5.85547655e-01 8.10530046e-01 1.32283172e-02 1.87353848e+02] [ 2.61186606e-02 2.55383418e-03 9.99655587e-01 1.27556233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.0971056809999 meters 0.05212613777333086 Centerline is valid? [True, True] Translation: X:171.47, Y:187.34, Z:12.76 [[ 8.08533415e-01 5.88045004e-01 -2.18355264e-02 1.71466980e+02] [-5.87912449e-01 8.08824233e-01 1.27402123e-02 1.87341061e+02] [ 2.51529211e-02 2.53649043e-03 9.99680397e-01 1.27577117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.12710568099993 meters 0.055016818512288124 Centerline is valid? [True, True] Translation: X:171.49, Y:187.33, Z:12.76 [[ 8.05092333e-01 5.92685888e-01 -2.34472411e-02 1.71492766e+02] [-5.92535096e-01 8.05428536e-01 1.36760002e-02 1.87329050e+02] [ 2.69906494e-02 2.88287032e-03 9.99631529e-01 1.27567983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.1571056809999 meters 0.058935414160220106 Centerline is valid? [True, True] Translation: X:171.52, Y:187.32, Z:12.75 [[ 8.02990858e-01 5.95475162e-01 -2.47994750e-02 1.71519208e+02] [-5.95307918e-01 8.03367534e-01 1.44598570e-02 1.87318980e+02] [ 2.85335788e-02 3.15219081e-03 9.99587864e-01 1.27536857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.18710568099993 meters 0.060149691359865615 Centerline is valid? [True, True] Translation: X:171.54, Y:187.31, Z:12.75 [[ 8.02775224e-01 5.95775491e-01 -2.45663293e-02 1.71544533e+02] [-5.95611685e-01 8.03144892e-01 1.43179180e-02 1.87305858e+02] [ 2.82605865e-02 3.13792296e-03 9.99595665e-01 1.27538771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.2171056809999 meters 0.05738254770171814 Centerline is valid? [True, True] Translation: X:171.57, Y:187.29, Z:12.76 [[ 8.04903935e-01 5.92892320e-01 -2.46647801e-02 1.71567070e+02] [-5.92726120e-01 8.05275951e-01 1.43662495e-02 1.87288052e+02] [ 2.83795933e-02 3.05600861e-03 9.99592547e-01 1.27571652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.24710568099994 meters 0.052986754373844876 Centerline is valid? [True, True] Translation: X:171.59, Y:187.27, Z:12.76 [[ 8.07613207e-01 5.89194698e-01 -2.47085950e-02 1.71588757e+02] [-5.89026459e-01 8.07985750e-01 1.43825413e-02 1.87267709e+02] [ 2.84383098e-02 2.93848588e-03 9.99591230e-01 1.27582422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.2771056809999 meters 0.05064907712962922 Centerline is valid? [True, True] Translation: X:171.61, Y:187.25, Z:12.75 [[ 8.12684483e-01 5.82049732e-01 -2.76050835e-02 1.71610986e+02] [-5.81835955e-01 8.13147615e-01 1.60585759e-02 1.87249886e+02] [ 3.17938976e-02 3.01107462e-03 9.99489911e-01 1.27542467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.30710568099994 meters 0.04859716989787323 Centerline is valid? [True, True] Translation: X:171.63, Y:187.23, Z:12.75 [[ 8.16980431e-01 5.75966017e-01 -2.83922923e-02 1.71633696e+02] [-5.75736449e-01 8.17468639e-01 1.65095329e-02 1.87231870e+02] [ 3.27187384e-02 2.85851226e-03 9.99460511e-01 1.27526900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3371056809999 meters 0.04359223391783816 Centerline is valid? [True, True] Translation: X:171.65, Y:187.21, Z:12.75 [[ 8.24590605e-01 5.64953700e-01 -2.96251841e-02 1.71653863e+02] [-5.64696907e-01 8.25118726e-01 1.72189100e-02 1.87210381e+02] [ 3.41721811e-02 2.53069837e-03 9.99412756e-01 1.27532851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.36710568099994 meters 0.041709861217394825 Centerline is valid? [True, True] Translation: X:171.68, Y:187.19, Z:12.76 [[ 8.27878384e-01 5.60120893e-01 -2.96979261e-02 1.71677717e+02] [-5.59860027e-01 8.28407565e-01 1.72527314e-02 1.87194685e+02] [ 3.42656019e-02 2.34351832e-03 9.99410014e-01 1.27561233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3971056809999 meters 0.036929876856911834 Centerline is valid? [True, True] Translation: X:171.70, Y:187.18, Z:12.76 [[ 8.34783419e-01 5.49815909e-01 -2.89673914e-02 1.71699506e+02] [-5.49561653e-01 8.35283754e-01 1.68237940e-02 1.87175916e+02] [ 3.34459810e-02 1.87514324e-03 9.99438768e-01 1.27615248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.42710568099994 meters 0.033152381389294085 Centerline is valid? [True, True] Translation: X:171.72, Y:187.16, Z:12.76 [[ 8.40260480e-01 5.41424663e-01 -2.86646079e-02 1.71722557e+02] [-5.41171014e-01 8.40747879e-01 1.66414667e-02 1.87158703e+02] [ 3.31098088e-02 1.52928809e-03 9.99450550e-01 1.27643535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4571056809999 meters 0.033152381389294085 Centerline is valid? [True, True] Translation: X:171.75, Y:187.15, Z:12.76 [[ 8.40427320e-01 5.41165404e-01 -2.86692264e-02 1.71746262e+02] [-5.40911875e-01 8.40914781e-01 1.66335074e-02 1.87145146e+02] [ 3.31098550e-02 1.52827095e-03 9.99450550e-01 1.27649242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4871056809999 meters 0.031479820732854435 Centerline is valid? [True, True] Translation: X:171.77, Y:187.13, Z:12.77 [[ 8.42479086e-01 5.37992166e-01 -2.81676753e-02 1.71769692e+02] [-5.37746002e-01 8.42948696e-01 1.63319854e-02 1.87128646e+02] [ 3.25303854e-02 1.38769870e-03 9.99469784e-01 1.27652457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5171056809999 meters 0.02826307405540252 Centerline is valid? [True, True] Translation: X:171.79, Y:187.11, Z:12.77 [[ 8.46421166e-01 5.31929120e-01 -2.49523522e-02 1.71790454e+02] [-5.31733535e-01 8.46788257e-01 1.44601085e-02 1.87107943e+02] [ 2.88211116e-02 1.02866056e-03 9.99584056e-01 1.27654261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5471056809999 meters 0.027531200021516475 Centerline is valid? [True, True] Translation: X:171.81, Y:187.09, Z:12.77 [[ 8.48008610e-01 5.29452516e-01 -2.36945109e-02 1.71813738e+02] [-5.29275405e-01 8.48339093e-01 1.37232958e-02 1.87092288e+02] [ 2.73668134e-02 9.03448893e-04 9.99625050e-01 1.27662755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5771056809999 meters 0.02687576426267741 Centerline is valid? [True, True] Translation: X:171.84, Y:187.08, Z:12.77 [[ 8.49264283e-01 5.27466087e-01 -2.30152902e-02 1.71837206e+02] [-5.27298415e-01 8.49575690e-01 1.33239428e-02 1.87076918e+02] [ 2.65811590e-02 8.20377327e-04 9.99646322e-01 1.27682586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.6071056809999 meters 0.027366564859603253 Centerline is valid? [True, True] Translation: X:171.86, Y:187.06, Z:12.77 [[ 8.48455893e-01 5.28688880e-01 -2.47116519e-02 1.71862793e+02] [-5.28496200e-01 8.48815181e-01 1.43022518e-02 1.87064867e+02] [ 2.85370668e-02 9.25184288e-04 9.99592307e-01 1.27690798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.6371056809999 meters 0.028617404474303575 Centerline is valid? [True, True] Translation: X:171.89, Y:187.05, Z:12.77 [[ 8.46445380e-01 5.31863935e-01 -2.55141535e-02 1.71888730e+02] [-5.31660099e-01 8.46829151e-01 1.47624019e-02 1.87051993e+02] [ 2.94577181e-02 1.06929041e-03 9.99565455e-01 1.27706209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.6671056809999 meters 0.032754132994809275 Centerline is valid? [True, True] Translation: X:171.92, Y:187.04, Z:12.77 [[ 8.40907139e-01 5.40649977e-01 -2.39329352e-02 1.71916334e+02] [-5.40474229e-01 8.41246652e-01 1.38447860e-02 1.87043074e+02] [ 2.76186848e-02 1.29295535e-03 9.99617695e-01 1.27745238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.6971056809999 meters 0.036827641147376806 Centerline is valid? [True, True] Translation: X:171.94, Y:187.03, Z:12.78 [[ 8.37288526e-01 5.46273442e-01 -2.30922277e-02 1.71943503e+02] [-5.46112054e-01 8.37605685e-01 1.33544429e-02 1.87034922e+02] [ 2.66373587e-02 1.42942211e-03 9.99644141e-01 1.27762722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.7271056809999 meters 0.044121818858052546 Centerline is valid? [True, True] Translation: X:171.97, Y:187.03, Z:12.78 [[ 8.27718074e-01 5.60710092e-01 -2.20676858e-02 1.71974086e+02] [-5.60567857e-01 8.28010214e-01 1.27578623e-02 1.87030581e+02] [ 2.54257314e-02 1.81052213e-03 9.99675074e-01 1.27760373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.7571056809999 meters 0.04547633600990085 Centerline is valid? [True, True] Translation: X:172.00, Y:187.02, Z:12.78 [[ 8.24603573e-01 5.65282233e-01 -2.20214467e-02 1.71999060e+02] [-5.65142323e-01 8.24895261e-01 1.27264767e-02 1.87017497e+02] [ 2.53594382e-02 1.95095338e-03 9.99676494e-01 1.27772617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.7871056809999 meters 0.04544411428438668 Centerline is valid? [True, True] Translation: X:172.02, Y:187.00, Z:12.78 [[ 8.19076636e-01 5.73197353e-01 -2.36275257e-02 1.72023486e+02] [-5.73039746e-01 8.19413947e-01 1.36467211e-02 1.87002692e+02] [ 2.71829886e-02 2.36180090e-03 9.99627684e-01 1.27792159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.81710568099993 meters 0.05336186296675947 Centerline is valid? [True, True] Translation: X:172.05, Y:187.00, Z:12.78 [[ 8.16648349e-01 5.76619913e-01 -2.43915864e-02 1.72053371e+02] [-5.76453604e-01 8.17008520e-01 1.40826550e-02 1.86999337e+02] [ 2.80484732e-02 2.56004094e-03 9.99603286e-01 1.27793769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.8471056809999 meters 0.05413303829197786 Centerline is valid? [True, True] Translation: X:172.08, Y:186.99, Z:12.78 [[ 8.12441223e-01 5.82459944e-01 -2.60705444e-02 1.72079377e+02] [-5.82273154e-01 8.12854024e-01 1.50436341e-02 1.86986257e+02] [ 2.99538612e-02 2.95810962e-03 9.99546905e-01 1.27773202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.87710568099993 meters 0.0524183324490918 Centerline is valid? [True, True] Translation: X:172.10, Y:186.97, Z:12.78 [[ 8.09409265e-01 5.86693332e-01 -2.54475052e-02 1.72103965e+02] [-5.86517686e-01 8.09803462e-01 1.46750186e-02 1.86971345e+02] [ 2.92172134e-02 3.04731583e-03 9.99568441e-01 1.27772591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.9071056809999 meters 0.053405335287508446 Centerline is valid? [True, True] Translation: X:172.13, Y:186.96, Z:12.78 [[ 8.10608030e-01 5.85031845e-01 -2.55413946e-02 1.72127810e+02] [-5.84854346e-01 8.11004751e-01 1.47203119e-02 1.86958474e+02] [ 2.93260437e-02 3.00559262e-03 9.99565380e-01 1.27776345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93710568099993 meters 0.051548646847599126 Centerline is valid? [True, True] Translation: X:172.15, Y:186.94, Z:12.78 [[ 8.11637239e-01 5.83568583e-01 -2.63192178e-02 1.72151511e+02] [-5.83379580e-01 8.12058134e-01 1.51608963e-02 1.86941604e+02] [ 3.02201576e-02 3.04894625e-03 9.99538617e-01 1.27768565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.9671056809999 meters 0.05010396913208884 Centerline is valid? [True, True] Translation: X:172.18, Y:186.93, Z:12.78 [[ 8.13184523e-01 5.81289317e-01 -2.88731836e-02 1.72176047e+02] [-5.81060791e-01 8.13690417e-01 1.66211261e-02 1.86927203e+02] [ 3.31555159e-02 3.26103238e-03 9.99444885e-01 1.27758716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99710568099994 meters 0.04804145486007684 Centerline is valid? [True, True] Translation: X:172.20, Y:186.91, Z:12.78 [[ 8.16024636e-01 5.77309595e-01 -2.85906341e-02 1.72199186e+02] [-5.77083454e-01 8.16519541e-01 1.64477090e-02 1.86910421e+02] [ 3.28402317e-02 3.07744610e-03 9.99455876e-01 1.27771891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0271056809999 meters 0.047237729567618056 Centerline is valid? [True, True] Translation: X:172.22, Y:186.90, Z:12.78 [[ 8.19786997e-01 5.71935991e-01 -2.89568909e-02 1.72224139e+02] [-5.71700966e-01 8.20293108e-01 1.66500206e-02 1.86897752e+02] [ 3.32758840e-02 2.90521205e-03 9.99441982e-01 1.27797311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.05710568099994 meters 0.0448950190758015 Centerline is valid? [True, True] Translation: X:172.25, Y:186.88, Z:12.78 [[ 8.23884108e-01 5.66039424e-01 -2.85367571e-02 1.72248888e+02] [-5.65807789e-01 8.24373973e-01 1.64042229e-02 1.86883363e+02] [ 3.28103967e-02 2.63114089e-03 9.99458131e-01 1.27828385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0871056809999 meters 0.04261281515636022 Centerline is valid? [True, True] Translation: X:172.27, Y:186.87, Z:12.79 [[ 8.27385667e-01 5.60978090e-01 -2.71392964e-02 1.72272357e+02] [-5.60766023e-01 8.27827413e-01 1.55962239e-02 1.86866514e+02] [ 3.12157934e-02 2.31470317e-03 9.99509988e-01 1.27851319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.11710568099994 meters 0.03823192664769718 Centerline is valid? [True, True] Translation: X:172.29, Y:186.85, Z:12.79 [[ 8.33810750e-01 5.51418831e-01 -2.63989718e-02 1.72293335e+02] [-5.51213548e-01 8.34226371e-01 1.51652986e-02 1.86846210e+02] [ 3.03851497e-02 1.90648195e-03 9.99536447e-01 1.27863365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.1471056809999 meters 0.035961278899402434 Centerline is valid? [True, True] Translation: X:172.32, Y:186.83, Z:12.79 [[ 8.37539549e-01 5.45725020e-01 -2.66778254e-02 1.72316007e+02] [-5.45512744e-01 8.37962546e-01 1.53172080e-02 1.86828491e+02] [ 3.07140021e-02 1.72432623e-03 9.99526726e-01 1.27860001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.17710568099994 meters 0.032020160676330234 Centerline is valid? [True, True] Translation: X:172.34, Y:186.81, Z:12.79 [[ 8.43043441e-01 5.37138735e-01 -2.75633020e-02 1.72337634e+02] [-5.36907852e-01 8.43492638e-01 1.58154267e-02 1.86808060e+02] [ 3.17445206e-02 1.46586155e-03 9.99494941e-01 1.27869160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2071056809999 meters 0.03053221945346404 Centerline is valid? [True, True] Translation: X:172.36, Y:186.79, Z:12.79 [[ 8.44697510e-01 5.34520631e-01 -2.78174605e-02 1.72362376e+02] [-5.34284361e-01 8.45154286e-01 1.59516168e-02 1.86792499e+02] [ 3.20365143e-02 1.38814310e-03 9.99485735e-01 1.27890631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2371056809999 meters 0.029619939634857928 Centerline is valid? [True, True] Translation: X:172.39, Y:186.78, Z:12.79 [[ 8.47760153e-01 5.29700592e-01 -2.68329275e-02 1.72386338e+02] [-5.29478549e-01 8.48183893e-01 1.53801502e-02 1.86778526e+02] [ 3.09061315e-02 1.16878104e-03 9.99521608e-01 1.27933070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2671056809999 meters 0.027100291762512024 Centerline is valid? [True, True] Translation: X:172.41, Y:186.76, Z:12.80 [[ 8.50443072e-01 5.25390673e-01 -2.66687422e-02 1.72409118e+02] [-5.25169325e-01 8.50860519e-01 1.52825529e-02 1.86759685e+02] [ 3.07206906e-02 1.00866417e-03 9.99527499e-01 1.27953528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2971056809999 meters 0.026620761004830507 Centerline is valid? [True, True] Translation: X:172.43, Y:186.74, Z:12.80 [[ 8.51583702e-01 5.23516557e-01 -2.71221879e-02 1.72432324e+02] [-5.23286800e-01 8.52014960e-01 1.55381380e-02 1.86744080e+02] [ 3.12429823e-02 9.60657802e-04 9.99511357e-01 1.27950177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3271056809999 meters 0.026214167924773542 Centerline is valid? [True, True] Translation: X:172.46, Y:186.73, Z:12.79 [[ 8.52985600e-01 5.21200235e-01 -2.76745781e-02 1.72455516e+02] [-5.20959916e-01 8.53433953e-01 1.58510255e-02 1.86728162e+02] [ 3.18799828e-02 8.96649366e-04 9.99491302e-01 1.27928260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3571056809999 meters 0.02662063953142122 Centerline is valid? [True, True] Translation: X:172.48, Y:186.72, Z:12.79 [[ 8.52353567e-01 5.22163685e-01 -2.89565907e-02 1.72481536e+02] [-5.21901343e-01 8.52844724e-01 1.65790376e-02 1.86715315e+02] [ 3.33524469e-02 9.81281774e-04 9.99443171e-01 1.27920968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3871056809999 meters 0.02681310992771977 Centerline is valid? [True, True] Translation: X:172.51, Y:186.70, Z:12.80 [[ 8.50602183e-01 5.25080784e-01 -2.76784515e-02 1.72507339e+02] [-5.24842944e-01 8.51051736e-01 1.58375329e-02 1.86702181e+02] [ 3.18717784e-02 1.05539992e-03 9.99491409e-01 1.27963485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.4171056809999 meters 0.028019051547888373 Centerline is valid? [True, True] Translation: X:172.53, Y:186.69, Z:12.80 [[ 8.48883116e-01 5.27944621e-01 -2.59216796e-02 1.72534262e+02] [-5.27737621e-01 8.49278090e-01 1.48232467e-02 1.86691399e+02] [ 2.98405679e-02 1.09664166e-03 9.99554070e-01 1.28003660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.4471056809999 meters 0.029677127127273713 Centerline is valid? [True, True] Translation: X:172.56, Y:186.68, Z:12.80 [[ 8.45876251e-01 5.32843411e-01 -2.39012071e-02 1.72561217e+02] [-5.32669594e-01 8.46213043e-01 1.36597707e-02 1.86681053e+02] [ 2.75040320e-02 1.17697062e-03 9.99621000e-01 1.28038803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.4771056809999 meters 0.03099724572855122 Centerline is valid? [True, True] Translation: X:172.59, Y:186.67, Z:12.80 [[ 8.45558872e-01 5.33320420e-01 -2.44851688e-02 1.72585657e+02] [-5.33138418e-01 8.45912420e-01 1.39859028e-02 1.86668612e+02] [ 2.81712759e-02 1.22807991e-03 9.99602356e-01 1.28049326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.5071056809999 meters 0.03225000936365458 Centerline is valid? [True, True] Translation: X:172.61, Y:186.66, Z:12.81 [[ 8.43521642e-01 5.36467667e-01 -2.59553926e-02 1.72611856e+02] [-5.36264784e-01 8.43919684e-01 1.48205460e-02 1.86655557e+02] [ 2.98550105e-02 1.41751170e-03 9.99553235e-01 1.28058757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.5371056809999 meters 0.0333881274924558 Centerline is valid? [True, True] Translation: X:172.64, Y:186.64, Z:12.80 [[ 8.40939244e-01 5.40400890e-01 -2.80725267e-02 1.72637267e+02] [-5.40166049e-01 8.41405975e-01 1.60195276e-02 1.86641048e+02] [ 3.22773586e-02 1.69237644e-03 9.99477518e-01 1.28043732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.56710568099993 meters 0.03743086004877636 Centerline is valid? [True, True] Translation: X:172.66, Y:186.63, Z:12.81 [[ 8.38326543e-01 5.44458278e-01 -2.78170830e-02 1.72664504e+02] [-5.44230166e-01 8.38785911e-01 1.58657691e-02 1.86632022e+02] [ 3.19708266e-02 1.83820037e-03 9.99487112e-01 1.28085484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.5971056809999 meters 0.03747844599672206 Centerline is valid? [True, True] Translation: X:172.69, Y:186.62, Z:12.81 [[ 8.36236478e-01 5.47636165e-01 -2.83404986e-02 1.72689744e+02] [-5.47401435e-01 8.36714181e-01 1.61569891e-02 1.86618144e+02] [ 3.25610486e-02 2.00256596e-03 9.99467742e-01 1.28099207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.62710568099993 meters 0.04119169214185681 Centerline is valid? [True, True] Translation: X:172.72, Y:186.61, Z:12.80 [[ 8.32615411e-01 5.53018857e-01 -3.03598751e-02 1.72715454e+02] [-5.52753357e-01 8.33165342e-01 1.72985503e-02 1.86607449e+02] [ 3.48612202e-02 2.37848328e-03 9.99389333e-01 1.28030848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.6571056809999 meters 0.03799877809517737 Centerline is valid? [True, True] Translation: X:172.74, Y:186.59, Z:12.80 [[ 8.30323566e-01 5.56404140e-01 -3.12603394e-02 1.72737141e+02] [-5.56125355e-01 8.30907732e-01 1.78025563e-02 1.86588413e+02] [ 3.58798737e-02 2.60278530e-03 9.99352721e-01 1.28023565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.68710568099993 meters 0.041381966805325826 Centerline is valid? [True, True] Translation: X:172.76, Y:186.58, Z:12.80 [[ 8.26388946e-01 5.62207401e-01 -3.16883098e-02 1.72764594e+02] [-5.61925584e-01 8.26991179e-01 1.80341019e-02 1.86579660e+02] [ 3.63448582e-02 2.90328953e-03 9.99335090e-01 1.28032344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.7171056809999 meters 0.04312887762500735 Centerline is valid? [True, True] Translation: X:172.79, Y:186.57, Z:12.80 [[ 8.24161783e-01 5.65468062e-01 -3.16737485e-02 1.72791434e+02] [-5.65189223e-01 8.24764541e-01 1.80164952e-02 1.86568559e+02] [ 3.63111373e-02 3.05315453e-03 9.99335869e-01 1.28049493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.74710568099994 meters 0.046802215954981234 Centerline is valid? [True, True] Translation: X:172.82, Y:186.56, Z:12.81 [[ 8.21103995e-01 5.69861905e-01 -3.23363380e-02 1.72819487e+02] [-5.69574962e-01 8.21733759e-01 1.83845577e-02 1.86561807e+02] [ 3.70485196e-02 3.32233471e-03 9.99307945e-01 1.28063399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.7771056809999 meters 0.04747623947396114 Centerline is valid? [True, True] Translation: X:172.84, Y:186.55, Z:12.81 [[ 8.22547397e-01 5.67737387e-01 -3.30157312e-02 1.72843258e+02] [-5.67436925e-01 8.23203106e-01 1.87611875e-02 1.86548683e+02] [ 3.78300800e-02 3.30237905e-03 9.99278730e-01 1.28054656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.80710568099994 meters 0.040639212798770794 Centerline is valid? [True, True] Translation: X:172.86, Y:186.52, Z:12.81 [[ 8.28005581e-01 5.59717211e-01 -3.35171807e-02 1.72862041e+02] [-5.59401329e-01 8.28678301e-01 1.90375364e-02 1.86523548e+02] [ 3.84305971e-02 2.98636907e-03 9.99256809e-01 1.28064699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8371056809999 meters 0.04015753645359816 Centerline is valid? [True, True] Translation: X:172.89, Y:186.51, Z:12.81 [[ 8.32467270e-01 5.53077342e-01 -3.32219609e-02 1.72885579e+02] [-5.52762061e-01 8.33125659e-01 1.88610600e-02 1.86509546e+02] [ 3.81096930e-02 2.66262448e-03 9.99270014e-01 1.28062085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.86710568099994 meters 0.037752879134173876 Centerline is valid? [True, True] Translation: X:172.91, Y:186.49, Z:12.81 [[ 8.35670687e-01 5.48268980e-01 -3.24904297e-02 1.72908410e+02] [-5.47964112e-01 8.36298622e-01 1.84376401e-02 1.86491370e+02] [ 3.72804877e-02 2.39579408e-03 9.99301969e-01 1.28059969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8971056809999 meters 0.03425190216018219 Centerline is valid? [True, True] Translation: X:172.93, Y:186.47, Z:12.81 [[ 8.41246860e-01 5.39617828e-01 -3.34113772e-02 1.72930016e+02] [-5.39289074e-01 8.41907524e-01 1.89477297e-02 1.86470966e+02] [ 3.83538226e-02 2.07867254e-03 9.99262059e-01 1.28054375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.92710568099994 meters 0.03290778176090346 Centerline is valid? [True, True] Translation: X:172.95, Y:186.45, Z:12.81 [[ 8.44404457e-01 5.34680472e-01 -3.31346616e-02 1.72952562e+02] [-5.34353660e-01 8.45052298e-01 1.87824345e-02 1.86454873e+02] [ 3.80431229e-02 1.84565626e-03 9.99274394e-01 1.28078015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9571056809999 meters 0.029190557662329964 Centerline is valid? [True, True] Translation: X:172.98, Y:186.44, Z:12.81 [[ 8.48872692e-01 5.27587701e-01 -3.26553377e-02 1.72975374e+02] [-5.27265188e-01 8.49499230e-01 1.85062148e-02 1.86436517e+02] [ 3.75043355e-02 1.50860243e-03 9.99295326e-01 1.28128270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9871056809999 meters 0.028064627242391484 Centerline is valid? [True, True] Translation: X:173.00, Y:186.42, Z:12.81 [[ 8.50017434e-01 5.25712366e-01 -3.31190241e-02 1.72999553e+02] [-5.25379527e-01 8.50661153e-01 1.87604815e-02 1.86421797e+02] [ 3.80356843e-02 1.45332090e-03 9.99275325e-01 1.28130502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0171056809999 meters 0.027693099517262898 Centerline is valid? [True, True] Translation: X:173.02, Y:186.41, Z:12.81 [[ 8.52244876e-01 5.22125422e-01 -3.26146379e-02 1.73023142e+02] [-5.21800370e-01 8.52867752e-01 1.84654310e-02 1.86406945e+02] [ 3.74572439e-02 1.28126120e-03 9.99297410e-01 1.28094932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0471056809999 meters 0.02659813977711958 Centerline is valid? [True, True] Translation: X:173.05, Y:186.39, Z:12.81 [[ 8.53410291e-01 5.20255870e-01 -3.20110107e-02 1.73047682e+02] [-5.19941722e-01 8.54009618e-01 1.81156680e-02 1.86391249e+02] [ 3.67624937e-02 1.18376257e-03 9.99323330e-01 1.28111943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0771056809999 meters 0.026039324020648957 Centerline is valid? [True, True] Translation: X:173.07, Y:186.38, Z:12.81 [[ 8.54038072e-01 5.19270174e-01 -3.12643280e-02 1.73072862e+02] [-5.18970163e-01 8.54609400e-01 1.76845303e-02 1.86376590e+02] [ 3.59018378e-02 1.12199126e-03 9.99354691e-01 1.28133851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.1071056809999 meters 0.027057870994108595 Centerline is valid? [True, True] Translation: X:173.10, Y:186.36, Z:12.82 [[ 8.53492101e-01 5.20236117e-01 -3.00934442e-02 1.73098496e+02] [-5.19958932e-01 8.54021733e-01 1.70172818e-02 1.86364673e+02] [ 3.45534600e-02 1.12323947e-03 9.99402220e-01 1.28154620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.1371056809999 meters 0.029102255469383942 Centerline is valid? [True, True] Translation: X:173.12, Y:186.35, Z:12.82 [[ 8.52136517e-01 5.22453792e-01 -3.00897185e-02 1.73124488e+02] [-5.22178196e-01 8.52666732e-01 1.70110722e-02 1.86354877e+02] [ 3.45440011e-02 1.21643905e-03 9.99402438e-01 1.28155673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.1671056809999 meters 0.029346569869865315 Centerline is valid? [True, True] Translation: X:173.15, Y:186.34, Z:12.82 [[ 8.51230980e-01 5.23933370e-01 -2.99940428e-02 1.73149454e+02] [-5.23660676e-01 8.51758293e-01 1.69501189e-02 1.86340382e+02] [ 3.44284076e-02 1.27823443e-03 9.99406349e-01 1.28163766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.1971056809999 meters 0.03084325495850066 Centerline is valid? [True, True] Translation: X:173.18, Y:186.33, Z:12.82 [[ 8.46911339e-01 5.30856673e-01 -3.05348539e-02 1.73176648e+02] [-5.30578801e-01 8.47460118e-01 1.72477019e-02 1.86330676e+02] [ 3.50331286e-02 1.59387191e-03 9.99384881e-01 1.28194250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.2271056809999 meters 0.03265207075779924 Centerline is valid? [True, True] Translation: X:173.20, Y:186.32, Z:12.82 [[ 8.43997239e-01 5.35473029e-01 -3.06152839e-02 1.73204457e+02] [-5.35196946e-01 8.44550420e-01 1.72863413e-02 1.86321324e+02] [ 3.51125204e-02 1.79558208e-03 9.99381752e-01 1.28211975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.2571056809999 meters 0.0353558701831773 Centerline is valid? [True, True] Translation: X:173.23, Y:186.31, Z:12.82 [[ 8.41794783e-01 5.38979287e-01 -2.97131489e-02 1.73230376e+02] [-5.38721701e-01 8.42316894e-01 1.67683747e-02 1.86311196e+02] [ 3.40656940e-02 1.89158776e-03 9.99417806e-01 1.28235573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.2871056809999 meters 0.03432604731438446 Centerline is valid? [True, True] Translation: X:173.25, Y:186.30, Z:12.83 [[ 8.39961227e-01 5.41826706e-01 -2.98153880e-02 1.73254761e+02] [-5.41569392e-01 8.40487798e-01 1.68183181e-02 1.86295631e+02] [ 3.41720837e-02 2.02036643e-03 9.99413922e-01 1.28266812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.31710568099993 meters 0.03405295199505221 Centerline is valid? [True, True] Translation: X:173.28, Y:186.28, Z:12.83 [[ 8.40346491e-01 5.41194820e-01 -3.04292995e-02 1.73279230e+02] [-5.40926789e-01 8.40894751e-01 1.71530287e-02 1.86280049e+02] [ 3.48709685e-02 2.04553586e-03 9.99389729e-01 1.28268834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.3471056809999 meters 0.03764614962114865 Centerline is valid? [True, True] Translation: X:173.31, Y:186.27, Z:12.82 [[ 8.37580566e-01 5.45346108e-01 -3.25025809e-02 1.73306250e+02] [-5.45043739e-01 8.38207595e-01 1.83125723e-02 1.86270298e+02] [ 3.72306002e-02 2.37707352e-03 9.99303874e-01 1.28232689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.37710568099993 meters 0.03764614962114865 Centerline is valid? [True, True] Translation: X:173.33, Y:186.26, Z:12.82 [[ 8.37755899e-01 5.45076511e-01 -3.25061616e-02 1.73330134e+02] [-5.44774186e-01 8.38382949e-01 1.83062146e-02 1.86257023e+02] [ 3.72308992e-02 2.37237848e-03 9.99303874e-01 1.28238377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.4071056809999 meters 0.03815176912278362 Centerline is valid? [True, True] Translation: X:173.36, Y:186.24, Z:12.82 [[ 8.36194671e-01 5.47451529e-01 -3.27916877e-02 1.73355061e+02] [-5.47146174e-01 8.36833627e-01 1.84538718e-02 1.86242896e+02] [ 3.75437873e-02 2.51081716e-03 9.99291829e-01 1.28229160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43710568099993 meters 0.040868254392471846 Centerline is valid? [True, True] Translation: X:173.38, Y:186.23, Z:12.82 [[ 8.34322140e-01 5.50316428e-01 -3.25329817e-02 1.73380675e+02] [-5.50018346e-01 8.34952055e-01 1.82998608e-02 1.86232150e+02] [ 3.72341939e-02 2.62575778e-03 9.99303117e-01 1.28223663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.4671056809999 meters 0.043619999777931635 Centerline is valid? [True, True] Translation: X:173.41, Y:186.22, Z:12.83 [[ 8.30597137e-01 5.56037355e-01 -3.05099293e-02 1.73406848e+02] [-5.55779238e-01 8.31152892e-01 1.71554448e-02 1.86219824e+02] [ 3.48974841e-02 2.70752194e-03 9.99387230e-01 1.28251280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49710568099994 meters 0.04555394126533889 Centerline is valid? [True, True] Translation: X:173.43, Y:186.21, Z:12.83 [[ 8.25321614e-01 5.63950730e-01 -2.83515008e-02 1.73433768e+02] [-5.63732752e-01 8.25803576e-01 1.59322834e-02 1.86208702e+02] [ 3.23977936e-02 2.83341169e-03 9.99471037e-01 1.28314609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5271056809999 meters 0.049743387570628565 Centerline is valid? [True, True] Translation: X:173.46, Y:186.20, Z:12.83 [[ 8.23121518e-01 5.67164364e-01 -2.82055179e-02 1.73460785e+02] [-5.66950736e-01 8.23599343e-01 1.58425299e-02 1.86200860e+02] [ 3.22153644e-02 2.95081185e-03 9.99476595e-01 1.28336088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.55710568099994 meters 0.05398446442983012 Centerline is valid? [True, True] Translation: X:173.49, Y:186.19, Z:12.83 [[ 8.19265221e-01 5.72624651e-01 -3.00916444e-02 1.73487468e+02] [-5.72385280e-01 8.19810697e-01 1.68971160e-02 1.86191722e+02] [ 3.43451572e-02 3.38079485e-03 9.99404313e-01 1.28314655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5871056809999 meters 0.05078938517196645 Centerline is valid? [True, True] Translation: X:173.51, Y:186.17, Z:12.83 [[ 8.17981348e-01 5.74393384e-01 -3.12850580e-02 1.73509624e+02] [-5.74136231e-01 8.18571491e-01 1.75585613e-02 1.86172111e+02] [ 3.56945780e-02 3.59930964e-03 9.99356264e-01 1.28303893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.61710568099994 meters 0.0536992483799779 Centerline is valid? [True, True] Translation: X:173.54, Y:186.16, Z:12.83 [[ 8.17042941e-01 5.75669734e-01 -3.23294129e-02 1.73535325e+02] [-5.75396467e-01 8.17673547e-01 1.81349429e-02 1.86160247e+02] [ 3.68746435e-02 3.78520288e-03 9.99312730e-01 1.28271020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.6471056809999 meters 0.05272968600649479 Centerline is valid? [True, True] Translation: X:173.56, Y:186.14, Z:12.83 [[ 8.17811322e-01 5.74552075e-01 -3.27804034e-02 1.73559843e+02] [-5.74270558e-01 8.18459235e-01 1.83794894e-02 1.86144736e+02] [ 3.73893977e-02 3.79386598e-03 9.99293570e-01 1.28278712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.67710568099994 meters 0.05271021120500193 Centerline is valid? [True, True] Translation: X:173.58, Y:186.13, Z:12.83 [[ 8.21043750e-01 5.69925591e-01 -3.27411372e-02 1.73584006e+02] [-5.69641434e-01 8.21688484e-01 1.83486374e-02 1.86131535e+02] [ 3.73603734e-02 3.58567426e-03 9.99295425e-01 1.28298193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7071056809999 meters 0.04746711579957769 Centerline is valid? [True, True] Translation: X:173.60, Y:186.11, Z:12.83 [[ 8.28785754e-01 5.58527476e-01 -3.40768640e-02 1.73603455e+02] [-5.58210277e-01 8.29479850e-01 1.90909941e-02 1.86107196e+02] [ 3.89289168e-02 3.19971179e-03 9.99236859e-01 1.28276375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7371056809999 meters 0.04598342185698867 Centerline is valid? [True, True] Translation: X:173.63, Y:186.09, Z:12.83 [[ 8.32500253e-01 5.52904057e-01 -3.52197830e-02 1.73626118e+02] [-5.52560459e-01 8.33239379e-01 1.97250304e-02 1.86090024e+02] [ 4.02525594e-02 3.03996667e-03 9.99184913e-01 1.28250560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7671056809999 meters 0.03824478706286465 Centerline is valid? [True, True] Translation: X:173.64, Y:186.06, Z:12.82 [[ 8.39739293e-01 5.41722125e-01 -3.70817961e-02 1.73644735e+02] [-5.41330732e-01 8.40553482e-01 2.07576925e-02 1.86063551e+02] [ 4.24141341e-02 2.64246580e-03 9.99096621e-01 1.28238311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7971056809999 meters 0.03757102070465278 Centerline is valid? [True, True] Translation: X:173.67, Y:186.05, Z:12.82 [[ 8.43152536e-01 5.36372963e-01 -3.73877750e-02 1.73668413e+02] [-5.35970212e-01 8.43977656e-01 2.09200181e-02 1.86048409e+02] [ 4.27753789e-02 2.39996740e-03 9.99081832e-01 1.28231788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8271056809999 meters 0.033546565171881884 Centerline is valid? [True, True] Translation: X:173.69, Y:186.03, Z:12.83 [[ 8.49098142e-01 5.26919482e-01 -3.72586118e-02 1.73689814e+02] [-5.26510595e-01 8.49913040e-01 2.08427230e-02 1.86030614e+02] [ 4.26490169e-02 1.91953649e-03 9.99088273e-01 1.28268368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8571056809999 meters 0.02943526240936327 Centerline is valid? [True, True] Translation: X:173.71, Y:186.01, Z:12.83 [[ 8.50976084e-01 5.23958742e-01 -3.61516562e-02 1.73712335e+02] [-5.23571495e-01 8.51741897e-01 2.02146326e-02 1.86011856e+02] [ 4.13835137e-02 1.72580776e-03 9.99141845e-01 1.28330707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8871056809999 meters 0.030630573802698714 Centerline is valid? [True, True] Translation: X:173.74, Y:186.00, Z:12.83 [[ 8.52391190e-01 5.21783794e-01 -3.42188850e-02 1.73740228e+02] [-5.21435521e-01 8.53076371e-01 1.91233865e-02 1.86004422e+02] [ 3.91695954e-02 1.54233596e-03 9.99231387e-01 1.28342032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.9171056809999 meters 0.029840253282364067 Centerline is valid? [True, True] Translation: X:173.77, Y:185.99, Z:12.84 [[ 8.52570203e-01 5.21538024e-01 -3.34983201e-02 1.73765790e+02] [-5.21204485e-01 8.53226708e-01 1.87101380e-02 1.85991739e+02] [ 3.83397098e-02 1.50776846e-03 9.99263626e-01 1.28353858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.9471056809999 meters 0.028335438072683954 Centerline is valid? [True, True] Translation: X:173.79, Y:185.97, Z:12.83 [[ 8.56165952e-01 5.15712576e-01 -3.19437302e-02 1.73788374e+02] [-5.15405511e-01 8.56760825e-01 1.78338954e-02 1.85974848e+02] [ 3.65653008e-02 1.19520061e-03 9.99330551e-01 1.28334391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.9771056809999 meters 0.027550336527416106 Centerline is valid? [True, True] Translation: X:173.81, Y:185.96, Z:12.83 [[ 8.58213014e-01 5.12241673e-01 -3.28464649e-02 1.73810611e+02] [-5.11914611e-01 8.58840673e-01 1.83338517e-02 1.85958218e+02] [ 3.76012429e-02 1.08023513e-03 9.99292239e-01 1.28340689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.0071056809999 meters 0.02772393314188703 Centerline is valid? [True, True] Translation: X:173.83, Y:185.94, Z:12.83 [[ 8.58803719e-01 5.11203908e-01 -3.35668849e-02 1.73834209e+02] [-5.10861869e-01 8.59458801e-01 1.87275407e-02 1.85943836e+02] [ 3.84229466e-02 1.06475993e-03 9.99260999e-01 1.28335101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.0371056809999 meters 0.02874922632793862 Centerline is valid? [True, True] Translation: X:173.86, Y:185.93, Z:12.83 [[ 8.58062581e-01 5.12403475e-01 -3.42240397e-02 1.73857513e+02] [-5.12049281e-01 8.58744058e-01 1.90834163e-02 1.85929430e+02] [ 3.91680995e-02 1.14962942e-03 9.99231974e-01 1.28307615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.06710568099993 meters 0.02733665228716129 Centerline is valid? [True, True] Translation: X:173.88, Y:185.91, Z:12.83 [[ 8.57653566e-01 5.13074219e-01 -3.44268163e-02 1.73879942e+02] [-5.12716742e-01 8.58343414e-01 1.91866354e-02 1.85911685e+02] [ 3.93941990e-02 1.19571876e-03 9.99223032e-01 1.28327286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.0971056809999 meters 0.029112041336009288 Centerline is valid? [True, True] Translation: X:173.91, Y:185.90, Z:12.83 [[ 8.55691703e-01 5.16402686e-01 -3.34660419e-02 1.73905483e+02] [-5.16067737e-01 8.56344865e-01 1.86430209e-02 1.85900176e+02] [ 3.82857792e-02 1.31806619e-03 9.99265962e-01 1.28344680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.12710568099993 meters 0.0295275240760186 Centerline is valid? [True, True] Translation: X:173.93, Y:185.89, Z:12.84 [[ 8.54136174e-01 5.19076449e-01 -3.17968080e-02 1.73930781e+02] [-5.18776071e-01 8.54726720e-01 1.77094054e-02 1.85887416e+02] [ 3.63701167e-02 1.36917935e-03 9.99337450e-01 1.28367077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.1571056809999 meters 0.03326768809747612 Centerline is valid? [True, True] Translation: X:173.96, Y:185.88, Z:12.84 [[ 8.51085484e-01 5.24179628e-01 -2.98197404e-02 1.73958144e+02] [-5.23918713e-01 8.51606419e-01 1.66039135e-02 1.85879347e+02] [ 3.40981155e-02 1.49177026e-03 9.99417377e-01 1.28372930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.18710568099993 meters 0.030414060365004103 Centerline is valid? [True, True] Translation: X:173.98, Y:185.86, Z:12.84 [[ 8.50624783e-01 5.24951381e-01 -2.93858173e-02 1.73980817e+02] [-5.24698718e-01 8.51130881e-01 1.63547540e-02 1.85861202e+02] [ 3.35966273e-02 1.50694166e-03 9.99434338e-01 1.28396931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.2171056809999 meters 0.03337521739337296 Centerline is valid? [True, True] Translation: X:174.01, Y:185.85, Z:12.84 [[ 8.51014453e-01 5.24244166e-01 -3.06994202e-02 1.74009123e+02] [-5.23968257e-01 8.51566582e-01 1.70769606e-02 1.85854524e+02] [ 3.50950973e-02 1.55278145e-03 9.99382771e-01 1.28369374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.24710568099994 meters 0.029541805298810637 Centerline is valid? [True, True] Translation: X:174.03, Y:185.84, Z:12.84 [[ 8.53651588e-01 5.19946602e-01 -3.05695511e-02 1.74031557e+02] [-5.19670429e-01 8.54197660e-01 1.70000526e-02 1.85836092e+02] [ 3.49515586e-02 1.37396986e-03 9.99388063e-01 1.28378474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.2771056809999 meters 0.027779187417647178 Centerline is valid? [True, True] Translation: X:174.05, Y:185.82, Z:12.84 [[ 8.56903249e-01 5.14584884e-01 -3.03186134e-02 1.74053658e+02] [-5.14310027e-01 8.57438672e-01 1.68558655e-02 1.85816772e+02] [ 3.46701252e-02 1.14932090e-03 9.99398150e-01 1.28359746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.30710568099994 meters 0.02487566421389511 Centerline is valid? [True, True] Translation: X:174.07, Y:185.79, Z:12.83 [[ 8.63261272e-01 5.03832978e-01 -3.05337030e-02 1.74072307e+02] [-5.03547565e-01 8.63800791e-01 1.69718632e-02 1.85792353e+02] [ 3.49260212e-02 7.24019555e-04 9.99389638e-01 1.28337558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3371056809999 meters 0.023753709499354167 Centerline is valid? [True, True] Translation: X:174.09, Y:185.77, Z:12.83 [[ 8.66181752e-01 4.98774545e-01 -3.08727244e-02 1.74094834e+02] [-4.98479766e-01 8.66731603e-01 1.71537824e-02 1.85773216e+02] [ 3.53142360e-02 5.31135132e-04 9.99376117e-01 1.28342987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.36710568099994 meters 0.02311131794024656 Centerline is valid? [True, True] Translation: X:174.12, Y:185.75, Z:12.83 [[ 8.68779855e-01 4.94205547e-01 -3.13439176e-02 1.74117438e+02] [-4.93899113e-01 8.69345011e-01 1.74045550e-02 1.85754407e+02] [ 3.58501060e-02 3.60006329e-04 9.99357114e-01 1.28335304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3971056809999 meters 0.023512848745074394 Centerline is valid? [True, True] Translation: X:174.14, Y:185.74, Z:12.83 [[ 8.67973157e-01 4.95610195e-01 -3.15140169e-02 1.74141266e+02] [-4.95301698e-01 8.68544962e-01 1.74893317e-02 1.85741228e+02] [ 3.60392317e-02 4.28675656e-04 9.99350284e-01 1.28331621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.42710568099994 meters 0.023782320165196675 Centerline is valid? [True, True] Translation: X:174.17, Y:185.73, Z:12.83 [[ 8.67187648e-01 4.96938762e-01 -3.22094644e-02 1.74166626e+02] [-4.96617753e-01 8.67785465e-01 1.78659750e-02 1.85728053e+02] [ 3.68292005e-02 5.02639020e-04 9.99321448e-01 1.28332592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4571056809999 meters 0.024065497154621623 Centerline is valid? [True, True] Translation: X:174.19, Y:185.71, Z:12.83 [[ 8.65340562e-01 5.00104276e-01 -3.28850270e-02 1.74191516e+02] [-4.99772400e-01 8.65964939e-01 1.82283444e-02 1.85714448e+02] [ 3.75933534e-02 6.61303082e-04 9.99292901e-01 1.28348929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4871056809999 meters 0.024401012655390516 Centerline is valid? [True, True] Translation: X:174.22, Y:185.70, Z:12.84 [[ 8.64684655e-01 5.01209521e-01 -3.33086177e-02 1.74216462e+02] [-5.00870201e-01 8.65325655e-01 1.84540807e-02 1.85701636e+02] [ 3.80721624e-02 7.26333701e-04 9.99274728e-01 1.28353464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5171056809999 meters 0.02678709928218498 Centerline is valid? [True, True] Translation: X:174.24, Y:185.69, Z:12.83 [[ 8.61339502e-01 5.06822410e-01 -3.50043885e-02 1.74243204e+02] [-5.06452445e-01 8.62049876e-01 1.93889756e-02 1.85692444e+02] [ 4.00022961e-02 1.02756749e-03 9.99199059e-01 1.28333676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5471056809999 meters 0.02647506132385281 Centerline is valid? [True, True] Translation: X:174.27, Y:185.68, Z:12.83 [[ 8.60236392e-01 5.08678389e-01 -3.52086256e-02 1.74267218e+02] [-5.08305991e-01 8.60955879e-01 1.94934461e-02 1.85675960e+02] [ 4.02289680e-02 1.12778362e-03 9.99189851e-01 1.28345817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5771056809999 meters 0.02931923327293212 Centerline is valid? [True, True] Translation: X:174.29, Y:185.67, Z:12.83 [[ 8.56630057e-01 5.14713347e-01 -3.54276159e-02 1.74293587e+02] [-5.14341844e-01 8.57361144e-01 1.96044956e-02 1.85666803e+02] [ 4.04649569e-02 1.42810511e-03 9.99179938e-01 1.28349874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.6071056809999 meters 0.03187306210799911 Centerline is valid? [True, True] Translation: X:174.32, Y:185.66, Z:12.84 [[ 8.54440185e-01 5.18378244e-01 -3.48707236e-02 1.74321185e+02] [-5.18021605e-01 8.55149984e-01 1.92904408e-02 1.85658355e+02] [ 3.98194436e-02 1.58126040e-03 9.99205640e-01 1.28371144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.6371056809999 meters 0.03386135771712479 Centerline is valid? [True, True] Translation: X:174.35, Y:185.65, Z:12.84 [[ 8.50775065e-01 5.24494919e-01 -3.29676958e-02 1.74349929e+02] [-5.24180992e-01 8.51411735e-01 1.82303415e-02 1.85649991e+02] [ 3.76308046e-02 1.77111950e-03 9.99290141e-01 1.28427876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.6671056809999 meters 0.034352791420923914 Centerline is valid? [True, True] Translation: X:174.38, Y:185.64, Z:12.85 [[ 8.47832857e-01 5.29366033e-01 -3.08391047e-02 1.74376897e+02] [-5.29094900e-01 8.48391488e-01 1.70431493e-02 1.85639210e+02] [ 3.51856982e-02 1.86707107e-03 9.99379048e-01 1.28459632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.6971056809999 meters 0.03654169113966767 Centerline is valid? [True, True] Translation: X:174.40, Y:185.63, Z:12.85 [[ 8.46091370e-01 5.32197401e-01 -2.99218986e-02 1.74404271e+02] [-5.31944188e-01 8.46618092e-01 1.65284033e-02 1.85631113e+02] [ 3.41287940e-02 1.93224063e-03 9.99415575e-01 1.28468183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.7271056809999 meters 0.03835861625988086 Centerline is valid? [True, True] Translation: X:174.43, Y:185.62, Z:12.85 [[ 8.41972413e-01 5.38795881e-01 -2.79544877e-02 1.74433922e+02] [-5.38578653e-01 8.42433831e-01 1.54361585e-02 1.85624587e+02] [ 3.18667448e-02 2.05887072e-03 9.99490006e-01 1.28493819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.7571056809999 meters 0.0391724210970596 Centerline is valid? [True, True] Translation: X:174.46, Y:185.61, Z:12.85 [[ 8.40205521e-01 5.41554656e-01 -2.78071365e-02 1.74460994e+02] [-5.41341524e-01 8.40662767e-01 1.53449365e-02 1.85614347e+02] [ 3.16865461e-02 2.16025728e-03 9.99495521e-01 1.28507784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.7871056809999 meters 0.04078134369793798 Centerline is valid? [True, True] Translation: X:174.49, Y:185.60, Z:12.85 [[ 8.38501165e-01 5.44174866e-01 -2.80982442e-02 1.74488475e+02] [-5.43959037e-01 8.38968691e-01 1.54952237e-02 1.85604665e+02] [ 3.20056584e-02 2.29153069e-03 9.99485061e-01 1.28510243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.81710568099993 meters 0.04195096784775854 Centerline is valid? [True, True] Translation: X:174.51, Y:185.59, Z:12.85 [[ 8.38119150e-01 5.44661436e-01 -3.00035163e-02 1.74514967e+02] [-5.44415944e-01 8.38652370e-01 1.65372785e-02 1.85594758e+02] [ 3.41697379e-02 2.47418283e-03 9.99412981e-01 1.28487140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.8471056809999 meters 0.041463848392125156 Centerline is valid? [True, True] Translation: X:174.54, Y:185.58, Z:12.85 [[ 8.39178057e-01 5.42992274e-01 -3.06525500e-02 1.74539397e+02] [-5.42735150e-01 8.39734078e-01 1.68889065e-02 1.85579970e+02] [ 3.49105366e-02 2.46341655e-03 9.99387405e-01 1.28475589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.87710568099993 meters 0.0412143572069607 Centerline is valid? [True, True] Translation: X:174.56, Y:185.56, Z:12.84 [[ 8.40511456e-01 5.40879668e-01 -3.14591265e-02 1.74564314e+02] [-5.40607715e-01 8.41096427e-01 1.73233820e-02 1.85564619e+02] [ 3.58300240e-02 2.44654544e-03 9.99354904e-01 1.28438751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.9071056809999 meters 0.04018523863713582 Centerline is valid? [True, True] Translation: X:174.59, Y:185.55, Z:12.84 [[ 8.43191660e-01 5.36648917e-01 -3.21833010e-02 1.74587522e+02] [-5.36361514e-01 8.43802425e-01 1.77142171e-02 1.85548241e+02] [ 3.66626628e-02 2.32540391e-03 9.99324993e-01 1.28415783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93710568099993 meters 0.03697903039316601 Centerline is valid? [True, True] Translation: X:174.61, Y:185.53, Z:12.84 [[ 8.44901424e-01 5.33882577e-01 -3.33313243e-02 1.74609928e+02] [-5.33572440e-01 8.45555526e-01 1.83385732e-02 1.85528891e+02] [ 3.79741302e-02 2.29038946e-03 9.99276098e-01 1.28410620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.9671056809999 meters 0.037624757864181915 Centerline is valid? [True, True] Translation: X:174.63, Y:185.51, Z:12.84 [[ 8.48519017e-01 5.28000744e-01 -3.50812342e-02 1.74634406e+02] [-5.27652500e-01 8.49241210e-01 1.92926427e-02 1.85514791e+02] [ 3.99789595e-02 2.14052673e-03 9.99198229e-01 1.28366551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99710568099994 meters 0.03636132033418233 Centerline is valid? [True, True] Translation: X:174.66, Y:185.50, Z:12.84 [[ 8.50204975e-01 5.25295799e-01 -3.48686798e-02 1.74658610e+02] [-5.24949801e-01 8.50917325e-01 1.91680291e-02 1.85498805e+02] [ 3.97392489e-02 2.00755282e-03 9.99208067e-01 1.28375744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0271056809999 meters 0.03331037481591536 Centerline is valid? [True, True] Translation: X:174.68, Y:185.48, Z:12.84 [[ 8.52256075e-01 5.22100392e-01 -3.27225129e-02 1.74681293e+02] [-5.21793603e-01 8.52882242e-01 1.79810459e-02 1.85480933e+02] [ 3.72963613e-02 1.74994224e-03 9.99302716e-01 1.28429139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.05710568099994 meters 0.03256301968618188 Centerline is valid? [True, True] Translation: X:174.71, Y:185.47, Z:12.85 [[ 8.53471568e-01 5.20172474e-01 -3.17313822e-02 1.74705772e+02] [-5.19882880e-01 8.54059701e-01 1.74303871e-02 1.85465947e+02] [ 3.61673024e-02 1.62026258e-03 9.99344436e-01 1.28460120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0871056809999 meters 0.03047462613564563 Centerline is valid? [True, True] Translation: X:174.73, Y:185.45, Z:12.85 [[ 8.56221199e-01 5.15690053e-01 -3.08062769e-02 1.74729132e+02] [-5.15414541e-01 8.56774076e-01 1.69125283e-02 1.85448433e+02] [ 3.51156420e-02 1.39713778e-03 9.99382279e-01 1.28492918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.11710568099994 meters 0.030138711855176116 Centerline is valid? [True, True] Translation: X:174.75, Y:185.43, Z:12.85 [[ 8.58868465e-01 5.11236407e-01 -3.13415977e-02 1.74752581e+02] [-5.10948557e-01 8.59439231e-01 1.71982655e-02 1.85433300e+02] [ 3.57285781e-02 1.24289627e-03 9.99360758e-01 1.28457659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1471056809999 meters 0.028415456080148446 Centerline is valid? [True, True] Translation: X:174.78, Y:185.42, Z:12.85 [[ 8.60269233e-01 5.08942988e-01 -3.02304608e-02 1.74776338e+02] [-5.08673994e-01 8.60799511e-01 1.65822412e-02 1.85416271e+02] [ 3.44617813e-02 1.11225729e-03 9.99405397e-01 1.28479092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1771056809999 meters 0.02688882056927588 Centerline is valid? [True, True] Translation: X:174.80, Y:185.40, Z:12.85 [[ 8.61715106e-01 5.06530879e-01 -2.95557822e-02 1.74800474e+02] [-5.06272678e-01 8.62221239e-01 1.62021871e-02 1.85400482e+02] [ 3.36905312e-02 1.00161563e-03 9.99431811e-01 1.28507383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2071056809999 meters 0.02635132295480606 Centerline is valid? [True, True] Translation: X:174.83, Y:185.39, Z:12.85 [[ 8.62953297e-01 5.04570765e-01 -2.68318805e-02 1.74825308e+02] [-5.04357252e-01 8.63369925e-01 1.47015222e-02 1.85388394e+02] [ 3.05837970e-02 8.46126479e-04 9.99531848e-01 1.28543343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2371056809999 meters 0.025562441299275904 Centerline is valid? [True, True] Translation: X:174.85, Y:185.37, Z:12.85 [[ 8.63478927e-01 5.03697749e-01 -2.63195921e-02 1.74849634e+02] [-5.03492097e-01 8.63879580e-01 1.44145285e-02 1.85372573e+02] [ 2.99975237e-02 8.05065073e-04 9.99549649e-01 1.28544035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2671056809999 meters 0.025562441299275904 Centerline is valid? [True, True] Translation: X:174.87, Y:185.36, Z:12.85 [[ 8.63646159e-01 5.03410728e-01 -2.63239623e-02 1.74873640e+02] [-5.03205186e-01 8.64046869e-01 1.44065440e-02 1.85359609e+02] [ 2.99975460e-02 8.04197909e-04 9.99549649e-01 1.28549740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2971056809999 meters 0.024188202184258042 Centerline is valid? [True, True] Translation: X:174.90, Y:185.34, Z:12.85 [[ 8.66774692e-01 4.97956283e-01 -2.72245024e-02 1.74895748e+02] [-4.97734069e-01 8.67201893e-01 1.48886893e-02 1.85340108e+02] [ 3.10230564e-02 6.45423317e-04 9.99518461e-01 1.28536738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3271056809999 meters 0.023601079033043888 Centerline is valid? [True, True] Translation: X:174.92, Y:185.32, Z:12.85 [[ 8.67968422e-01 4.95798429e-01 -2.85436056e-02 1.74919152e+02] [-4.95553208e-01 8.68437422e-01 1.56032656e-02 1.85324721e+02] [ 3.25244098e-02 6.01733563e-04 9.99470760e-01 1.28540439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3571056809999 meters 0.02410375379103096 Centerline is valid? [True, True] Translation: X:174.94, Y:185.31, Z:12.85 [[ 8.67335019e-01 4.96885460e-01 -2.88929947e-02 1.74944038e+02] [-4.96634927e-01 8.67815886e-01 1.57903967e-02 1.85312201e+02] [ 3.29198183e-02 6.53706353e-04 9.99457782e-01 1.28534386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3871056809999 meters 0.02512001779716683 Centerline is valid? [True, True] Translation: X:174.97, Y:185.30, Z:12.85 [[ 8.64767530e-01 5.01316652e-01 -2.93041622e-02 1.74969809e+02] [-5.01061593e-01 8.65263494e-01 1.60114216e-02 1.85299641e+02] [ 3.33826141e-02 8.37032742e-04 9.99442295e-01 1.28529758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.4171056809999 meters 0.027072385199549347 Centerline is valid? [True, True] Translation: X:175.00, Y:185.29, Z:12.85 [[ 8.63505828e-01 5.03513197e-01 -2.88469311e-02 1.74996248e+02] [-5.03267372e-01 8.63987055e-01 1.57581702e-02 1.85289580e+02] [ 3.28578217e-02 9.10447356e-04 9.99459621e-01 1.28526412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.4471056809999 meters 0.026655724248469286 Centerline is valid? [True, True] Translation: X:175.02, Y:185.27, Z:12.86 [[ 8.61638479e-01 5.06708458e-01 -2.87344806e-02 1.75019687e+02] [-5.06466455e-01 8.62116856e-01 1.56925306e-02 1.85273231e+02] [ 3.27240181e-02 1.03176238e-03 9.99463893e-01 1.28555652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.4771056809999 meters 0.02655976613759548 Centerline is valid? [True, True] Translation: X:175.04, Y:185.26, Z:12.86 [[ 8.61378990e-01 5.07104557e-01 -2.95161647e-02 1.75044343e+02] [-5.06849689e-01 8.61883866e-01 1.61119380e-02 1.85258449e+02] [ 3.36099433e-02 1.08177406e-03 9.99434441e-01 1.28577656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.5071056809999 meters 0.028487048101094953 Centerline is valid? [True, True] Translation: X:175.07, Y:185.25, Z:12.86 [[ 8.57259464e-01 5.13910945e-01 -3.16504597e-02 1.75071982e+02] [-5.13622822e-01 8.57842309e-01 1.72675647e-02 1.85248213e+02] [ 3.60250939e-02 1.45361513e-03 9.99349828e-01 1.28579759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.5371056809999 meters 0.030435659902078104 Centerline is valid? [True, True] Translation: X:175.10, Y:185.24, Z:12.86 [[ 8.54993501e-01 5.17651385e-01 -3.19868323e-02 1.75098006e+02] [-5.17359889e-01 8.55590076e-01 1.74460872e-02 1.85236655e+02] [ 3.63986075e-02 1.63241280e-03 9.99336018e-01 1.28567145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.56710568099993 meters 0.03476948719283868 Centerline is valid? [True, True] Translation: X:175.13, Y:185.23, Z:12.86 [[ 8.48882354e-01 5.27630651e-01 -3.16961436e-02 1.75125934e+02] [-5.27351506e-01 8.49471433e-01 1.72821810e-02 1.85229822e+02] [ 3.60435770e-02 2.04447056e-03 9.99348128e-01 1.28575605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.5971056809999 meters 0.04231941772386563 Centerline is valid? [True, True] Translation: X:175.16, Y:185.23, Z:12.86 [[ 8.41947880e-01 5.38693724e-01 -3.05424307e-02 1.75158022e+02] [-5.38441900e-01 8.42498174e-01 1.66477496e-02 1.85229662e+02] [ 3.46999803e-02 2.42878689e-03 9.99394823e-01 1.28587040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.62710568099993 meters 0.03972664681377004 Centerline is valid? [True, True] Translation: X:175.18, Y:185.21, Z:12.86 [[ 8.38776410e-01 5.43649473e-01 -2.99897300e-02 1.75181930e+02] [-5.43409981e-01 8.39308372e-01 1.63416244e-02 1.85213370e+02] [ 3.40547470e-02 2.58974956e-03 9.99416614e-01 1.28614168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.6571056809999 meters 0.044148738443639785 Centerline is valid? [True, True] Translation: X:175.21, Y:185.21, Z:12.87 [[ 8.34070938e-01 5.50939159e-01 -2.81374067e-02 1.75211095e+02] [-5.50732554e-01 8.34541007e-01 1.53284280e-02 1.85208489e+02] [ 3.19268509e-02 2.71118949e-03 9.99486531e-01 1.28656067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.68710568099993 meters 0.04445526341229249 Centerline is valid? [True, True] Translation: X:175.24, Y:185.20, Z:12.87 [[ 8.33067842e-01 5.52518392e-01 -2.68588431e-02 1.75236811e+02] [-5.52331106e-01 8.33496494e-01 1.46268410e-02 1.85195120e+02] [ 3.04683502e-02 2.64982369e-03 9.99532220e-01 1.28665911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.7171056809999 meters 0.04453051790776402 Centerline is valid? [True, True] Translation: X:175.26, Y:185.18, Z:12.87 [[ 8.33407776e-01 5.52038465e-01 -2.61727255e-02 1.75261232e+02] [-5.51860618e-01 8.33814681e-01 1.42456035e-02 1.85178672e+02] [ 2.96873238e-02 2.57129972e-03 9.99555927e-01 1.28653267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.74710568099994 meters 0.044215496699788484 Centerline is valid? [True, True] Translation: X:175.29, Y:185.16, Z:12.87 [[ 8.34397100e-01 5.50561821e-01 -2.57519094e-02 1.75285953e+02] [-5.50389090e-01 8.34790704e-01 1.40117665e-02 1.85162823e+02] [ 2.92117983e-02 2.48219271e-03 9.99570162e-01 1.28661758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.7771056809999 meters 0.04315796789542492 Centerline is valid? [True, True] Translation: X:175.31, Y:185.14, Z:12.87 [[ 8.37250936e-01 5.46189284e-01 -2.62323399e-02 1.75308850e+02] [-5.46008092e-01 8.37658410e-01 1.42671632e-02 1.85144330e+02] [ 2.97663118e-02 2.37787409e-03 9.99554057e-01 1.28664221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.80710568099994 meters 0.0406587953070488 Centerline is valid? [True, True] Translation: X:175.33, Y:185.12, Z:12.86 [[ 8.40245668e-01 5.41489846e-01 -2.78561430e-02 1.75330522e+02] [-5.41283282e-01 8.40703986e-01 1.51399088e-02 1.85122853e+02] [ 3.16168774e-02 2.35682171e-03 9.99497283e-01 1.28639559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8371056809999 meters 0.04003272445847431 Centerline is valid? [True, True] Translation: X:175.35, Y:185.11, Z:12.86 [[ 8.41120486e-01 5.40074889e-01 -2.89040317e-02 1.75354933e+02] [-5.39851991e-01 8.41613545e-01 1.56993082e-02 1.85106712e+02] [ 3.28048267e-02 2.39888929e-03 9.99458898e-01 1.28638402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.86710568099994 meters 0.04017090863745327 Centerline is valid? [True, True] Translation: X:175.38, Y:185.09, Z:12.86 [[ 8.42283508e-01 5.38190622e-01 -3.01553677e-02 1.75378007e+02] [-5.37947143e-01 8.42819629e-01 1.63690085e-02 1.85089839e+02] [ 3.42251826e-02 2.43464800e-03 9.99411181e-01 1.28622809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8971056809999 meters 0.03956557492366537 Centerline is valid? [True, True] Translation: X:175.40, Y:185.07, Z:12.86 [[ 8.43187417e-01 5.36740506e-01 -3.07344883e-02 1.75402417e+02] [-5.36486960e-01 8.43743875e-01 1.66737869e-02 1.85073410e+02] [ 3.48815331e-02 2.42952484e-03 9.99388501e-01 1.28619061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9271056809999 meters 0.038682382304830364 Centerline is valid? [True, True] Translation: X:175.43, Y:185.05, Z:12.86 [[ 8.45116745e-01 5.33701970e-01 -3.06577035e-02 1.75425617e+02] [-5.33448064e-01 8.45669489e-01 1.66216153e-02 1.85054674e+02] [ 3.47972733e-02 2.30708717e-03 9.99391729e-01 1.28599236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9571056809999 meters 0.03890303934313898 Centerline is valid? [True, True] Translation: X:175.45, Y:185.04, Z:12.86 [[ 8.46374662e-01 5.31694377e-01 -3.08386256e-02 1.75449667e+02] [-5.31436417e-01 8.46933322e-01 1.67117426e-02 1.85040208e+02] [ 3.50037992e-02 2.24437320e-03 9.99384659e-01 1.28586745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9871056809999 meters 0.03331885140970644 Centerline is valid? [True, True] Translation: X:175.47, Y:185.02, Z:12.86 [[ 8.50348881e-01 5.25339667e-01 -3.04140612e-02 1.75469425e+02] [-5.25084914e-01 8.50890353e-01 1.64754625e-02 1.85016251e+02] [ 3.45342453e-02 1.96007362e-03 9.99401593e-01 1.28599456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0171056809999 meters 0.03255180279810523 Centerline is valid? [True, True] Translation: X:175.49, Y:185.00, Z:12.86 [[ 8.52714552e-01 5.21507373e-01 -3.01322557e-02 1.75492836e+02] [-5.21255188e-01 8.53244889e-01 1.63152765e-02 1.85001539e+02] [ 3.42187302e-02 1.79432093e-03 9.99412757e-01 1.28603195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0471056809999 meters 0.02939164719295384 Centerline is valid? [True, True] Translation: X:175.52, Y:184.98, Z:12.86 [[ 8.57100972e-01 5.14394141e-01 -2.78673908e-02 1.75515396e+02] [-5.14174864e-01 8.57552742e-01 1.50832314e-02 1.84982327e+02] [ 3.16564833e-02 1.40085954e-03 9.99497826e-01 1.28618783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0771056809999 meters 0.026234802405888855 Centerline is valid? [True, True] Translation: X:175.54, Y:184.96, Z:12.86 [[ 8.61675200e-01 5.06857426e-01 -2.47264760e-02 1.75537102e+02] [-5.06681913e-01 8.62029317e-01 1.33752087e-02 1.84962419e+02] [ 2.80942711e-02 1.00337249e-03 9.99604774e-01 1.28626762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.1071056809999 meters 0.025777030569169003 Centerline is valid? [True, True] Translation: X:175.56, Y:184.95, Z:12.86 [[ 8.63408740e-01 5.03946591e-01 -2.37314267e-02 1.75560594e+02] [-5.03784023e-01 8.63734370e-01 1.28294959e-02 1.84948230e+02] [ 2.69630296e-02 8.78414758e-04 9.99636045e-01 1.28635169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.1371056809999 meters 0.023243093711029686 Centerline is valid? [True, True] Translation: X:175.58, Y:184.93, Z:12.87 [[ 8.67408143e-01 4.97124790e-01 -2.16807694e-02 1.75584510e+02] [-4.96987061e-01 8.67678840e-01 1.17171978e-02 1.84930479e+02] [ 2.46368543e-02 6.11469024e-04 9.99696280e-01 1.28660931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.1671056809999 meters 0.022651231305413706 Centerline is valid? [True, True] Translation: X:175.61, Y:184.92, Z:12.87 [[ 8.69601156e-01 4.93321307e-01 -2.06861588e-02 1.75608171e+02] [-4.93194918e-01 8.69847029e-01 1.11766745e-02 1.84916643e+02] [ 2.35074855e-02 4.83059343e-04 9.99723544e-01 1.28681773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.1971056809999 meters 0.021362446262190044 Centerline is valid? [True, True] Translation: X:175.63, Y:184.90, Z:12.87 [[ 8.73588894e-01 4.86345657e-01 -1.76166461e-02 1.75631311e+02] [-4.86252613e-01 8.73766466e-01 9.51623599e-03 1.84900820e+02] [ 2.00210147e-02 2.52862142e-04 9.99799527e-01 1.28691101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.2271056809999 meters 0.02081820249316119 Centerline is valid? [True, True] Translation: X:175.66, Y:184.89, Z:12.87 [[ 8.75335942e-01 4.83211747e-01 -1.71288002e-02 1.75656030e+02] [-4.83123239e-01 8.75503498e-01 9.24984964e-03 1.84885489e+02] [ 1.94659605e-02 1.78595597e-04 9.99810504e-01 1.28687167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.2571056809999 meters 0.020510380165390352 Centerline is valid? [True, True] Translation: X:175.68, Y:184.87, Z:12.87 [[ 8.78002983e-01 4.78333513e-01 -1.75445616e-02 1.75680691e+02] [-4.78239816e-01 8.78178253e-01 9.46753173e-03 1.84871288e+02] [ 1.99358902e-02 7.79868009e-05 9.99801257e-01 1.28669727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.2871056809999 meters 0.020474746789955606 Centerline is valid? [True, True] Translation: X:175.71, Y:184.86, Z:12.87 [[ 8.78754020e-01 4.76921032e-01 -1.83766699e-02 1.75705722e+02] [-4.76818079e-01 8.78946145e-01 9.90924208e-03 1.84860134e+02] [ 2.08780291e-02 5.45421414e-05 9.99782029e-01 1.28665074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.31710568099993 meters 0.020516776753374183 Centerline is valid? [True, True] Translation: X:175.73, Y:184.85, Z:12.86 [[ 8.79015590e-01 4.76353999e-01 -2.04562920e-02 1.75732435e+02] [-4.76226484e-01 8.79253584e-01 1.10213882e-02 1.84853272e+02] [ 2.32363504e-02 5.38559698e-05 9.99729998e-01 1.28637300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.3471056809999 meters 0.02047046266926083 Centerline is valid? [True, True] Translation: X:175.76, Y:184.85, Z:12.86 [[ 8.78510787e-01 4.77211475e-01 -2.20908453e-02 1.75760835e+02] [-4.77063165e-01 8.78788485e-01 1.18968951e-02 1.84846165e+02] [ 2.50905153e-02 8.71778856e-05 9.99685180e-01 1.28606546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.37710568099993 meters 0.020626021441014997 Centerline is valid? [True, True] Translation: X:175.79, Y:184.84, Z:12.86 [[ 8.77874011e-01 4.78376712e-01 -2.22022924e-02 1.75787512e+02] [-4.78227494e-01 8.78154716e-01 1.19482104e-02 1.84837393e+02] [ 2.52127934e-02 1.28723309e-04 9.99682099e-01 1.28608158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.4071056809999 meters 0.020924829779393122 Centerline is valid? [True, True] Translation: X:175.81, Y:184.83, Z:12.86 [[ 8.76602741e-01 4.80668669e-01 -2.29186446e-02 1.75814568e+02] [-4.80510682e-01 8.76902268e-01 1.23246833e-02 1.84829980e+02] [ 2.60215006e-02 2.08802367e-04 9.99661362e-01 1.28598510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43710568099993 meters 0.02157126734075542 Centerline is valid? [True, True] Translation: X:175.84, Y:184.83, Z:12.86 [[ 8.73959532e-01 4.85387511e-01 -2.43659765e-02 1.75843744e+02] [-4.85210871e-01 8.74299047e-01 1.30991049e-02 1.84826279e+02] [ 2.76612920e-02 3.74549095e-04 9.99617283e-01 1.28586315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.4671056809999 meters 0.022503245100741667 Centerline is valid? [True, True] Translation: X:175.87, Y:184.81, Z:12.86 [[ 8.71824621e-01 4.89227050e-01 -2.40566656e-02 1.75869368e+02] [-4.89056456e-01 8.72156322e-01 1.29280228e-02 1.84814477e+02] [ 2.73059115e-02 4.94098999e-04 9.99627002e-01 1.28635934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49710568099994 meters 0.023753388037840675 Centerline is valid? [True, True] Translation: X:175.90, Y:184.80, Z:12.86 [[ 8.69308184e-01 4.93671224e-01 -2.43311318e-02 1.75897354e+02] [-4.93498612e-01 8.69648381e-01 1.30696085e-02 1.84804850e+02] [ 2.76116190e-02 6.45862130e-04 9.99618518e-01 1.28640651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5271056809999 meters 0.025925693761051444 Centerline is valid? [True, True] Translation: X:175.92, Y:184.79, Z:12.86 [[ 8.65132683e-01 5.01059069e-01 -2.20284015e-02 1.75923935e+02] [-5.00920149e-01 8.65412712e-01 1.18254632e-02 1.84792213e+02] [ 2.49889143e-02 8.03875454e-04 9.99687405e-01 1.28612701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.55710568099994 meters 0.027369640143981702 Centerline is valid? [True, True] Translation: X:175.95, Y:184.78, Z:12.86 [[ 8.63113147e-01 5.04573777e-01 -2.09999790e-02 1.75949615e+02] [-5.04448714e-01 8.63368142e-01 1.12670388e-02 1.84779440e+02] [ 2.38157652e-02 8.68683119e-04 9.99715987e-01 1.28618056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5871056809999 meters 0.02931810580453232 Centerline is valid? [True, True] Translation: X:175.97, Y:184.77, Z:12.87 [[ 8.60776137e-01 5.08628568e-01 -1.90111201e-02 1.75974659e+02] [-5.08527118e-01 8.60985591e-01 1.01971710e-02 1.84767754e+02] [ 2.15548730e-02 8.90188726e-04 9.99767270e-01 1.28652954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.61710568099994 meters 0.03032412013719828 Centerline is valid? [True, True] Translation: X:176.00, Y:184.75, Z:12.87 [[ 8.57948920e-01 5.13446482e-01 -1.72151241e-02 1.75999987e+02] [-5.13364297e-01 8.58121127e-01 9.23199155e-03 1.84754036e+02] [ 1.95127953e-02 9.17052898e-04 9.99809187e-01 1.28711438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6471056809999 meters 0.0325875126400594 Centerline is valid? [True, True] Translation: X:176.03, Y:184.74, Z:12.88 [[ 8.57164815e-01 5.14814082e-01 -1.53278189e-02 1.76025471e+02] [-5.14749185e-01 8.57301432e-01 8.21773994e-03 1.84743448e+02] [ 1.73711693e-02 8.46024733e-04 9.99848752e-01 1.28758998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6771056809999 meters 0.03493998662118073 Centerline is valid? [True, True] Translation: X:176.05, Y:184.73, Z:12.88 [[ 8.55483855e-01 5.17674664e-01 -1.26615723e-02 1.76050489e+02] [-5.17630694e-01 8.55577223e-01 6.78824234e-03 1.84730589e+02] [ 1.43470539e-02 7.46786722e-04 9.99896797e-01 1.28799118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7071056809999 meters 0.03599556879187401 Centerline is valid? [True, True] Translation: X:176.08, Y:184.72, Z:12.88 [[ 8.54364974e-01 5.19507435e-01 -1.31345323e-02 1.76076093e+02] [-5.19460407e-01 8.54465545e-01 7.03688201e-03 1.84716475e+02] [ 1.48787179e-02 8.10804000e-04 9.99888977e-01 1.28788093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7371056809999 meters 0.03538738603407782 Centerline is valid? [True, True] Translation: X:176.10, Y:184.70, Z:12.87 [[ 8.51648232e-01 5.23879004e-01 -1.56868893e-02 1.76099241e+02] [-5.23812769e-01 8.51792026e-01 8.39803442e-03 1.84698444e+02] [ 1.77615211e-02 1.06482175e-03 9.99841685e-01 1.28729229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7671056809999 meters 0.04045586517452647 Centerline is valid? [True, True] Translation: X:176.13, Y:184.69, Z:12.87 [[ 8.50484359e-01 5.25744078e-01 -1.64170681e-02 1.76126586e+02] [-5.25672000e-01 8.50642003e-01 8.78243505e-03 1.84691145e+02] [ 1.85823609e-02 1.16066936e-03 9.99826659e-01 1.28723397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7971056809999 meters 0.03772535763068145 Centerline is valid? [True, True] Translation: X:176.15, Y:184.67, Z:12.87 [[ 8.49337077e-01 5.27522861e-01 -1.86054036e-02 1.76148903e+02] [-5.27430792e-01 8.49539742e-01 9.94913733e-03 1.84670590e+02] [ 2.10544272e-02 1.36289157e-03 9.99777402e-01 1.28706462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8271056809999 meters 0.039857542867670126 Centerline is valid? [True, True] Translation: X:176.17, Y:184.66, Z:12.87 [[ 8.49390416e-01 5.27396608e-01 -1.97164720e-02 1.76174008e+02] [-5.27293332e-01 8.49617988e-01 1.05364659e-02 1.84659827e+02] [ 2.23083656e-02 1.44679103e-03 9.99750091e-01 1.28705422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8571056809999 meters 0.039890849866865606 Centerline is valid? [True, True] Translation: X:176.20, Y:184.64, Z:12.87 [[ 8.50154116e-01 5.26138704e-01 -2.03971347e-02 1.76198191e+02] [-5.26027909e-01 8.50397504e-01 1.08960371e-02 1.84644766e+02] [ 2.30784993e-02 1.46615136e-03 9.99732581e-01 1.28705166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8871056809999 meters 0.036146514488582714 Centerline is valid? [True, True] Translation: X:176.22, Y:184.63, Z:12.87 [[ 8.50867051e-01 5.24992540e-01 -2.02013630e-02 1.76219784e+02] [-5.24883703e-01 8.51105631e-01 1.07843451e-02 1.84625155e+02] [ 2.28551945e-02 1.42732233e-03 9.99737767e-01 1.28712200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.9171056809999 meters 0.03585924755724016 Centerline is valid? [True, True] Translation: X:176.24, Y:184.61, Z:12.87 [[ 8.52493510e-01 5.22283923e-01 -2.17788957e-02 1.76242959e+02] [-5.22156746e-01 8.52770397e-01 1.16181997e-02 1.84608984e+02] [ 2.46403965e-02 1.46755744e-03 9.99695302e-01 1.28676544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.9471056809999 meters 0.036998133351759235 Centerline is valid? [True, True] Translation: X:176.27, Y:184.59, Z:12.87 [[ 8.55014258e-01 5.18109981e-01 -2.26421249e-02 1.76266756e+02] [-5.17971206e-01 8.55312851e-01 1.20729889e-02 1.84594532e+02] [ 2.56212365e-02 1.40539112e-03 9.99670734e-01 1.28662011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.9771056809999 meters 0.032109192430966146 Centerline is valid? [True, True] Translation: X:176.29, Y:184.57, Z:12.87 [[ 8.58679827e-01 5.12035683e-01 -2.21000625e-02 1.76287671e+02] [-5.11901546e-01 8.58963343e-01 1.17805778e-02 1.84572248e+02] [ 2.50152198e-02 1.19731167e-03 9.99686353e-01 1.28695935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.0071056809999 meters 0.030464632965813056 Centerline is valid? [True, True] Translation: X:176.31, Y:184.55, Z:12.87 [[ 8.60651299e-01 5.08700561e-01 -2.24294527e-02 1.76311175e+02] [-5.08561464e-01 8.60942784e-01 1.19482321e-02 1.84554896e+02] [ 2.53885478e-02 1.12349382e-03 9.99677028e-01 1.28720690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.0371056809999 meters 0.029832565308217075 Centerline is valid? [True, True] Translation: X:176.33, Y:184.54, Z:12.87 [[ 8.62402202e-01 5.05777447e-01 -2.12512742e-02 1.76334024e+02] [-5.05651843e-01 8.62663432e-01 1.13144031e-02 1.84539190e+02] [ 2.40552671e-02 9.88179872e-04 9.99710142e-01 1.28735079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.06710568099993 meters 0.02805093522102433 Centerline is valid? [True, True] Translation: X:176.36, Y:184.52, Z:12.88 [[ 8.65359720e-01 5.00779771e-01 -1.92918809e-02 1.76355584e+02] [-5.00675068e-01 8.65574390e-01 1.02689942e-02 1.84518812e+02] [ 2.18410626e-02 7.72589793e-04 9.99761157e-01 1.28779673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.0971056809999 meters 0.026579802288069443 Centerline is valid? [True, True] Translation: X:176.38, Y:184.50, Z:12.88 [[ 8.67921083e-01 4.96314238e-01 -1.96257537e-02 1.76378158e+02] [-4.96204788e-01 8.68142686e-01 1.04443937e-02 1.84499286e+02] [ 2.22216559e-02 6.73483416e-04 9.99752842e-01 1.28779853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.12710568099993 meters 0.02505011158754239 Centerline is valid? [True, True] Translation: X:176.40, Y:184.48, Z:12.88 [[ 8.69051316e-01 4.94335019e-01 -1.95627103e-02 1.76401248e+02] [-4.94225911e-01 8.69271244e-01 1.04044626e-02 1.84480668e+02] [ 2.21485917e-02 6.26386374e-04 9.99754494e-01 1.28778769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.1571056809999 meters 0.02484538935466027 Centerline is valid? [True, True] Translation: X:176.42, Y:184.46, Z:12.88 [[ 8.70790494e-01 4.91291071e-01 -1.88944135e-02 1.76424024e+02] [-4.91188708e-01 8.70995291e-01 1.00427498e-02 1.84463630e+02] [ 2.13908585e-02 5.35591511e-04 9.99771046e-01 1.28784476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.18710568099993 meters 0.02484538935466027 Centerline is valid? [True, True] Translation: X:176.45, Y:184.45, Z:12.88 [[ 8.70946164e-01 4.91014943e-01 -1.88972219e-02 1.76448220e+02] [-4.90912629e-01 8.71150986e-01 1.00374625e-02 1.84450967e+02] [ 2.13908776e-02 5.34795440e-04 9.99771046e-01 1.28790181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.2171056809999 meters 0.023668445760066575 Centerline is valid? [True, True] Translation: X:176.47, Y:184.43, Z:12.88 [[ 8.71746647e-01 4.89611547e-01 -1.83933735e-02 1.76471678e+02] [-4.89514456e-01 8.71940531e-01 9.76256481e-03 1.84433506e+02] [ 2.08177924e-02 4.93339108e-04 9.99783165e-01 1.28807786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.24710568099994 meters 0.02303934834304578 Centerline is valid? [True, True] Translation: X:176.50, Y:184.42, Z:12.88 [[ 8.72855297e-01 4.87673635e-01 -1.72642826e-02 1.76495206e+02] [-4.87587838e-01 8.73025913e-01 9.15725429e-03 1.84415908e+02] [ 1.95379176e-02 4.24896315e-04 9.99809026e-01 1.28848465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.2771056809999 meters 0.023884821263713968 Centerline is valid? [True, True] Translation: X:176.52, Y:184.40, Z:12.89 [[ 8.73505261e-01 4.86509093e-01 -1.72470549e-02 1.76519562e+02] [-4.86423363e-01 8.73675420e-01 9.14181964e-03 1.84402369e+02] [ 1.95159063e-02 4.03942877e-04 9.99809465e-01 1.28864167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.30710568099994 meters 0.02371810168806529 Centerline is valid? [True, True] Translation: X:176.54, Y:184.39, Z:12.89 [[ 8.73859478e-01 4.85840323e-01 -1.81326935e-02 1.76543376e+02] [-4.85745468e-01 8.74047488e-01 9.60875573e-03 1.84387304e+02] [ 2.05171562e-02 4.11171431e-04 9.99789416e-01 1.28854003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3371056809999 meters 0.023098911356167862 Centerline is valid? [True, True] Translation: X:176.57, Y:184.37, Z:12.88 [[ 8.73499390e-01 4.86354573e-01 -2.14019898e-02 1.76566918e+02] [-4.86222815e-01 8.73761393e-01 1.13315041e-02 1.84369563e+02] [ 2.42113613e-02 5.08073780e-04 9.99706733e-01 1.28813529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.36710568099994 meters 0.023869245490630984 Centerline is valid? [True, True] Translation: X:176.59, Y:184.36, Z:12.88 [[ 8.72420332e-01 4.88213474e-01 -2.30297156e-02 1.76592808e+02] [-4.88061788e-01 8.72724029e-01 1.21843962e-02 1.84357740e+02] [ 2.60471726e-02 6.10009180e-04 9.99660529e-01 1.28802267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3971056809999 meters 0.027086559963498867 Centerline is valid? [True, True] Translation: X:176.62, Y:184.35, Z:12.88 [[ 8.67692683e-01 4.96461442e-01 -2.52080215e-02 1.76622339e+02] [-4.96283391e-01 8.68058260e-01 1.33286413e-02 1.84350562e+02] [ 2.84991878e-02 9.45157882e-04 9.99593369e-01 1.28794905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4271056809999 meters 0.027467940633532865 Centerline is valid? [True, True] Translation: X:176.65, Y:184.34, Z:12.88 [[ 8.64391473e-01 5.02196304e-01 -2.50250541e-02 1.76648652e+02] [-5.02023355e-01 8.64752910e-01 1.32270657e-02 1.84338520e+02] [ 2.82830719e-02 1.12979880e-03 9.99599315e-01 1.28817037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4571056809999 meters 0.03247940756799382 Centerline is valid? [True, True] Translation: X:176.68, Y:184.33, Z:12.88 [[ 8.56976557e-01 5.14802301e-01 -2.38698712e-02 1.76679115e+02] [-5.14650006e-01 8.57307647e-01 1.26083188e-02 1.84334733e+02] [ 2.69546147e-02 1.47959571e-03 9.99635563e-01 1.28844768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4871056809999 meters 0.03468445024390102 Centerline is valid? [True, True] Translation: X:176.71, Y:184.33, Z:12.89 [[ 8.53753759e-01 5.20126308e-01 -2.39404013e-02 1.76706988e+02] [-5.19975417e-01 8.54087741e-01 1.26370753e-02 1.84325517e+02] [ 2.70200786e-02 1.65946964e-03 9.99633514e-01 1.28865373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5171056809999 meters 0.038151379291336274 Centerline is valid? [True, True] Translation: X:176.73, Y:184.32, Z:12.89 [[ 8.49488949e-01 5.27169691e-01 -2.14625970e-02 1.76734199e+02] [-5.27050796e-01 8.49758348e-01 1.13228862e-02 1.84317983e+02] [ 2.42071034e-02 1.69321217e-03 9.99705531e-01 1.28908950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5471056809999 meters 0.039914224032179424 Centerline is valid? [True, True] Translation: X:176.76, Y:184.30, Z:12.89 [[ 8.48459768e-01 5.28947110e-01 -1.81927569e-02 1.76758071e+02] [-5.28862130e-01 8.48653501e-01 9.59594678e-03 1.84303513e+02] [ 2.05150952e-02 1.47968541e-03 9.99788448e-01 1.28929796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5771056809999 meters 0.03960435843102739 Centerline is valid? [True, True] Translation: X:176.78, Y:184.29, Z:12.89 [[ 8.48839349e-01 5.28338379e-01 -1.81746230e-02 1.76781562e+02] [-5.28253475e-01 8.49032632e-01 9.58414665e-03 1.84286685e+02] [ 2.04945205e-02 1.46540695e-03 9.99788891e-01 1.28934982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.6071056809999 meters 0.03945906343894389 Centerline is valid? [True, True] Translation: X:176.80, Y:184.27, Z:12.89 [[ 8.50229022e-01 5.26123880e-01 -1.74434302e-02 1.76802722e+02] [-5.26045330e-01 8.50406851e-01 9.19234756e-03 1.84265963e+02] [ 1.96703261e-02 1.36043434e-03 9.99805595e-01 1.28942017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.6371056809999 meters 0.04000030582843206 Centerline is valid? [True, True] Translation: X:176.83, Y:184.25, Z:12.90 [[ 8.50512051e-01 5.25708658e-01 -1.61139074e-02 1.76825261e+02] [-5.25641626e-01 8.50663765e-01 8.48763500e-03 1.84249467e+02] [ 1.81695404e-02 1.25130465e-03 9.99834137e-01 1.28958787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.6671056809999 meters 0.0394732521055146 Centerline is valid? [True, True] Translation: X:176.85, Y:184.23, Z:12.90 [[ 8.51695953e-01 5.23791680e-01 -1.60087231e-02 1.76845117e+02] [-5.23725214e-01 8.51845541e-01 8.43051163e-03 1.84225892e+02] [ 1.80527912e-02 1.20393928e-03 9.99836310e-01 1.28955299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.6971056809999 meters 0.03896571447561088 Centerline is valid? [True, True] Translation: X:176.86, Y:184.20, Z:12.89 [[ 8.53081250e-01 5.21480898e-01 -1.76083245e-02 1.76864991e+02] [-5.21400098e-01 8.53262004e-01 9.26772228e-03 1.84200856e+02] [ 1.98574544e-02 1.27486201e-03 9.99802009e-01 1.28926719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.7271056809999 meters 0.04509824597668485 Centerline is valid? [True, True] Translation: X:176.89, Y:184.19, Z:12.89 [[ 8.53655172e-01 5.20524886e-01 -1.80745935e-02 1.76891515e+02] [-5.20439591e-01 8.53845527e-01 9.51047021e-03 1.84190160e+02] [ 2.03833472e-02 1.28807195e-03 9.99791408e-01 1.28918892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.7571056809999 meters 0.045039457239559294 Centerline is valid? [True, True] Translation: X:176.91, Y:184.17, Z:12.89 [[ 8.54622765e-01 5.18870854e-01 -1.98233715e-02 1.76910938e+02] [-5.18767980e-01 8.54851533e-01 1.04230295e-02 1.84166178e+02] [ 2.23542457e-02 1.37597208e-03 9.99749166e-01 1.28892987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.7871056809999 meters 0.0448422584180737 Centerline is valid? [True, True] Translation: X:176.93, Y:184.15, Z:12.89 [[ 8.55390106e-01 5.17532586e-01 -2.16284200e-02 1.76933746e+02] [-5.17409895e-01 8.55662235e-01 1.13639790e-02 1.84147947e+02] [ 2.43878517e-02 1.47012335e-03 9.99701491e-01 1.28875083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.81710568099993 meters 0.04468549936390296 Centerline is valid? [True, True] Translation: X:176.95, Y:184.13, Z:12.88 [[ 8.56458916e-01 5.15644889e-01 -2.42584984e-02 1.76953057e+02] [-5.15490019e-01 8.56800911e-01 1.27372878e-02 1.84125493e+02] [ 2.73526208e-02 1.59605010e-03 9.99624573e-01 1.28831313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.8471056809999 meters 0.04466245430109573 Centerline is valid? [True, True] Translation: X:176.97, Y:184.10, Z:12.88 [[ 8.57351553e-01 5.14164863e-01 -2.41414304e-02 1.76974423e+02] [-5.14011020e-01 8.57689983e-01 1.26713890e-02 1.84103241e+02] [ 2.72210460e-02 1.54512626e-03 9.99628245e-01 1.28829874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.87710568099993 meters 0.03953594147161937 Centerline is valid? [True, True] Translation: X:176.99, Y:184.08, Z:12.89 [[ 8.58199163e-01 5.12737546e-01 -2.43804121e-02 1.76994309e+02] [-5.12580311e-01 8.58544053e-01 1.27880361e-02 1.84080055e+02] [ 2.74885641e-02 1.52223737e-03 9.99620959e-01 1.28857551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.9071056809999 meters 0.04315924312904747 Centerline is valid? [True, True] Translation: X:177.02, Y:184.07, Z:12.89 [[ 8.59802898e-01 5.10071825e-01 -2.37846568e-02 1.77017989e+02] [-5.09921375e-01 8.60130658e-01 1.24676630e-02 1.84065337e+02] [ 2.68173161e-02 1.40857208e-03 9.99639359e-01 1.28862525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.93710568099993 meters 0.03884114077286611 Centerline is valid? [True, True] Translation: X:177.04, Y:184.04, Z:12.89 [[ 8.60957214e-01 5.08163325e-01 -2.28628775e-02 1.77038914e+02] [-5.08023741e-01 8.61259743e-01 1.19805739e-02 1.84042732e+02] [ 2.57789642e-02 1.30012307e-03 9.99666822e-01 1.28887551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.9671056809999 meters 0.03460327170404623 Centerline is valid? [True, True] Translation: X:177.06, Y:184.02, Z:12.89 [[ 8.65351279e-01 5.00726712e-01 -2.09743563e-02 1.77057846e+02] [-5.00607213e-01 8.65604858e-01 1.09840040e-02 1.84016988e+02] [ 2.36554889e-02 9.94892123e-04 9.99719675e-01 1.28936656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.99710568099994 meters 0.0284030366767954 Centerline is valid? [True, True] Translation: X:177.08, Y:183.99, Z:12.90 [[ 8.68201736e-01 4.95818508e-01 -1.97421448e-02 1.77077135e+02] [-4.95711519e-01 8.68425783e-01 1.03319018e-02 1.83991457e+02] [ 2.22673357e-02 8.16233480e-04 9.99751719e-01 1.28968978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0271056809999 meters 0.024670906674873386 Centerline is valid? [True, True] Translation: X:177.10, Y:183.96, Z:12.90 [[ 8.73194740e-01 4.87045412e-01 -1.78245118e-02 1.77096477e+02] [-4.86956488e-01 8.73376480e-01 9.32220262e-03 1.83964519e+02] [ 2.01078453e-02 5.39663358e-04 9.99797671e-01 1.28996772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.05710568099994 meters 0.023174634684821012 Centerline is valid? [True, True] Translation: X:177.12, Y:183.94, Z:12.90 [[ 8.75723566e-01 4.82485282e-01 -1.77816871e-02 1.77118999e+02] [-4.82395981e-01 8.75903967e-01 9.29293732e-03 1.83944746e+02] [ 2.00587558e-02 4.39770178e-04 9.99798706e-01 1.29006341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0871056809999 meters 0.021642497571179913 Centerline is valid? [True, True] Translation: X:177.14, Y:183.92, Z:12.90 [[ 8.79798547e-01 4.75005909e-01 -1.79973118e-02 1.77137299e+02] [-4.74912931e-01 8.79982563e-01 9.40197739e-03 1.83919896e+02] [ 2.03033153e-02 2.75310027e-04 9.99793829e-01 1.28989226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.11710568099994 meters 0.02093210111137887 Centerline is valid? [True, True] Translation: X:177.16, Y:183.90, Z:12.90 [[ 8.82246018e-01 4.70411342e-01 -1.88449830e-02 1.77158004e+02] [-4.70308411e-01 8.82447243e-01 9.84181540e-03 1.83898443e+02] [ 2.12594049e-02 1.80051592e-04 9.99773977e-01 1.28986702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1471056809999 meters 0.021107596032155018 Centerline is valid? [True, True] Translation: X:177.18, Y:183.88, Z:12.90 [[ 8.82440484e-01 4.70024188e-01 -1.93921476e-02 1.77182579e+02] [-4.69915276e-01 8.82653516e-01 1.01194754e-02 1.83884521e+02] [ 2.18729455e-02 1.82831643e-04 9.99760742e-01 1.28992952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1771056809999 meters 0.022387316162033034 Centerline is valid? [True, True] Translation: X:177.21, Y:183.87, Z:12.90 [[ 8.79702886e-01 4.75173130e-01 -1.82573186e-02 1.77209725e+02] [-4.75077861e-01 8.79892270e-01 9.51940294e-03 1.83874996e+02] [ 2.05878380e-02 2.99401634e-04 9.99788003e-01 1.29022293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2071056809999 meters 0.02399879921940699 Centerline is valid? [True, True] Translation: X:177.24, Y:183.87, Z:12.91 [[ 8.77215162e-01 4.79810858e-01 -1.65861687e-02 1.77237528e+02] [-4.79733170e-01 8.77371871e-01 8.64212760e-03 1.83866239e+02] [ 1.86988245e-02 3.75929939e-04 9.99825091e-01 1.29050409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2371056809999 meters 0.028547764198865212 Centerline is valid? [True, True] Translation: X:177.27, Y:183.86, Z:12.91 [[ 8.71687033e-01 4.89855628e-01 -1.42541521e-02 1.77267859e+02] [-4.89799675e-01 8.71803419e-01 7.42139111e-03 1.83863995e+02] [ 1.60622288e-02 5.12548702e-04 9.99870863e-01 1.29094556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2671056809999 meters 0.03132990325287761 Centerline is valid? [True, True] Translation: X:177.30, Y:183.86, Z:12.91 [[ 8.69009217e-01 4.94570095e-01 -1.49466573e-02 1.77296937e+02] [-4.94509294e-01 8.69137517e-01 7.78034997e-03 1.83855575e+02] [ 1.68386291e-02 6.30065131e-04 9.99858022e-01 1.29088125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2971056809999 meters 0.03639595853448987 Centerline is valid? [True, True] Translation: X:177.33, Y:183.85, Z:12.90 [[ 8.64454213e-01 5.02362678e-01 -1.87257545e-02 1.77327501e+02] [-5.02269220e-01 8.64656445e-01 9.73978207e-03 1.83852529e+02] [ 2.10842474e-02 9.85774482e-04 9.99777217e-01 1.29034642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3271056809999 meters 0.03699959900931405 Centerline is valid? [True, True] Translation: X:177.36, Y:183.84, Z:12.90 [[ 8.63099740e-01 5.04628943e-01 -2.02106250e-02 1.77355131e+02] [-5.04520751e-01 8.63335602e-01 1.05094855e-02 1.83841441e+02] [ 2.27519426e-02 1.12594551e-03 9.99740507e-01 1.29028512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3571056809999 meters 0.03970225499794619 Centerline is valid? [True, True] Translation: X:177.38, Y:183.84, Z:12.91 [[ 8.61353721e-01 5.07646410e-01 -1.91020945e-02 1.77384297e+02] [-5.07550629e-01 8.61564747e-01 9.92706082e-03 1.83835819e+02] [ 2.14971280e-02 1.14456929e-03 9.99768255e-01 1.29079829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3871056809999 meters 0.041481725440948025 Centerline is valid? [True, True] Translation: X:177.41, Y:183.83, Z:12.91 [[ 8.60559881e-01 5.09012686e-01 -1.85142138e-02 1.77410956e+02] [-5.08923056e-01 8.60758257e-01 9.62003185e-03 1.83826832e+02] [ 2.08329807e-02 1.14369682e-03 9.99782316e-01 1.29097755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.4171056809999 meters 0.045019002555626464 Centerline is valid? [True, True] Translation: X:177.44, Y:183.82, Z:12.91 [[ 8.58097117e-01 5.13069202e-01 -2.07203026e-02 1.77439875e+02] [-5.12958198e-01 8.58346115e-01 1.07626597e-02 1.83818613e+02] [ 2.33071804e-02 1.39324185e-03 9.99727380e-01 1.29066132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.4471056809999 meters 0.046724714000314735 Centerline is valid? [True, True] Translation: X:177.47, Y:183.81, Z:12.90 [[ 8.56719557e-01 5.15290600e-01 -2.25210718e-02 1.77466438e+02] [-5.15160418e-01 8.57014049e-01 1.16903409e-02 1.83806856e+02] [ 2.53247977e-02 1.58662112e-03 9.99678017e-01 1.29043948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.4771056809999 meters 0.04891797661215044 Centerline is valid? [True, True] Translation: X:177.49, Y:183.80, Z:12.90 [[ 8.55270672e-01 5.17733452e-01 -2.15441189e-02 1.77494235e+02] [-5.17615170e-01 8.55540499e-01 1.11799066e-02 1.83795859e+02] [ 2.42200779e-02 1.58971652e-03 9.99705387e-01 1.29045291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.5071056809999 meters 0.04429085827267216 Centerline is valid? [True, True] Translation: X:177.52, Y:183.78, Z:12.91 [[ 8.53567575e-01 5.20583005e-01 -2.03894802e-02 1.77517365e+02] [-5.20478016e-01 8.53809592e-01 1.05743257e-02 1.83776035e+02] [ 2.29135480e-02 1.58637461e-03 9.99736192e-01 1.29065925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.5371056809999 meters 0.0453014545253634 Centerline is valid? [True, True] Translation: X:177.54, Y:183.76, Z:12.91 [[ 8.53410068e-01 5.20833204e-01 -2.05920035e-02 1.77542763e+02] [-5.20726367e-01 8.53656936e-01 1.06717474e-02 1.83763519e+02] [ 2.31367070e-02 1.61542251e-03 9.99731005e-01 1.29059616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.56710568099993 meters 0.04594735438551429 Centerline is valid? [True, True] Translation: X:177.57, Y:183.75, Z:12.90 [[ 8.53980697e-01 5.19772212e-01 -2.35333251e-02 1.77566238e+02] [-5.19632560e-01 8.54302947e-01 1.21851440e-02 1.83746159e+02] [ 2.64380882e-02 1.82280425e-03 9.99648791e-01 1.29004408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.5971056809999 meters 0.04309839201230177 Centerline is valid? [True, True] Translation: X:177.59, Y:183.73, Z:12.90 [[ 8.54976050e-01 5.18108035e-01 -2.40835493e-02 1.77588608e+02] [-5.17961349e-01 8.55313248e-01 1.24615075e-02 1.83726207e+02] [ 2.70553859e-02 1.82005722e-03 9.99632279e-01 1.28994293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.62710568099993 meters 0.045421557233547426 Centerline is valid? [True, True] Translation: X:177.61, Y:183.71, Z:12.90 [[ 8.56191665e-01 5.16102515e-01 -2.39588601e-02 1.77612898e+02] [-5.15956641e-01 8.56525033e-01 1.23940898e-02 1.83711993e+02] [ 2.69179844e-02 1.75001656e-03 9.99636114e-01 1.28996123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.6571056809999 meters 0.04530689513051143 Centerline is valid? [True, True] Translation: X:177.64, Y:183.70, Z:12.90 [[ 8.56763202e-01 5.15185905e-01 -2.32443516e-02 1.77637855e+02] [-5.15048373e-01 8.57076825e-01 1.20203872e-02 1.83697537e+02] [ 2.61149291e-02 1.67334007e-03 9.99657547e-01 1.29016218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.68710568099993 meters 0.04541070394761593 Centerline is valid? [True, True] Translation: X:177.66, Y:183.68, Z:12.90 [[ 8.57869673e-01 5.13335899e-01 -2.33640327e-02 1.77660948e+02] [-5.13196479e-01 8.58186221e-01 1.20741200e-02 1.83682265e+02] [ 2.62487702e-02 1.63231790e-03 9.99654109e-01 1.29037930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.7171056809999 meters 0.043152278591289575 Centerline is valid? [True, True] Translation: X:177.68, Y:183.66, Z:12.91 [[ 8.60366633e-01 5.09145748e-01 -2.32349818e-02 1.77682908e+02] [-5.09006420e-01 8.60679012e-01 1.20043032e-02 1.83662891e+02] [ 2.61098011e-02 1.49865301e-03 9.99657958e-01 1.29062779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.74710568099994 meters 0.04177993046485553 Centerline is valid? [True, True] Translation: X:177.71, Y:183.65, Z:12.91 [[ 8.61877411e-01 5.06577358e-01 -2.33817996e-02 1.77707090e+02] [-5.06435422e-01 8.62193323e-01 1.20763156e-02 1.83646130e+02] [ 2.62772196e-02 1.43306789e-03 9.99653667e-01 1.29067655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.7771056809999 meters 0.03726136741414406 Centerline is valid? [True, True] Translation: X:177.73, Y:183.62, Z:12.91 [[ 8.64953617e-01 5.01276980e-01 -2.40131263e-02 1.77727776e+02] [-5.01125470e-01 8.65285885e-01 1.23935475e-02 1.83622539e+02] [ 2.69908193e-02 1.31374550e-03 9.99634818e-01 1.29059607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.80710568099994 meters 0.03670403069094677 Centerline is valid? [True, True] Translation: X:177.75, Y:183.61, Z:12.91 [[ 8.66220787e-01 4.99103271e-01 -2.36108592e-02 1.77751406e+02] [-4.98956183e-01 8.66541637e-01 1.21786371e-02 1.83607290e+02] [ 2.65381902e-02 1.23139554e-03 9.99647042e-01 1.29071696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8371056809999 meters 0.03610570013357829 Centerline is valid? [True, True] Translation: X:177.78, Y:183.59, Z:12.91 [[ 8.67177164e-01 4.97424787e-01 -2.39237889e-02 1.77775303e+02] [-4.97273264e-01 8.67506278e-01 1.23352850e-02 1.83591951e+02] [ 2.68899136e-02 1.19978311e-03 9.99637681e-01 1.29099252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.86710568099994 meters 0.037481457333373665 Centerline is valid? [True, True] Translation: X:177.80, Y:183.58, Z:12.91 [[ 8.66901235e-01 4.97893260e-01 -2.41774768e-02 1.77800797e+02] [-4.97738907e-01 8.67237441e-01 1.24580274e-02 1.83580623e+02] [ 2.71703810e-02 1.23419149e-03 9.99630055e-01 1.29106368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8971056809999 meters 0.03861652800164645 Centerline is valid? [True, True] Translation: X:177.83, Y:183.57, Z:12.91 [[ 8.64525771e-01 5.01951233e-01 -2.53012067e-02 1.77826203e+02] [-5.01784058e-01 8.64894744e-01 1.30323317e-02 1.83565659e+02] [ 2.84244756e-02 1.42895556e-03 9.99594922e-01 1.29098541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9271056809999 meters 0.0448565532808512 Centerline is valid? [True, True] Translation: X:177.85, Y:183.56, Z:12.91 [[ 8.59889177e-01 5.09871693e-01 -2.49291187e-02 1.77853610e+02] [-5.09712881e-01 8.60248839e-01 1.28340891e-02 1.83557554e+02] [ 2.79889842e-02 1.67079863e-03 9.99606835e-01 1.29093101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9571056809999 meters 0.0516519674423916 Centerline is valid? [True, True] Translation: X:177.88, Y:183.55, Z:12.91 [[ 8.54801417e-01 5.18388425e-01 -2.42482448e-02 1.77882507e+02] [-5.18241666e-01 8.55143166e-01 1.24796055e-02 1.83552921e+02] [ 2.72050039e-02 1.89886628e-03 9.99628072e-01 1.29129806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9871056809999 meters 0.055285089528761246 Centerline is valid? [True, True] Translation: X:177.91, Y:183.54, Z:12.91 [[ 8.52443521e-01 5.22282916e-01 -2.36769699e-02 1.77909477e+02] [-5.22144571e-01 8.52769982e-01 1.21821326e-02 1.83544493e+02] [ 2.65535289e-02 1.97822133e-03 9.99645436e-01 1.29149556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0171056809999 meters 0.05535575317581897 Centerline is valid? [True, True] Translation: X:177.93, Y:183.53, Z:12.91 [[ 8.49629853e-01 5.26860203e-01 -2.33974229e-02 1.77933532e+02] [-5.26726922e-01 8.49949363e-01 1.20344988e-02 1.83527625e+02] [ 2.62271232e-02 2.09918312e-03 9.99653806e-01 1.29145229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0471056809999 meters 0.053149496786176705 Centerline is valid? [True, True] Translation: X:177.96, Y:183.51, Z:12.91 [[ 8.49230767e-01 5.27471882e-01 -2.40939217e-02 1.77955835e+02] [-5.27331013e-01 8.49569671e-01 1.23845697e-02 1.83509199e+02] [ 2.70019774e-02 2.18811450e-03 9.99632985e-01 1.29133747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0771056809999 meters 0.053149496786176705 Centerline is valid? [True, True] Translation: X:177.98, Y:183.50, Z:12.91 [[ 8.49431205e-01 5.27148913e-01 -2.40967126e-02 1.77980326e+02] [-5.27008068e-01 8.49770118e-01 1.23791371e-02 1.83496885e+02] [ 2.70023150e-02 2.18393657e-03 9.99632985e-01 1.29139456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.1071056809999 meters 0.05216411323229368 Centerline is valid? [True, True] Translation: X:178.00, Y:183.48, Z:12.91 [[ 8.50254220e-01 5.25759043e-01 -2.54005755e-02 1.78003139e+02] [-5.25602275e-01 8.50630527e-01 1.30366835e-02 1.83477994e+02] [ 2.84606592e-02 2.26610513e-03 9.99592345e-01 1.29111808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.1371056809999 meters 0.04781244528815623 Centerline is valid? [True, True] Translation: X:178.02, Y:183.46, Z:12.91 [[ 8.51504942e-01 5.23716175e-01 -2.57041324e-02 1.78024822e+02] [-5.23554965e-01 8.51889892e-01 1.31837121e-02 1.83457301e+02] [ 2.88016138e-02 2.23153014e-03 9.99582657e-01 1.29120151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.1671056809999 meters 0.04702481481876495 Centerline is valid? [True, True] Translation: X:178.05, Y:183.44, Z:12.91 [[ 8.55441783e-01 5.17300668e-01 -2.48872452e-02 1.78046719e+02] [-5.17146913e-01 8.55801498e-01 1.27619216e-02 1.83437822e+02] [ 2.79002922e-02 1.95328109e-03 9.99608803e-01 1.29122502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.1971056809999 meters 0.0496839962732394 Centerline is valid? [True, True] Translation: X:178.07, Y:183.43, Z:12.91 [[ 8.58100905e-01 5.12919332e-01 -2.40124127e-02 1.78072919e+02] [-5.12774553e-01 8.58435030e-01 1.23108714e-02 1.83425827e+02] [ 2.69275802e-02 1.74898430e-03 9.99635857e-01 1.29126654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.2271056809999 meters 0.039401119429351136 Centerline is valid? [True, True] Translation: X:178.09, Y:183.39, Z:12.91 [[ 8.63465978e-01 5.03825764e-01 -2.42096010e-02 1.78089926e+02] [-5.03675131e-01 8.63804034e-01 1.24077996e-02 1.83394965e+02] [ 2.71637201e-02 1.48006113e-03 9.99629902e-01 1.29137774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.2571056809999 meters 0.03481887643057477 Centerline is valid? [True, True] Translation: X:178.11, Y:183.37, Z:12.92 [[ 8.67986318e-01 4.96039536e-01 -2.33351889e-02 1.78110362e+02] [-4.95896986e-01 8.68299109e-01 1.19514139e-02 1.83371725e+02] [ 2.61902976e-02 1.19818613e-03 9.99656257e-01 1.29155116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.2871056809999 meters 0.03354476873374887 Centerline is valid? [True, True] Translation: X:178.13, Y:183.35, Z:12.92 [[ 8.69314161e-01 4.93681410e-01 -2.39072152e-02 1.78134169e+02] [-4.93531079e-01 8.69642063e-01 1.22374680e-02 1.83354938e+02] [ 2.68321304e-02 1.16074953e-03 9.99639280e-01 1.29151585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.31710568099993 meters 0.033563553458756536 Centerline is valid? [True, True] Translation: X:178.16, Y:183.34, Z:12.91 [[ 8.69544049e-01 4.93199583e-01 -2.54424620e-02 1.78157758e+02] [-4.93029278e-01 8.69915325e-01 1.30176268e-02 1.83340138e+02] [ 2.85530757e-02 1.22447877e-03 9.99591528e-01 1.29131016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.3471056809999 meters 0.03614640216800233 Centerline is valid? [True, True] Translation: X:178.18, Y:183.33, Z:12.91 [[ 8.69108006e-01 4.93976042e-01 -2.52773372e-02 1.78183632e+02] [-4.93808553e-01 8.69474615e-01 1.29231148e-02 1.83330911e+02] [ 2.83617121e-02 1.25058278e-03 9.99596943e-01 1.29128375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.37710568099993 meters 0.03711692814149693 Centerline is valid? [True, True] Translation: X:178.21, Y:183.32, Z:12.92 [[ 8.67047278e-01 4.97561596e-01 -2.57191713e-02 1.78210790e+02] [-4.97389931e-01 8.67427523e-01 1.31433965e-02 1.83319191e+02] [ 2.88491664e-02 1.39651065e-03 9.99582801e-01 1.29153351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.4071056809999 meters 0.03950490136597535 Centerline is valid? [True, True] Translation: X:178.24, Y:183.31, Z:12.92 [[ 8.65030647e-01 5.01013717e-01 -2.65938742e-02 1.78238341e+02] [-5.00831996e-01 8.65437920e-01 1.35837360e-02 1.83309435e+02] [ 2.98209852e-02 1.56871509e-03 9.99554025e-01 1.29159895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.43710568099993 meters 0.04328819143828032 Centerline is valid? [True, True] Translation: X:178.27, Y:183.30, Z:12.91 [[ 8.60715660e-01 5.08253316e-01 -2.91053218e-02 1.78267140e+02] [-5.08039926e-01 8.61205309e-01 1.48610027e-02 1.83300155e+02] [ 3.26188115e-02 1.99556772e-03 9.99465873e-01 1.29140268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.4671056809999 meters 0.04591089770356991 Centerline is valid? [True, True] Translation: X:178.29, Y:183.29, Z:12.91 [[ 8.59008668e-01 5.11088913e-01 -2.98702343e-02 1.78293558e+02] [-5.10866131e-01 8.59525121e-01 1.52434388e-02 1.83289156e+02] [ 3.34649694e-02 2.16544500e-03 9.99437545e-01 1.29124627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.49710568099994 meters 0.0467096645438392 Centerline is valid? [True, True] Translation: X:178.32, Y:183.27, Z:12.92 [[ 8.56755000e-01 5.14966287e-01 -2.79390943e-02 1.78318883e+02] [-5.14773577e-01 8.57207683e-01 1.42531832e-02 1.83274279e+02] [ 3.12895152e-02 2.17082153e-03 9.99508006e-01 1.29162696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5271056809999 meters 0.04956788022540227 Centerline is valid? [True, True] Translation: X:178.34, Y:183.26, Z:12.92 [[ 8.55054463e-01 5.17816945e-01 -2.73400235e-02 1.78344350e+02] [-5.17634042e-01 8.55488534e-01 1.39415289e-02 1.83261238e+02] [ 3.06082366e-02 2.23136041e-03 9.99528968e-01 1.29180283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.55710568099994 meters 0.04934738844032493 Centerline is valid? [True, True] Translation: X:178.37, Y:183.25, Z:12.92 [[ 8.54444920e-01 5.18782992e-01 -2.80728650e-02 1.78369108e+02] [-5.18590849e-01 8.54902784e-01 1.43094862e-02 1.83245825e+02] [ 3.14230885e-02 2.33166306e-03 9.99503453e-01 1.29183099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5871056809999 meters 0.04907127116822001 Centerline is valid? [True, True] Translation: X:178.39, Y:183.23, Z:12.92 [[ 8.54193693e-01 5.19160090e-01 -2.87391053e-02 1.78392874e+02] [-5.18959332e-01 8.54673612e-01 1.46365605e-02 1.83228711e+02] [ 3.21612730e-02 2.41196927e-03 9.99479782e-01 1.29191876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.61710568099994 meters 0.053120758788345615 Centerline is valid? [True, True] Translation: X:178.42, Y:183.22, Z:12.92 [[ 8.54243534e-01 5.19130083e-01 -2.77838241e-02 1.78418264e+02] [-5.18942739e-01 8.54692042e-01 1.41403009e-02 1.83219929e+02] [ 3.10872689e-02 2.33895311e-03 9.99513937e-01 1.29198860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6471056809999 meters 0.04962128963370807 Centerline is valid? [True, True] Translation: X:178.44, Y:183.20, Z:12.92 [[ 8.55021873e-01 5.17929549e-01 -2.62026631e-02 1.78439234e+02] [-5.17762570e-01 8.55420523e-01 1.33285491e-02 1.83197249e+02] [ 2.93175452e-02 2.17055712e-03 9.99567792e-01 1.29229950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6771056809999 meters 0.05028523438185528 Centerline is valid? [True, True] Translation: X:178.46, Y:183.18, Z:12.92 [[ 8.55367173e-01 5.17384383e-01 -2.56982488e-02 1.78464209e+02] [-5.17223838e-01 8.55750494e-01 1.30611593e-02 1.83183688e+02] [ 2.87489290e-02 2.11965995e-03 9.99584417e-01 1.29238518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7071056809999 meters 0.04816567522875099 Centerline is valid? [True, True] Translation: X:178.49, Y:183.16, Z:12.92 [[ 8.56217746e-01 5.15966620e-01 -2.58769843e-02 1.78486367e+02] [-5.15803444e-01 8.56606130e-01 1.31432230e-02 1.83164415e+02] [ 2.89478478e-02 2.09397683e-03 9.99578730e-01 1.29247623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7371056809999 meters 0.04863188507533999 Centerline is valid? [True, True] Translation: X:178.51, Y:183.15, Z:12.93 [[ 8.56889550e-01 5.14861155e-01 -2.56571520e-02 1.78510527e+02] [-5.14700359e-01 8.57271147e-01 1.30277125e-02 1.83150093e+02] [ 2.87025993e-02 2.04243468e-03 9.99585909e-01 1.29256931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7671056809999 meters 0.047694630668123926 Centerline is valid? [True, True] Translation: X:178.53, Y:183.13, Z:12.93 [[ 8.58493468e-01 5.12274914e-01 -2.37355867e-02 1.78533229e+02] [-5.12136474e-01 8.58819609e-01 1.20462059e-02 1.83130093e+02] [ 2.65555563e-02 1.81427057e-03 9.99645693e-01 1.29275431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7971056809999 meters 0.045201321313425545 Centerline is valid? [True, True] Translation: X:178.55, Y:183.11, Z:12.93 [[ 8.60700356e-01 5.08573988e-01 -2.33964971e-02 1.78554869e+02] [-5.08438308e-01 8.61016649e-01 1.18666496e-02 1.83108873e+02] [ 2.61798428e-02 1.68204588e-03 9.99655834e-01 1.29266938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8271056809999 meters 0.043806615415604835 Centerline is valid? [True, True] Translation: X:178.58, Y:183.09, Z:12.93 [[ 8.61949967e-01 5.06424438e-01 -2.40112968e-02 1.78578685e+02] [-5.06280815e-01 8.62282740e-01 1.21742784e-02 1.83091067e+02] [ 2.68698789e-02 1.66284002e-03 9.99637557e-01 1.29270035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8571056809999 meters 0.04142771320113746 Centerline is valid? [True, True] Translation: X:178.60, Y:183.07, Z:12.92 [[ 8.64465555e-01 5.02056184e-01 -2.52763364e-02 1.78600353e+02] [-5.01895402e-01 8.64833499e-01 1.28071897e-02 1.83067925e+02] [ 2.82897512e-02 1.61470269e-03 9.99598461e-01 1.29240667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8871056809999 meters 0.038883104620002065 Centerline is valid? [True, True] Translation: X:178.62, Y:183.05, Z:12.92 [[ 8.67647915e-01 4.96443300e-01 -2.70397128e-02 1.78621600e+02] [-4.96256675e-01 8.68067795e-01 1.36973270e-02 1.83046159e+02] [ 3.02722500e-02 1.53418072e-03 9.99540513e-01 1.29210207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.9171056809999 meters 0.037447212566903185 Centerline is valid? [True, True] Translation: X:178.65, Y:183.03, Z:12.92 [[ 8.69192767e-01 4.93670881e-01 -2.81601804e-02 1.78645134e+02] [-4.93467108e-01 8.69647522e-01 1.42618925e-02 1.83029021e+02] [ 3.15301122e-02 1.49978898e-03 9.99501677e-01 1.29211121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.9471056809999 meters 0.034079121890965396 Centerline is valid? [True, True] Translation: X:178.67, Y:183.01, Z:12.92 [[ 8.72427684e-01 4.87997501e-01 -2.69884184e-02 1.78667061e+02] [-4.87807775e-01 8.72844138e-01 1.36633086e-02 1.83006333e+02] [ 3.02243433e-02 1.24491162e-03 9.99542365e-01 1.29236372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.9771056809999 meters 0.03300880909756415 Centerline is valid? [True, True] Translation: X:178.69, Y:182.99, Z:12.92 [[ 8.74002930e-01 4.85192513e-01 -2.65914093e-02 1.78689657e+02] [-4.85007261e-01 8.74406616e-01 1.34545810e-02 1.82989579e+02] [ 2.97797662e-02 1.13768340e-03 9.99555837e-01 1.29238215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.0071056809999 meters 0.030171512401029874 Centerline is valid? [True, True] Translation: X:178.71, Y:182.97, Z:12.92 [[ 8.76878495e-01 4.79898042e-01 -2.79637896e-02 1.78711602e+02] [-4.79690668e-01 8.77323683e-01 1.41428104e-02 1.82967007e+02] [ 3.13204019e-02 1.01244254e-03 9.99508883e-01 1.29234798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.0371056809999 meters 0.02815271393362104 Centerline is valid? [True, True] Translation: X:178.73, Y:182.95, Z:12.92 [[ 8.78489315e-01 4.76919489e-01 -2.83606113e-02 1.78734898e+02] [-4.76704974e-01 8.78946494e-01 1.43327746e-02 1.82948688e+02] [ 3.17630394e-02 9.28455083e-04 9.99494996e-01 1.29242397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.06710568099993 meters 0.02777466604341319 Centerline is valid? [True, True] Translation: X:178.76, Y:182.93, Z:12.93 [[ 8.80064867e-01 4.74058748e-01 -2.74615028e-02 1.78757964e+02] [-4.73856499e-01 8.80492847e-01 1.38695966e-02 1.82933549e+02] [ 3.07546604e-02 8.06666887e-04 9.99526638e-01 1.29271667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.0971056809999 meters 0.027911700859939506 Centerline is valid? [True, True] Translation: X:178.78, Y:182.92, Z:12.93 [[ 8.80166840e-01 4.73925952e-01 -2.64674612e-02 1.78783025e+02] [-4.73738204e-01 8.80564357e-01 1.33614096e-02 1.82920591e+02] [ 2.96386217e-02 7.78377905e-04 9.99560376e-01 1.29289308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.12710568099993 meters 0.028656994519583336 Centerline is valid? [True, True] Translation: X:178.81, Y:182.91, Z:12.93 [[ 8.79471803e-01 4.75185448e-01 -2.69840099e-02 1.78808812e+02] [-4.74991243e-01 8.79885261e-01 1.36105553e-02 1.82908317e+02] [ 3.02103705e-02 8.47068797e-04 9.99543204e-01 1.29288278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.1571056809999 meters 0.029375432040383474 Centerline is valid? [True, True] Translation: X:178.83, Y:182.90, Z:12.93 [[ 8.79356550e-01 4.75380639e-01 -2.73002889e-02 1.78834656e+02] [-4.75182269e-01 8.79779794e-01 1.37595301e-02 1.82896473e+02] [ 3.05592567e-02 8.73080260e-04 9.99532576e-01 1.29282585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.18710568099993 meters 0.027002076803079283 Centerline is valid? [True, True] Translation: X:178.86, Y:182.88, Z:12.93 [[ 8.80110212e-01 4.74043201e-01 -2.62499046e-02 1.78858481e+02] [-4.73859505e-01 8.80501220e-01 1.32201263e-02 1.82879607e+02] [ 2.93799841e-02 8.03598625e-04 9.99567992e-01 1.29310769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.2171056809999 meters 0.025619194811812317 Centerline is valid? [True, True] Translation: X:178.88, Y:182.86, Z:12.93 [[ 8.81782123e-01 4.71024940e-01 -2.44088776e-02 1.78882464e+02] [-4.70865213e-01 8.82119645e-01 1.22834562e-02 1.82862685e+02] [ 2.73173647e-02 6.61959283e-04 9.99626592e-01 1.29331376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.24710568099994 meters 0.024743821260176685 Centerline is valid? [True, True] Translation: X:178.91, Y:182.85, Z:12.93 [[ 8.82975688e-01 4.68800211e-01 -2.40893504e-02 1.78907826e+02] [-4.68644067e-01 8.83304030e-01 1.21131363e-02 1.82847999e+02] [ 2.69568612e-02 5.93726247e-04 9.99636421e-01 1.29343053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.2771056809999 meters 0.022848024267580824 Centerline is valid? [True, True] Translation: X:178.93, Y:182.83, Z:12.93 [[ 8.85849306e-01 4.63370646e-01 -2.36357947e-02 1.78930247e+02] [-4.63218591e-01 8.86164467e-01 1.18774976e-02 1.82831436e+02] [ 2.64488851e-02 4.26866495e-04 9.99650076e-01 1.29341426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.30710568099994 meters 0.022295528810352495 Centerline is valid? [True, True] Translation: X:178.95, Y:182.82, Z:12.93 [[ 8.87260078e-01 4.60684892e-01 -2.32160219e-02 1.78954246e+02] [-4.60537355e-01 8.87563695e-01 1.16632952e-02 1.82816572e+02] [ 2.59788020e-02 3.43469098e-04 9.99662435e-01 1.29348173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3371056809999 meters 0.021032959411696736 Centerline is valid? [True, True] Translation: X:178.98, Y:182.80, Z:12.94 [[ 8.90351526e-01 4.54777432e-01 -2.12520161e-02 1.78977563e+02] [-4.54652198e-01 8.90605110e-01 1.06731987e-02 1.82799473e+02] [ 2.37810840e-02 1.59377049e-04 9.99717177e-01 1.29381944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.36710568099994 meters 0.02048561032869314 Centerline is valid? [True, True] Translation: X:179.00, Y:182.78, Z:12.94 [[ 8.92283893e-01 4.51012263e-01 -2.04301859e-02 1.79001847e+02] [-4.50895714e-01 8.92517750e-01 1.02528395e-02 1.82784271e+02] [ 2.28584599e-02 6.34396631e-05 9.99738709e-01 1.29397654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3971056809999 meters 0.020554367033022693 Centerline is valid? [True, True] Translation: X:179.02, Y:182.77, Z:12.94 [[ 8.95822590e-01 4.44031350e-01 -1.83860913e-02 1.79024160e+02] [-4.43935614e-01 8.96011245e-01 9.22059436e-03 1.82766830e+02] [ 2.05683775e-02 -9.77759981e-05 9.99788444e-01 1.29427775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4271056809999 meters 0.021072946232501808 Centerline is valid? [True, True] Translation: X:179.05, Y:182.75, Z:12.94 [[ 8.97608813e-01 4.40489052e-01 -1.63649929e-02 1.79047970e+02] [-4.40412656e-01 8.97757968e-01 8.20506198e-03 1.82751818e+02] [ 1.83060427e-02 -1.57585981e-04 9.99832418e-01 1.29448294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4571056809999 meters 0.02271894353987866 Centerline is valid? [True, True] Translation: X:179.07, Y:182.74, Z:12.95 [[ 9.00371280e-01 4.34921575e-01 -1.32204780e-02 1.79071368e+02] [-4.34871135e-01 9.00468309e-01 6.62716908e-03 1.82736869e+02] [ 1.47869203e-02 -2.17708449e-04 9.99890644e-01 1.29492847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4871056809999 meters 0.023682319009353955 Centerline is valid? [True, True] Translation: X:179.10, Y:182.73, Z:12.95 [[ 9.01458673e-01 4.32652855e-01 -1.35561249e-02 1.79097682e+02] [-4.32599593e-01 9.01560558e-01 6.79357680e-03 1.82726526e+02] [ 1.51609279e-02 -2.59754613e-04 9.99885033e-01 1.29505850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5171056809999 meters 0.022776020834455714 Centerline is valid? [True, True] Translation: X:179.12, Y:182.72, Z:12.95 [[ 9.01343592e-01 4.32880398e-01 -1.39387855e-02 1.79124984e+02] [-4.32824120e-01 9.01451326e-01 6.98488444e-03 1.82718523e+02] [ 1.55887562e-02 -2.62738269e-04 9.99878453e-01 1.29501606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5471056809999 meters 0.02287406724364722 Centerline is valid? [True, True] Translation: X:179.15, Y:182.71, Z:12.95 [[ 9.00513324e-01 4.34622204e-01 -1.33900066e-02 1.79152148e+02] [-4.34570569e-01 9.00612843e-01 6.70284487e-03 1.82710480e+02] [ 1.49724171e-02 -2.17098343e-04 9.99887884e-01 1.29490363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5771056809999 meters 0.02194253377352272 Centerline is valid? [True, True] Translation: X:179.18, Y:182.70, Z:12.95 [[ 8.99630549e-01 4.36407344e-01 -1.46118511e-02 1.79180550e+02] [-4.36346110e-01 8.99749181e-01 7.31324749e-03 1.82702863e+02] [ 1.63385560e-02 -2.03396442e-04 9.99866496e-01 1.29476526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.6071056809999 meters 0.021075938509133366 Centerline is valid? [True, True] Translation: X:179.21, Y:182.70, Z:12.95 [[ 8.98134617e-01 4.39426553e-01 -1.60783522e-02 1.79209846e+02] [-4.39353021e-01 8.98278509e-01 8.04011530e-03 1.82699046e+02] [ 1.79758784e-02 -1.57033279e-04 9.99838409e-01 1.29480602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.6371056809999 meters 0.02069657044173164 Centerline is valid? [True, True] Translation: X:179.24, Y:182.69, Z:12.95 [[ 8.96670906e-01 4.42360748e-01 -1.72700412e-02 1.79238800e+02] [-4.42276520e-01 8.96837197e-01 8.63261111e-03 1.82692056e+02] [ 1.93071437e-02 -1.02477491e-04 9.99813594e-01 1.29480076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.6671056809999 meters 0.020310192463210544 Centerline is valid? [True, True] Translation: X:179.27, Y:182.69, Z:12.95 [[ 8.93346959e-01 4.48897933e-01 -2.05391544e-02 1.79269194e+02] [-4.48780723e-01 8.93583036e-01 1.02576786e-02 1.82691393e+02] [ 2.29580907e-02 5.39106302e-05 9.99736427e-01 1.29453563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.6971056809999 meters 0.02214527629922513 Centerline is valid? [True, True] Translation: X:179.30, Y:182.69, Z:12.94 [[ 8.88844283e-01 4.57659139e-01 -2.24488916e-02 1.79298801e+02] [-4.57522151e-01 8.89127670e-01 1.12012376e-02 1.82688806e+02] [ 2.50862794e-02 3.14709201e-04 9.99685240e-01 1.29416882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.7271056809999 meters 0.023410781393565262 Centerline is valid? [True, True] Translation: X:179.33, Y:182.68, Z:12.94 [[ 8.86896257e-01 4.61425837e-01 -2.23880770e-02 1.79326076e+02] [-4.61290900e-01 8.87178684e-01 1.11663771e-02 1.82681005e+02] [ 2.50146796e-02 4.23998124e-04 9.99686994e-01 1.29422913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.7571056809999 meters 0.025862227547003836 Centerline is valid? [True, True] Translation: X:179.36, Y:182.68, Z:12.94 [[ 8.83400855e-01 4.68088554e-01 -2.22718329e-02 1.79356480e+02] [-4.67957196e-01 8.83681352e-01 1.11054473e-02 1.82676087e+02] [ 2.48795362e-02 6.11702887e-04 9.99690269e-01 1.29440529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.7871056809999 meters 0.02893366672178614 Centerline is valid? [True, True] Translation: X:179.39, Y:182.67, Z:12.94 [[ 8.80817079e-01 4.72896189e-01 -2.30318920e-02 1.79385922e+02] [-4.72757411e-01 8.81117809e-01 1.14819840e-02 1.82671840e+02] [ 2.57235967e-02 7.74970030e-04 9.99668793e-01 1.29437836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.81710568099993 meters 0.027568470702235465 Centerline is valid? [True, True] Translation: X:179.41, Y:182.66, Z:12.94 [[ 8.80393788e-01 4.73682809e-01 -2.30515788e-02 1.79410352e+02] [-4.73544175e-01 8.80695153e-01 1.14874635e-02 1.82656722e+02] [ 2.57428276e-02 8.02449377e-04 9.99668276e-01 1.29449927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.8471056809999 meters 0.029037288077296608 Centerline is valid? [True, True] Translation: X:179.44, Y:182.65, Z:12.95 [[ 8.79697755e-01 4.74988651e-01 -2.27517499e-02 1.79436511e+02] [-4.74854248e-01 8.79991523e-01 1.13297014e-02 1.82646191e+02] [ 2.54028266e-02 8.37052182e-04 9.99676946e-01 1.29455326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87710568099993 meters 0.027546497209906994 Centerline is valid? [True, True] Translation: X:179.46, Y:182.63, Z:12.95 [[ 8.80476423e-01 4.73639164e-01 -2.06690926e-02 1.79460573e+02] [-4.73527950e-01 8.80718691e-01 1.02892231e-02 1.82629288e+02] [ 2.30770352e-02 7.27974710e-04 9.99733425e-01 1.29483396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.9071056809999 meters 0.027842347536901305 Centerline is valid? [True, True] Translation: X:179.48, Y:182.62, Z:12.95 [[ 8.80843768e-01 4.72992465e-01 -1.98086954e-02 1.79484246e+02] [-4.72890326e-01 8.81066203e-01 9.85318771e-03 1.82615492e+02] [ 2.21132556e-02 6.88221424e-04 9.99755235e-01 1.29491689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.93710568099993 meters 0.02623582926578121 Centerline is valid? [True, True] Translation: X:179.51, Y:182.60, Z:12.95 [[ 8.82736508e-01 4.69479609e-01 -1.91090106e-02 1.79506827e+02] [-4.69383821e-01 8.82943122e-01 9.50112169e-03 1.82596791e+02] [ 2.13327524e-02 5.82473451e-04 9.99772261e-01 1.29510265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.9671056809999 meters 0.023555398367255 Centerline is valid? [True, True] Translation: X:179.53, Y:182.58, Z:12.95 [[ 8.86152253e-01 4.63002452e-01 -1.90502924e-02 1.79527676e+02] [-4.62905798e-01 8.86356896e-01 9.46969791e-03 1.82575660e+02] [ 2.12698514e-02 4.26896657e-04 9.99773680e-01 1.29517464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.99710568099994 meters 0.023555398367255 Centerline is valid? [True, True] Translation: X:179.55, Y:182.56, Z:12.95 [[ 8.86324021e-01 4.62673517e-01 -1.90511547e-02 1.79552289e+02] [-4.62576824e-01 8.86528646e-01 9.46796273e-03 1.82563669e+02] [ 2.12699700e-02 4.20939843e-04 9.99773680e-01 1.29523155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0271056809999 meters 0.022555168201532198 Centerline is valid? [True, True] Translation: X:179.58, Y:182.55, Z:12.95 [[ 8.88368062e-01 4.58732511e-01 -1.91486422e-02 1.79575068e+02] [-4.58634095e-01 8.88574347e-01 9.50768291e-03 1.82546270e+02] [ 2.13764755e-02 3.35898338e-04 9.99771441e-01 1.29530721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.05710568099994 meters 0.01991320154129965 Centerline is valid? [True, True] Translation: X:179.59, Y:182.52, Z:12.96 [[ 8.93341041e-01 4.49036725e-01 -1.75443215e-02 1.79594016e+02] [-4.48952277e-01 8.93513296e-01 8.70879466e-03 1.82519945e+02] [ 1.95866531e-02 9.66393739e-05 9.99808158e-01 1.29556670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0871056809999 meters 0.019360041143869456 Centerline is valid? [True, True] Translation: X:179.62, Y:182.50, Z:12.96 [[ 8.95056552e-01 4.45630061e-01 -1.69593009e-02 1.79617408e+02] [-4.45550564e-01 8.95217207e-01 8.41703971e-03 1.82503311e+02] [ 1.89331439e-02 2.24995471e-05 9.99820752e-01 1.29577668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.11710568099994 meters 0.01939585529512884 Centerline is valid? [True, True] Translation: X:179.64, Y:182.49, Z:12.96 [[ 8.95583990e-01 4.44559521e-01 -1.72090016e-02 1.79640788e+02] [-4.44477619e-01 8.95749313e-01 8.53314607e-03 1.82488888e+02] [ 1.92084427e-02 6.86706356e-06 9.99815501e-01 1.29587150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1471056809999 meters 0.019008881526711978 Centerline is valid? [True, True] Translation: X:179.66, Y:182.47, Z:12.96 [[ 8.96836098e-01 4.41954427e-01 -1.90078500e-02 1.79664107e+02] [-4.41854009e-01 8.97037503e-01 9.42086712e-03 1.82472974e+02] [ 2.12143482e-02 -5.02789970e-05 9.99774949e-01 1.29576854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1771056809999 meters 0.019185480379387606 Centerline is valid? [True, True] Translation: X:179.69, Y:182.46, Z:12.96 [[ 8.97982848e-01 4.39563865e-01 -2.02586704e-02 1.79687124e+02] [-4.39449390e-01 8.98211332e-01 1.00317525e-02 1.82456742e+02] [ 2.26061632e-02 -1.05681357e-04 9.99744442e-01 1.29567444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2071056809999 meters 0.01948770768834532 Centerline is valid? [True, True] Translation: X:179.71, Y:182.44, Z:12.96 [[ 8.99566007e-01 4.36326161e-01 -2.00119880e-02 1.79711311e+02] [-4.36213723e-01 8.99788558e-01 9.90653367e-03 1.82440695e+02] [ 2.23290376e-02 -1.82077133e-04 9.99750659e-01 1.29575479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2371056809999 meters 0.020879949719994594 Centerline is valid? [True, True] Translation: X:179.73, Y:182.42, Z:12.96 [[ 9.02465326e-01 4.30263644e-01 -2.07251678e-02 1.79733081e+02] [-4.30141634e-01 9.02703209e-01 1.02514180e-02 1.82419321e+02] [ 2.31194880e-02 -3.36791761e-04 9.99732652e-01 1.29572843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2671056809999 meters 0.021727148561896243 Centerline is valid? [True, True] Translation: X:179.76, Y:182.40, Z:12.96 [[ 9.03632463e-01 4.27787182e-01 -2.11305055e-02 1.79757459e+02] [-4.27659866e-01 9.03879398e-01 1.04437895e-02 1.82403402e+02] [ 2.35671479e-02 -4.00678107e-04 9.99722176e-01 1.29577355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2971056809999 meters 0.022021090760695416 Centerline is valid? [True, True] Translation: X:179.78, Y:182.39, Z:12.96 [[ 9.05667712e-01 4.23475915e-01 -2.08361192e-02 1.79783232e+02] [-4.23351160e-01 9.05907225e-01 1.02905130e-02 1.82391083e+02] [ 2.32333754e-02 -4.98790125e-04 9.99729944e-01 1.29599364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3271056809999 meters 0.021966064101434542 Centerline is valid? [True, True] Translation: X:179.81, Y:182.38, Z:12.96 [[ 9.05326113e-01 4.24222189e-01 -2.04978963e-02 1.79808969e+02] [-4.24101821e-01 9.05558015e-01 1.01157152e-02 1.82379463e+02] [ 2.28533451e-02 -4.64825930e-04 9.99738720e-01 1.29618513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3571056809999 meters 0.02061892737881341 Centerline is valid? [True, True] Translation: X:179.84, Y:182.37, Z:12.96 [[ 9.03565320e-01 4.28038676e-01 -1.87777682e-02 1.79838051e+02] [-4.27938539e-01 9.03760355e-01 9.26431535e-03 1.82372822e+02] [ 2.09360878e-02 -3.35183362e-04 9.99780760e-01 1.29647850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3871056809999 meters 0.019915353894656714 Centerline is valid? [True, True] Translation: X:179.87, Y:182.36, Z:12.97 [[ 9.01566995e-01 4.32230946e-01 -1.87979439e-02 1.79865343e+02] [-4.32131662e-01 9.01762915e-01 9.26665251e-03 1.82364537e+02] [ 2.09566227e-02 -2.31321305e-04 9.99780359e-01 1.29654638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.4171056809999 meters 0.01875746730917503 Centerline is valid? [True, True] Translation: X:179.90, Y:182.36, Z:12.97 [[ 8.98629471e-01 4.38362020e-01 -1.74302483e-02 1.79895207e+02] [-4.38277848e-01 8.98798494e-01 8.59041008e-03 1.82360322e+02] [ 1.94319904e-02 -8.03039631e-05 9.99811178e-01 1.29658389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.4471056809999 meters 0.018786420679341016 Centerline is valid? [True, True] Translation: X:179.93, Y:182.36, Z:12.97 [[ 8.95370060e-01 4.45027699e-01 -1.62111979e-02 1.79925179e+02] [-4.44956080e-01 8.95516802e-01 7.98400206e-03 1.82357333e+02] [ 1.80705021e-02 6.46346486e-05 9.99836713e-01 1.29673643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.4771056809999 meters 0.019516314069839637 Centerline is valid? [True, True] Translation: X:179.95, Y:182.35, Z:12.97 [[ 8.92998638e-01 4.49811510e-01 -1.49344966e-02 1.79954075e+02] [-4.49751498e-01 8.93123498e-01 7.34902759e-03 1.82350293e+02] [ 1.66440271e-02 1.54140610e-04 9.99861467e-01 1.29688407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.5071056809999 meters 0.022531597951088705 Centerline is valid? [True, True] Translation: X:179.99, Y:182.35, Z:12.97 [[ 8.87772498e-01 4.60047929e-01 -1.46933519e-02 1.79986030e+02] [-4.59991348e-01 8.87894016e-01 7.22330553e-03 1.82349476e+02] [ 1.63692060e-02 3.46162748e-04 9.99865956e-01 1.29698556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.5371056809999 meters 0.024038511783282278 Centerline is valid? [True, True] Translation: X:180.01, Y:182.34, Z:12.97 [[ 8.85374365e-01 4.64604922e-01 -1.59530452e-02 1.80014752e+02] [-4.64538978e-01 8.85517954e-01 7.84163409e-03 1.82340042e+02] [ 1.77699697e-02 4.68029499e-04 9.99841992e-01 1.29678460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.56710568099993 meters 0.02707757056287097 Centerline is valid? [True, True] Translation: X:180.04, Y:182.33, Z:12.96 [[ 8.82252574e-01 4.70388662e-01 -1.91024182e-02 1.80042541e+02] [-4.70295604e-01 8.82459069e-01 9.38281121e-03 1.82330962e+02] [ 2.12706702e-02 7.05773967e-04 9.99773505e-01 1.29625772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.5971056809999 meters 0.027692154244852028 Centerline is valid? [True, True] Translation: X:180.07, Y:182.32, Z:12.96 [[ 8.81890612e-01 4.71063727e-01 -1.91810814e-02 1.80067812e+02] [-4.70970096e-01 8.82098882e-01 9.41972057e-03 1.82318375e+02] [ 2.13568991e-02 7.26552618e-04 9.99771651e-01 1.29625018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.62710568099993 meters 0.02744274365653161 Centerline is valid? [True, True] Translation: X:180.09, Y:182.30, Z:12.96 [[ 8.82324639e-01 4.70283575e-01 -1.83464204e-02 1.80091912e+02] [-4.70197798e-01 8.82515098e-01 9.00734218e-03 1.82301939e+02] [ 2.04269981e-02 6.79046559e-04 9.99791117e-01 1.29619401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.6571056809999 meters 0.02559137992079619 Centerline is valid? [True, True] Translation: X:180.11, Y:182.28, Z:12.96 [[ 8.83940277e-01 4.67210248e-01 -1.90832567e-02 1.80114079e+02] [-4.67116894e-01 8.84146015e-01 9.36119249e-03 1.82281983e+02] [ 2.12460304e-02 6.39376524e-04 9.99774073e-01 1.29595934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.68710568099993 meters 0.025666062773958012 Centerline is valid? [True, True] Translation: X:180.14, Y:182.27, Z:12.96 [[ 8.84354919e-01 4.66360319e-01 -2.06017179e-02 1.80139163e+02] [-4.66251357e-01 8.84594598e-01 1.01029465e-02 1.82266892e+02] [ 2.29357817e-02 6.70988487e-04 9.99736715e-01 1.29587497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.7171056809999 meters 0.023444050197933206 Centerline is valid? [True, True] Translation: X:180.16, Y:182.25, Z:12.96 [[ 8.86885699e-01 4.61438489e-01 -2.25450348e-02 1.80161148e+02] [-4.61306625e-01 8.87172000e-01 1.10471726e-02 1.82248423e+02] [ 2.50989142e-02 6.02594563e-04 9.99684791e-01 1.29570878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.74710568099994 meters 0.022890907651144925 Centerline is valid? [True, True] Translation: X:180.18, Y:182.23, Z:12.96 [[ 8.87747957e-01 4.59732616e-01 -2.34411253e-02 1.80184981e+02] [-4.59589586e-01 8.88057197e-01 1.14816139e-02 1.82231936e+02] [ 2.60955324e-02 5.80517747e-04 9.99659285e-01 1.29562133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.7771056809999 meters 0.021063501349510384 Centerline is valid? [True, True] Translation: X:180.21, Y:182.21, Z:12.96 [[ 8.90171884e-01 4.55001041e-01 -2.38342142e-02 1.80205523e+02] [-4.54851687e-01 8.90490789e-01 1.16661046e-02 1.82208029e+02] [ 2.65322379e-02 4.56194239e-04 9.99647854e-01 1.29554299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.80710568099994 meters 0.019988863443542174 Centerline is valid? [True, True] Translation: X:180.23, Y:182.19, Z:12.96 [[ 8.91404368e-01 4.52554156e-01 -2.43513672e-02 1.80228602e+02] [-4.52397455e-01 8.91736833e-01 1.19148305e-02 1.82189980e+02] [ 2.71071171e-02 3.95564613e-04 9.99632456e-01 1.29558936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8371056809999 meters 0.01855076791106252 Centerline is valid? [True, True] Translation: X:180.25, Y:182.17, Z:12.96 [[ 8.94043660e-01 4.47265332e-01 -2.52914566e-02 1.80250628e+02] [-4.47094469e-01 8.94401285e-01 1.23643533e-02 1.82168878e+02] [ 2.81508579e-02 2.53398655e-04 9.99603654e-01 1.29570790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.86710568099994 meters 0.018324440317992165 Centerline is valid? [True, True] Translation: X:180.27, Y:182.15, Z:12.96 [[ 8.95317179e-01 4.44725927e-01 -2.50199664e-02 1.80274829e+02] [-4.44558001e-01 8.95666689e-01 1.22215662e-02 1.82153830e+02] [ 2.78447978e-02 1.80648036e-04 9.99612242e-01 1.29582868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8971056809999 meters 0.01745011408160797 Centerline is valid? [True, True] Translation: X:180.30, Y:182.14, Z:12.96 [[ 8.97449494e-01 4.40388541e-01 -2.53444191e-02 1.80297274e+02] [-4.40214737e-01 8.97807290e-01 1.23715180e-02 1.82136254e+02] [ 2.82026790e-02 5.41741968e-05 9.99602224e-01 1.29598371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9271056809999 meters 0.017326549870320646 Centerline is valid? [True, True] Translation: X:180.32, Y:182.12, Z:12.96 [[ 8.98733826e-01 4.37745916e-01 -2.56129364e-02 1.80320551e+02] [-4.37567502e-01 8.99098722e-01 1.24967497e-02 1.82120111e+02] [ 2.84989595e-02 -2.38630602e-05 9.99593822e-01 1.29597913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9571056809999 meters 0.017803057714087706 Centerline is valid? [True, True] Translation: X:180.34, Y:182.10, Z:12.96 [[ 9.00554191e-01 4.33898194e-01 -2.71017909e-02 1.80341895e+02] [-4.33696991e-01 9.00961895e-01 1.32130149e-02 1.82100354e+02] [ 3.01507842e-02 -1.45070839e-04 9.99545351e-01 1.29567622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9871056809999 meters 0.018141035015826396 Centerline is valid? [True, True] Translation: X:180.37, Y:182.09, Z:12.96 [[ 9.02014824e-01 4.30774669e-01 -2.83273974e-02 1.80366658e+02] [-4.30553517e-01 9.02459484e-01 1.38039588e-02 1.82085195e+02] [ 3.15107242e-02 -2.54914860e-04 9.99503381e-01 1.29568580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0171056809999 meters 0.01967059125091589 Centerline is valid? [True, True] Translation: X:180.39, Y:182.07, Z:12.96 [[ 9.04045653e-01 4.26534856e-01 -2.77393971e-02 1.80389432e+02] [-4.26321076e-01 9.04471043e-01 1.35082516e-02 1.82069418e+02] [ 3.08512216e-02 -3.86186565e-04 9.99523913e-01 1.29583580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0471056809999 meters 0.019469597366898253 Centerline is valid? [True, True] Translation: X:180.42, Y:182.06, Z:12.96 [[ 9.04942661e-01 4.24665766e-01 -2.71618681e-02 1.80415341e+02] [-4.24460173e-01 9.05350098e-01 1.32197731e-02 1.82056271e+02] [ 3.02049850e-02 -4.34005417e-04 9.99543631e-01 1.29621415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0771056809999 meters 0.01915923263030853 Centerline is valid? [True, True] Translation: X:180.44, Y:182.05, Z:12.97 [[ 9.04751115e-01 4.25251373e-01 -2.42216822e-02 1.80441576e+02] [-4.25088339e-01 9.05075212e-01 1.17798687e-02 1.82045220e+02] [ 2.69318494e-02 -3.61494674e-04 9.99637207e-01 1.29673402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.1071056809999 meters 0.01886684288280443 Centerline is valid? [True, True] Translation: X:180.47, Y:182.04, Z:12.97 [[ 9.03268437e-01 4.28576325e-01 -2.06994021e-02 1.80468177e+02] [-4.28458290e-01 9.03505554e-01 1.00601917e-02 1.82037117e+02] [ 2.30135848e-02 -2.18223180e-04 9.99735129e-01 1.29715488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.1371056809999 meters 0.018508289262930355 Centerline is valid? [True, True] Translation: X:180.50, Y:182.03, Z:12.97 [[ 9.02212249e-01 4.30840504e-01 -1.97362342e-02 1.80495363e+02] [-4.30733804e-01 9.02428079e-01 9.58915377e-03 1.82027381e+02] [ 2.19419277e-02 -1.50388750e-04 9.99759236e-01 1.29726355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.1671056809999 meters 0.018374631640851184 Centerline is valid? [True, True] Translation: X:180.52, Y:182.02, Z:12.98 [[ 8.99787215e-01 4.35995404e-01 -1.70579892e-02 1.80523812e+02] [-4.35916741e-01 8.99948892e-01 8.28175821e-03 1.82021625e+02] [ 1.89621270e-02 -1.59571148e-05 9.99820203e-01 1.29756781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.1971056809999 meters 0.01845275211386453 Centerline is valid? [True, True] Translation: X:180.55, Y:182.01, Z:12.98 [[ 8.98891830e-01 4.37920869e-01 -1.47915742e-02 1.80550606e+02] [-4.37861989e-01 8.99013522e-01 7.18097456e-03 1.82012714e+02] [ 1.64425238e-02 2.17487487e-05 9.99864812e-01 1.29779908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.2271056809999 meters 0.019106959193131025 Centerline is valid? [True, True] Translation: X:180.58, Y:182.01, Z:12.98 [[ 8.96752739e-01 4.42315929e-01 -1.38254611e-02 1.80578329e+02] [-4.42265126e-01 8.96859302e-01 6.70448113e-03 1.82006871e+02] [ 1.53649922e-02 1.02257480e-04 9.99881946e-01 1.29793124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.2571056809999 meters 0.020292066038955187 Centerline is valid? [True, True] Translation: X:180.61, Y:182.00, Z:12.98 [[ 8.93892192e-01 4.48052633e-01 -1.43382847e-02 1.80608080e+02] [-4.47998743e-01 8.94007156e-01 6.95213302e-03 1.82002843e+02] [ 1.59334506e-02 2.09076070e-04 9.99873033e-01 1.29780589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.2871056809999 meters 0.02137530800440985 Centerline is valid? [True, True] Translation: X:180.64, Y:181.99, Z:12.98 [[ 8.92470683e-01 4.50859795e-01 -1.48837154e-02 1.80635825e+02] [-4.50802220e-01 8.92594740e-01 7.21030449e-03 1.81994545e+02] [ 1.65359625e-02 2.74626580e-04 9.99863234e-01 1.29771414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.31710568099993 meters 0.023746960204915287 Centerline is valid? [True, True] Translation: X:180.67, Y:181.99, Z:12.97 [[ 8.89213760e-01 4.57138850e-01 -1.79711053e-02 1.80665311e+02] [-4.57056366e-01 8.89395211e-01 8.69695702e-03 1.81987397e+02] [ 1.99591319e-02 4.80354230e-04 9.99800681e-01 1.29741052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.3471056809999 meters 0.025773505861156756 Centerline is valid? [True, True] Translation: X:180.69, Y:181.98, Z:12.97 [[ 8.87402481e-01 4.60574287e-01 -1.97018254e-02 1.80692829e+02] [-4.60476028e-01 8.87620950e-01 9.53294315e-03 1.81977943e+02] [ 2.18783815e-02 6.12660914e-04 9.99760452e-01 1.29719829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37710568099993 meters 0.028622250101530515 Centerline is valid? [True, True] Translation: X:180.72, Y:181.97, Z:12.97 [[ 8.84640241e-01 4.65715313e-01 -2.28230566e-02 1.80720550e+02] [-4.65585382e-01 8.84934178e-01 1.10341617e-02 1.81968632e+02] [ 2.53356809e-02 8.64818077e-04 9.99678626e-01 1.29695413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.4071056809999 meters 0.030691730331006195 Centerline is valid? [True, True] Translation: X:180.75, Y:181.96, Z:12.97 [[ 8.83813320e-01 4.67257279e-01 -2.33377435e-02 1.80747250e+02] [-4.67122017e-01 8.84120901e-01 1.12806814e-02 1.81959261e+02] [ 2.59043673e-02 9.31557379e-04 9.99663992e-01 1.29692713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.43710568099993 meters 0.03257801958569008 Centerline is valid? [True, True] Translation: X:180.77, Y:181.95, Z:12.97 [[ 8.82962617e-01 4.68790083e-01 -2.47563132e-02 1.80772576e+02] [-4.68638595e-01 8.83308993e-01 1.19620556e-02 1.81948792e+02] [ 2.74751671e-02 1.03971587e-03 9.99621946e-01 1.29685076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.4671056809999 meters 0.033147504865264216 Centerline is valid? [True, True] Translation: X:180.80, Y:181.94, Z:12.97 [[ 8.82848789e-01 4.68970363e-01 -2.53931806e-02 1.80798211e+02] [-4.68811256e-01 8.83213245e-01 1.22625699e-02 1.81935239e+02] [ 2.81783753e-02 1.07861388e-03 9.99602329e-01 1.29670678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.49710568099994 meters 0.030362734041941567 Centerline is valid? [True, True] Translation: X:180.82, Y:181.91, Z:12.96 [[ 8.84700022e-01 4.65334457e-01 -2.77437121e-02 1.80819864e+02] [-4.65143010e-01 8.85134295e-01 1.33888264e-02 1.81913782e+02] [ 3.07871933e-02 1.05969873e-03 9.99525400e-01 1.29630226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5271056809999 meters 0.029156652575099695 Centerline is valid? [True, True] Translation: X:180.84, Y:181.90, Z:12.96 [[ 8.86282721e-01 4.62232616e-01 -2.90507623e-02 1.80844050e+02] [-4.62021225e-01 8.86758143e-01 1.40136706e-02 1.81896668e+02] [ 3.22385756e-02 1.00199464e-03 9.99479700e-01 1.29609443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.55710568099994 meters 0.025701035706769355 Centerline is valid? [True, True] Translation: X:180.86, Y:181.87, Z:12.96 [[ 8.90609265e-01 4.53785631e-01 -2.98954692e-02 1.80864631e+02] [-4.53557246e-01 8.91110588e-01 1.44133810e-02 1.81873353e+02] [ 3.31807543e-02 7.22616062e-04 9.99449106e-01 1.29601769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5871056809999 meters 0.02349627688927939 Centerline is valid? [True, True] Translation: X:180.89, Y:181.85, Z:12.96 [[ 8.93090732e-01 4.48879314e-01 -2.99383641e-02 1.80887138e+02] [-4.48647598e-01 8.93592226e-01 1.44314411e-02 1.81854539e+02] [ 3.32306648e-02 5.43188802e-04 9.99447561e-01 1.29611830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.61710568099994 meters 0.021631158071685953 Centerline is valid? [True, True] Translation: X:180.91, Y:181.83, Z:12.96 [[ 8.96122399e-01 4.42709997e-01 -3.11849962e-02 1.80906749e+02] [-4.42454962e-01 8.96664792e-01 1.50285597e-02 1.81832118e+02] [ 3.46157818e-02 3.30527328e-04 9.99400640e-01 1.29617474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6471056809999 meters 0.021464584278900464 Centerline is valid? [True, True] Translation: X:180.93, Y:181.81, Z:12.96 [[ 8.97182987e-01 4.40644780e-01 -2.99143061e-02 1.80928201e+02] [-4.40409091e-01 8.97681524e-01 1.44122912e-02 1.81813320e+02] [ 3.32042207e-02 2.44069836e-04 9.99448558e-01 1.29642886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6771056809999 meters 0.021033464087504953 Centerline is valid? [True, True] Translation: X:180.95, Y:181.80, Z:12.97 [[ 8.97585863e-01 4.39850302e-01 -2.95182932e-02 1.80951710e+02] [-4.39620629e-01 8.98071080e-01 1.42140232e-02 1.81798720e+02] [ 3.27615679e-02 2.18544310e-04 9.99463172e-01 1.29682735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7071056809999 meters 0.02186335998403384 Centerline is valid? [True, True] Translation: X:180.98, Y:181.79, Z:12.97 [[ 8.96806761e-01 4.41415458e-01 -2.98333267e-02 1.80976569e+02] [-4.41182065e-01 8.97302797e-01 1.43553160e-02 1.81787044e+02] [ 3.31061859e-02 2.87984241e-04 9.99451799e-01 1.29684523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7371056809999 meters 0.0214197490229852 Centerline is valid? [True, True] Translation: X:181.00, Y:181.77, Z:12.97 [[ 8.96817210e-01 4.41405337e-01 -2.96685041e-02 1.81000603e+02] [-4.41174765e-01 8.97307775e-01 1.42682844e-02 1.81771739e+02] [ 3.29198762e-02 2.92952370e-04 9.99457951e-01 1.29704929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7671056809999 meters 0.021199216637061816 Centerline is valid? [True, True] Translation: X:181.02, Y:181.75, Z:12.97 [[ 8.97884491e-01 4.39352206e-01 -2.78043306e-02 1.81023641e+02] [-4.39149080e-01 8.98314863e-01 1.33600828e-02 1.81754652e+02] [ 3.08468252e-02 2.14435065e-04 9.99524100e-01 1.29726748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7971056809999 meters 0.0207432427671053 Centerline is valid? [True, True] Translation: X:181.05, Y:181.74, Z:12.98 [[ 8.98988344e-01 4.37151058e-01 -2.68125020e-02 1.81047310e+02] [-4.36961501e-01 8.99388088e-01 1.28730216e-02 1.81738706e+02] [ 2.97422999e-02 1.43334724e-04 9.99557590e-01 1.29754361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8271056809999 meters 0.020525937753788834 Centerline is valid? [True, True] Translation: X:181.07, Y:181.72, Z:12.98 [[ 9.01000844e-01 4.32947368e-01 -2.74600609e-02 1.81069396e+02] [-4.32746864e-01 9.01419201e-01 1.31747968e-02 1.81720733e+02] [ 3.04570198e-02 1.27522439e-05 9.99536077e-01 1.29752805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8571056809999 meters 0.020470073485337113 Centerline is valid? [True, True] Translation: X:181.09, Y:181.70, Z:12.97 [[ 9.02249110e-01 4.30248842e-01 -2.88526800e-02 1.81093552e+02] [-4.30026314e-01 9.02710324e-01 1.38362014e-02 1.81704391e+02] [ 3.19986217e-02 -7.62888029e-05 9.99487910e-01 1.29746539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8871056809999 meters 0.020470073485337113 Centerline is valid? [True, True] Translation: X:181.12, Y:181.69, Z:12.98 [[ 9.02402575e-01 4.29926568e-01 -2.88572276e-02 1.81118374e+02] [-4.29704179e-01 9.02863855e-01 1.38267116e-02 1.81692747e+02] [ 3.19986185e-02 -7.71888260e-05 9.99487910e-01 1.29752245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.9171056809999 meters 0.020269910582602513 Centerline is valid? [True, True] Translation: X:181.14, Y:181.68, Z:12.98 [[ 9.02453923e-01 4.29829153e-01 -2.87021839e-02 1.81143737e+02] [-4.29609505e-01 9.02910236e-01 1.37396777e-02 1.81680542e+02] [ 3.18212097e-02 -6.86950356e-05 9.99493575e-01 1.29769266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.9471056809999 meters 0.02042759136614998 Centerline is valid? [True, True] Translation: X:181.17, Y:181.67, Z:12.98 [[ 9.02166689e-01 4.30487200e-01 -2.78574380e-02 1.81169296e+02] [-4.30280904e-01 9.02596682e-01 1.33256774e-02 1.81669083e+02] [ 3.08805647e-02 -3.54586249e-05 9.99523081e-01 1.29784642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.9771056809999 meters 0.020421201521609356 Centerline is valid? [True, True] Translation: X:181.19, Y:181.66, Z:12.98 [[ 9.00991259e-01 4.33047487e-01 -2.61653317e-02 1.81194891e+02] [-4.32866677e-01 9.01371106e-01 1.25127412e-02 1.81659185e+02] [ 2.90032851e-02 5.22297063e-05 9.99579315e-01 1.29828318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.0071056809999 meters 0.02070745806652854 Centerline is valid? [True, True] Translation: X:181.22, Y:181.65, Z:12.99 [[ 8.99830507e-01 4.35533081e-01 -2.48192051e-02 1.81220830e+02] [-4.35371490e-01 9.00172716e-01 1.18636988e-02 1.81649890e+02] [ 2.75086046e-02 1.30256186e-04 9.99621558e-01 1.29872804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.0371056809999 meters 0.020973415488473854 Centerline is valid? [True, True] Translation: X:181.25, Y:181.64, Z:12.99 [[ 8.98671270e-01 4.37969419e-01 -2.39319272e-02 1.81247497e+02] [-4.37820284e-01 8.98989848e-01 1.14303503e-02 1.81640314e+02] [ 2.65207034e-02 2.05755735e-04 9.99648243e-01 1.29890164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.06710568099993 meters 0.022637187172707827 Centerline is valid? [True, True] Translation: X:181.28, Y:181.63, Z:12.99 [[ 8.95947512e-01 4.43599503e-01 -2.23055356e-02 1.81275974e+02] [-4.43471788e-01 8.96225060e-01 1.06496479e-02 1.81634065e+02] [ 2.47149585e-02 3.50350234e-04 9.99694477e-01 1.29919843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.0971056809999 meters 0.023675774212985667 Centerline is valid? [True, True] Translation: X:181.30, Y:181.63, Z:12.99 [[ 8.94184923e-01 4.47162714e-01 -2.18821938e-02 1.81302988e+02] [-4.47041050e-01 8.94452518e-01 1.04399577e-02 1.81625055e+02] [ 2.42409432e-02 4.46986057e-04 9.99706045e-01 1.29935848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.12710568099993 meters 0.02715923566905527 Centerline is valid? [True, True] Translation: X:181.33, Y:181.62, Z:13.00 [[ 8.90343828e-01 4.54764588e-01 -2.18411901e-02 1.81332585e+02] [-4.54645729e-01 8.90611442e-01 1.04173223e-02 1.81621417e+02] [ 2.41894431e-02 6.55005180e-04 9.99707178e-01 1.29950386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.1571056809999 meters 0.029021327724849503 Centerline is valid? [True, True] Translation: X:181.36, Y:181.61, Z:13.00 [[ 8.88762482e-01 4.57861082e-01 -2.15518000e-02 1.81360331e+02] [-4.57746346e-01 8.89023449e-01 1.02757021e-02 1.81612277e+02] [ 2.38648997e-02 7.32599179e-04 9.99714924e-01 1.29950511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.18710568099993 meters 0.032146982314643135 Centerline is valid? [True, True] Translation: X:181.39, Y:181.60, Z:12.99 [[ 8.85645875e-01 4.63790872e-01 -2.30089372e-02 1.81389198e+02] [-4.63662290e-01 8.85944189e-01 1.09624100e-02 1.81602984e+02] [ 2.54688999e-02 9.59563331e-04 9.99675154e-01 1.29936152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.2171056809999 meters 0.032818319356497413 Centerline is valid? [True, True] Translation: X:181.42, Y:181.59, Z:12.99 [[ 8.84264509e-01 4.66325829e-01 -2.48294084e-02 1.81415837e+02] [-4.66177121e-01 8.84612331e-01 1.18285545e-02 1.81589777e+02] [ 2.74803613e-02 1.11533125e-03 9.99621721e-01 1.29918881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.24710568099994 meters 0.034792782299087326 Centerline is valid? [True, True] Translation: X:181.44, Y:181.58, Z:12.99 [[ 8.82894042e-01 4.68708519e-01 -2.84681219e-02 1.81442568e+02] [-4.68514313e-01 8.83351832e-01 1.35601962e-02 1.81576214e+02] [ 3.15031471e-02 1.36550617e-03 9.99502720e-01 1.29874731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.2771056809999 meters 0.03395905779015927 Centerline is valid? [True, True] Translation: X:181.47, Y:181.56, Z:12.99 [[ 8.83838481e-01 4.66957823e-01 -2.79272538e-02 1.81465982e+02] [-4.66770202e-01 8.84278659e-01 1.32977902e-02 1.81558150e+02] [ 3.09049817e-02 1.28251128e-03 9.99521504e-01 1.29882587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.30710568099994 meters 0.03304764670097346 Centerline is valid? [True, True] Translation: X:181.49, Y:181.54, Z:12.99 [[ 8.85000031e-01 4.64770161e-01 -2.76340960e-02 1.81490357e+02] [-4.64585725e-01 8.85430545e-01 1.31473809e-02 1.81541629e+02] [ 3.05785830e-02 1.20297402e-03 9.99531642e-01 1.29888795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3371056809999 meters 0.031705185086231644 Centerline is valid? [True, True] Translation: X:181.51, Y:181.52, Z:12.99 [[ 8.87528062e-01 4.59887459e-01 -2.82393912e-02 1.81512632e+02] [-4.59692631e-01 8.87976572e-01 1.34273191e-02 1.81522513e+02] [ 3.12509734e-02 1.06431749e-03 9.99511002e-01 1.29890975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.36710568099994 meters 0.029173990533849788 Centerline is valid? [True, True] Translation: X:181.54, Y:181.50, Z:12.99 [[ 8.89125499e-01 4.56807919e-01 -2.79709108e-02 1.81535812e+02] [-4.56615340e-01 8.89564851e-01 1.32968999e-02 1.81504334e+02] [ 3.09560683e-02 9.49334190e-04 9.99520295e-01 1.29911907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3971056809999 meters 0.026633940246947808 Centerline is valid? [True, True] Translation: X:181.56, Y:181.48, Z:12.99 [[ 8.91640174e-01 4.51934169e-01 -2.70796333e-02 1.81558613e+02] [-4.51751496e-01 8.92050970e-01 1.28706115e-02 1.81483891e+02] [ 2.99730823e-02 7.57310544e-04 9.99550419e-01 1.29933114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4271056809999 meters 0.025310230206029016 Centerline is valid? [True, True] Translation: X:181.58, Y:181.47, Z:13.00 [[ 8.92930767e-01 4.49411212e-01 -2.65369099e-02 1.81582633e+02] [-4.49234799e-01 8.93324758e-01 1.26084347e-02 1.81467000e+02] [ 2.93724506e-02 6.62844074e-04 9.99568317e-01 1.29955812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4571056809999 meters 0.023202985345251326 Centerline is valid? [True, True] Translation: X:181.60, Y:181.45, Z:13.00 [[ 8.95730320e-01 4.43784123e-01 -2.68857844e-02 1.81602771e+02] [-4.43600750e-01 8.96133589e-01 1.27657528e-02 1.81445181e+02] [ 2.97584928e-02 4.91882291e-04 9.99556997e-01 1.29958377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4871056809999 meters 0.021541878133821805 Centerline is valid? [True, True] Translation: X:181.63, Y:181.43, Z:13.00 [[ 8.97192949e-01 4.40782661e-01 -2.74856173e-02 1.81626510e+02] [-4.40589787e-01 8.97613770e-01 1.30445070e-02 1.81427329e+02] [ 3.04212611e-02 4.06442592e-04 9.99537084e-01 1.29960988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5171056809999 meters 0.020168182940568675 Centerline is valid? [True, True] Translation: X:181.65, Y:181.41, Z:13.00 [[ 8.99548757e-01 4.35824132e-01 -2.94849168e-02 1.81649049e+02] [-4.35599904e-01 9.00031808e-01 1.39810096e-02 1.81408603e+02] [ 3.26306243e-02 2.67027149e-04 9.99467444e-01 1.29950483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5471056809999 meters 0.01991402538835097 Centerline is valid? [True, True] Translation: X:181.67, Y:181.39, Z:12.99 [[ 9.00282349e-01 4.34097808e-01 -3.24158256e-02 1.81673469e+02] [-4.33826155e-01 9.00865715e-01 1.53567775e-02 1.81392349e+02] [ 3.58686493e-02 2.37397259e-04 9.99356485e-01 1.29916185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5771056809999 meters 0.020424956924921762 Centerline is valid? [True, True] Translation: X:181.70, Y:181.38, Z:12.99 [[ 9.00041545e-01 4.34533585e-01 -3.32532739e-02 1.81698548e+02] [-4.34248371e-01 9.00655589e-01 1.57436272e-02 1.81380689e+02] [ 3.67908818e-02 2.70261494e-04 9.99322950e-01 1.29892328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.6071056809999 meters 0.020390347628493243 Centerline is valid? [True, True] Translation: X:181.72, Y:181.37, Z:12.99 [[ 8.99901838e-01 4.34794259e-01 -3.36249077e-02 1.81723816e+02] [-4.34503127e-01 9.00529770e-01 1.59111622e-02 1.81367869e+02] [ 3.71983124e-02 2.91643505e-04 9.99307861e-01 1.29915062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.6371056809999 meters 0.020932357335617085 Centerline is valid? [True, True] Translation: X:181.75, Y:181.36, Z:12.99 [[ 8.99082034e-01 4.36538535e-01 -3.29485051e-02 1.81749812e+02] [-4.36260661e-01 8.99685485e-01 1.55776909e-02 1.81357501e+02] [ 3.64435542e-02 3.68514581e-04 9.99335645e-01 1.29946381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.6671056809999 meters 0.02213193437856963 Centerline is valid? [True, True] Translation: X:181.78, Y:181.35, Z:13.00 [[ 8.97352413e-01 4.40268194e-01 -3.03737455e-02 1.81777381e+02] [-4.40034606e-01 8.97866180e-01 1.43481086e-02 1.81348896e+02] [ 3.35885747e-02 4.90189288e-04 9.99435624e-01 1.30005115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.6971056809999 meters 0.022501050929071044 Centerline is valid? [True, True] Translation: X:181.80, Y:181.34, Z:13.00 [[ 8.96532431e-01 4.42043217e-01 -2.87644577e-02 1.81803735e+02] [-4.41834991e-01 8.96993593e-01 1.35769996e-02 1.81336980e+02] [ 3.18031549e-02 5.36923448e-04 9.99494008e-01 1.30036759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.7271056809999 meters 0.02336887934233384 Centerline is valid? [True, True] Translation: X:181.83, Y:181.33, Z:13.00 [[ 8.95956196e-01 4.43189611e-01 -2.90768590e-02 1.81829872e+02] [-4.42977811e-01 8.96427697e-01 1.37128686e-02 1.81325845e+02] [ 3.21427027e-02 5.94273798e-04 9.99483113e-01 1.30043493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.7571056809999 meters 0.022524952195411726 Centerline is valid? [True, True] Translation: X:181.86, Y:181.31, Z:13.01 [[ 8.97177972e-01 4.40708273e-01 -2.91187931e-02 1.81855628e+02] [-4.40494912e-01 8.97650239e-01 1.37215455e-02 1.81311981e+02] [ 3.21856902e-02 5.16011843e-04 9.99481773e-01 1.30057432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.7871056809999 meters 0.0221650272353257 Centerline is valid? [True, True] Translation: X:181.88, Y:181.30, Z:13.01 [[ 8.97878000e-01 4.39342231e-01 -2.81691710e-02 1.81881206e+02] [-4.39142201e-01 8.98319649e-01 1.32640784e-02 1.81297634e+02] [ 3.11323896e-02 4.60747536e-04 9.99515163e-01 1.30060462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.81710568099993 meters 0.020812693476911302 Centerline is valid? [True, True] Translation: X:181.90, Y:181.28, Z:13.01 [[ 8.99735208e-01 4.35633665e-01 -2.64549584e-02 1.81904572e+02] [-4.35455915e-01 9.00123995e-01 1.24474649e-02 1.81280068e+02] [ 2.92352776e-02 3.20545699e-04 9.99572507e-01 1.30093833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.8471056809999 meters 0.02090870991593059 Centerline is valid? [True, True] Translation: X:181.93, Y:181.27, Z:13.01 [[ 9.00510613e-01 4.34053197e-01 -2.60472414e-02 1.81929541e+02] [-4.33880466e-01 9.00887200e-01 1.22471713e-02 1.81267902e+02] [ 2.87815503e-02 2.72681531e-04 9.99585688e-01 1.30084348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87710568099993 meters 0.02020017344768908 Centerline is valid? [True, True] Translation: X:181.96, Y:181.26, Z:13.01 [[ 9.01020589e-01 4.33094477e-01 -2.43119674e-02 1.81955930e+02] [-4.32943748e-01 9.01348501e-01 1.14275961e-02 1.81255373e+02] [ 2.68627842e-02 2.29214901e-04 9.99639104e-01 1.30137067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.9071056809999 meters 0.0199439827181499 Centerline is valid? [True, True] Translation: X:181.98, Y:181.24, Z:13.02 [[ 9.01348573e-01 4.32457587e-01 -2.34773570e-02 1.81981496e+02] [-4.32316972e-01 9.01654253e-01 1.10292257e-02 1.81243913e+02] [ 2.59381311e-02 2.08483020e-04 9.99663528e-01 1.30158585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.93710568099993 meters 0.019964025872696915 Centerline is valid? [True, True] Translation: X:182.01, Y:181.23, Z:13.02 [[ 9.02170304e-01 4.30709754e-01 -2.40385348e-02 1.82006323e+02] [-4.30561973e-01 9.02490487e-01 1.12831349e-02 1.81231429e+02] [ 2.65543053e-02 1.70769704e-04 9.99647358e-01 1.30168008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.9671056809999 meters 0.01954397741998031 Centerline is valid? [True, True] Translation: X:182.03, Y:181.22, Z:13.02 [[ 9.03219834e-01 4.28472285e-01 -2.46055462e-02 1.82031136e+02] [-4.28316763e-01 9.03554917e-01 1.15439420e-02 1.81217634e+02] [ 2.71787214e-02 1.12250533e-04 9.99630584e-01 1.30165690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.99710568099994 meters 0.019112909670876782 Centerline is valid? [True, True] Translation: X:182.05, Y:181.20, Z:13.01 [[ 9.04681420e-01 4.25347480e-01 -2.51207079e-02 1.82054668e+02] [-4.25184482e-01 9.05030121e-01 1.17743465e-02 1.81201665e+02] [ 2.77431859e-02 2.89026851e-05 9.99615083e-01 1.30148112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0271056809999 meters 0.019243216933993022 Centerline is valid? [True, True] Translation: X:182.08, Y:181.19, Z:13.01 [[ 9.05404126e-01 4.23832879e-01 -2.46791153e-02 1.82079233e+02] [-4.23675301e-01 9.05740410e-01 1.15563229e-02 1.81188527e+02] [ 2.72508216e-02 -7.21078027e-06 9.99628627e-01 1.30149325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.05710568099994 meters 0.019235029853350245 Centerline is valid? [True, True] Translation: X:182.10, Y:181.18, Z:13.02 [[ 9.05251061e-01 4.24180959e-01 -2.43110978e-02 1.82103925e+02] [-4.24028428e-01 9.05577448e-01 1.13744792e-02 1.81177597e+02] [ 2.68404194e-02 1.18372248e-05 9.99639731e-01 1.30163701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0871056809999 meters 0.019223084575382507 Centerline is valid? [True, True] Translation: X:182.13, Y:181.17, Z:13.02 [[ 9.04940491e-01 4.24831847e-01 -2.45073401e-02 1.82129846e+02] [-4.24677249e-01 9.05272280e-01 1.14600831e-02 1.81166740e+02] [ 2.70544239e-02 3.70165531e-05 9.99633961e-01 1.30173686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.11710568099994 meters 0.019211821689236266 Centerline is valid? [True, True] Translation: X:182.15, Y:181.16, Z:13.02 [[ 9.04377175e-01 4.26013028e-01 -2.47956710e-02 1.82154971e+02] [-4.25855514e-01 9.04717024e-01 1.15839528e-02 1.81155369e+02] [ 2.73679805e-02 8.31106682e-05 9.99625423e-01 1.30160701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1471056809999 meters 0.019198107756798987 Centerline is valid? [True, True] Translation: X:182.18, Y:181.14, Z:13.02 [[ 9.04349339e-01 4.26046339e-01 -2.52346869e-02 1.82180697e+02] [-4.25883527e-01 9.04701336e-01 1.17776913e-02 1.81143353e+02] [ 2.78476972e-02 9.58901149e-05 9.99612173e-01 1.30170217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1771056809999 meters 0.019266360749823415 Centerline is valid? [True, True] Translation: X:182.21, Y:181.13, Z:13.02 [[ 9.04778429e-01 4.25111966e-01 -2.56088013e-02 1.82206313e+02] [-4.24944247e-01 9.05140768e-01 1.19405531e-02 1.81131025e+02] [ 2.82556421e-02 7.87578748e-05 9.99600727e-01 1.30172147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2071056809999 meters 0.019347964054727725 Centerline is valid? [True, True] Translation: X:182.23, Y:181.12, Z:13.02 [[ 9.04927745e-01 4.24756281e-01 -2.62274308e-02 1.82231289e+02] [-4.24580537e-01 9.05307735e-01 1.22176892e-02 1.81119754e+02] [ 2.89334363e-02 7.95306925e-05 9.99581337e-01 1.30175192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2371056809999 meters 0.019448390140720626 Centerline is valid? [True, True] Translation: X:182.26, Y:181.11, Z:13.02 [[ 9.04339447e-01 4.25962389e-01 -2.69482404e-02 1.82258330e+02] [-4.25777666e-01 9.04740862e-01 1.25440234e-02 1.81108837e+02] [ 2.97244564e-02 1.29903691e-04 9.99558122e-01 1.30189033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2671056809999 meters 0.0195016252111947 Centerline is valid? [True, True] Translation: X:182.28, Y:181.10, Z:13.02 [[ 9.03952303e-01 4.26849559e-01 -2.58783313e-02 1.82283452e+02] [-4.26679834e-01 9.04322635e-01 1.20370691e-02 1.81099577e+02] [ 2.85403784e-02 1.60825778e-04 9.99592627e-01 1.30213862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2971056809999 meters 0.020629240802821507 Centerline is valid? [True, True] Translation: X:182.31, Y:181.10, Z:13.02 [[ 9.02043520e-01 4.30983810e-01 -2.38839553e-02 1.82311882e+02] [-4.30840809e-01 9.02359619e-01 1.11047569e-02 1.81095255e+02] [ 2.63378872e-02 2.73208617e-04 9.99653060e-01 1.30246751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3271056809999 meters 0.02261129267128203 Centerline is valid? [True, True] Translation: X:182.34, Y:181.09, Z:13.03 [[ 8.99118477e-01 4.37112779e-01 -2.27680198e-02 1.82341759e+02] [-4.36984927e-01 8.99406598e-01 1.05804295e-02 1.81092018e+02] [ 2.51025481e-02 4.36221828e-04 9.99684786e-01 1.30283814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3571056809999 meters 0.023717964726223225 Centerline is valid? [True, True] Translation: X:182.37, Y:181.08, Z:13.03 [[ 8.97817561e-01 4.39816283e-01 -2.20286977e-02 1.82369426e+02] [-4.39697621e-01 8.98087626e-01 1.02282971e-02 1.81083314e+02] [ 2.42822724e-02 5.02821243e-04 9.99705016e-01 1.30294473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3871056809999 meters 0.02703325607168646 Centerline is valid? [True, True] Translation: X:182.40, Y:181.08, Z:13.03 [[ 8.94773886e-01 4.45936880e-01 -2.28033532e-02 1.82397817e+02] [-4.45811912e-01 8.95064137e-01 1.05796849e-02 1.81077894e+02] [ 2.51283353e-02 6.99580690e-04 9.99683989e-01 1.30287628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.4171056809999 meters 0.0315103099950333 Centerline is valid? [True, True] Translation: X:182.43, Y:181.07, Z:13.02 [[ 8.90754384e-01 4.53761710e-01 -2.56307922e-02 1.82427639e+02] [-4.53607128e-01 8.91122459e-01 1.18885233e-02 1.81071783e+02] [ 2.82347312e-02 1.03655573e-03 9.99600783e-01 1.30241324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.4471056809999 meters 0.03339644890547453 Centerline is valid? [True, True] Translation: X:182.46, Y:181.06, Z:13.02 [[ 8.89146696e-01 4.56847272e-01 -2.66218530e-02 1.82455993e+02] [-4.56681909e-01 8.89544366e-01 1.23472649e-02 1.81062162e+02] [ 2.93221336e-02 1.17918881e-03 9.99569318e-01 1.30237116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.4771056809999 meters 0.03610027954851422 Centerline is valid? [True, True] Translation: X:182.48, Y:181.05, Z:13.02 [[ 8.88107638e-01 4.58853255e-01 -2.68051044e-02 1.82483017e+02] [-4.58686599e-01 8.88511177e-01 1.24295111e-02 1.81053483e+02] [ 2.95199565e-02 1.25639846e-03 9.99563402e-01 1.30226017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.5071056809999 meters 0.0357332484757486 Centerline is valid? [True, True] Translation: X:182.51, Y:181.04, Z:13.02 [[ 8.88393930e-01 4.58311131e-01 -2.65919536e-02 1.82507629e+02] [-4.58147087e-01 8.88790966e-01 1.23233305e-02 1.81040864e+02] [ 2.92826077e-02 1.23505404e-03 9.99570409e-01 1.30243412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.5371056809999 meters 0.03452717810222596 Centerline is valid? [True, True] Translation: X:182.53, Y:181.03, Z:13.03 [[ 8.89078506e-01 4.57025005e-01 -2.58370800e-02 1.82532605e+02] [-4.56869909e-01 8.89453079e-01 1.19627191e-02 1.81025613e+02] [ 2.84481321e-02 1.16838801e-03 9.99594587e-01 1.30251828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.56710568099993 meters 0.031942598398787846 Centerline is valid? [True, True] Translation: X:182.55, Y:181.01, Z:13.03 [[ 8.91735427e-01 4.51896535e-01 -2.44428060e-02 1.82554980e+02] [-4.51756001e-01 8.92069844e-01 1.13097252e-02 1.81005934e+02] [ 2.69155158e-02 9.56901622e-04 9.99637254e-01 1.30270362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.5971056809999 meters 0.029728358019317676 Centerline is valid? [True, True] Translation: X:182.58, Y:180.99, Z:13.03 [[ 8.93666513e-01 4.48066599e-01 -2.44230612e-02 1.82579075e+02] [-4.47924957e-01 8.93999782e-01 1.12969904e-02 1.80988287e+02] [ 2.68960154e-02 8.43956586e-04 9.99637880e-01 1.30289679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.62710568099993 meters 0.024209668620396568 Centerline is valid? [True, True] Translation: X:182.60, Y:180.96, Z:13.03 [[ 8.98482250e-01 4.38299079e-01 -2.49712750e-02 1.82599613e+02] [-4.38147410e-01 8.98829012e-01 1.15435639e-02 1.80962263e+02] [ 2.75044398e-02 5.69412209e-04 9.99621519e-01 1.30287149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.6571056809999 meters 0.020389497506032604 Centerline is valid? [True, True] Translation: X:182.62, Y:180.94, Z:13.03 [[ 9.02299835e-01 4.30275678e-01 -2.67926870e-02 1.82620463e+02] [-4.30097571e-01 9.02697468e-01 1.23838787e-02 1.80939039e+02] [ 2.95141725e-02 3.49497910e-04 9.99564301e-01 1.30275883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.68710568099993 meters 0.020368738460895874 Centerline is valid? [True, True] Translation: X:182.64, Y:180.93, Z:13.02 [[ 9.03187809e-01 4.28290010e-01 -2.86260203e-02 1.82644277e+02] [-4.28085825e-01 9.03641285e-01 1.32270050e-02 1.80926728e+02] [ 3.15326478e-02 3.07923820e-04 9.99502675e-01 1.30247313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.7171056809999 meters 0.019914935104612435 Centerline is valid? [True, True] Translation: X:182.67, Y:180.91, Z:13.03 [[ 9.03574222e-01 4.27316752e-01 -3.08872003e-02 1.82669214e+02] [-4.27078757e-01 9.04101931e-01 1.42630454e-02 1.80913115e+02] [ 3.40200157e-02 3.03546921e-04 9.99421106e-01 1.30251134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.74710568099994 meters 0.020308535304766024 Centerline is valid? [True, True] Translation: X:182.70, Y:180.90, Z:13.03 [[ 9.03323385e-01 4.27923369e-01 -2.98069139e-02 1.82695137e+02] [-4.27702458e-01 9.03814961e-01 1.37521887e-02 1.80902635e+02] [ 3.28248177e-02 3.25816666e-04 9.99461067e-01 1.30264763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.7771056809999 meters 0.020705968746766626 Centerline is valid? [True, True] Translation: X:182.72, Y:180.89, Z:13.03 [[ 9.02631189e-01 4.29524145e-01 -2.76757073e-02 1.82721511e+02] [-4.29334809e-01 9.03055300e-01 1.27572436e-02 1.80894052e+02] [ 3.04722382e-02 3.67058583e-04 9.99535546e-01 1.30310850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.80710568099994 meters 0.020705968746766626 Centerline is valid? [True, True] Translation: X:182.75, Y:180.88, Z:13.03 [[ 9.02786788e-01 4.29196708e-01 -2.76803363e-02 1.82746531e+02] [-4.29007527e-01 9.03210967e-01 1.27471931e-02 1.80882794e+02] [ 3.04722367e-02 3.67075115e-04 9.99535546e-01 1.30316558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8371056809999 meters 0.021254824856851443 Centerline is valid? [True, True] Translation: X:182.77, Y:180.87, Z:13.03 [[ 9.02288307e-01 4.30219653e-01 -2.80510461e-02 1.82772648e+02] [-4.30026180e-01 9.02724142e-01 1.29076462e-02 1.80873845e+02] [ 3.08754796e-02 4.16265949e-04 9.99523152e-01 1.30310130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.86710568099994 meters 0.021087451769293077 Centerline is valid? [True, True] Translation: X:182.80, Y:180.86, Z:13.03 [[ 9.02711630e-01 4.29153975e-01 -3.06362294e-02 1.82800287e+02] [-4.28922865e-01 9.03231248e-01 1.40885926e-02 1.80863859e+02] [ 3.37177752e-02 4.22642901e-04 9.99431305e-01 1.30285594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8971056809999 meters 0.020409388990376615 Centerline is valid? [True, True] Translation: X:182.83, Y:180.85, Z:13.03 [[ 9.03702982e-01 4.27033535e-01 -3.10367699e-02 1.82825651e+02] [-4.26795491e-01 9.04235717e-01 1.42610217e-02 1.80850699e+02] [ 3.41544904e-02 3.58625651e-04 9.99416501e-01 1.30295996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9271056809999 meters 0.01935551766691628 Centerline is valid? [True, True] Translation: X:182.85, Y:180.83, Z:13.03 [[ 9.05959549e-01 4.22256218e-01 -3.06101662e-02 1.82849094e+02] [-4.22022325e-01 9.06476504e-01 1.40536768e-02 1.80833040e+02] [ 3.36816488e-02 1.86110767e-04 9.99432595e-01 1.30308487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9571056809999 meters 0.019040477416970403 Centerline is valid? [True, True] Translation: X:182.87, Y:180.82, Z:13.03 [[ 9.07326144e-01 4.19331257e-01 -3.03408182e-02 1.82873411e+02] [-4.19100200e-01 9.07833294e-01 1.39188219e-02 1.80817916e+02] [ 3.33810020e-02 8.69319751e-05 9.99442695e-01 1.30325801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9871056809999 meters 0.019065160227631713 Centerline is valid? [True, True] Translation: X:182.90, Y:180.80, Z:13.03 [[ 9.09285650e-01 4.15073318e-01 -3.02282470e-02 1.82896528e+02] [-4.14841917e-01 9.09787963e-01 1.38581226e-02 1.80803061e+02] [ 3.32534322e-02 -6.10480927e-05 9.99446950e-01 1.30347410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0171056809999 meters 0.01931921932413304 Centerline is valid? [True, True] Translation: X:182.92, Y:180.79, Z:13.04 [[ 9.10229440e-01 4.12965500e-01 -3.06897814e-02 1.82922093e+02] [-4.12726040e-01 9.10746660e-01 1.40619262e-02 1.80790948e+02] [ 3.37577063e-02 -1.33107340e-04 9.99430037e-01 1.30360260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0471056809999 meters 0.02003244152625835 Centerline is valid? [True, True] Translation: X:182.95, Y:180.78, Z:13.04 [[ 9.12079157e-01 4.08851877e-01 -3.08504977e-02 1.82946256e+02] [-4.08607830e-01 9.12600715e-01 1.41271572e-02 1.80777189e+02] [ 3.39301010e-02 -2.79330708e-04 9.99424169e-01 1.30365104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0771056809999 meters 0.021241935954264466 Centerline is valid? [True, True] Translation: X:182.97, Y:180.76, Z:13.04 [[ 9.13950593e-01 4.04790435e-01 -2.89658078e-02 1.82970322e+02] [-4.04573392e-01 9.14409396e-01 1.32599472e-02 1.80762431e+02] [ 3.18541066e-02 -4.00141463e-04 9.99492449e-01 1.30368396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.1071056809999 meters 0.021231791325759003 Centerline is valid? [True, True] Translation: X:183.00, Y:180.75, Z:13.04 [[ 9.14819256e-01 4.02808275e-01 -2.91757092e-02 1.82997219e+02] [-4.02587308e-01 9.15284260e-01 1.33485037e-02 1.80751460e+02] [ 3.20809551e-02 -4.65698049e-04 9.99485165e-01 1.30388108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.1371056809999 meters 0.022964703712829344 Centerline is valid? [True, True] Translation: X:183.02, Y:180.74, Z:13.04 [[ 9.15627096e-01 4.01009329e-01 -2.86101252e-02 1.83021600e+02] [-4.00796235e-01 9.16073827e-01 1.30813067e-02 1.80737738e+02] [ 3.14547129e-02 -5.10768412e-04 9.99505048e-01 1.30374874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.1671056809999 meters 0.022928720104293605 Centerline is valid? [True, True] Translation: X:183.05, Y:180.73, Z:13.04 [[ 9.16824245e-01 3.98231708e-01 -2.90656187e-02 1.83050114e+02] [-3.98010504e-01 9.17284652e-01 1.32855669e-02 1.80732044e+02] [ 3.19521800e-02 -6.12108302e-04 9.99489211e-01 1.30418748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.1971056809999 meters 0.024145847307791225 Centerline is valid? [True, True] Translation: X:183.08, Y:180.72, Z:13.04 [[ 9.17610991e-01 3.96362986e-01 -2.97733690e-02 1.83075918e+02] [-3.96130026e-01 9.18093627e-01 1.36049569e-02 1.80722129e+02] [ 3.27272416e-02 -6.89932569e-04 9.99464082e-01 1.30415686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.2271056809999 meters 0.02537764721583626 Centerline is valid? [True, True] Translation: X:183.10, Y:180.71, Z:13.04 [[ 9.18937029e-01 3.93267503e-01 -2.99233665e-02 1.83102988e+02] [-3.93030679e-01 9.19423749e-01 1.36694745e-02 1.80712919e+02] [ 3.28880140e-02 -8.00585231e-04 9.99458722e-01 1.30406311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.2571056809999 meters 0.02723105638105654 Centerline is valid? [True, True] Translation: X:183.13, Y:180.70, Z:13.04 [[ 9.20493025e-01 3.89721716e-01 -2.84530386e-02 1.83129658e+02] [-3.89506089e-01 9.20932254e-01 1.29919408e-02 1.80701357e+02] [ 3.12665624e-02 -8.76359105e-04 9.99510697e-01 1.30429693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.2871056809999 meters 0.028745526657985344 Centerline is valid? [True, True] Translation: X:183.16, Y:180.69, Z:13.04 [[ 9.21440583e-01 3.87495218e-01 -2.81905707e-02 1.83155328e+02] [-3.87282760e-01 9.21871238e-01 1.28640606e-02 1.80690557e+02] [ 3.09728383e-02 -9.35745477e-04 9.99519789e-01 1.30436902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.31710568099993 meters 0.03333119704587975 Centerline is valid? [True, True] Translation: X:183.18, Y:180.68, Z:13.05 [[ 9.23337249e-01 3.83105829e-01 -2.60431824e-02 1.83180724e+02] [-3.82922851e-01 9.23703918e-01 1.18811770e-02 1.80678642e+02] [ 2.86079377e-02 -9.97803613e-04 9.99590211e-01 1.30462963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.3471056809999 meters 0.028479180878841763 Centerline is valid? [True, True] Translation: X:183.21, Y:180.68, Z:13.05 [[ 9.23631804e-01 3.82398032e-01 -2.60006846e-02 1.83211424e+02] [-3.82215467e-01 9.23997140e-01 1.18583831e-02 1.80677926e+02] [ 2.85591805e-02 -1.01491599e-03 9.99591588e-01 1.30497220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37710568099993 meters 0.029453018128472626 Centerline is valid? [True, True] Translation: X:183.24, Y:180.67, Z:13.05 [[ 9.23324025e-01 3.83107303e-01 -2.64865678e-02 1.83239331e+02] [-3.82918289e-01 9.23703297e-01 1.20749031e-02 1.80673003e+02] [ 2.90917135e-02 -1.00685688e-03 9.99576239e-01 1.30479239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.4071056809999 meters 0.029010685661945933 Centerline is valid? [True, True] Translation: X:183.27, Y:180.67, Z:13.05 [[ 9.22939878e-01 3.83977059e-01 -2.72690244e-02 1.83267784e+02] [-3.83777262e-01 9.23342088e-01 1.24258179e-02 1.80665514e+02] [ 2.99498669e-02 -1.00305132e-03 9.99550899e-01 1.30470613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.43710568099993 meters 0.02799669114252546 Centerline is valid? [True, True] Translation: X:183.30, Y:180.66, Z:13.04 [[ 9.21685999e-01 3.86878411e-01 -2.86359064e-02 1.83297566e+02] [-3.86659745e-01 9.22130251e-01 1.30400213e-02 1.80663539e+02] [ 3.14509383e-02 -9.46452833e-04 9.99504849e-01 1.30434692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.4671056809999 meters 0.026486262169556407 Centerline is valid? [True, True] Translation: X:183.33, Y:180.66, Z:13.04 [[ 9.21014635e-01 3.88419220e-01 -2.93692244e-02 1.83327521e+02] [-3.88190200e-01 9.21482327e-01 1.33674467e-02 1.80659047e+02] [ 3.22553945e-02 -9.10768901e-04 9.99479244e-01 1.30425137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.49710568099994 meters 0.025168221976514693 Centerline is valid? [True, True] Translation: X:183.36, Y:180.66, Z:13.04 [[ 9.19825017e-01 3.91067278e-01 -3.14375876e-02 1.83359318e+02] [-3.90806827e-01 9.20361688e-01 1.42963649e-02 1.80660115e+02] [ 3.45247917e-02 -8.64130200e-04 9.99403468e-01 1.30402981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5271056809999 meters 0.025235856197361566 Centerline is valid? [True, True] Translation: X:183.39, Y:180.66, Z:13.04 [[ 9.19576476e-01 3.91554246e-01 -3.26248093e-02 1.83387897e+02] [-3.91274417e-01 9.20154617e-01 1.48260756e-02 1.80657598e+02] [ 3.58250817e-02 -8.68457100e-04 9.99357698e-01 1.30376479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.55710568099994 meters 0.025447685253524702 Centerline is valid? [True, True] Translation: X:183.42, Y:180.65, Z:13.04 [[ 9.19608425e-01 3.91440468e-01 -3.30863131e-02 1.83415217e+02] [-3.91152945e-01 9.20203017e-01 1.50260233e-02 1.80649211e+02] [ 3.63279187e-02 -8.76248811e-04 9.99339539e-01 1.30368515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5871056809999 meters 0.025562859608387625 Centerline is valid? [True, True] Translation: X:183.44, Y:180.64, Z:13.04 [[ 9.19485402e-01 3.91662881e-01 -3.38641963e-02 1.83442286e+02] [-3.91362374e-01 9.20108376e-01 1.53645293e-02 1.80642330e+02] [ 3.71764465e-02 -8.74288155e-04 9.99308335e-01 1.30354223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.61710568099994 meters 0.02425739024583893 Centerline is valid? [True, True] Translation: X:183.47, Y:180.64, Z:13.04 [[ 9.17812566e-01 3.95514019e-01 -3.44783190e-02 1.83473852e+02] [-3.95205752e-01 9.18459658e-01 1.56291302e-02 1.80642870e+02] [ 3.78484852e-02 -7.18582172e-04 9.99283231e-01 1.30366095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6471056809999 meters 0.023161229509888977 Centerline is valid? [True, True] Translation: X:183.50, Y:180.64, Z:13.04 [[ 9.16507622e-01 3.98607695e-01 -3.35512293e-02 1.83503485e+02] [-3.98318307e-01 9.17121359e-01 1.51966549e-02 1.80638106e+02] [ 3.68280526e-02 -5.63781182e-04 9.99321458e-01 1.30389411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6771056809999 meters 0.021831512579276274 Centerline is valid? [True, True] Translation: X:183.54, Y:180.64, Z:13.04 [[ 9.13347509e-01 4.06064652e-01 -3.01301618e-02 1.83535452e+02] [-4.05835570e-01 9.13844322e-01 1.36398217e-02 1.80639731e+02] [ 3.30729267e-02 -2.30005753e-04 9.99452915e-01 1.30425744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7071056809999 meters 0.02165296669819008 Centerline is valid? [True, True] Translation: X:183.57, Y:180.64, Z:13.05 [[ 9.09403293e-01 4.14999206e-01 -2.75918334e-02 1.83567514e+02] [-4.14811280e-01 9.09821769e-01 1.24880087e-02 1.80642906e+02] [ 3.02861644e-02 8.87675572e-05 9.99541265e-01 1.30454064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7371056809999 meters 0.022242983046663497 Centerline is valid? [True, True] Translation: X:183.60, Y:180.64, Z:13.05 [[ 9.07512872e-01 4.19226289e-01 -2.58786674e-02 1.83596979e+02] [-4.19062835e-01 9.07881749e-01 1.17076613e-02 1.80637443e+02] [ 2.84029292e-02 2.19934353e-04 9.99596531e-01 1.30489825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7671056809999 meters 0.02482375280303603 Centerline is valid? [True, True] Translation: X:183.63, Y:180.64, Z:13.05 [[ 9.04065027e-01 4.26803998e-01 -2.24671690e-02 1.83627352e+02] [-4.26683310e-01 9.04344063e-01 1.01572233e-02 1.80637639e+02] [ 2.46531944e-02 4.03575714e-04 9.99695982e-01 1.30514207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7971056809999 meters 0.024623226275282958 Centerline is valid? [True, True] Translation: X:183.65, Y:180.63, Z:13.05 [[ 9.03058558e-01 4.28968740e-01 -2.17039528e-02 1.83653759e+02] [-4.28856852e-01 9.03319222e-01 9.80733035e-03 1.80625378e+02] [ 2.38126359e-02 4.51295270e-04 9.99716337e-01 1.30530067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8271056809999 meters 0.02610445755619883 Centerline is valid? [True, True] Translation: X:183.68, Y:180.62, Z:13.05 [[ 9.01063794e-01 4.33154715e-01 -2.14716612e-02 1.83681714e+02] [-4.33046592e-01 9.01319408e-01 9.69396975e-03 1.80617376e+02] [ 2.35518137e-02 5.63344547e-04 9.99722459e-01 1.30545193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8571056809999 meters 0.027273792816737693 Centerline is valid? [True, True] Translation: X:183.71, Y:180.61, Z:13.06 [[ 9.00039803e-01 4.35265197e-01 -2.17384789e-02 1.83708274e+02] [-4.35155176e-01 9.00302064e-01 9.80640471e-03 1.80607820e+02] [ 2.38395841e-02 6.33457075e-04 9.99715596e-01 1.30558397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8871056809999 meters 0.03009041253552008 Centerline is valid? [True, True] Translation: X:183.74, Y:180.60, Z:13.05 [[ 8.96933477e-01 4.41586865e-01 -2.26136807e-02 1.83736132e+02] [-4.41469879e-01 8.97218112e-01 1.01982552e-02 1.80596855e+02] [ 2.47928195e-02 8.36102385e-04 9.99692261e-01 1.30538356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.9171056809999 meters 0.03200138258549772 Centerline is valid? [True, True] Translation: X:183.76, Y:180.59, Z:13.05 [[ 8.94931054e-01 4.45610954e-01 -2.30062360e-02 1.83763649e+02] [-4.45491226e-01 8.95226198e-01 1.03740474e-02 1.80586305e+02] [ 2.52185744e-02 9.65019122e-04 9.99681495e-01 1.30544787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.9471056809999 meters 0.03489096731512282 Centerline is valid? [True, True] Translation: X:183.79, Y:180.57, Z:13.05 [[ 8.92225645e-01 4.50972765e-01 -2.36000912e-02 1.83790465e+02] [-4.50848678e-01 8.92536975e-01 1.06403993e-02 1.80573639e+02] [ 2.58624842e-02 1.14643283e-03 9.99664853e-01 1.30522617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.9771056809999 meters 0.03556072909034804 Centerline is valid? [True, True] Translation: X:183.82, Y:180.56, Z:13.05 [[ 8.92002561e-01 4.51415290e-01 -2.35725990e-02 1.83815680e+02] [-4.51291730e-01 8.92313223e-01 1.06248074e-02 1.80560472e+02] [ 2.58303423e-02 1.16076355e-03 9.99665667e-01 1.30523933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.0071056809999 meters 0.03448402974579708 Centerline is valid? [True, True] Translation: X:183.84, Y:180.54, Z:13.05 [[ 8.92631442e-01 4.50231022e-01 -2.23860497e-02 1.83838072e+02] [-4.50119425e-01 8.92911455e-01 1.00815255e-02 1.80540202e+02] [ 2.45277758e-02 1.07730923e-03 9.99698568e-01 1.30536105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.0371056809999 meters 0.034870980129308976 Centerline is valid? [True, True] Translation: X:183.86, Y:180.53, Z:13.05 [[ 8.93643261e-01 4.48208677e-01 -2.25987714e-02 1.83861575e+02] [-4.48094504e-01 8.93928354e-01 1.01691879e-02 1.80525186e+02] [ 2.47596008e-02 1.03875904e-03 9.99692894e-01 1.30520478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.06710568099993 meters 0.03308786368862701 Centerline is valid? [True, True] Translation: X:183.89, Y:180.51, Z:13.05 [[ 8.95215622e-01 4.45035179e-01 -2.30798476e-02 1.83885040e+02] [-4.44915144e-01 8.95512557e-01 1.03814846e-02 1.80506355e+02] [ 2.52884192e-02 9.74906503e-04 9.99679721e-01 1.30525405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.0971056809999 meters 0.02887340765215527 Centerline is valid? [True, True] Translation: X:183.90, Y:180.48, Z:13.05 [[ 8.99591081e-01 4.36092962e-01 -2.36392978e-02 1.83903688e+02] [-4.35964127e-01 8.99901312e-01 1.06258845e-02 1.80478785e+02] [ 2.59069085e-02 7.46934923e-04 9.99664081e-01 1.30529007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.12710568099993 meters 0.02445073615569717 Centerline is valid? [True, True] Translation: X:183.92, Y:180.45, Z:13.06 [[ 9.03381893e-01 4.28276115e-01 -2.19254456e-02 1.83923109e+02] [-4.28163031e-01 9.03647792e-01 9.85323399e-03 1.80449803e+02] [ 2.40327853e-02 4.86432067e-04 9.99711053e-01 1.30554464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.1571056809999 meters 0.023578778719772205 Centerline is valid? [True, True] Translation: X:183.95, Y:180.43, Z:13.06 [[ 9.04701190e-01 4.25545036e-01 -2.06683055e-02 1.83947251e+02] [-4.25443981e-01 9.04937161e-01 9.28188835e-03 1.80433473e+02] [ 2.26533792e-02 3.95870731e-04 9.99743301e-01 1.30569988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.18710568099993 meters 0.022821933798190204 Centerline is valid? [True, True] Translation: X:183.97, Y:180.42, Z:13.06 [[ 9.05452846e-01 4.23970441e-01 -2.01049614e-02 1.83970160e+02] [-4.23874593e-01 9.05675958e-01 9.02156686e-03 1.80417136e+02] [ 2.20334579e-02 3.53378965e-04 9.99757171e-01 1.30575372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.2171056809999 meters 0.022789925371983818 Centerline is valid? [True, True] Translation: X:183.99, Y:180.40, Z:13.06 [[ 9.05828888e-01 4.23190972e-01 -1.95812756e-02 1.83994220e+02] [-4.23099928e-01 9.06040448e-01 8.78395964e-03 1.80403426e+02] [ 2.14587201e-02 3.28071890e-04 9.99769681e-01 1.30567551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.24710568099994 meters 0.0216585068122649 Centerline is valid? [True, True] Translation: X:184.02, Y:180.38, Z:13.06 [[ 9.06841565e-01 4.21030282e-01 -1.92841314e-02 1.84017383e+02] [-4.20941545e-01 9.07046540e-01 8.64808910e-03 1.80383463e+02] [ 2.11327121e-02 2.75045418e-04 9.99776641e-01 1.30553022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.2771056809999 meters 0.021133537758582857 Centerline is valid? [True, True] Translation: X:184.04, Y:180.37, Z:13.06 [[ 9.07546669e-01 4.19499147e-01 -1.94809921e-02 1.84042372e+02] [-4.19408327e-01 9.07755697e-01 8.73210284e-03 1.80368491e+02] [ 2.13470912e-02 2.45699459e-04 9.99772095e-01 1.30554264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.30710568099994 meters 0.020809789069810087 Centerline is valid? [True, True] Translation: X:184.06, Y:180.35, Z:13.05 [[ 9.08067144e-01 4.18245517e-01 -2.20170051e-02 1.84064956e+02] [-4.18129365e-01 9.08333982e-01 9.85953038e-03 1.80353186e+02] [ 2.41224983e-02 2.52840760e-04 9.99708978e-01 1.30524021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3371056809999 meters 0.021312941338757874 Centerline is valid? [True, True] Translation: X:184.09, Y:180.34, Z:13.05 [[ 9.07633765e-01 4.19035308e-01 -2.47054410e-02 1.84090646e+02] [-4.18889541e-01 9.07969885e-01 1.10562423e-02 1.80342054e+02] [ 2.70647524e-02 3.13832024e-04 9.99633633e-01 1.30503824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.36710568099994 meters 0.02174419782847276 Centerline is valid? [True, True] Translation: X:184.12, Y:180.33, Z:13.05 [[ 9.05910215e-01 4.22733793e-01 -2.49564079e-02 1.84116562e+02] [-4.22586584e-01 9.06253801e-01 1.11636208e-02 1.80329769e+02] [ 2.73360792e-02 4.33005079e-04 9.99626206e-01 1.30499077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3971056809999 meters 0.022660920274668376 Centerline is valid? [True, True] Translation: X:184.14, Y:180.32, Z:13.05 [[ 9.04732380e-01 4.25273789e-01 -2.45259990e-02 1.84142966e+02] [-4.25132772e-01 9.05064609e-01 1.09626814e-02 1.80319926e+02] [ 2.68597548e-02 5.08513143e-04 9.99639082e-01 1.30522643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4271056809999 meters 0.023505385746765414 Centerline is valid? [True, True] Translation: X:184.17, Y:180.31, Z:13.05 [[ 9.02797248e-01 4.29434510e-01 -2.33051611e-02 1.84168636e+02] [-4.29308707e-01 9.03097799e-01 1.04115066e-02 1.80306521e+02] [ 2.55178999e-02 6.05629046e-04 9.99674182e-01 1.30544947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4571056809999 meters 0.02548765144081065 Centerline is valid? [True, True] Translation: X:184.20, Y:180.30, Z:13.05 [[ 9.01892914e-01 4.31346136e-01 -2.30148418e-02 1.84195057e+02] [-4.31224274e-01 9.02186276e-01 1.02736901e-02 1.80296792e+02] [ 2.51951909e-02 6.58790163e-04 9.99682334e-01 1.30549656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4871056809999 meters 0.026455439286002382 Centerline is valid? [True, True] Translation: X:184.22, Y:180.29, Z:13.06 [[ 8.99762840e-01 4.35796836e-01 -2.25377539e-02 1.84221992e+02] [-4.35681438e-01 9.00044735e-01 1.00577731e-02 1.80285401e+02] [ 2.46681325e-02 7.69670565e-04 9.99695399e-01 1.30568946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5171056809999 meters 0.027110600399156956 Centerline is valid? [True, True] Translation: X:184.25, Y:180.28, Z:13.06 [[ 8.98767894e-01 4.37832400e-01 -2.27829501e-02 1.84248843e+02] [-4.37715209e-01 8.99056221e-01 1.01639960e-02 1.80275414e+02] [ 2.49332798e-02 8.37370472e-04 9.99688767e-01 1.30573594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5471056809999 meters 0.02891171393714148 Centerline is valid? [True, True] Translation: X:184.28, Y:180.27, Z:13.06 [[ 8.97787772e-01 4.39858625e-01 -2.23943335e-02 1.84275876e+02] [-4.39746227e-01 8.98066593e-01 9.98251312e-03 1.80268057e+02] [ 2.45024972e-02 8.85645430e-04 9.99699376e-01 1.30581843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5771056809999 meters 0.03145507224230482 Centerline is valid? [True, True] Translation: X:184.30, Y:180.26, Z:13.06 [[ 8.96333645e-01 4.42865602e-01 -2.13554448e-02 1.84303668e+02] [-4.42764307e-01 8.96587532e-01 9.51660758e-03 1.80259935e+02] [ 2.33616037e-02 9.25373146e-04 9.99726652e-01 1.30594025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.6071056809999 meters 0.03151430768323453 Centerline is valid? [True, True] Translation: X:184.33, Y:180.25, Z:13.06 [[ 8.96416505e-01 4.42751566e-01 -2.02113700e-02 1.84328786e+02] [-4.42660852e-01 8.96643901e-01 9.00470896e-03 1.80248878e+02] [ 2.21092507e-02 8.74812540e-04 9.99755178e-01 1.30611529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.6371056809999 meters 0.030537368895733084 Centerline is valid? [True, True] Translation: X:184.36, Y:180.24, Z:13.06 [[ 8.97043896e-01 4.41536280e-01 -1.89198738e-02 1.84355080e+02] [-4.41456683e-01 8.97243042e-01 8.42141812e-03 1.80237156e+02] [ 2.06940867e-02 7.97922998e-04 9.99785536e-01 1.30637858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.6671056809999 meters 0.028482317195948927 Centerline is valid? [True, True] Translation: X:184.38, Y:180.22, Z:13.06 [[ 8.99076622e-01 4.37418632e-01 -1.80601216e-02 1.84380976e+02] [-4.37345414e-01 8.99257739e-01 8.03166816e-03 1.80224534e+02] [ 1.97539054e-02 6.77426267e-04 9.99804643e-01 1.30643229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.6971056809999 meters 0.028482317195948927 Centerline is valid? [True, True] Translation: X:184.41, Y:180.21, Z:13.06 [[ 8.99237857e-01 4.37087059e-01 -1.80604302e-02 1.84406129e+02] [-4.37013788e-01 8.99418953e-01 8.03097421e-03 1.80213607e+02] [ 1.97541281e-02 6.70900983e-04 9.99804643e-01 1.30648927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.7271056809999 meters 0.027152918105004503 Centerline is valid? [True, True] Translation: X:184.43, Y:180.20, Z:13.07 [[ 9.00918301e-01 4.33684243e-01 -1.62540093e-02 1.84431214e+02] [-4.33624470e-01 9.01064750e-01 7.22053751e-03 1.80201111e+02] [ 1.77773482e-02 5.43021791e-04 9.99841823e-01 1.30671979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.7571056809999 meters 0.021512497487564702 Centerline is valid? [True, True] Translation: X:184.45, Y:180.18, Z:13.07 [[ 9.05577965e-01 4.23926341e-01 -1.46630862e-02 1.84454114e+02] [-4.23876443e-01 9.05696614e-01 6.51193584e-03 1.80179049e+02] [ 1.60408886e-02 3.18271188e-04 9.99871286e-01 1.30695514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.7871056809999 meters 0.019967306294187276 Centerline is valid? [True, True] Translation: X:184.48, Y:180.16, Z:13.07 [[ 9.08114649e-01 4.18431875e-01 -1.55740418e-02 1.84477511e+02] [-4.18374800e-01 9.08248155e-01 6.91494670e-03 1.80163733e+02] [ 1.70385288e-02 2.36222223e-04 9.99854806e-01 1.30693568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.81710568099993 meters 0.018223926765700543 Centerline is valid? [True, True] Translation: X:184.50, Y:180.15, Z:13.07 [[ 9.10688282e-01 4.12787488e-01 -1.59167113e-02 1.84500938e+02] [-4.12727053e-01 9.10827355e-01 7.06458072e-03 1.80145791e+02] [ 1.74135466e-02 1.35626473e-04 9.99848364e-01 1.30686126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.8471056809999 meters 0.017389415529854565 Centerline is valid? [True, True] Translation: X:184.52, Y:180.12, Z:13.06 [[ 9.14754853e-01 4.03655172e-01 -1.69133720e-02 1.84521629e+02] [-4.03585498e-01 9.14911199e-01 7.49964399e-03 1.80123869e+02] [ 1.85015035e-02 -3.43440813e-05 9.99828832e-01 1.30649407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87710568099993 meters 0.01829407284717126 Centerline is valid? [True, True] Translation: X:184.55, Y:180.11, Z:13.06 [[ 9.17804707e-01 3.96629737e-01 -1.78710014e-02 1.84545009e+02] [-3.96550657e-01 9.17978659e-01 7.92202018e-03 1.80105920e+02] [ 1.95473067e-02 -1.84110049e-04 9.99808916e-01 1.30646687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.9071056809999 meters 0.01860629669542858 Centerline is valid? [True, True] Translation: X:184.57, Y:180.09, Z:13.07 [[ 9.18890461e-01 3.94054468e-01 -1.90104389e-02 1.84570349e+02] [-3.93964582e-01 9.19087055e-01 8.41980936e-03 1.80092318e+02] [ 2.07901118e-02 -2.47442904e-04 9.99783832e-01 1.30655027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.93710568099993 meters 0.02082421352730226 Centerline is valid? [True, True] Translation: X:184.59, Y:180.08, Z:13.06 [[ 9.21235332e-01 3.88480778e-01 -2.02026695e-02 1.84593126e+02] [-3.88378083e-01 9.21456745e-01 8.94045255e-03 1.80076127e+02] [ 2.20890800e-02 -3.89986721e-04 9.99755930e-01 1.30631879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.9671056809999 meters 0.02245200572391536 Centerline is valid? [True, True] Translation: X:184.62, Y:180.06, Z:13.06 [[ 9.22705452e-01 3.84986921e-01 -1.99929663e-02 1.84617572e+02] [-3.84885593e-01 9.22921911e-01 8.84461445e-03 1.80061533e+02] [ 2.18570075e-02 -4.65969292e-04 9.99760998e-01 1.30626415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.99710568099994 meters 0.026147093667937275 Centerline is valid? [True, True] Translation: X:184.64, Y:180.04, Z:13.06 [[ 9.25243148e-01 3.78765982e-01 -2.14813518e-02 1.84641235e+02] [-3.78647418e-01 9.25492249e-01 9.49898706e-03 1.80044535e+02] [ 2.34787177e-02 -6.55014300e-04 9.99724122e-01 1.30601325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0271056809999 meters 0.028506272882490233 Centerline is valid? [True, True] Translation: X:184.67, Y:180.03, Z:13.06 [[ 9.27614071e-01 3.72915909e-01 -2.15838053e-02 1.84668463e+02] [-3.72794673e-01 9.27864794e-01 9.54229211e-03 1.80032467e+02] [ 2.35853256e-02 -8.05236798e-04 9.99721503e-01 1.30600388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.05710568099994 meters 0.0295949967102365 Centerline is valid? [True, True] Translation: X:184.69, Y:180.02, Z:13.06 [[ 9.28177933e-01 3.71528348e-01 -2.12699774e-02 1.84694899e+02] [-3.71410274e-01 9.28421242e-01 9.40244230e-03 1.80022296e+02] [ 2.32407727e-02 -8.27251324e-04 9.99729555e-01 1.30622585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0871056809999 meters 0.029164713922855606 Centerline is valid? [True, True] Translation: X:184.72, Y:180.02, Z:13.07 [[ 9.27739373e-01 3.72717911e-01 -1.95195993e-02 1.84723575e+02] [-3.72618784e-01 9.27944409e-01 8.62642553e-03 1.80019349e+02] [ 2.13283263e-02 -7.29705266e-04 9.99772259e-01 1.30658485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.11710568099994 meters 0.02795125198289758 Centerline is valid? [True, True] Translation: X:184.75, Y:180.01, Z:13.07 [[ 9.27115412e-01 3.74256518e-01 -1.97248932e-02 1.84752560e+02] [-3.74155700e-01 9.27324954e-01 8.71449949e-03 1.80014377e+02] [ 2.15528439e-02 -6.99165566e-04 9.99767466e-01 1.30665094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1471056809999 meters 0.02568934201535146 Centerline is valid? [True, True] Translation: X:184.78, Y:180.02, Z:13.07 [[ 9.25394005e-01 3.78570568e-01 -1.81730804e-02 1.84784099e+02] [-3.78485941e-01 9.25572270e-01 8.02284234e-03 1.80015302e+02] [ 1.98577113e-02 -5.46034750e-04 9.99802667e-01 1.30688264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1771056809999 meters 0.02191903486930447 Centerline is valid? [True, True] Translation: X:184.81, Y:180.01, Z:13.07 [[ 9.24863239e-01 3.79931539e-01 -1.67336442e-02 1.84814663e+02] [-3.79860018e-01 9.25014486e-01 7.38695922e-03 1.80014261e+02] [ 1.82854021e-02 -4.75484638e-04 9.99832695e-01 1.30710130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2071056809999 meters 0.02170014086698304 Centerline is valid? [True, True] Translation: X:184.84, Y:180.01, Z:13.07 [[ 9.24282379e-01 3.81387928e-01 -1.56631055e-02 1.84843552e+02] [-3.81325587e-01 9.24414993e-01 6.90784327e-03 1.80010818e+02] [ 1.71137776e-02 -4.12054926e-04 9.99853464e-01 1.30713435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2371056809999 meters 0.02498255371175998 Centerline is valid? [True, True] Translation: X:184.87, Y:180.00, Z:13.07 [[ 9.24322834e-01 3.81330446e-01 -1.46420684e-02 1.84866700e+02] [-3.81275987e-01 9.24438718e-01 6.45589832e-03 1.79997792e+02] [ 1.59975255e-02 -3.84665158e-04 9.99871957e-01 1.30735662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2671056809999 meters 0.024140902286188513 Centerline is valid? [True, True] Translation: X:184.90, Y:180.00, Z:13.08 [[ 9.25100218e-01 3.79516767e-01 -1.25144432e-02 1.84896968e+02] [-3.79476830e-01 9.25184791e-01 5.51704206e-03 1.79995712e+02] [ 1.36719825e-02 -3.54875584e-04 9.99906471e-01 1.30774423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2971056809999 meters 0.024176058904982416 Centerline is valid? [True, True] Translation: X:184.93, Y:179.99, Z:13.08 [[ 9.26520320e-01 3.76064239e-01 -1.16526303e-02 1.84926752e+02] [-3.76029386e-01 9.26593518e-01 5.13356349e-03 1.79991593e+02] [ 1.27278013e-02 -3.74619491e-04 9.99918928e-01 1.30790090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3271056809999 meters 0.026103958228248608 Centerline is valid? [True, True] Translation: X:184.95, Y:179.98, Z:13.08 [[ 9.27006906e-01 3.74876541e-01 -1.12150124e-02 1.84951817e+02] [-3.74844243e-01 9.27074669e-01 4.93472590e-03 1.79979118e+02] [ 1.22470669e-02 -3.70642157e-04 9.99924933e-01 1.30791369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3571056809999 meters 0.026063930062597503 Centerline is valid? [True, True] Translation: X:184.98, Y:179.97, Z:13.08 [[ 9.27346487e-01 3.74008296e-01 -1.20949640e-02 1.84978844e+02] [-3.73970661e-01 9.27425266e-01 5.32167780e-03 1.79970069e+02] [ 1.32075269e-02 -4.11877536e-04 9.99912692e-01 1.30768748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3871056809999 meters 0.024783332379240207 Centerline is valid? [True, True] Translation: X:185.01, Y:179.96, Z:13.07 [[ 9.27154923e-01 3.74440976e-01 -1.33305746e-02 1.85006748e+02] [-3.74395384e-01 9.27250646e-01 5.85974369e-03 1.79962946e+02] [ 1.45549120e-02 -4.41984624e-04 9.99893974e-01 1.30743418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.4171056809999 meters 0.02360276777562651 Centerline is valid? [True, True] Translation: X:185.04, Y:179.96, Z:13.07 [[ 9.25872797e-01 3.77482646e-01 -1.63222455e-02 1.85036728e+02] [-3.77414918e-01 9.26016537e-01 7.16609568e-03 1.79959623e+02] [ 1.78197460e-02 -4.74634098e-04 9.99841103e-01 1.30722345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.4471056809999 meters 0.02287740488500198 Centerline is valid? [True, True] Translation: X:185.06, Y:179.95, Z:13.07 [[ 9.24831080e-01 3.80012458e-01 -1.66734950e-02 1.85064622e+02] [-3.79942226e-01 9.24981267e-01 7.31849742e-03 1.79953111e+02] [ 1.82037907e-02 -4.33409060e-04 9.99834203e-01 1.30731952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.4771056809999 meters 0.021457499863307097 Centerline is valid? [True, True] Translation: X:185.09, Y:179.95, Z:13.07 [[ 9.23109671e-01 3.84113470e-01 -1.80381926e-02 1.85094348e+02] [-3.84032100e-01 9.23285816e-01 7.91505859e-03 1.79948213e+02] [ 1.96946880e-02 -3.79222148e-04 9.99805969e-01 1.30711980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.5071056809999 meters 0.020836281726128576 Centerline is valid? [True, True] Translation: X:185.12, Y:179.94, Z:13.07 [[ 9.22611010e-01 3.85228776e-01 -1.96904572e-02 1.85121892e+02] [-3.85132230e-01 9.22821026e-01 8.63250854e-03 1.79938894e+02] [ 2.14962586e-02 -3.81017746e-04 9.99768856e-01 1.30702420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.5371056809999 meters 0.02061653084095628 Centerline is valid? [True, True] Translation: X:185.15, Y:179.93, Z:13.07 [[ 9.22032922e-01 3.86515844e-01 -2.14660955e-02 1.85150313e+02] [-3.86401651e-01 9.22282691e-01 9.40223300e-03 1.79932613e+02] [ 2.34319203e-02 -3.74633626e-04 9.99725365e-01 1.30679347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.56710568099993 meters 0.020153903704229346 Centerline is valid? [True, True] Translation: X:185.18, Y:179.93, Z:13.07 [[ 9.20705866e-01 3.89502004e-01 -2.42671941e-02 1.85179043e+02] [-3.89357327e-01 9.21025559e-01 1.06203332e-02 1.79927831e+02] [ 2.64873471e-02 -3.29593229e-04 9.99649094e-01 1.30654410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.5971056809999 meters 0.019635428439081115 Centerline is valid? [True, True] Translation: X:185.21, Y:179.92, Z:13.07 [[ 9.19538869e-01 3.92158711e-01 -2.56868311e-02 1.85207732e+02] [-3.91997789e-01 9.19897535e-01 1.12364573e-02 1.79922419e+02] [ 2.80357272e-02 -2.63178280e-04 9.99606887e-01 1.30663225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.62710568099993 meters 0.018996248581780496 Centerline is valid? [True, True] Translation: X:185.24, Y:179.93, Z:13.07 [[ 9.15292792e-01 4.01969628e-01 -2.56811789e-02 1.85240503e+02] [-4.01812888e-01 9.15653000e-01 1.12243750e-02 1.79925107e+02] [ 2.80269064e-02 4.54391643e-05 9.99607168e-01 1.30673202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.6571056809999 meters 0.01965652977459247 Centerline is valid? [True, True] Translation: X:185.27, Y:179.92, Z:13.07 [[ 9.12916994e-01 4.07392925e-01 -2.47702732e-02 1.85269719e+02] [-4.07249348e-01 9.13252955e-01 1.08170894e-02 1.79920145e+02] [ 2.70283308e-02 2.12572854e-04 9.99634645e-01 1.30681032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.68710568099993 meters 0.02196952508895994 Centerline is valid? [True, True] Translation: X:185.30, Y:179.92, Z:13.07 [[ 9.09286378e-01 4.15528004e-01 -2.31249141e-02 1.85299315e+02] [-4.15405676e-01 9.09580284e-01 1.00911684e-02 1.79918968e+02] [ 2.52271290e-02 4.30458632e-04 9.99681653e-01 1.30679252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.7171056809999 meters 0.023010439450100343 Centerline is valid? [True, True] Translation: X:185.33, Y:179.91, Z:13.07 [[ 9.08257143e-01 4.17798605e-01 -2.26558434e-02 1.85327273e+02] [-4.17681991e-01 9.08539536e-01 9.88260083e-03 1.79910998e+02] [ 2.47126663e-02 4.86995004e-04 9.99694477e-01 1.30681348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.74710568099994 meters 0.023718445428473088 Centerline is valid? [True, True] Translation: X:185.35, Y:179.90, Z:13.07 [[ 9.07556634e-01 4.19247012e-01 -2.39353168e-02 1.85354262e+02] [-4.19117568e-01 9.07872031e-01 1.04326057e-02 1.79902200e+02] [ 2.61040435e-02 5.63531207e-04 9.99659073e-01 1.30673315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.7771056809999 meters 0.02319954601259291 Centerline is valid? [True, True] Translation: X:185.38, Y:179.89, Z:13.07 [[ 9.08050754e-01 4.18106367e-01 -2.51175850e-02 1.85380835e+02] [-4.17963509e-01 9.08397903e-01 1.09432352e-02 1.79889971e+02] [ 2.73921979e-02 5.61221014e-04 9.99624606e-01 1.30672302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.80710568099994 meters 0.020705306291435556 Centerline is valid? [True, True] Translation: X:185.40, Y:179.87, Z:13.07 [[ 9.09573881e-01 4.14803742e-01 -2.47630837e-02 1.85404466e+02] [-4.14663892e-01 9.09910788e-01 1.07803019e-02 1.79871324e+02] [ 2.70039066e-02 4.62875641e-04 9.99635221e-01 1.30696162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8371056809999 meters 0.02013481700319512 Centerline is valid? [True, True] Translation: X:185.43, Y:179.86, Z:13.07 [[ 9.10724675e-01 4.12284367e-01 -2.45390709e-02 1.85428129e+02] [-4.12146339e-01 9.11055128e-01 1.06746577e-02 1.79857084e+02] [ 2.67574409e-02 3.92014133e-04 9.99641879e-01 1.30706314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.86710568099994 meters 0.018975354669555237 Centerline is valid? [True, True] Translation: X:185.45, Y:179.84, Z:13.07 [[ 9.12916194e-01 4.07363402e-01 -2.52800623e-02 1.85451392e+02] [-4.07215200e-01 9.13266111e-01 1.09904822e-02 1.79838604e+02] [ 2.75645444e-02 2.61036490e-04 9.99619992e-01 1.30714189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8971056809999 meters 0.018566390132894846 Centerline is valid? [True, True] Translation: X:185.48, Y:179.82, Z:13.07 [[ 9.14106145e-01 4.04667309e-01 -2.55797601e-02 1.85475424e+02] [-4.04514749e-01 9.14463959e-01 1.11123500e-02 1.79823708e+02] [ 2.78885735e-02 1.89522841e-04 9.99611020e-01 1.30716707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9271056809999 meters 0.018036024004978116 Centerline is valid? [True, True] Translation: X:185.50, Y:179.81, Z:13.07 [[ 9.17033850e-01 3.97974524e-01 -2.57913823e-02 1.85498258e+02] [-3.97816922e-01 9.17396467e-01 1.11990497e-02 1.79805236e+02] [ 2.81178595e-02 -9.65933541e-06 9.99604615e-01 1.30740972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9571056809999 meters 0.01819347289406412 Centerline is valid? [True, True] Translation: X:185.52, Y:179.79, Z:13.08 [[ 9.18553645e-01 3.94426667e-01 -2.62069777e-02 1.85522639e+02] [-3.94262798e-01 9.18927414e-01 1.13689594e-02 1.79790881e+02] [ 2.85665310e-02 -1.10562730e-04 9.99591887e-01 1.30750694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9871056809999 meters 0.01917429401179071 Centerline is valid? [True, True] Translation: X:185.54, Y:179.77, Z:13.07 [[ 9.21518535e-01 3.87473493e-01 -2.58434114e-02 1.85543741e+02] [-3.87311668e-01 9.21880792e-01 1.12017113e-02 1.79769782e+02] [ 2.81649107e-02 -3.13129794e-04 9.99603241e-01 1.30733028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0171056809999 meters 0.022241810458749883 Centerline is valid? [True, True] Translation: X:185.57, Y:179.75, Z:13.08 [[ 9.25492842e-01 3.77976915e-01 -2.44223521e-02 1.85566603e+02] [-3.77829184e-01 9.25814847e-01 1.05818641e-02 1.79747794e+02] [ 2.66102766e-02 -5.65962149e-04 9.99645724e-01 1.30761714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0471056809999 meters 0.0248934019683235 Centerline is valid? [True, True] Translation: X:185.59, Y:179.73, Z:13.08 [[ 9.27662406e-01 3.72643032e-01 -2.40755251e-02 1.85590959e+02] [-3.72497706e-01 9.27974499e-01 1.04301889e-02 1.79731421e+02] [ 2.62282106e-02 -7.07616310e-04 9.99655731e-01 1.30777321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0771056809999 meters 0.030475959767811835 Centerline is valid? [True, True] Translation: X:185.61, Y:179.71, Z:13.08 [[ 9.31850824e-01 3.62054301e-01 -2.38898499e-02 1.85614564e+02] [-3.61907762e-01 9.32156472e-01 1.03480843e-02 1.79710390e+02] [ 2.60156467e-02 -9.96948780e-04 9.99661039e-01 1.30789652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.1071056809999 meters 0.03431999413793056 Centerline is valid? [True, True] Translation: X:185.64, Y:179.69, Z:13.08 [[ 9.33403659e-01 3.58083649e-01 -2.31021628e-02 1.85637743e+02] [-3.57945426e-01 9.33688897e-01 1.00058122e-02 1.79693563e+02] [ 2.51531506e-02 -1.07014827e-03 9.99683037e-01 1.30801484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.1371056809999 meters 0.03270356846040686 Centerline is valid? [True, True] Translation: X:185.67, Y:179.68, Z:13.08 [[ 9.34636475e-01 3.54883018e-01 -2.26429373e-02 1.85665627e+02] [-3.54749353e-01 9.34910030e-01 9.80471997e-03 1.79684918e+02] [ 2.46486378e-02 -1.13128155e-03 9.99695536e-01 1.30813187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.1671056809999 meters 0.03334265997464524 Centerline is valid? [True, True] Translation: X:185.69, Y:179.68, Z:13.08 [[ 9.35437832e-01 3.52781446e-01 -2.23900538e-02 1.85692365e+02] [-3.52650197e-01 9.35705017e-01 9.69327240e-03 1.79675079e+02] [ 2.43700923e-02 -1.17159682e-03 9.99702319e-01 1.30823566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.1971056809999 meters 0.032452127891909335 Centerline is valid? [True, True] Translation: X:185.72, Y:179.67, Z:13.08 [[ 9.34539625e-01 3.55246137e-01 -2.08775183e-02 1.85719918e+02] [-3.55132700e-01 9.34772230e-01 9.03572687e-03 1.79668804e+02] [ 2.27256313e-02 -1.02995538e-03 9.99741209e-01 1.30842751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.2271056809999 meters 0.03152240690303345 Centerline is valid? [True, True] Translation: X:185.75, Y:179.66, Z:13.09 [[ 9.33691447e-01 3.57552168e-01 -1.94095139e-02 1.85748005e+02] [-3.57454692e-01 9.33892731e-01 8.39701454e-03 1.79661399e+02] [ 2.11287747e-02 -9.02198840e-04 9.99776355e-01 1.30862151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.2571056809999 meters 0.029790377741165466 Centerline is valid? [True, True] Translation: X:185.78, Y:179.66, Z:13.09 [[ 9.31747411e-01 3.62658518e-01 -1.80433467e-02 1.85778138e+02] [-3.62575272e-01 9.31921814e-01 7.80415756e-03 1.79657104e+02] [ 1.96452326e-02 -7.29432247e-04 9.99806748e-01 1.30885803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.2871056809999 meters 0.028980689799188507 Centerline is valid? [True, True] Translation: X:185.81, Y:179.65, Z:13.09 [[ 9.31056928e-01 3.64397115e-01 -1.86477500e-02 1.85806508e+02] [-3.64308564e-01 9.31243379e-01 8.06468219e-03 1.79648820e+02] [ 2.03043406e-02 -7.15143217e-04 9.99793590e-01 1.30887185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.31710568099993 meters 0.02703227122459744 Centerline is valid? [True, True] Translation: X:185.84, Y:179.64, Z:13.09 [[ 9.29840121e-01 3.67510454e-01 -1.82596788e-02 1.85836179e+02] [-3.67426270e-01 9.30019178e-01 7.89073960e-03 1.79643607e+02] [ 1.98817807e-02 -6.28040597e-04 9.99802141e-01 1.30892293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.3471056809999 meters 0.026810905947628038 Centerline is valid? [True, True] Translation: X:185.86, Y:179.63, Z:13.09 [[ 9.29292552e-01 3.68902969e-01 -1.80541505e-02 1.85862345e+02] [-3.68820994e-01 9.29467726e-01 7.79877842e-03 1.79634400e+02] [ 1.96577427e-02 -5.88596958e-04 9.99806595e-01 1.30880337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37710568099993 meters 0.02561871067289706 Centerline is valid? [True, True] Translation: X:185.89, Y:179.63, Z:13.08 [[ 9.28347426e-01 3.71142540e-01 -2.05978406e-02 1.85891036e+02] [-3.71036460e-01 9.28575704e-01 8.89423862e-03 1.79626636e+02] [ 2.24276847e-02 -6.14393649e-04 9.99748279e-01 1.30837525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.4071056809999 meters 0.02373743687510487 Centerline is valid? [True, True] Translation: X:185.92, Y:179.62, Z:13.08 [[ 9.26649228e-01 3.75274864e-01 -2.21356082e-02 1.85920204e+02] [-3.75153700e-01 9.26913414e-01 9.55109971e-03 1.79622714e+02] [ 2.41020798e-02 -5.46263868e-04 9.99709353e-01 1.30818749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.43710568099993 meters 0.022024242710687304 Centerline is valid? [True, True] Translation: X:185.95, Y:179.62, Z:13.08 [[ 9.25339031e-01 3.78438964e-01 -2.30570605e-02 1.85949693e+02] [-3.78308569e-01 9.25626123e-01 9.94516425e-03 1.79618358e+02] [ 2.51058552e-02 -4.79965081e-04 9.99684683e-01 1.30807469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.4671056809999 meters 0.020149933523083422 Centerline is valid? [True, True] Translation: X:185.98, Y:179.62, Z:13.08 [[ 9.21098718e-01 3.88532929e-01 -2.48860221e-02 1.85980716e+02] [-3.88384918e-01 9.21434814e-01 1.07255771e-02 1.79619692e+02] [ 2.70980870e-02 -2.13959702e-04 9.99632757e-01 1.30766301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.49710568099994 meters 0.01955126309571896 Centerline is valid? [True, True] Translation: X:186.01, Y:179.62, Z:13.08 [[ 9.18399603e-01 3.94823743e-01 -2.56199259e-02 1.86010681e+02] [-3.94669452e-01 9.18756884e-01 1.10368667e-02 1.79617419e+02] [ 2.78961003e-02 -2.48518623e-05 9.99610828e-01 1.30765873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5271056809999 meters 0.02226133266303296 Centerline is valid? [True, True] Translation: X:186.04, Y:179.62, Z:13.08 [[ 9.12176066e-01 4.08975681e-01 -2.59560493e-02 1.86044742e+02] [-4.08823226e-01 9.12545186e-01 1.11737654e-02 1.79624872e+02] [ 2.82558661e-02 4.18994445e-04 9.99600635e-01 1.30757207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.55710568099994 meters 0.02529348194129528 Centerline is valid? [True, True] Translation: X:186.08, Y:179.62, Z:13.08 [[ 9.09088839e-01 4.15774168e-01 -2.62549852e-02 1.86075196e+02] [-4.15621082e-01 9.09467664e-01 1.12997473e-02 1.79622844e+02] [ 2.85762031e-02 6.39651201e-04 9.99591412e-01 1.30761095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5871056809999 meters 0.031183535646206236 Centerline is valid? [True, True] Translation: X:186.11, Y:179.63, Z:13.08 [[ 9.03992440e-01 4.26853173e-01 -2.43728678e-02 1.86107459e+02] [-4.26725299e-01 9.04320476e-01 1.04879139e-02 1.79626005e+02] [ 2.65176827e-02 9.19524357e-04 9.99647922e-01 1.30794510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.61710568099994 meters 0.031183535646206236 Centerline is valid? [True, True] Translation: X:186.13, Y:179.62, Z:13.08 [[ 9.04140891e-01 4.26538564e-01 -2.43742042e-02 1.86132705e+02] [-4.26410659e-01 9.04468915e-01 1.04848069e-02 1.79615403e+02] [ 2.65178845e-02 9.13677843e-04 9.99647922e-01 1.30800201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6471056809999 meters 0.033482919267722046 Centerline is valid? [True, True] Translation: X:186.16, Y:179.61, Z:13.08 [[ 9.02471937e-01 4.30125741e-01 -2.31570794e-02 1.86161049e+02] [-4.30011666e-01 9.02768462e-01 9.95346130e-03 1.79607865e+02] [ 2.51867209e-02 9.75094814e-04 9.99682289e-01 1.30820138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6771056809999 meters 0.03555014382877498 Centerline is valid? [True, True] Translation: X:186.19, Y:179.60, Z:13.08 [[ 9.01318515e-01 4.32594209e-01 -2.20722621e-02 1.86187598e+02] [-4.32491351e-01 9.01588186e-01 9.48546728e-03 1.79597567e+02] [ 2.40034490e-02 9.96635179e-04 9.99711379e-01 1.30845579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7071056809999 meters 0.034372053704102214 Centerline is valid? [True, True] Translation: X:186.21, Y:179.58, Z:13.09 [[ 9.02600468e-01 4.29961710e-01 -2.11026567e-02 1.86210639e+02] [-4.29867025e-01 9.02846686e-01 9.06652294e-03 1.79580608e+02] [ 2.29507214e-02 8.87888393e-04 9.99736203e-01 1.30859285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7371056809999 meters 0.030598796795135268 Centerline is valid? [True, True] Translation: X:186.23, Y:179.56, Z:13.09 [[ 9.03384262e-01 4.28344463e-01 -2.04425282e-02 1.86233978e+02] [-4.28255278e-01 9.03615152e-01 8.77916184e-03 1.79560820e+02] [ 2.22326836e-02 8.23663981e-04 9.99752484e-01 1.30875239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7671056809999 meters 0.02953184804844929 Centerline is valid? [True, True] Translation: X:186.26, Y:179.54, Z:13.09 [[ 9.04964356e-01 4.25008803e-01 -2.01750508e-02 1.86255675e+02] [-4.24921257e-01 9.05188915e-01 8.65752159e-03 1.79541201e+02] [ 2.19417553e-02 7.38059517e-04 9.99758978e-01 1.30872280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7971056809999 meters 0.029809877774022536 Centerline is valid? [True, True] Translation: X:186.28, Y:179.53, Z:13.09 [[ 9.05747345e-01 4.23357094e-01 -1.97615333e-02 1.86279587e+02] [-4.23272763e-01 9.05962637e-01 8.47748772e-03 1.79526410e+02] [ 2.14922154e-02 6.86056812e-04 9.99768780e-01 1.30876861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8271056809999 meters 0.029031457055026574 Centerline is valid? [True, True] Translation: X:186.30, Y:179.51, Z:13.09 [[ 9.07329010e-01 4.19965750e-01 -1.95662186e-02 1.86302057e+02] [-4.19882342e-01 9.07539755e-01 8.39117393e-03 1.79507140e+02] [ 2.12811269e-02 6.01954183e-04 9.99773350e-01 1.30879957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8571056809999 meters 0.02650309961692578 Centerline is valid? [True, True] Translation: X:186.32, Y:179.49, Z:13.09 [[ 9.08524124e-01 4.17298155e-01 -2.11226405e-02 1.86324824e+02] [-4.17200291e-01 9.08769447e-01 9.05593613e-03 1.79486134e+02] [ 2.29746358e-02 5.84835331e-04 9.99735877e-01 1.30865590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8871056809999 meters 0.026356800692673377 Centerline is valid? [True, True] Translation: X:186.35, Y:179.47, Z:13.09 [[ 9.08896043e-01 4.16427855e-01 -2.22671114e-02 1.86350050e+02] [-4.16319020e-01 9.09168566e-01 9.53899619e-03 1.79472333e+02] [ 2.42168614e-02 6.00266086e-04 9.99706549e-01 1.30853007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.9171056809999 meters 0.027084182090342367 Centerline is valid? [True, True] Translation: X:186.38, Y:179.46, Z:13.08 [[ 9.09133911e-01 4.15862219e-01 -2.31116139e-02 1.86375203e+02] [-4.15744973e-01 9.09427423e-01 9.89341000e-03 1.79460943e+02] [ 2.51326309e-02 6.14102774e-04 9.99683937e-01 1.30837926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.9471056809999 meters 0.023315033690656895 Centerline is valid? [True, True] Translation: X:186.40, Y:179.44, Z:13.08 [[ 9.10144492e-01 4.13579575e-01 -2.42680467e-02 1.86396958e+02] [-4.13449605e-01 9.10467789e-01 1.03840635e-02 1.79439684e+02] [ 2.63899114e-02 5.82616070e-04 9.99651556e-01 1.30826781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.9771056809999 meters 0.024277322461318532 Centerline is valid? [True, True] Translation: X:186.42, Y:179.43, Z:13.08 [[ 9.11118159e-01 4.11458390e-01 -2.37843057e-02 1.86422046e+02] [-4.11333022e-01 9.11428398e-01 1.01695335e-02 1.79428572e+02] [ 2.58620316e-02 5.17623694e-04 9.99665388e-01 1.30819849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.0071056809999 meters 0.02111399826931738 Centerline is valid? [True, True] Translation: X:186.44, Y:179.41, Z:13.08 [[ 9.13474804e-01 4.06123995e-01 -2.50416292e-02 1.86444284e+02] [-4.05983098e-01 9.13817898e-01 1.07039451e-02 1.79407600e+02] [ 2.72306179e-02 3.88694047e-04 9.99629102e-01 1.30815656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.0371056809999 meters 0.019745910136267978 Centerline is valid? [True, True] Translation: X:186.47, Y:179.39, Z:13.08 [[ 9.14820864e-01 4.03062801e-01 -2.53606960e-02 1.86469410e+02] [-4.02917194e-01 9.15172271e-01 1.08373768e-02 1.79391756e+02] [ 2.75775492e-02 3.04002058e-04 9.99619621e-01 1.30822637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.06710568099993 meters 0.01768564989153331 Centerline is valid? [True, True] Translation: X:186.49, Y:179.37, Z:13.08 [[ 9.17063670e-01 3.97918346e-01 -2.55971627e-02 1.86491841e+02] [-3.97768167e-01 9.17420823e-01 1.09324819e-02 1.79370390e+02] [ 2.78336052e-02 1.55954485e-04 9.99612558e-01 1.30834414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.0971056809999 meters 0.017400505716431744 Centerline is valid? [True, True] Translation: X:186.51, Y:179.35, Z:13.08 [[ 9.18536670e-01 3.94504396e-01 -2.56255279e-02 1.86514190e+02] [-3.94352841e-01 9.18894051e-01 1.09343107e-02 1.79351740e+02] [ 2.78607788e-02 6.19344256e-05 9.99611811e-01 1.30815179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.12710568099993 meters 0.01718906449086827 Centerline is valid? [True, True] Translation: X:186.54, Y:179.34, Z:13.08 [[ 9.19291990e-01 3.92823602e-01 -2.43280781e-02 1.86538897e+02] [-3.92686690e-01 9.19613841e-01 1.03704687e-02 1.79338167e+02] [ 2.64462022e-02 1.98236747e-05 9.99650238e-01 1.30826986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.1571056809999 meters 0.017106192629282486 Centerline is valid? [True, True] Translation: X:186.56, Y:179.32, Z:13.09 [[ 9.20457674e-01 3.90215178e-01 -2.21311083e-02 1.86563197e+02] [-3.90101340e-01 9.20723690e-01 9.42506691e-03 1.79324555e+02] [ 2.40544398e-02 -4.20001659e-05 9.99710649e-01 1.30865110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.18710568099993 meters 0.017310330648035825 Centerline is valid? [True, True] Translation: X:186.59, Y:179.31, Z:13.09 [[ 9.21585897e-01 3.87586177e-01 -2.13632815e-02 1.86588105e+02] [-3.87479605e-01 9.21833470e-01 9.08901590e-03 1.79311878e+02] [ 2.32161649e-02 -9.84729913e-05 9.99730464e-01 1.30880178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.2171056809999 meters 0.018688841988157796 Centerline is valid? [True, True] Translation: X:186.61, Y:179.29, Z:13.09 [[ 9.24316212e-01 3.81053815e-01 -2.09172178e-02 1.86611188e+02] [-3.80950161e-01 9.24552826e-01 8.89087718e-03 1.79294385e+02] [ 2.27269755e-02 -2.49564426e-04 9.99741678e-01 1.30881681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.24710568099994 meters 0.019956401281601286 Centerline is valid? [True, True] Translation: X:186.64, Y:179.28, Z:13.09 [[ 9.26217230e-01 3.76446484e-01 -2.02407514e-02 1.86636172e+02] [-3.76348388e-01 9.26438300e-01 8.60045831e-03 1.79278734e+02] [ 2.19894196e-02 -3.48318509e-04 9.99758143e-01 1.30875273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.2771056809999 meters 0.02327080626539256 Centerline is valid? [True, True] Translation: X:186.66, Y:179.26, Z:13.09 [[ 9.30054462e-01 3.66891718e-01 -1.97272412e-02 1.86658850e+02] [-3.66796529e-01 9.30263490e-01 8.37529905e-03 1.79257065e+02] [ 2.14243601e-02 -5.53600654e-04 9.99770319e-01 1.30866971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.30710568099994 meters 0.02500914873830625 Centerline is valid? [True, True] Translation: X:186.68, Y:179.24, Z:13.09 [[ 9.31832227e-01 3.62334580e-01 -2.00587171e-02 1.86684843e+02] [-3.62235136e-01 9.32047856e-01 8.51475371e-03 1.79242236e+02] [ 2.17808740e-02 -6.68349792e-04 9.99762545e-01 1.30861521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3371056809999 meters 0.02925231728713671 Centerline is valid? [True, True] Translation: X:186.71, Y:179.23, Z:13.09 [[ 9.35095497e-01 3.53828317e-01 -2.00482743e-02 1.86710844e+02] [-3.53727041e-01 9.35309988e-01 8.50925496e-03 1.79226449e+02] [ 2.17621665e-02 -8.65349264e-04 9.99762802e-01 1.30873983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.36710568099994 meters 0.03287789077671004 Centerline is valid? [True, True] Translation: X:186.74, Y:179.21, Z:13.09 [[ 9.37599639e-01 3.47100850e-01 -2.06861578e-02 1.86737564e+02] [-3.46991404e-01 9.37827218e-01 8.77926118e-03 1.79213546e+02] [ 2.24473308e-02 -1.05351318e-03 9.99747472e-01 1.30878848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3971056809999 meters 0.035000601381466885 Centerline is valid? [True, True] Translation: X:186.76, Y:179.20, Z:13.09 [[ 9.38683870e-01 3.44166954e-01 -2.05353210e-02 1.86763445e+02] [-3.44058422e-01 9.38907805e-01 8.71414833e-03 1.79201299e+02] [ 2.22798950e-02 -1.11448036e-03 9.99751151e-01 1.30878480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4271056809999 meters 0.03627367933675632 Centerline is valid? [True, True] Translation: X:186.79, Y:179.19, Z:13.09 [[ 9.40211475e-01 3.40017961e-01 -1.97527137e-02 1.86791061e+02] [-3.39916662e-01 9.40418220e-01 8.38057082e-03 1.79189448e+02] [ 2.14253564e-02 -1.16523235e-03 9.99769772e-01 1.30868440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4571056809999 meters 0.037702524816084104 Centerline is valid? [True, True] Translation: X:186.82, Y:179.18, Z:13.09 [[ 9.40947587e-01 3.38019692e-01 -1.89822539e-02 1.86818791e+02] [-3.37925755e-01 9.41138319e-01 8.05279323e-03 1.79178265e+02] [ 2.05869293e-02 -1.16266386e-03 9.99787391e-01 1.30867003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4871056809999 meters 0.03762483669848702 Centerline is valid? [True, True] Translation: X:186.85, Y:179.18, Z:13.09 [[ 9.41069860e-01 3.37766421e-01 -1.73598157e-02 1.86848973e+02] [-3.37687819e-01 9.41229358e-01 7.36432462e-03 1.79177183e+02] [ 1.88269897e-02 -1.06814565e-03 9.99822186e-01 1.30905842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5171056809999 meters 0.037499554572210984 Centerline is valid? [True, True] Translation: X:186.88, Y:179.17, Z:13.09 [[ 9.40377597e-01 3.39730032e-01 -1.65372729e-02 1.86877459e+02] [-3.39659139e-01 9.40522492e-01 7.00792306e-03 1.79172211e+02] [ 1.79344791e-02 -9.73057969e-04 9.99838691e-01 1.30919384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5471056809999 meters 0.03484472482288696 Centerline is valid? [True, True] Translation: X:186.91, Y:179.17, Z:13.09 [[ 9.38082975e-01 3.46071134e-01 -1.53330212e-02 1.86910307e+02] [-3.46011060e-01 9.38207945e-01 6.49598552e-03 1.79174868e+02] [ 1.66336354e-02 -7.88378526e-04 9.99861341e-01 1.30925103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5771056809999 meters 0.03338368024795688 Centerline is valid? [True, True] Translation: X:186.94, Y:179.17, Z:13.09 [[ 9.36565722e-01 3.50197094e-01 -1.43751347e-02 1.86939770e+02] [-3.50144786e-01 9.36675796e-01 6.08946447e-03 1.79170999e+02] [ 1.55973535e-02 -6.69805207e-04 9.99878130e-01 1.30941624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.6071056809999 meters 0.029566521651379973 Centerline is valid? [True, True] Translation: X:186.97, Y:179.18, Z:13.10 [[ 9.33470727e-01 3.58403475e-01 -1.33921685e-02 1.86974264e+02] [-3.58358932e-01 9.33566657e-01 5.67206857e-03 1.79177578e+02] [ 1.45353711e-02 -4.95506762e-04 9.99894233e-01 1.30959063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.6371056809999 meters 0.02651949907883904 Centerline is valid? [True, True] Translation: X:187.01, Y:179.18, Z:13.09 [[ 9.30797853e-01 3.65229385e-01 -1.49282941e-02 1.87007307e+02] [-3.65174927e-01 9.30917456e-01 6.32167904e-03 1.79182123e+02] [ 1.62058725e-02 -4.32766561e-04 9.99868583e-01 1.30930118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.6671056809999 meters 0.025219505891029323 Centerline is valid? [True, True] Translation: X:187.04, Y:179.18, Z:13.09 [[ 9.29809366e-01 3.67666210e-01 -1.66163080e-02 1.87036730e+02] [-3.67599141e-01 9.29957725e-01 7.03575887e-03 1.79177551e+02] [ 1.80392748e-02 -4.33773929e-04 9.99837185e-01 1.30912938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.6971056809999 meters 0.023336372045757017 Centerline is valid? [True, True] Translation: X:187.07, Y:179.18, Z:13.09 [[ 9.29398367e-01 3.68599518e-01 -1.87901700e-02 1.87068748e+02] [-3.68514090e-01 9.29588178e-01 7.94885203e-03 1.79179153e+02] [ 2.03970630e-02 -4.63207682e-04 9.99791851e-01 1.30897719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.7271056809999 meters 0.024890431851584068 Centerline is valid? [True, True] Translation: X:187.09, Y:179.17, Z:13.09 [[ 9.29286612e-01 3.68807975e-01 -2.01759974e-02 1.87094218e+02] [-3.68709706e-01 9.29505483e-01 8.52707009e-03 1.79169117e+02] [ 2.18985517e-02 -4.85005992e-04 9.99760080e-01 1.30904896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.7571056809999 meters 0.02495080357808749 Centerline is valid? [True, True] Translation: X:187.12, Y:179.16, Z:13.09 [[ 9.29364487e-01 3.68564097e-01 -2.10275417e-02 1.87122011e+02] [-3.68457372e-01 9.29602199e-01 8.88349877e-03 1.79162496e+02] [ 2.28213877e-02 -5.08255508e-04 9.99739429e-01 1.30882915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.7871056809999 meters 0.02327668093529124 Centerline is valid? [True, True] Translation: X:187.15, Y:179.16, Z:13.09 [[ 9.29548709e-01 3.68088025e-01 -2.12226970e-02 1.87148989e+02] [-3.67979384e-01 9.29790804e-01 8.95733454e-03 1.79155204e+02] [ 2.30297561e-02 -5.16763781e-04 9.99734646e-01 1.30882420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.81710568099993 meters 0.02373866703296696 Centerline is valid? [True, True] Translation: X:187.18, Y:179.15, Z:13.09 [[ 9.29071691e-01 3.69237576e-01 -2.21225356e-02 1.87175418e+02] [-3.69120074e-01 9.29334903e-01 9.32785120e-03 1.79147220e+02] [ 2.40034376e-02 -5.00370535e-04 9.99711751e-01 1.30867771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.8471056809999 meters 0.023626762973810223 Centerline is valid? [True, True] Translation: X:187.20, Y:179.14, Z:13.09 [[ 9.29036256e-01 3.69328707e-01 -2.20893797e-02 1.87202457e+02] [-3.69211676e-01 9.29298694e-01 9.31000774e-03 1.79139704e+02] [ 2.39660848e-02 -4.93677839e-04 9.99712650e-01 1.30886929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87710568099993 meters 0.0226599136684046 Centerline is valid? [True, True] Translation: X:187.23, Y:179.14, Z:13.09 [[ 9.28115596e-01 3.71468720e-01 -2.47473336e-02 1.87232519e+02] [-3.71322882e-01 9.28445345e-01 1.04191298e-02 1.79138146e+02] [ 2.68469275e-02 -4.80905574e-04 9.99639441e-01 1.30890232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.9071056809999 meters 0.02250343199076781 Centerline is valid? [True, True] Translation: X:187.26, Y:179.13, Z:13.09 [[ 9.27672954e-01 3.72514095e-01 -2.56152254e-02 1.87258895e+02] [-3.72358482e-01 9.28026421e-01 1.07760138e-02 1.79130299e+02] [ 2.77858230e-02 -4.58570133e-04 9.99613794e-01 1.30885943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.93710568099993 meters 0.022464866775661122 Centerline is valid? [True, True] Translation: X:187.29, Y:179.12, Z:13.09 [[ 9.27774095e-01 3.72268627e-01 -2.55205341e-02 1.87285656e+02] [-3.72114218e-01 9.28124915e-01 1.07308205e-02 1.79121665e+02] [ 2.76809914e-02 -4.59223713e-04 9.99616702e-01 1.30877526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.9671056809999 meters 0.022844747929066204 Centerline is valid? [True, True] Translation: X:187.31, Y:179.11, Z:13.09 [[ 9.28242455e-01 3.71131901e-01 -2.50410843e-02 1.87311222e+02] [-3.70983069e-01 9.28580037e-01 1.05202844e-02 1.79110361e+02] [ 2.71570642e-02 -4.75556336e-04 9.99631066e-01 1.30885855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.99710568099994 meters 0.02463676242989954 Centerline is valid? [True, True] Translation: X:187.34, Y:179.10, Z:13.09 [[ 9.29972795e-01 3.66917060e-01 -2.28576443e-02 1.87336279e+02] [-3.66791851e-01 9.30253501e-01 9.60013729e-03 1.79098161e+02] [ 2.47858578e-02 -5.43868839e-04 9.99692635e-01 1.30929518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0271056809999 meters 0.025694869856297823 Centerline is valid? [True, True] Translation: X:187.36, Y:179.09, Z:13.10 [[ 9.31723947e-01 3.62600568e-01 -2.02808864e-02 1.87363468e+02] [-3.62501036e-01 9.31944467e-01 8.51524141e-03 1.79089905e+02] [ 2.19882912e-02 -5.82012011e-04 9.99758059e-01 1.31005542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.05710568099994 meters 0.026527947303918616 Centerline is valid? [True, True] Translation: X:187.39, Y:179.08, Z:13.10 [[ 9.32199332e-01 3.61393970e-01 -1.99700576e-02 1.87388566e+02] [-3.61297343e-01 9.32413023e-01 8.37762324e-03 1.79078733e+02] [ 2.16479643e-02 -5.94486042e-04 9.99765479e-01 1.31012618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0871056809999 meters 0.02655898629611461 Centerline is valid? [True, True] Translation: X:187.41, Y:179.07, Z:13.10 [[ 9.32083214e-01 3.61689052e-01 -2.00477690e-02 1.87413753e+02] [-3.61591824e-01 9.32298604e-01 8.40632654e-03 1.79067624e+02] [ 2.17309834e-02 -5.86286464e-04 9.99763682e-01 1.30995668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1171056809999 meters 0.02557307600983706 Centerline is valid? [True, True] Translation: X:187.44, Y:179.06, Z:13.10 [[ 9.31957806e-01 3.62014498e-01 -2.00037529e-02 1.87440858e+02] [-3.61917859e-01 9.32172288e-01 8.38386952e-03 1.79058161e+02] [ 2.16820264e-02 -5.73697222e-04 9.99764753e-01 1.30995437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1471056809999 meters 0.0250943767357153 Centerline is valid? [True, True] Translation: X:187.47, Y:179.05, Z:13.10 [[ 9.31436016e-01 3.63344238e-01 -2.01968695e-02 1.87466846e+02] [-3.63246196e-01 9.31654803e-01 8.45750904e-03 1.79047458e+02] [ 2.18894976e-02 -5.41192508e-04 9.99760250e-01 1.31001066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1771056809999 meters 0.025057868863640097 Centerline is valid? [True, True] Translation: X:187.49, Y:179.04, Z:13.10 [[ 9.31168180e-01 3.63980783e-01 -2.10668178e-02 1.87493977e+02] [-3.63874350e-01 9.31406298e-01 8.81849400e-03 1.79037061e+02] [ 2.28315292e-02 -5.45826360e-04 9.99739178e-01 1.31005224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2071056809999 meters 0.022768533429607343 Centerline is valid? [True, True] Translation: X:187.52, Y:179.03, Z:13.10 [[ 9.28949605e-01 3.69547261e-01 -2.20783222e-02 1.87524619e+02] [-3.69432127e-01 9.29211840e-01 9.23357361e-03 1.79034332e+02] [ 2.39276802e-02 -4.21083040e-04 9.99713603e-01 1.31024510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2371056809999 meters 0.021909678304972636 Centerline is valid? [True, True] Translation: X:187.55, Y:179.03, Z:13.10 [[ 9.27252025e-01 3.73755790e-01 -2.25896491e-02 1.87551849e+02] [-3.73636708e-01 9.27527095e-01 9.43917938e-03 1.79026198e+02] [ 2.44804595e-02 -3.12176066e-04 9.99700260e-01 1.31026813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2671056809999 meters 0.020678896344136236 Centerline is valid? [True, True] Translation: X:187.58, Y:179.02, Z:13.10 [[ 9.23697981e-01 3.82498417e-01 -2.18403655e-02 1.87580940e+02] [-3.82389729e-01 9.23956144e-01 9.11808852e-03 1.79021977e+02] [ 2.36671943e-02 -7.08285227e-05 9.99719890e-01 1.31018596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2971056809999 meters 0.020652615890663768 Centerline is valid? [True, True] Translation: X:187.61, Y:179.02, Z:13.10 [[ 9.21071931e-01 3.88857635e-01 -2.04018872e-02 1.87608147e+02] [-3.88764513e-01 9.21297851e-01 8.51013203e-03 1.79015658e+02] [ 2.21054446e-02 9.30860040e-05 9.99755640e-01 1.31025951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3271056809999 meters 0.020822801652625598 Centerline is valid? [True, True] Translation: X:187.63, Y:179.01, Z:13.10 [[ 9.20342059e-01 3.90554041e-01 -2.09293198e-02 1.87634811e+02] [-3.90456687e-01 9.20579991e-01 8.72096965e-03 1.79006616e+02] [ 2.26731229e-02 1.45717690e-04 9.99742921e-01 1.31017704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3571056809999 meters 0.021090739358798495 Centerline is valid? [True, True] Translation: X:187.66, Y:179.00, Z:13.10 [[ 9.19545631e-01 3.92072738e-01 -2.67357592e-02 1.87662230e+02] [-3.91914687e-01 9.19934188e-01 1.11340755e-02 1.78997115e+02] [ 2.89605064e-02 2.39846188e-04 9.99580528e-01 1.30970930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3871056809999 meters 0.021455973567204818 Centerline is valid? [True, True] Translation: X:187.69, Y:178.99, Z:13.10 [[ 9.19236663e-01 3.92681076e-01 -2.83818600e-02 1.87689405e+02] [-3.92503601e-01 9.19674666e-01 1.18081551e-02 1.78986576e+02] [ 3.07389166e-02 2.85493159e-04 9.99527407e-01 1.30950706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.4171056809999 meters 0.02199036799323886 Centerline is valid? [True, True] Translation: X:187.72, Y:178.98, Z:13.10 [[ 9.18409259e-01 3.94637342e-01 -2.80321578e-02 1.87715014e+02] [-3.94465403e-01 9.18836896e-01 1.16534735e-02 1.78976412e+02] [ 3.03558767e-02 3.55058487e-04 9.99539091e-01 1.30951028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.4471056809999 meters 0.02231606687497097 Centerline is valid? [True, True] Translation: X:187.74, Y:178.97, Z:13.10 [[ 9.17767559e-01 3.96200105e-01 -2.69848890e-02 1.87741622e+02] [-3.96041648e-01 9.18164102e-01 1.12113685e-02 1.78965383e+02] [ 2.92185018e-02 3.97709587e-04 9.99572969e-01 1.30983058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.4771056809999 meters 0.023312569132762067 Centerline is valid? [True, True] Translation: X:187.77, Y:178.95, Z:13.10 [[ 9.16504648e-01 3.99205290e-01 -2.55805882e-02 1.87768073e+02] [-3.99064323e-01 9.16861445e-01 1.06186803e-02 1.78953661e+02] [ 2.76928884e-02 4.76230263e-04 9.99616365e-01 1.31024117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.5071056809999 meters 0.023312569132762067 Centerline is valid? [True, True] Translation: X:187.79, Y:178.94, Z:13.10 [[ 9.16652982e-01 3.98864340e-01 -2.55841540e-02 1.87793418e+02] [-3.98723481e-01 9.17009821e-01 1.06100830e-02 1.78943373e+02] [ 2.76929043e-02 4.75238680e-04 9.99616365e-01 1.31029822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.5371056809999 meters 0.02365864365582158 Centerline is valid? [True, True] Translation: X:187.82, Y:178.93, Z:13.11 [[ 9.16316294e-01 3.99675627e-01 -2.49768554e-02 1.87818636e+02] [-3.99541919e-01 9.16656504e-01 1.03492855e-02 1.78930416e+02] [ 2.70315542e-02 4.96081784e-04 9.99634458e-01 1.31057620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.56710568099993 meters 0.02345968101066157 Centerline is valid? [True, True] Translation: X:187.84, Y:178.92, Z:13.11 [[ 9.16845364e-01 3.98550476e-01 -2.34967485e-02 1.87843655e+02] [-3.98431882e-01 9.17146294e-01 9.73190994e-03 1.78916417e+02] [ 2.54286131e-02 4.39197217e-04 9.99676544e-01 1.31076792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.5971056809999 meters 0.022722866886877944 Centerline is valid? [True, True] Translation: X:187.87, Y:178.90, Z:13.11 [[ 9.18106079e-01 3.95672002e-01 -2.29105975e-02 1.87866859e+02] [-3.95558567e-01 9.18391822e-01 9.48058371e-03 1.78897587e+02] [ 2.47921069e-02 3.58301569e-04 9.99692564e-01 1.31090452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.62710568099993 meters 0.02276109675155479 Centerline is valid? [True, True] Translation: X:187.89, Y:178.88, Z:13.11 [[ 9.18771535e-01 3.94054713e-01 -2.40780017e-02 1.87891085e+02] [-3.93929090e-01 9.19086921e-01 9.95507439e-03 1.78882831e+02] [ 2.60526204e-02 3.38586334e-04 9.99660516e-01 1.31073467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.6571056809999 meters 0.022139721013129627 Centerline is valid? [True, True] Translation: X:187.92, Y:178.87, Z:13.11 [[ 9.19985704e-01 3.91156605e-01 -2.49562532e-02 1.87915008e+02] [-3.91020747e-01 9.20324093e-01 1.03120669e-02 1.78866427e+02] [ 2.70014741e-02 2.71458674e-04 9.99635357e-01 1.31053217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.68710568099993 meters 0.0215080081407951 Centerline is valid? [True, True] Translation: X:187.94, Y:178.84, Z:13.10 [[ 9.21982000e-01 3.86445713e-01 -2.46759508e-02 1.87935758e+02] [-3.86311406e-01 9.22312145e-01 1.01884908e-02 1.78844579e+02] [ 2.66962277e-02 1.38996117e-04 9.99643583e-01 1.31030566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.7171056809999 meters 0.02132958558734597 Centerline is valid? [True, True] Translation: X:187.96, Y:178.83, Z:13.10 [[ 9.23165060e-01 3.83585910e-01 -2.50623686e-02 1.87959678e+02] [-3.83446444e-01 9.23505195e-01 1.03430852e-02 1.78828343e+02] [ 2.71126893e-02 6.17012720e-05 9.99632382e-01 1.31046560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.74710568099994 meters 0.021197820712964346 Centerline is valid? [True, True] Translation: X:187.98, Y:178.82, Z:13.11 [[ 9.23356406e-01 3.83138500e-01 -2.48563348e-02 1.87984602e+02] [-3.83001426e-01 9.23690904e-01 1.02479644e-02 1.78815971e+02] [ 2.68859601e-02 5.74880526e-05 9.99638506e-01 1.31055067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.7771056809999 meters 0.021200426727977915 Centerline is valid? [True, True] Translation: X:188.01, Y:178.80, Z:13.11 [[ 9.23257755e-01 3.83396376e-01 -2.45425726e-02 1.88007349e+02] [-3.83263076e-01 9.23583897e-01 1.01094229e-02 1.78801514e+02] [ 2.65430409e-02 7.26587661e-05 9.99647669e-01 1.31059450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.80710568099994 meters 0.02119896411738151 Centerline is valid? [True, True] Translation: X:188.03, Y:178.79, Z:13.11 [[ 9.23546666e-01 3.82739303e-01 -2.39203310e-02 1.88032024e+02] [-3.82612640e-01 9.23856386e-01 9.84606274e-03 1.78789067e+02] [ 2.58674258e-02 5.89225919e-05 9.99665380e-01 1.31071404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8371056809999 meters 0.0208949120011167 Centerline is valid? [True, True] Translation: X:188.06, Y:178.77, Z:13.11 [[ 9.24672652e-01 3.80020386e-01 -2.37695855e-02 1.88055991e+02] [-3.79894658e-01 9.24978111e-01 9.77458232e-03 1.78773702e+02] [ 2.57008868e-02 -8.35038990e-06 9.99669678e-01 1.31076137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8671056809999 meters 0.021055972357811245 Centerline is valid? [True, True] Translation: X:188.08, Y:178.76, Z:13.11 [[ 9.25561274e-01 3.77902269e-01 -2.29391123e-02 1.88079978e+02] [-3.77784742e-01 9.25845490e-01 9.42424957e-03 1.78759436e+02] [ 2.47995190e-02 -5.66738109e-05 9.99692443e-01 1.31072052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8971056809999 meters 0.02131752252948309 Centerline is valid? [True, True] Translation: X:188.10, Y:178.74, Z:13.11 [[ 9.26953199e-01 3.74517637e-01 -2.22330237e-02 1.88103623e+02] [-3.74406446e-01 9.27219781e-01 9.12643791e-03 1.78742614e+02] [ 2.40329113e-02 -1.35593428e-04 9.99711159e-01 1.31086528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9271056809999 meters 0.021284489897426526 Centerline is valid? [True, True] Translation: X:188.13, Y:178.73, Z:13.11 [[ 9.27917549e-01 3.72040669e-01 -2.35533878e-02 1.88130143e+02] [-3.71915185e-01 9.28216407e-01 9.66425690e-03 1.78732206e+02] [ 2.54581376e-02 -2.07770999e-04 9.99675868e-01 1.31103828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9571056809999 meters 0.02139164378042018 Centerline is valid? [True, True] Translation: X:188.16, Y:178.72, Z:13.11 [[ 9.28207526e-01 3.71294177e-01 -2.39044420e-02 1.88155278e+02] [-3.71164925e-01 9.28515258e-01 9.79865727e-03 1.78720994e+02] [ 2.58338236e-02 -2.22696978e-04 9.99666226e-01 1.31104893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9871056809999 meters 0.021328298659138413 Centerline is valid? [True, True] Translation: X:188.18, Y:178.71, Z:13.11 [[ 9.27635345e-01 3.72750418e-01 -2.34476533e-02 1.88179486e+02] [-3.72626752e-01 9.27931623e-01 9.60246623e-03 1.78707416e+02] [ 2.53371423e-02 -1.70364194e-04 9.99678949e-01 1.31098758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0171056809999 meters 0.02094327321962276 Centerline is valid? [True, True] Translation: X:188.21, Y:178.70, Z:13.11 [[ 9.26858685e-01 3.74710493e-01 -2.29134032e-02 1.88206687e+02] [-3.74593092e-01 9.27141863e-01 9.37981182e-03 1.78698441e+02] [ 2.47586892e-02 -1.10557511e-04 9.99693451e-01 1.31118230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0471056809999 meters 0.021039012750327067 Centerline is valid? [True, True] Translation: X:188.24, Y:178.69, Z:13.11 [[ 9.23599770e-01 3.82687397e-01 -2.26676291e-02 1.88235373e+02] [-3.82575094e-01 9.23877884e-01 9.27107392e-03 1.78694557e+02] [ 2.44900443e-02 1.09308604e-04 9.99700068e-01 1.31135278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0771056809999 meters 0.022032773312856975 Centerline is valid? [True, True] Translation: X:188.26, Y:178.69, Z:13.11 [[ 9.21406692e-01 3.87946951e-01 -2.25137874e-02 1.88264167e+02] [-3.87837957e-01 9.21681669e-01 9.19896295e-03 1.78688081e+02] [ 2.43192547e-02 2.55715281e-04 9.99704210e-01 1.31146879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.1071056809999 meters 0.025558406873954193 Centerline is valid? [True, True] Translation: X:188.29, Y:178.69, Z:13.12 [[ 9.16984804e-01 3.98429573e-01 -1.98178099e-02 1.88294613e+02] [-3.98347696e-01 9.17198806e-01 8.09096027e-03 1.78687054e+02] [ 2.14005494e-02 4.75091295e-04 9.99770869e-01 1.31188477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.1371056809999 meters 0.026501492232911185 Centerline is valid? [True, True] Translation: X:188.32, Y:178.68, Z:13.12 [[ 9.15098237e-01 4.02809339e-01 -1.84350965e-02 1.88322584e+02] [-4.02739416e-01 9.15283752e-01 7.52443993e-03 1.78678221e+02] [ 1.99042590e-02 5.38938294e-04 9.99801745e-01 1.31211843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.1671056809999 meters 0.02944796058255385 Centerline is valid? [True, True] Translation: X:188.35, Y:178.67, Z:13.12 [[ 9.11882654e-01 4.10038512e-01 -1.83968592e-02 1.88351720e+02] [-4.09970372e-01 9.12067944e-01 7.50731145e-03 1.78671461e+02] [ 1.98574723e-02 6.96380109e-04 9.99802578e-01 1.31226909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.1971056809999 meters 0.03202225093400349 Centerline is valid? [True, True] Translation: X:188.38, Y:178.66, Z:13.12 [[ 9.09831963e-01 4.14524081e-01 -1.93800360e-02 1.88379940e+02] [-4.14449505e-01 9.10037957e-01 7.90720701e-03 1.78661764e+02] [ 2.09142961e-02 8.37816668e-04 9.99780921e-01 1.31204002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.2271056809999 meters 0.03451806961423151 Centerline is valid? [True, True] Translation: X:188.41, Y:178.65, Z:13.12 [[ 9.09155975e-01 4.16019182e-01 -1.90644279e-02 1.88406063e+02] [-4.15947364e-01 9.09355432e-01 7.77742858e-03 1.78653554e+02] [ 2.05719006e-02 8.58902864e-04 9.99788007e-01 1.31203744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.2571056809999 meters 0.034048404786209935 Centerline is valid? [True, True] Translation: X:188.43, Y:178.64, Z:13.12 [[ 9.08705671e-01 4.17007406e-01 -1.89427286e-02 1.88430585e+02] [-4.16936777e-01 9.08902664e-01 7.72476617e-03 1.78638021e+02] [ 2.04383811e-02 8.78381367e-04 9.99790729e-01 1.31201412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.2871056809999 meters 0.033780458116264435 Centerline is valid? [True, True] Translation: X:188.45, Y:178.62, Z:13.12 [[ 9.09245668e-01 4.15809390e-01 -1.93614615e-02 1.88454703e+02] [-4.15735490e-01 9.09451363e-01 7.88800530e-03 1.78624717e+02] [ 2.08882142e-02 8.77112037e-04 9.99781433e-01 1.31204919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.31710568099993 meters 0.02999793096909608 Centerline is valid? [True, True] Translation: X:188.48, Y:178.60, Z:13.12 [[ 9.12280495e-01 4.09081064e-01 -1.99244053e-02 1.88477419e+02] [-4.09001259e-01 9.12497740e-01 8.11447008e-03 1.78602428e+02] [ 2.15004508e-02 7.46434047e-04 9.99768560e-01 1.31207486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.3471056809999 meters 0.028431635143322368 Centerline is valid? [True, True] Translation: X:188.50, Y:178.59, Z:13.12 [[ 9.13934174e-01 4.05333621e-01 -2.07118694e-02 1.88501700e+02] [-4.05246559e-01 9.14168573e-01 8.42891296e-03 1.78586470e+02] [ 2.23506619e-02 6.89942215e-04 9.99749955e-01 1.31212405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37710568099993 meters 0.025085741000785512 Centerline is valid? [True, True] Translation: X:188.52, Y:178.56, Z:13.12 [[ 9.17385577e-01 3.97483791e-01 -2.02568287e-02 1.88524380e+02] [-3.97398646e-01 9.17609065e-01 8.24136244e-03 1.78563479e+02] [ 2.18636576e-02 4.89529235e-04 9.99760842e-01 1.31212791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.4071056809999 meters 0.024451444315804233 Centerline is valid? [True, True] Translation: X:188.55, Y:178.55, Z:13.12 [[ 9.18871635e-01 3.94070304e-01 -1.95835128e-02 1.88549029e+02] [-3.93990075e-01 9.19080212e-01 7.96148915e-03 1.78549090e+02] [ 2.11362055e-02 4.00123125e-04 9.99776525e-01 1.31223781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.43710568099993 meters 0.022090278945035575 Centerline is valid? [True, True] Translation: X:188.57, Y:178.53, Z:13.13 [[ 9.21317788e-01 3.88456283e-01 -1.65906444e-02 1.88572003e+02] [-3.88397883e-01 9.21467124e-01 6.73967401e-03 1.78529396e+02] [ 1.79058021e-02 2.34389615e-04 9.99839651e-01 1.31271727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.4671056809999 meters 0.021060841382939417 Centerline is valid? [True, True] Translation: X:188.59, Y:178.51, Z:13.13 [[ 9.23585089e-01 3.82981373e-01 -1.77722373e-02 1.88594596e+02] [-3.82913487e-01 9.23756054e-01 7.21206590e-03 1.78511836e+02] [ 1.91792987e-02 1.44272836e-04 9.99816050e-01 1.31270743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.49710568099994 meters 0.02057773827880015 Centerline is valid? [True, True] Translation: X:188.62, Y:178.50, Z:13.13 [[ 9.24832091e-01 3.79894318e-01 -1.91287701e-02 1.88619640e+02] [-3.79815067e-01 9.25029891e-01 7.75984724e-03 1.78497452e+02] [ 2.06426060e-02 8.88393637e-05 9.99786915e-01 1.31260298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5271056809999 meters 0.02055893078591588 Centerline is valid? [True, True] Translation: X:188.64, Y:178.48, Z:13.12 [[ 9.25944270e-01 3.77094855e-01 -2.06562254e-02 1.88644014e+02] [-3.77001928e-01 9.26174643e-01 8.37122694e-03 1.78484088e+02] [ 2.22880188e-02 3.61471929e-05 9.99751591e-01 1.31248194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.55710568099994 meters 0.020531001887143456 Centerline is valid? [True, True] Translation: X:188.67, Y:178.47, Z:13.12 [[ 9.27238200e-01 3.73800525e-01 -2.24162239e-02 1.88668363e+02] [-3.73690367e-01 9.27509119e-01 9.07434044e-03 1.78470470e+02] [ 2.41832453e-02 -3.73481482e-05 9.99707542e-01 1.31247236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5871056809999 meters 0.02079511842237857 Centerline is valid? [True, True] Translation: X:188.69, Y:178.46, Z:13.12 [[ 9.27746200e-01 3.72359978e-01 -2.51998965e-02 1.88692673e+02] [-3.72220514e-01 9.28088380e-01 1.01905659e-02 1.78457552e+02] [ 2.71822900e-02 -7.43403973e-05 9.99630491e-01 1.31228029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6171056809999 meters 0.02085308996361402 Centerline is valid? [True, True] Translation: X:188.72, Y:178.45, Z:13.12 [[ 9.27821355e-01 3.72137849e-01 -2.57090414e-02 1.88717914e+02] [-3.71992793e-01 9.28177470e-01 1.03897434e-02 1.78446555e+02] [ 2.77289698e-02 -7.62476434e-05 9.99615475e-01 1.31241527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6471056809999 meters 0.021019733443330458 Centerline is valid? [True, True] Translation: X:188.74, Y:178.44, Z:13.13 [[ 9.27318700e-01 3.73379639e-01 -2.58393836e-02 1.88743646e+02] [-3.73233853e-01 9.27678632e-01 1.04329545e-02 1.78437536e+02] [ 2.78660968e-02 -3.05410747e-05 9.99611664e-01 1.31253967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6771056809999 meters 0.021226468775982152 Centerline is valid? [True, True] Translation: X:188.77, Y:178.43, Z:13.13 [[ 9.25823630e-01 3.77236068e-01 -2.33142665e-02 1.88771331e+02] [-3.77118732e-01 9.26117132e-01 9.40848027e-03 1.78431045e+02] [ 2.51409597e-02 8.16532661e-05 9.99683913e-01 1.31319338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7071056809999 meters 0.02246068714488535 Centerline is valid? [True, True] Translation: X:188.80, Y:178.43, Z:13.14 [[ 9.23177059e-01 3.83746274e-01 -2.19753345e-02 1.88799657e+02] [-3.83644078e-01 9.23438538e-01 8.85932134e-03 1.78425449e+02] [ 2.36926023e-02 2.51984751e-04 9.99719259e-01 1.31372674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7371056809999 meters 0.023357892952399394 Centerline is valid? [True, True] Translation: X:188.83, Y:178.42, Z:13.14 [[ 9.21865093e-01 3.86894653e-01 -2.18466767e-02 1.88827120e+02] [-3.86794726e-01 9.22123860e-01 8.79929395e-03 1.78417856e+02] [ 2.35497416e-02 3.38417389e-04 9.99722609e-01 1.31395629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7671056809999 meters 0.025847031699782978 Centerline is valid? [True, True] Translation: X:188.86, Y:178.41, Z:13.14 [[ 9.19023622e-01 3.93604175e-01 -2.17102793e-02 1.88857376e+02] [-3.93507529e-01 9.19279876e-01 8.73698340e-03 1.78413001e+02] [ 2.33967360e-02 5.13664250e-04 9.99726127e-01 1.31408215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7971056809999 meters 0.026569717347728682 Centerline is valid? [True, True] Translation: X:188.88, Y:178.40, Z:13.14 [[ 9.17895220e-01 3.96236327e-01 -2.15670551e-02 1.88884511e+02] [-3.96141722e-01 9.18148375e-01 8.67742873e-03 1.78403530e+02] [ 2.32400691e-02 5.78639993e-04 9.99729746e-01 1.31419770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8271056809999 meters 0.029040666994239375 Centerline is valid? [True, True] Translation: X:188.91, Y:178.39, Z:13.14 [[ 9.16207144e-01 4.00161643e-01 -2.08597243e-02 1.88910715e+02] [-4.00074322e-01 9.16444336e-01 8.38549434e-03 1.78393064e+02] [ 2.24723294e-02 6.62590236e-04 9.99747246e-01 1.31428957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8571056809999 meters 0.029068488022442624 Centerline is valid? [True, True] Translation: X:188.94, Y:178.38, Z:13.14 [[ 9.15556158e-01 4.01613980e-01 -2.15205411e-02 1.88935787e+02] [-4.01521509e-01 9.15808762e-01 8.64810187e-03 1.78378596e+02] [ 2.31818987e-02 7.23137208e-04 9.99731002e-01 1.31436987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8871056809999 meters 0.029854133085799525 Centerline is valid? [True, True] Translation: X:188.96, Y:178.37, Z:13.14 [[ 9.15250498e-01 4.02314168e-01 -2.14437984e-02 1.88962394e+02] [-4.02222741e-01 9.15501368e-01 8.60887594e-03 1.78368818e+02] [ 2.30952995e-02 7.45905388e-04 9.99732990e-01 1.31449277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.9171056809999 meters 0.03276824675713457 Centerline is valid? [True, True] Translation: X:188.99, Y:178.36, Z:13.14 [[ 9.14032668e-01 4.04890861e-01 -2.46510048e-02 1.88989301e+02] [-4.04771212e-01 9.14364536e-01 9.88736889e-03 1.78358474e+02] [ 2.65433099e-02 9.40638930e-04 9.99647222e-01 1.31417675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.9471056809999 meters 0.03372280854911046 Centerline is valid? [True, True] Translation: X:189.02, Y:178.35, Z:13.14 [[ 9.13190858e-01 4.06652617e-01 -2.67601473e-02 1.89015173e+02] [-4.06512499e-01 9.13582224e-01 1.07288098e-02 1.78345672e+02] [ 2.88104935e-02 1.08088337e-03 9.99584307e-01 1.31397548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.9771056809999 meters 0.034465167352745525 Centerline is valid? [True, True] Translation: X:189.04, Y:178.33, Z:13.14 [[ 9.11951203e-01 4.09450896e-01 -2.63622430e-02 1.89039449e+02] [-4.09316297e-01 9.12331421e-01 1.05616258e-02 1.78328186e+02] [ 2.83755698e-02 1.15880836e-03 9.99596661e-01 1.31405622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.0071056809999 meters 0.03665374791443416 Centerline is valid? [True, True] Translation: X:189.07, Y:178.32, Z:13.14 [[ 9.11817425e-01 4.09831941e-01 -2.50352442e-02 1.89065830e+02] [-4.09710758e-01 9.12160370e-01 1.00277042e-02 1.78318642e+02] [ 2.69458311e-02 1.11377345e-03 9.99636275e-01 1.31433633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.0371056809999 meters 0.03509678362182074 Centerline is valid? [True, True] Translation: X:189.09, Y:178.30, Z:13.15 [[ 9.11638903e-01 4.10208984e-01 -2.53594042e-02 1.89089479e+02] [-4.10084924e-01 9.11990833e-01 1.01525888e-02 1.78300805e+02] [ 2.72922274e-02 1.14401439e-03 9.99626843e-01 1.31467908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.06710568099993 meters 0.03564307640729833 Centerline is valid? [True, True] Translation: X:189.11, Y:178.29, Z:13.14 [[ 9.11862948e-01 4.09616862e-01 -2.68326461e-02 1.89114099e+02] [-4.09478028e-01 9.12256862e-01 1.07313913e-02 1.78286950e+02] [ 2.88740243e-02 1.20182085e-03 9.99582336e-01 1.31448090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.0971056809999 meters 0.03376971988936482 Centerline is valid? [True, True] Translation: X:189.14, Y:178.26, Z:13.14 [[ 9.13287318e-01 4.06122020e-01 -3.11637549e-02 1.89135684e+02] [-4.05933182e-01 9.13817961e-01 1.24493791e-02 1.78262723e+02] [ 3.35339659e-02 1.28054213e-03 9.99436758e-01 1.31404043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.12710568099993 meters 0.03158159880881026 Centerline is valid? [True, True] Translation: X:189.16, Y:178.24, Z:13.14 [[ 9.15758736e-01 4.00370919e-01 -3.30009830e-02 1.89158540e+02] [-4.00155719e-01 9.16352458e-01 1.31747711e-02 1.78240861e+02] [ 3.55153271e-02 1.14062040e-03 9.99368481e-01 1.31388502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.1571056809999 meters 0.02985877972272152 Centerline is valid? [True, True] Translation: X:189.18, Y:178.22, Z:13.14 [[ 9.17166204e-01 3.97121558e-01 -3.31756282e-02 1.89183399e+02] [-3.96902158e-01 9.17765447e-01 1.32385910e-02 1.78224349e+02] [ 3.57047751e-02 1.02549021e-03 9.99361855e-01 1.31403085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.18710568099993 meters 0.029078024964424066 Centerline is valid? [True, True] Translation: X:189.21, Y:178.21, Z:13.14 [[ 9.18442732e-01 3.94173727e-01 -3.30154522e-02 1.89207780e+02] [-3.93954840e-01 9.19035493e-01 1.31661373e-02 1.78210175e+02] [ 3.55321178e-02 9.14254067e-04 9.99368117e-01 1.31412634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.2171056809999 meters 0.026790750954080487 Centerline is valid? [True, True] Translation: X:189.23, Y:178.19, Z:13.14 [[ 9.20682077e-01 3.88945280e-01 -3.26509069e-02 1.89231115e+02] [-3.88728046e-01 9.21260586e-01 1.30168468e-02 1.78192863e+02] [ 3.51428348e-02 7.07945651e-04 9.99382049e-01 1.31434112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.24710568099994 meters 0.024969481107889366 Centerline is valid? [True, True] Translation: X:189.26, Y:178.18, Z:13.15 [[ 9.22096741e-01 3.85540992e-01 -3.31020131e-02 1.89256596e+02] [-3.85315768e-01 9.22690518e-01 1.31896381e-02 1.78178194e+02] [ 3.56280598e-02 5.92605323e-04 9.99364943e-01 1.31455345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.2771056809999 meters 0.023584468227376552 Centerline is valid? [True, True] Translation: X:189.28, Y:178.16, Z:13.14 [[ 9.23919153e-01 3.81161183e-01 -3.30083601e-02 1.89280489e+02] [-3.80934775e-01 9.24508500e-01 1.31427024e-02 1.78162257e+02] [ 3.55259975e-02 4.31237795e-04 9.99368659e-01 1.31447006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.30710568099994 meters 0.022310468111839944 Centerline is valid? [True, True] Translation: X:189.30, Y:178.14, Z:13.14 [[ 9.25798984e-01 3.76569993e-01 -3.30345528e-02 1.89303161e+02] [-3.76340490e-01 9.26388133e-01 1.31477423e-02 1.78144825e+02] [ 3.55538629e-02 2.60073288e-04 9.99367728e-01 1.31448455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3371056809999 meters 0.022059737968854354 Centerline is valid? [True, True] Translation: X:189.33, Y:178.13, Z:13.14 [[ 9.26432907e-01 3.74805719e-01 -3.52525498e-02 1.89329109e+02] [-3.74543390e-01 9.27103353e-01 1.40221696e-02 1.78131919e+02] [ 3.79383464e-02 2.13010174e-04 9.99280059e-01 1.31442953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3671056809999 meters 0.022250733044891557 Centerline is valid? [True, True] Translation: X:189.36, Y:178.12, Z:13.14 [[ 9.26410644e-01 3.74560487e-01 -3.83113717e-02 1.89355307e+02] [-3.74250890e-01 9.27202453e-01 1.52277118e-02 1.78123449e+02] [ 4.12260970e-02 2.30950658e-04 9.99149816e-01 1.31420480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3971056809999 meters 0.022412329873516185 Centerline is valid? [True, True] Translation: X:189.38, Y:178.12, Z:13.14 [[ 9.25993954e-01 3.75616925e-01 -3.80410814e-02 1.89381015e+02] [-3.75312854e-01 9.26774971e-01 1.51134239e-02 1.78116107e+02] [ 4.09323799e-02 2.82367707e-04 9.99161879e-01 1.31433676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4271056809999 meters 0.022412329873516185 Centerline is valid? [True, True] Translation: X:189.41, Y:178.11, Z:13.14 [[ 9.26121153e-01 3.75302821e-01 -3.80447417e-02 1.89406599e+02] [-3.74998864e-01 9.26902214e-01 1.51042058e-02 1.78106220e+02] [ 4.09324063e-02 2.78410422e-04 9.99161879e-01 1.31439378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4571056809999 meters 0.02271518961756129 Centerline is valid? [True, True] Translation: X:189.43, Y:178.10, Z:13.15 [[ 9.25700239e-01 3.76408728e-01 -3.73568805e-02 1.89432090e+02] [-3.76116989e-01 9.26453647e-01 1.48206176e-02 1.78098615e+02] [ 4.01880280e-02 3.31108146e-04 9.99192080e-01 1.31457670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4871056809999 meters 0.022208191061695637 Centerline is valid? [True, True] Translation: X:189.46, Y:178.09, Z:13.15 [[ 9.25476713e-01 3.77170724e-01 -3.51439765e-02 1.89458311e+02] [-3.76913408e-01 9.26143683e-01 1.39341559e-02 1.78085515e+02] [ 3.78039275e-02 3.50499198e-04 9.99285115e-01 1.31503271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5171056809999 meters 0.02144281354543761 Centerline is valid? [True, True] Translation: X:189.48, Y:178.07, Z:13.15 [[ 9.26762056e-01 3.74344905e-01 -3.12727348e-02 1.89483310e+02] [-3.74139906e-01 9.27289515e-01 1.23889531e-02 1.78072001e+02] [ 3.36366205e-02 2.18766423e-04 9.99434105e-01 1.31527411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5471056809999 meters 0.021006863116008228 Centerline is valid? [True, True] Translation: X:189.51, Y:178.06, Z:13.16 [[ 9.27479489e-01 3.72655904e-01 -3.01558339e-02 1.89509806e+02] [-3.72464736e-01 9.27969585e-01 1.19360428e-02 1.78061456e+02] [ 3.24317335e-02 1.61549857e-04 9.99473940e-01 1.31552194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5771056809999 meters 0.022211437544808647 Centerline is valid? [True, True] Translation: X:189.54, Y:178.05, Z:13.16 [[ 9.28518710e-01 3.70231196e-01 -2.79618690e-02 1.89536106e+02] [-3.70066016e-01 9.28939640e-01 1.10584148e-02 1.78050683e+02] [ 3.00690587e-02 7.97924124e-05 9.99547820e-01 1.31552107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.6071056809999 meters 0.02246729620836748 Centerline is valid? [True, True] Translation: X:189.56, Y:178.04, Z:13.15 [[ 9.29148203e-01 3.68668046e-01 -2.77035984e-02 1.89562355e+02] [-3.68505535e-01 9.29561117e-01 1.09453356e-02 1.78039802e+02] [ 2.97873834e-02 3.90904351e-05 9.99556257e-01 1.31548791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.6371056809999 meters 0.023750089538411612 Centerline is valid? [True, True] Translation: X:189.59, Y:178.03, Z:13.15 [[ 9.30111469e-01 3.66156242e-01 -2.86751036e-02 1.89587764e+02] [-3.65981267e-01 9.30553387e-01 1.13184090e-02 1.78028004e+02] [ 3.08280209e-02 -3.28312963e-05 9.99524703e-01 1.31489861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.6671056809999 meters 0.023300756000635633 Centerline is valid? [True, True] Translation: X:189.61, Y:178.02, Z:13.15 [[ 9.30689783e-01 3.64553162e-01 -3.02905774e-02 1.89614321e+02] [-3.64357328e-01 9.31182573e-01 1.19479160e-02 1.78018050e+02] [ 3.25617084e-02 -8.32094900e-05 9.99469724e-01 1.31477480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.6971056809999 meters 0.023804078739681506 Centerline is valid? [True, True] Translation: X:189.64, Y:178.01, Z:13.14 [[ 9.30479316e-01 3.64721475e-01 -3.44454535e-02 1.89643174e+02] [-3.64468828e-01 9.31116663e-01 1.35732429e-02 1.78012972e+02] [ 3.70231889e-02 -7.53276798e-05 9.99314404e-01 1.31446050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.7271056809999 meters 0.02395009081273806 Centerline is valid? [True, True] Translation: X:189.67, Y:178.01, Z:13.15 [[ 9.29399471e-01 3.67600272e-01 -3.29645880e-02 1.89671505e+02] [-3.67371005e-01 9.29983891e-01 1.29810282e-02 1.78009967e+02] [ 3.54283654e-02 4.56730887e-05 9.99372217e-01 1.31457303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.7571056809999 meters 0.024004019927505147 Centerline is valid? [True, True] Translation: X:189.70, Y:178.00, Z:13.15 [[ 9.28710935e-01 3.69407027e-01 -3.21628381e-02 1.89698563e+02] [-3.69190134e-01 9.29267687e-01 1.26574413e-02 1.78003849e+02] [ 3.45636339e-02 1.19098316e-04 9.99402492e-01 1.31478070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.7871056809999 meters 0.024571594452581103 Centerline is valid? [True, True] Translation: X:189.73, Y:178.00, Z:13.15 [[ 9.27173541e-01 3.73341698e-01 -3.10676973e-02 1.89728853e+02] [-3.73141936e-01 9.27693864e-01 1.22143720e-02 1.78001484e+02] [ 3.33814465e-02 2.67818189e-04 9.99442648e-01 1.31497700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.81710568099993 meters 0.02495535643306064 Centerline is valid? [True, True] Translation: X:189.76, Y:177.99, Z:13.15 [[ 9.26192417e-01 3.75800704e-01 -3.06828474e-02 1.89757275e+02] [-3.75607579e-01 9.26700437e-01 1.20518680e-02 1.77994910e+02] [ 3.29629086e-02 3.62361254e-04 9.99456510e-01 1.31506148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.8471056809999 meters 0.02561284606829585 Centerline is valid? [True, True] Translation: X:189.79, Y:177.99, Z:13.15 [[ 9.24983932e-01 3.78721782e-01 -3.12175688e-02 1.89785368e+02] [-3.78523923e-01 9.25510441e-01 1.22500545e-02 1.77988662e+02] [ 3.35315483e-02 4.85493035e-04 9.99437542e-01 1.31498519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87710568099993 meters 0.027661504567102 Centerline is valid? [True, True] Translation: X:189.81, Y:177.99, Z:13.15 [[ 9.22462986e-01 3.84778464e-01 -3.17422834e-02 1.89814934e+02] [-3.84577755e-01 9.23008672e-01 1.24475990e-02 1.77985661e+02] [ 3.40879708e-02 7.24926745e-04 9.99418573e-01 1.31475205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.9071056809999 meters 0.028200669035307168 Centerline is valid? [True, True] Translation: X:189.84, Y:177.98, Z:13.15 [[ 9.21097983e-01 3.88173152e-01 -3.00018312e-02 1.89842412e+02] [-3.87995829e-01 9.21586105e-01 1.17595582e-02 1.77976935e+02] [ 3.22140156e-02 8.08880084e-04 9.99480667e-01 1.31503280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.93710568099993 meters 0.027530947102738748 Centerline is valid? [True, True] Translation: X:189.87, Y:177.97, Z:13.15 [[ 9.21317476e-01 3.87684938e-01 -2.95718954e-02 1.89869048e+02] [-3.87512785e-01 9.21791605e-01 1.15792394e-02 1.77967376e+02] [ 3.17482216e-02 7.91331943e-04 9.99495585e-01 1.31522028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.9671056809999 meters 0.02682479077457753 Centerline is valid? [True, True] Translation: X:189.90, Y:177.96, Z:13.15 [[ 9.22125884e-01 3.85883097e-01 -2.78942664e-02 1.89895360e+02] [-3.85729442e-01 9.22547423e-01 1.09109784e-02 1.77956819e+02] [ 2.99441457e-02 6.98344205e-04 9.99551330e-01 1.31537052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.99710568099994 meters 0.023990725547196792 Centerline is valid? [True, True] Translation: X:189.92, Y:177.94, Z:13.16 [[ 9.25533536e-01 3.77746281e-01 -2.63708500e-02 1.89919548e+02] [-3.77605851e-01 9.25909052e-01 1.03076811e-02 1.77936816e+02] [ 2.83106969e-02 4.17682724e-04 9.99599085e-01 1.31552020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0271056809999 meters 0.021716806642707743 Centerline is valid? [True, True] Translation: X:189.94, Y:177.91, Z:13.16 [[ 9.31138150e-01 3.63739684e-01 -2.59843834e-02 1.89939719e+02] [-3.63597920e-01 9.31500640e-01 1.01543217e-02 1.77912969e+02] [ 2.78979995e-02 -7.20855804e-06 9.99610775e-01 1.31557345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.05710568099994 meters 0.02250164107719121 Centerline is valid? [True, True] Translation: X:189.96, Y:177.90, Z:13.16 [[ 9.34293898e-01 3.55518435e-01 -2.64868892e-02 1.89963783e+02] [-3.55368001e-01 9.34669235e-01 1.03443093e-02 1.77895657e+02] [ 2.84340731e-02 -2.52032214e-04 9.99595638e-01 1.31558506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0871056809999 meters 0.025598902779475994 Centerline is valid? [True, True] Translation: X:189.99, Y:177.87, Z:13.16 [[ 9.39203012e-01 3.42274312e-01 -2.73129632e-02 1.89988002e+02] [-3.42108941e-01 9.39599835e-01 1.06593885e-02 1.77874402e+02] [ 2.93116906e-02 -6.67320879e-04 9.99570097e-01 1.31572256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1171056809999 meters 0.026132871772486785 Centerline is valid? [True, True] Translation: X:190.01, Y:177.86, Z:13.16 [[ 9.40740819e-01 3.38050167e-01 -2.69962159e-02 1.90014318e+02] [-3.37886906e-01 9.41127761e-01 1.05345076e-02 1.77863628e+02] [ 2.89680803e-02 -7.88573429e-04 9.99580026e-01 1.31592094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1471056809999 meters 0.029447697040586716 Centerline is valid? [True, True] Translation: X:190.04, Y:177.85, Z:13.16 [[ 9.42369755e-01 3.33504338e-01 -2.67226932e-02 1.90039492e+02] [-3.33342638e-01 9.42748120e-01 1.04243851e-02 1.77850128e+02] [ 2.86693464e-02 -9.15812204e-04 9.99588530e-01 1.31595085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1771056809999 meters 0.02844858377071707 Centerline is valid? [True, True] Translation: X:190.07, Y:177.85, Z:13.16 [[ 9.43331612e-01 3.30877887e-01 -2.54026344e-02 1.90068459e+02] [-3.30730936e-01 9.43673108e-01 9.90517300e-03 1.77845628e+02] [ 2.72491857e-02 -9.42425754e-04 9.99628228e-01 1.31626454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2071056809999 meters 0.029228326368867966 Centerline is valid? [True, True] Translation: X:190.10, Y:177.84, Z:13.16 [[ 9.43815530e-01 3.29508681e-01 -2.52244880e-02 1.90096108e+02] [-3.29363553e-01 9.44152051e-01 9.82621531e-03 1.77838226e+02] [ 2.70535753e-02 -9.66107627e-04 9.99633518e-01 1.31632203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2371056809999 meters 0.02880187159983902 Centerline is valid? [True, True] Translation: X:190.13, Y:177.84, Z:13.16 [[ 9.43739217e-01 3.29697439e-01 -2.56103169e-02 1.90126334e+02] [-3.29548174e-01 9.44086153e-01 9.96675832e-03 1.77836984e+02] [ 2.74643602e-02 -9.66187550e-04 9.99622316e-01 1.31626785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2671056809999 meters 0.02865285812129228 Centerline is valid? [True, True] Translation: X:190.15, Y:177.83, Z:13.16 [[ 9.43249800e-01 3.31070541e-01 -2.59251211e-02 1.90154228e+02] [-3.30918329e-01 9.43605549e-01 1.00810071e-02 1.77831356e+02] [ 2.78006126e-02 -9.29810131e-04 9.99613056e-01 1.31622452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2971056809999 meters 0.028797393440181188 Centerline is valid? [True, True] Translation: X:190.18, Y:177.83, Z:13.16 [[ 9.42336011e-01 3.33617780e-01 -2.64956441e-02 1.90184083e+02] [-3.33459948e-01 9.42708026e-01 1.02976133e-02 1.77830065e+02] [ 2.84131233e-02 -8.68575726e-04 9.99595888e-01 1.31610861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3271056809999 meters 0.027184924030763637 Centerline is valid? [True, True] Translation: X:190.21, Y:177.83, Z:13.16 [[ 9.41862074e-01 3.34961454e-01 -2.63942696e-02 1.90213485e+02] [-3.34805625e-01 9.42231479e-01 1.02486228e-02 1.77827578e+02] [ 2.83024053e-02 -8.15839201e-04 9.99599074e-01 1.31622561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3571056809999 meters 0.02584279451134438 Centerline is valid? [True, True] Translation: X:190.25, Y:177.83, Z:13.16 [[ 9.40875687e-01 3.37561076e-01 -2.83806587e-02 1.90245057e+02] [-3.37382412e-01 9.41303302e-01 1.10091596e-02 1.77830235e+02] [ 3.04310715e-02 -7.83115541e-04 9.99536561e-01 1.31596061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3871056809999 meters 0.02476905889259379 Centerline is valid? [True, True] Translation: X:190.27, Y:177.83, Z:13.16 [[ 9.40509383e-01 3.38545540e-01 -2.87926762e-02 1.90273868e+02] [-3.38362437e-01 9.40949707e-01 1.11583888e-02 1.77826021e+02] [ 3.08700830e-02 -7.52209257e-04 9.99523122e-01 1.31588238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.4171056809999 meters 0.02458431538738713 Centerline is valid? [True, True] Translation: X:190.30, Y:177.82, Z:13.15 [[ 9.39839098e-01 3.40177688e-01 -3.13306639e-02 1.90302794e+02] [-3.39962092e-01 9.40360875e-01 1.21326021e-02 1.77824431e+02] [ 3.35893711e-02 -7.51455805e-04 9.99435435e-01 1.31542696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.4471056809999 meters 0.024093015321770293 Centerline is valid? [True, True] Translation: X:190.33, Y:177.83, Z:13.16 [[ 9.39655634e-01 3.40783693e-01 -3.02285393e-02 1.90334325e+02] [-3.40583524e-01 9.40141472e-01 1.16994058e-02 1.77825339e+02] [ 3.24060701e-02 -6.98070096e-04 9.99474542e-01 1.31574926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.4771056809999 meters 0.02403730410170279 Centerline is valid? [True, True] Translation: X:190.36, Y:177.82, Z:13.16 [[ 9.39526588e-01 3.41201017e-01 -2.95238211e-02 1.90363000e+02] [-3.41010617e-01 9.39990124e-01 1.14160241e-02 1.77820167e+02] [ 3.16472593e-02 -6.57721704e-04 9.99498884e-01 1.31593441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.5071056809999 meters 0.02271453512439678 Centerline is valid? [True, True] Translation: X:190.39, Y:177.82, Z:13.16 [[ 9.38664278e-01 3.43734602e-01 -2.74935932e-02 1.90393834e+02] [-3.43570862e-01 9.39066690e-01 1.06213829e-02 1.77820301e+02] [ 2.94692544e-02 -5.23915184e-04 9.99565550e-01 1.31633284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.5371056809999 meters 0.022567971082050334 Centerline is valid? [True, True] Translation: X:190.42, Y:177.82, Z:13.17 [[ 9.38072871e-01 3.45434047e-01 -2.63553975e-02 1.90422249e+02] [-3.45284522e-01 9.38442925e-01 1.01722735e-02 1.77815765e+02] [ 2.82468859e-02 -4.42222952e-04 9.99600879e-01 1.31650901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.56710568099993 meters 0.021211352984248647 Centerline is valid? [True, True] Translation: X:190.45, Y:177.82, Z:13.17 [[ 9.36174050e-01 3.50651933e-01 -2.49273048e-02 1.90454729e+02] [-3.50520256e-01 9.36505821e-01 9.61232386e-03 1.77819320e+02] [ 2.67151460e-02 -2.61282885e-04 9.99643053e-01 1.31680466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.5971056809999 meters 0.020740607621946367 Centerline is valid? [True, True] Translation: X:190.48, Y:177.81, Z:13.17 [[ 9.35297746e-01 3.53046402e-01 -2.40075796e-02 1.90482582e+02] [-3.52925248e-01 9.35605796e-01 9.25004501e-03 1.77814692e+02] [ 2.57273258e-02 -1.78665258e-04 9.99668982e-01 1.31689522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.62710568099993 meters 0.020556294884567086 Centerline is valid? [True, True] Translation: X:190.51, Y:177.82, Z:13.17 [[ 9.33819350e-01 3.57033805e-01 -2.25451412e-02 1.90513815e+02] [-3.56928212e-01 9.34091461e-01 8.68294668e-03 1.77816167e+02] [ 2.41593294e-02 -6.13066953e-05 9.99708119e-01 1.31715663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.6571056809999 meters 0.02049365810594656 Centerline is valid? [True, True] Translation: X:190.54, Y:177.82, Z:13.18 [[ 9.31999088e-01 3.61792539e-01 -2.19967862e-02 1.90544077e+02] [-3.61693525e-01 9.32258630e-01 8.46406181e-03 1.77819471e+02] [ 2.35689282e-02 6.75972434e-05 9.99722212e-01 1.31750014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.68710568099993 meters 0.02069833824055706 Centerline is valid? [True, True] Translation: X:190.57, Y:177.82, Z:13.18 [[ 9.31151883e-01 3.64062002e-01 -2.03722761e-02 1.90572475e+02] [-3.63977700e-01 9.31374707e-01 7.83516968e-03 1.77816063e+02] [ 2.18267103e-02 1.19321196e-04 9.99761762e-01 1.31776467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.7171056809999 meters 0.022028125395930447 Centerline is valid? [True, True] Translation: X:190.60, Y:177.82, Z:13.18 [[ 9.28188021e-01 3.71597203e-01 -1.95580374e-02 1.90603231e+02] [-3.71521335e-01 9.28394008e-01 7.51427769e-03 1.77819281e+02] [ 2.09498493e-02 2.91565628e-04 9.99780485e-01 1.31807576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.74710568099994 meters 0.022377766302344365 Centerline is valid? [True, True] Translation: X:190.63, Y:177.81, Z:13.18 [[ 9.27072291e-01 3.74383028e-01 -1.93472118e-02 1.90631432e+02] [-3.74309443e-01 9.27274082e-01 7.43084197e-03 1.77813568e+02] [ 2.07221491e-02 3.52916369e-04 9.99785211e-01 1.31806985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.7771056809999 meters 0.02317265053178646 Centerline is valid? [True, True] Translation: X:190.66, Y:177.81, Z:13.18 [[ 9.25542141e-01 3.78085344e-01 -2.05722323e-02 1.90660413e+02] [-3.78003234e-01 9.25770625e-01 7.89330232e-03 1.77809415e+02] [ 2.20295103e-02 4.70786426e-04 9.99757210e-01 1.31790968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.80710568099994 meters 0.02374209305916818 Centerline is valid? [True, True] Translation: X:190.69, Y:177.80, Z:13.18 [[ 9.25087433e-01 3.79212516e-01 -2.02758341e-02 1.90687960e+02] [-3.79133188e-01 9.25309473e-01 7.77209718e-03 1.77802193e+02] [ 2.17086979e-02 4.97372194e-04 9.99764215e-01 1.31793539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8371056809999 meters 0.025117598279420554 Centerline is valid? [True, True] Translation: X:190.72, Y:177.80, Z:13.18 [[ 9.23759781e-01 3.82294145e-01 -2.27827636e-02 1.90715785e+02] [-3.82195128e-01 9.24040457e-01 8.72451982e-03 1.77797275e+02] [ 2.43875282e-02 6.48100739e-04 9.99702370e-01 1.31776657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8671056809999 meters 0.027402603934240724 Centerline is valid? [True, True] Translation: X:190.74, Y:177.79, Z:13.17 [[ 9.23369427e-01 3.83161758e-01 -2.39993526e-02 1.90743132e+02] [-3.83052259e-01 9.23680986e-01 9.18713660e-03 1.77789857e+02] [ 2.56879051e-02 7.09885200e-04 9.99669759e-01 1.31736904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8971056809999 meters 0.024932919476484447 Centerline is valid? [True, True] Translation: X:190.77, Y:177.77, Z:13.17 [[ 9.23605109e-01 3.82593363e-01 -2.39983462e-02 1.90768296e+02] [-3.82483771e-01 9.23916572e-01 9.18328202e-03 1.77773775e+02] [ 2.56859325e-02 6.97251759e-04 9.99669819e-01 1.31743654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9271056809999 meters 0.02290074309364667 Centerline is valid? [True, True] Translation: X:190.79, Y:177.76, Z:13.18 [[ 9.25644642e-01 3.77729508e-01 -2.24146155e-02 1.90791303e+02] [-3.77632577e-01 9.25915838e-01 8.57309225e-03 1.77756939e+02] [ 2.39923574e-02 5.28852102e-04 9.99712002e-01 1.31764337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9571056809999 meters 0.02193493253908909 Centerline is valid? [True, True] Translation: X:190.82, Y:177.74, Z:13.18 [[ 9.26963771e-01 3.74498427e-01 -2.21155255e-02 1.90817241e+02] [-3.74403217e-01 9.27227444e-01 8.45565070e-03 1.77742737e+02] [ 2.36727501e-02 4.42042047e-04 9.99719663e-01 1.31780135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9871056809999 meters 0.018922149099564214 Centerline is valid? [True, True] Translation: X:190.84, Y:177.72, Z:13.18 [[ 9.30882395e-01 3.64701178e-01 -2.12371812e-02 1.90839184e+02] [-3.64610907e-01 9.31124597e-01 8.11608826e-03 1.77722470e+02] [ 2.27344087e-02 1.88184208e-04 9.99741522e-01 1.31800182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0171056809999 meters 0.01771192792038346 Centerline is valid? [True, True] Translation: X:190.86, Y:177.70, Z:13.18 [[ 9.33489857e-01 3.58048482e-01 -1.99492132e-02 1.90863007e+02] [-3.57967361e-01 9.33702995e-01 7.62134482e-03 1.77704880e+02] [ 2.13554511e-02 2.67191077e-05 9.99771946e-01 1.31823424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0471056809999 meters 0.019423413364852947 Centerline is valid? [True, True] Translation: X:190.88, Y:177.68, Z:13.19 [[ 9.39372351e-01 3.42399135e-01 -1.85045517e-02 1.90883626e+02] [-3.42326406e-01 9.39554544e-01 7.06327112e-03 1.77679138e+02] [ 1.98044936e-02 -3.00444916e-04 9.99803827e-01 1.31850985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0771056809999 meters 0.021963066949513943 Centerline is valid? [True, True] Translation: X:190.91, Y:177.66, Z:13.19 [[ 9.42249498e-01 3.34435261e-01 -1.78588909e-02 1.90908560e+02] [-3.34366215e-01 9.42418621e-01 6.81004958e-03 1.77661833e+02] [ 1.91080721e-02 -4.45356047e-04 9.99817325e-01 1.31860621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.1071056809999 meters 0.027079929152093302 Centerline is valid? [True, True] Translation: X:190.93, Y:177.64, Z:13.19 [[ 9.46393196e-01 3.22522416e-01 -1.78664417e-02 1.90931295e+02] [-3.22451199e-01 9.46561578e-01 6.81200846e-03 1.77639443e+02] [ 1.91087127e-02 -6.85782905e-04 9.99817177e-01 1.31867661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.1371056809999 meters 0.03287946457304611 Centerline is valid? [True, True] Translation: X:190.96, Y:177.62, Z:13.19 [[ 9.49118029e-01 3.14259511e-01 -2.03942612e-02 1.90955689e+02] [-3.14164836e-01 9.49336619e-01 7.77431691e-03 1.77622129e+02] [ 2.18041720e-02 -9.71584615e-04 9.99761789e-01 1.31861043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.1671056809999 meters 0.032545274483054935 Centerline is valid? [True, True] Translation: X:190.98, Y:177.61, Z:13.19 [[ 9.50000872e-01 3.11529888e-01 -2.11535306e-02 1.90984146e+02] [-3.11427384e-01 9.50235750e-01 8.06249695e-03 1.77613790e+02] [ 2.26125498e-02 -1.07159043e-03 9.99743729e-01 1.31865635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.1971056809999 meters 0.033473968012561243 Centerline is valid? [True, True] Translation: X:191.01, Y:177.61, Z:13.19 [[ 9.50528925e-01 3.09767275e-01 -2.32163195e-02 1.91012966e+02] [-3.09643338e-01 9.50811626e-01 8.84625640e-03 1.77607685e+02] [ 2.48146272e-02 -1.21984394e-03 9.99691325e-01 1.31874454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.2271056809999 meters 0.033891638955500014 Centerline is valid? [True, True] Translation: X:191.04, Y:177.60, Z:13.19 [[ 9.50439623e-01 3.10038885e-01 -2.32467782e-02 1.91040312e+02] [-3.09914888e-01 9.50723110e-01 8.85042483e-03 1.77600594e+02] [ 2.48452251e-02 -1.20727178e-03 9.99690581e-01 1.31876589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.2571056809999 meters 0.034664356241979624 Centerline is valid? [True, True] Translation: X:191.07, Y:177.60, Z:13.19 [[ 9.49582053e-01 3.12651964e-01 -2.32953603e-02 1.91068267e+02] [-3.12528304e-01 9.49867071e-01 8.86599139e-03 1.77596295e+02] [ 2.48994652e-02 -1.13852688e-03 9.99689312e-01 1.31886598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.2871056809999 meters 0.033017795638591606 Centerline is valid? [True, True] Translation: X:191.10, Y:177.59, Z:13.19 [[ 9.49504716e-01 3.12958263e-01 -2.23141223e-02 1.91096914e+02] [-3.12844967e-01 9.49766266e-01 8.48922269e-03 1.77591802e+02] [ 2.38499730e-02 -1.07969614e-03 9.99714966e-01 1.31905549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.31710568099993 meters 0.033017795638591606 Centerline is valid? [True, True] Translation: X:191.12, Y:177.58, Z:13.19 [[ 9.49612955e-01 3.12629491e-01 -2.23167336e-02 1.91122601e+02] [-3.12516265e-01 9.49874536e-01 8.48235283e-03 1.77582251e+02] [ 2.38499306e-02 -1.08060990e-03 9.99714966e-01 1.31911259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.3471056809999 meters 0.03372682171610341 Centerline is valid? [True, True] Translation: X:191.15, Y:177.58, Z:13.19 [[ 9.49079966e-01 3.14136186e-01 -2.37839286e-02 1.91150448e+02] [-3.14008273e-01 9.49377291e-01 9.03128873e-03 1.77578279e+02] [ 2.54169763e-02 -1.10306486e-03 9.99676328e-01 1.31921144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37710568099993 meters 0.03327272954718171 Centerline is valid? [True, True] Translation: X:191.18, Y:177.57, Z:13.19 [[ 9.48936741e-01 3.14420384e-01 -2.56687124e-02 1.91178917e+02] [-3.14271623e-01 9.49283116e-01 9.74231858e-03 1.77572719e+02] [ 2.74300589e-02 -1.17789615e-03 9.99623031e-01 1.31914959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.4071056809999 meters 0.032932515654796886 Centerline is valid? [True, True] Translation: X:191.21, Y:177.57, Z:13.19 [[ 9.48446988e-01 3.15561602e-01 -2.94819543e-02 1.91208167e+02] [-3.15366168e-01 9.48904193e-01 1.11809076e-02 1.77571927e+02] [ 3.15038152e-02 -1.30688721e-03 9.99502777e-01 1.31900889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.43710568099993 meters 0.027722070670371936 Centerline is valid? [True, True] Translation: X:191.24, Y:177.58, Z:13.19 [[ 9.47980043e-01 3.16903118e-01 -3.01040164e-02 1.91240148e+02] [-3.16700227e-01 9.48457046e-01 1.14104573e-02 1.77576019e+02] [ 3.21683760e-02 -1.28293698e-03 9.99481640e-01 1.31935241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.4671056809999 meters 0.02998231331976936 Centerline is valid? [True, True] Translation: X:191.27, Y:177.57, Z:13.19 [[ 9.47480080e-01 3.18435475e-01 -2.96706380e-02 1.91266139e+02] [-3.18239425e-01 9.47943773e-01 1.12370285e-02 1.77565531e+02] [ 3.17043651e-02 -1.20449385e-03 9.99496564e-01 1.31930142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.49710568099994 meters 0.026884121035607413 Centerline is valid? [True, True] Translation: X:191.30, Y:177.56, Z:13.20 [[ 9.46894697e-01 3.20161914e-01 -2.97788678e-02 1.91296004e+02] [-3.19965524e-01 9.47362149e-01 1.12704225e-02 1.77564179e+02] [ 3.18197322e-02 -1.14369227e-03 9.99492970e-01 1.31961204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5271056809999 meters 0.02489776742883332 Centerline is valid? [True, True] Translation: X:191.33, Y:177.57, Z:13.20 [[ 9.44966807e-01 3.25756368e-01 -3.03401122e-02 1.91327553e+02] [-3.25555632e-01 9.45453254e-01 1.14749795e-02 1.77565510e+02] [ 3.24232055e-02 -9.66080312e-04 9.99473763e-01 1.31987261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.55710568099994 meters 0.02344312570397642 Centerline is valid? [True, True] Translation: X:191.36, Y:177.56, Z:13.20 [[ 9.43945144e-01 3.28698313e-01 -3.04135502e-02 1.91356824e+02] [-3.28498290e-01 9.44434580e-01 1.14977448e-02 1.77561392e+02] [ 3.25028978e-02 -8.62441165e-04 9.99471269e-01 1.32004391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5871056809999 meters 0.022025561545470283 Centerline is valid? [True, True] Translation: X:191.39, Y:177.56, Z:13.21 [[ 9.42490665e-01 3.33101326e-01 -2.74745760e-02 1.91385935e+02] [-3.32940186e-01 9.42890823e-01 1.03792672e-02 1.77560210e+02] [ 2.93628732e-02 -6.34971999e-04 9.99568616e-01 1.32057703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6171056809999 meters 0.021218686944921152 Centerline is valid? [True, True] Translation: X:191.42, Y:177.56, Z:13.21 [[ 9.42283219e-01 3.33835629e-01 -2.56146169e-02 1.91415161e+02] [-3.33695969e-01 9.42631132e-01 9.67203136e-03 1.77556490e+02] [ 2.73740040e-02 -5.66298427e-04 9.99625101e-01 1.32116033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6471056809999 meters 0.021931195034213025 Centerline is valid? [True, True] Translation: X:191.44, Y:177.55, Z:13.21 [[ 9.42468606e-01 3.33352956e-01 -2.50745451e-02 1.91439943e+02] [-3.33219168e-01 9.42801937e-01 9.46013304e-03 1.77547247e+02] [ 2.67938930e-02 -5.60559360e-04 9.99640822e-01 1.32121409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6771056809999 meters 0.021694427411508815 Centerline is valid? [True, True] Translation: X:191.47, Y:177.54, Z:13.21 [[ 9.42327524e-01 3.33793070e-01 -2.45157832e-02 1.91467802e+02] [-3.33665464e-01 9.42646224e-01 9.24410558e-03 1.77538750e+02] [ 2.61953289e-02 -5.30904927e-04 9.99656703e-01 1.32135057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7071056809999 meters 0.021544408066055506 Centerline is valid? [True, True] Translation: X:191.49, Y:177.53, Z:13.22 [[ 9.42347817e-01 3.33772955e-01 -2.40042928e-02 1.91494672e+02] [-3.33650833e-01 9.42653357e-01 9.04265438e-03 1.77530188e+02] [ 2.56459207e-02 -5.12273325e-04 9.99670958e-01 1.32151131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7371056809999 meters 0.02058627747874365 Centerline is valid? [True, True] Translation: X:191.52, Y:177.53, Z:13.22 [[ 9.41985937e-01 3.34752319e-01 -2.45637740e-02 1.91523493e+02] [-3.34625031e-01 9.42306026e-01 9.24347356e-03 1.77525646e+02] [ 2.62408665e-02 -4.87568450e-04 9.99655530e-01 1.32185015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7671056809999 meters 0.020459968585543102 Centerline is valid? [True, True] Translation: X:191.55, Y:177.52, Z:13.22 [[ 9.41622767e-01 3.35732173e-01 -2.51092024e-02 1.91550122e+02] [-3.35599724e-01 9.41957373e-01 9.44096046e-03 1.77517472e+02] [ 2.68214325e-02 -4.63181926e-04 9.99640133e-01 1.32189684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7971056809999 meters 0.020349859964470127 Centerline is valid? [True, True] Translation: X:191.58, Y:177.51, Z:13.22 [[ 9.40859731e-01 3.37823728e-01 -2.56533667e-02 1.91578211e+02] [-3.37686348e-01 9.41209308e-01 9.64204616e-03 1.77509359e+02] [ 2.74024995e-02 -4.09021250e-04 9.99624397e-01 1.32173085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8271056809999 meters 0.019889771800431867 Centerline is valid? [True, True] Translation: X:191.61, Y:177.50, Z:13.22 [[ 9.40482943e-01 3.38847672e-01 -2.59632132e-02 1.91606065e+02] [-3.38707505e-01 9.40841173e-01 9.75264239e-03 1.77501196e+02] [ 2.77319201e-02 -3.78258664e-04 9.99615325e-01 1.32169654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8571056809999 meters 0.01905478506602172 Centerline is valid? [True, True] Translation: X:191.63, Y:177.50, Z:13.21 [[ 9.39359737e-01 3.41847627e-01 -2.72669080e-02 1.91634909e+02] [-3.41694574e-01 9.39755348e-01 1.02325524e-02 1.77495899e+02] [ 2.91221963e-02 -2.95093278e-04 9.99575815e-01 1.32145790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8871056809999 meters 0.018612574150109584 Centerline is valid? [True, True] Translation: X:191.66, Y:177.49, Z:13.21 [[ 9.37978431e-01 3.45488087e-01 -2.88867556e-02 1.91663523e+02] [-3.45318357e-01 9.38423118e-01 1.08297535e-02 1.77490264e+02] [ 3.08495501e-02 -1.82948220e-04 9.99524023e-01 1.32106052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.9171056809999 meters 0.018603018165825238 Centerline is valid? [True, True] Translation: X:191.69, Y:177.48, Z:13.21 [[ 9.37685462e-01 3.46160274e-01 -3.03156717e-02 1.91691511e+02] [-3.45974042e-01 9.38175378e-01 1.13543947e-02 1.77481914e+02] [ 3.23718572e-02 -1.58415331e-04 9.99475882e-01 1.32087108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.9471056809999 meters 0.018683028265989103 Centerline is valid? [True, True] Translation: X:191.72, Y:177.47, Z:13.21 [[ 9.37534305e-01 3.46351209e-01 -3.27149284e-02 1.91719957e+02] [-3.46134862e-01 9.38104907e-01 1.22409327e-02 1.77474809e+02] [ 3.49296967e-02 -1.52517140e-04 9.99389760e-01 1.32061921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.9771056809999 meters 0.018461249035200144 Centerline is valid? [True, True] Translation: X:191.75, Y:177.47, Z:13.21 [[ 9.38010889e-01 3.45078018e-01 -3.25074462e-02 1.91745477e+02] [-3.44863956e-01 9.38573985e-01 1.21542666e-02 1.77465615e+02] [ 3.47048136e-02 -1.90187868e-04 9.99397588e-01 1.32066380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.0071056809999 meters 0.019421278713378533 Centerline is valid? [True, True] Translation: X:191.77, Y:177.45, Z:13.21 [[ 9.40686811e-01 3.37993247e-01 -2.94769207e-02 1.91770773e+02] [-3.37813965e-01 9.41148448e-01 1.10146839e-02 1.77452648e+02] [ 3.14650470e-02 -4.03652389e-04 9.99504771e-01 1.32107893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.0371056809999 meters 0.02169310693322736 Centerline is valid? [True, True] Translation: X:191.80, Y:177.44, Z:13.22 [[ 9.44875124e-01 3.26512339e-01 -2.45090462e-02 1.91796998e+02] [-3.26384680e-01 9.45192717e-01 9.15252288e-03 1.77438033e+02] [ 2.61541836e-02 -6.48613987e-04 9.99657710e-01 1.32184844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.06710568099993 meters 0.02401011038747206 Centerline is valid? [True, True] Translation: X:191.82, Y:177.42, Z:13.22 [[ 9.47085674e-01 3.20183485e-01 -2.26110823e-02 1.91822689e+02] [-3.20073059e-01 9.47355245e-01 8.44253734e-03 1.77424385e+02] [ 2.41238885e-02 -7.58607874e-04 9.99708689e-01 1.32197809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.0971056809999 meters 0.03143383640212162 Centerline is valid? [True, True] Translation: X:191.85, Y:177.40, Z:13.22 [[ 9.50813350e-01 3.09039927e-01 -2.11730037e-02 1.91845872e+02] [-3.08940380e-01 9.51048566e-01 7.90353129e-03 1.77404043e+02] [ 2.25790616e-02 -9.73587249e-04 9.99744586e-01 1.32176731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.12710568099993 meters 0.031140288660981823 Centerline is valid? [True, True] Translation: X:191.87, Y:177.40, Z:13.22 [[ 9.51958037e-01 3.05554215e-01 -2.03105121e-02 1.91874509e+02] [-3.05461852e-01 9.52174143e-01 7.58017219e-03 1.77395596e+02] [ 2.16552980e-02 -1.01191922e-03 9.99764984e-01 1.32191618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.1571056809999 meters 0.032545045700694636 Centerline is valid? [True, True] Translation: X:191.90, Y:177.39, Z:13.22 [[ 9.52696915e-01 3.03385189e-01 -1.80559050e-02 1.91903016e+02] [-3.03311822e-01 9.52867535e-01 6.73798611e-03 1.77389135e+02] [ 1.92490909e-02 -9.42689144e-04 9.99814275e-01 1.32243196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.18710568099993 meters 0.032705020243107986 Centerline is valid? [True, True] Translation: X:191.93, Y:177.38, Z:13.23 [[ 9.52138128e-01 3.05121399e-01 -1.82733830e-02 1.91930355e+02] [-3.05046596e-01 9.52313021e-01 6.81786958e-03 1.77382790e+02] [ 1.94822585e-02 -9.17320296e-04 9.99809782e-01 1.32255038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.2171056809999 meters 0.030577207298087997 Centerline is valid? [True, True] Translation: X:191.96, Y:177.38, Z:13.23 [[ 9.51081990e-01 3.08361090e-01 -1.88808705e-02 1.91960514e+02] [-3.08281915e-01 9.51268978e-01 7.04216705e-03 1.77378557e+02] [ 2.01323167e-02 -8.77047335e-04 9.99796940e-01 1.32268326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.24710568099994 meters 0.02596033859604686 Centerline is valid? [True, True] Translation: X:191.99, Y:177.38, Z:13.23 [[ 9.48712308e-01 3.15576064e-01 -1.88865948e-02 1.91993499e+02] [-3.15498282e-01 9.48900007e-01 7.04342245e-03 1.77382927e+02] [ 2.01442255e-02 -7.23493342e-04 9.99796823e-01 1.32292463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.2771056809999 meters 0.022305745927590652 Centerline is valid? [True, True] Translation: X:192.03, Y:177.39, Z:13.23 [[ 9.46093538e-01 3.23356852e-01 -1.86376928e-02 1.92027179e+02] [-3.23282630e-01 9.46276938e-01 6.94961084e-03 1.77387336e+02] [ 1.98836232e-02 -5.49739556e-04 9.99802150e-01 1.32310142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.30710568099994 meters 0.020774466792389715 Centerline is valid? [True, True] Translation: X:192.06, Y:177.39, Z:13.23 [[ 9.44679529e-01 3.27395089e-01 -1.98253394e-02 1.92057413e+02] [-3.27312111e-01 9.44887410e-01 7.38685172e-03 1.77385086e+02] [ 2.11511326e-02 -4.89133921e-04 9.99776170e-01 1.32308244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3371056809999 meters 0.01772995546243914 Centerline is valid? [True, True] Translation: X:192.09, Y:177.39, Z:13.23 [[ 9.40394992e-01 3.39317479e-01 -2.28234002e-02 1.92092353e+02] [-3.39211191e-01 9.40671881e-01 8.49594550e-03 1.77393460e+02] [ 2.43521536e-02 -2.47591851e-04 9.99703412e-01 1.32258997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3671056809999 meters 0.01713597374180479 Centerline is valid? [True, True] Translation: X:192.12, Y:177.39, Z:13.22 [[ 9.37794800e-01 3.46374983e-01 -2.37756966e-02 1.92122453e+02] [-3.46262057e-01 9.38096140e-01 8.84426617e-03 1.77393762e+02] [ 2.53673218e-02 -6.14852107e-05 9.99678196e-01 1.32245846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3971056809999 meters 0.01783908702288215 Centerline is valid? [True, True] Translation: X:192.16, Y:177.40, Z:13.23 [[ 9.33775294e-01 3.57098041e-01 -2.33385914e-02 1.92155013e+02] [-3.56992631e-01 9.34066881e-01 8.67893157e-03 1.77402479e+02] [ 2.48990347e-02 2.27533270e-04 9.99689945e-01 1.32251367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4271056809999 meters 0.018285612067992695 Centerline is valid? [True, True] Translation: X:192.18, Y:177.40, Z:13.23 [[ 9.33027856e-01 3.59078310e-01 -2.28426556e-02 1.92183507e+02] [-3.58978008e-01 9.33307393e-01 8.49115933e-03 1.77398091e+02] [ 2.43682105e-02 2.77522816e-04 9.99703013e-01 1.32255650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4571056809999 meters 0.017964344552332017 Centerline is valid? [True, True] Translation: X:192.21, Y:177.39, Z:13.23 [[ 9.33570157e-01 3.57639068e-01 -2.32606825e-02 1.92211324e+02] [-3.57534810e-01 9.33859858e-01 8.63863650e-03 1.77393088e+02] [ 2.48117316e-02 2.51730475e-04 9.99692110e-01 1.32261082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4871056809999 meters 0.017598008025743062 Centerline is valid? [True, True] Translation: X:192.24, Y:177.38, Z:13.23 [[ 9.34964796e-01 3.53939262e-01 -2.38291434e-02 1.92237902e+02] [-3.53828848e-01 9.35268395e-01 8.84165438e-03 1.77384072e+02] [ 2.54160534e-02 1.64802775e-04 9.99676946e-01 1.32273571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5171056809999 meters 0.017198584312033062 Centerline is valid? [True, True] Translation: X:192.26, Y:177.37, Z:13.23 [[ 9.38990764e-01 3.43295150e-01 -2.10899304e-02 1.92262936e+02] [-3.43206018e-01 9.39227570e-01 7.82307450e-03 1.77372049e+02] [ 2.24938676e-02 -1.07603659e-04 9.99746975e-01 1.32326644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5471056809999 meters 0.01831819658623089 Centerline is valid? [True, True] Translation: X:192.29, Y:177.36, Z:13.23 [[ 9.41308121e-01 3.36990523e-01 -1.94012407e-02 1.92287901e+02] [-3.36913795e-01 9.41508010e-01 7.19461304e-03 1.77358779e+02] [ 2.06909399e-02 -2.35802051e-04 9.99785892e-01 1.32340823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5771056809999 meters 0.02124779218208322 Centerline is valid? [True, True] Translation: X:192.31, Y:177.34, Z:13.23 [[ 9.44818849e-01 3.27160159e-01 -1.68395937e-02 1.92313620e+02] [-3.27100820e-01 9.44968824e-01 6.24306303e-03 1.77342954e+02] [ 1.79553725e-02 -3.90318739e-04 9.99838713e-01 1.32340099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.6071056809999 meters 0.02273756322463208 Centerline is valid? [True, True] Translation: X:192.34, Y:177.33, Z:13.23 [[ 9.46097679e-01 3.23445239e-01 -1.68035228e-02 1.92340267e+02] [-3.23385595e-01 9.46246779e-01 6.22815363e-03 1.77332492e+02] [ 1.79147460e-02 -4.58424482e-04 9.99839413e-01 1.32340566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.6371056809999 meters 0.024321827258604142 Centerline is valid? [True, True] Translation: X:192.37, Y:177.32, Z:13.23 [[ 9.47404159e-01 3.19571158e-01 -1.73099334e-02 1.92368834e+02] [-3.19507334e-01 9.47562125e-01 6.40951632e-03 1.77323950e+02] [ 1.84505339e-02 -5.41751731e-04 9.99829628e-01 1.32338377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.6671056809999 meters 0.025956726533577414 Centerline is valid? [True, True] Translation: X:192.40, Y:177.31, Z:13.24 [[ 9.47888872e-01 3.18166306e-01 -1.66399436e-02 1.92395232e+02] [-3.18107121e-01 9.48034758e-01 6.16089820e-03 1.77314468e+02] [ 1.77354351e-02 -5.46562301e-04 9.99842565e-01 1.32361907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.6971056809999 meters 0.02837438821153766 Centerline is valid? [True, True] Translation: X:192.42, Y:177.31, Z:13.24 [[ 9.49311849e-01 3.14007259e-01 -1.43685562e-02 1.92423458e+02] [-3.13962677e-01 9.49420430e-01 5.31835198e-03 1.77306286e+02] [ 1.53118019e-02 -5.37584187e-04 9.99882623e-01 1.32416918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.7271056809999 meters 0.03103891930942687 Centerline is valid? [True, True] Translation: X:192.45, Y:177.30, Z:13.24 [[ 9.50927441e-01 3.09126548e-01 -1.33333931e-02 1.92452214e+02] [-3.09087694e-01 9.51020742e-01 4.93420538e-03 1.77297624e+02] [ 1.42056273e-02 -5.70883577e-04 9.99898932e-01 1.32440170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.7571056809999 meters 0.028320447654569193 Centerline is valid? [True, True] Translation: X:192.48, Y:177.30, Z:13.24 [[ 9.51457084e-01 3.07503842e-01 -1.30692123e-02 1.92481859e+02] [-3.07466356e-01 9.51546660e-01 4.83659672e-03 1.77296300e+02] [ 1.39232374e-02 -5.83471111e-04 9.99902897e-01 1.32442566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.7871056809999 meters 0.03198404248725885 Centerline is valid? [True, True] Translation: X:192.51, Y:177.29, Z:13.25 [[ 9.51166569e-01 3.08420395e-01 -1.26102515e-02 1.92510017e+02] [-3.08385596e-01 9.51249998e-01 4.66529315e-03 1.77291557e+02] [ 1.34343733e-02 -5.48650944e-04 9.99909604e-01 1.32466002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.81710568099993 meters 0.026800427692469733 Centerline is valid? [True, True] Translation: X:192.54, Y:177.30, Z:13.25 [[ 9.50094152e-01 3.11719839e-01 -1.23224928e-02 1.92541958e+02] [-3.11686908e-01 9.50173933e-01 4.55723298e-03 1.77295396e+02] [ 1.31290914e-02 -4.89040731e-04 9.99913690e-01 1.32452198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.8471056809999 meters 0.02554824837375301 Centerline is valid? [True, True] Translation: X:192.57, Y:177.29, Z:13.25 [[ 9.48618347e-01 3.16174945e-01 -1.25153899e-02 1.92571648e+02] [-3.16141380e-01 9.48700805e-01 4.62724191e-03 1.77294190e+02] [ 1.33363784e-02 -4.32853951e-04 9.99910973e-01 1.32453957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87710568099993 meters 0.02112083900554217 Centerline is valid? [True, True] Translation: X:192.61, Y:177.31, Z:13.25 [[ 9.44267015e-01 3.28929695e-01 -1.28475540e-02 1.92608932e+02] [-3.28895513e-01 9.44354377e-01 4.74896465e-03 1.77308876e+02] [ 1.36947194e-02 -2.58787792e-04 9.99906189e-01 1.32461155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.9071056809999 meters 0.019210335728717706 Centerline is valid? [True, True] Translation: X:192.64, Y:177.32, Z:13.25 [[ 9.39857199e-01 3.41340441e-01 -1.24558665e-02 1.92644831e+02] [-3.41309409e-01 9.39939731e-01 4.60315127e-03 1.77322772e+02] [ 1.32790055e-02 -7.50004244e-05 9.99911827e-01 1.32479904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.93710568099993 meters 0.019060551377898985 Centerline is valid? [True, True] Translation: X:192.68, Y:177.32, Z:13.25 [[ 9.38060448e-01 3.46281307e-01 -1.14827188e-02 1.92675014e+02] [-3.46255282e-01 9.38130724e-01 4.24539928e-03 1.77324441e+02] [ 1.22423937e-02 -6.48910394e-06 9.99925059e-01 1.32491287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.9671056809999 meters 0.019329271711171794 Centerline is valid? [True, True] Translation: X:192.71, Y:177.33, Z:13.25 [[ 9.36136277e-01 3.51510541e-01 -9.44516878e-03 1.92706879e+02] [-3.51493241e-01 9.36183923e-01 3.48778118e-03 1.77329771e+02] [ 1.00684070e-02 5.48745015e-05 9.99949311e-01 1.32503849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.99710568099994 meters 0.0190305723568115 Centerline is valid? [True, True] Translation: X:192.73, Y:177.32, Z:13.25 [[ 9.38696253e-01 3.44659605e-01 -7.68770783e-03 1.92730992e+02] [-3.44647900e-01 9.38727733e-01 2.84050141e-03 1.77315724e+02] [ 8.19567063e-03 -1.68156709e-05 9.99966415e-01 1.32522337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0271056809999 meters 0.019597667698826104 Centerline is valid? [True, True] Translation: X:192.76, Y:177.30, Z:13.25 [[ 9.40310741e-01 3.40276902e-01 -5.22885077e-03 1.92756234e+02] [-3.40271421e-01 9.40325278e-01 1.93164817e-03 1.77301089e+02] [ 5.57411580e-03 -3.71210397e-05 9.99984464e-01 1.32548450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.05710568099994 meters 0.0197410457312358 Centerline is valid? [True, True] Translation: X:192.78, Y:177.29, Z:13.26 [[ 9.40026242e-01 3.41074531e-01 -4.33911775e-03 1.92781605e+02] [-3.41070777e-01 9.40036257e-01 1.60031758e-03 1.77290617e+02] [ 4.62475557e-03 -2.43942563e-05 9.99989305e-01 1.32550560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0871056809999 meters 0.01967327422828683 Centerline is valid? [True, True] Translation: X:192.81, Y:177.28, Z:13.25 [[ 9.40385386e-01 3.40030175e-01 -7.40308488e-03 1.92807899e+02] [-3.40019233e-01 9.40414524e-01 2.72827718e-03 1.77279255e+02] [ 7.88966512e-03 -4.84407469e-05 9.99968875e-01 1.32488595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1171056809999 meters 0.019182786241787514 Centerline is valid? [True, True] Translation: X:192.84, Y:177.27, Z:13.24 [[ 9.40053389e-01 3.40890986e-01 -9.64161898e-03 1.92835649e+02] [-3.40872518e-01 9.40102831e-01 3.54871432e-03 1.77271476e+02] [ 1.02738380e-02 -4.94179929e-05 9.99947222e-01 1.32442537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1471056809999 meters 0.01920465633345086 Centerline is valid? [True, True] Translation: X:192.86, Y:177.26, Z:13.24 [[ 9.40017107e-01 3.40881450e-01 -1.29489566e-02 1.92861818e+02] [-3.40848248e-01 9.40106288e-01 4.75799494e-03 1.77261397e+02] [ 1.37953078e-02 -5.89674492e-05 9.99904838e-01 1.32405383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1771056809999 meters 0.019212621131579344 Centerline is valid? [True, True] Translation: X:192.89, Y:177.25, Z:13.24 [[ 9.40724019e-01 3.38904061e-01 -1.35040067e-02 1.92887489e+02] [-3.38867750e-01 9.40820933e-01 4.96180786e-03 1.77250073e+02] [ 1.43864290e-02 -9.16194812e-05 9.99896506e-01 1.32375637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2071056809999 meters 0.019446509207113806 Centerline is valid? [True, True] Translation: X:192.91, Y:177.24, Z:13.24 [[ 9.40991470e-01 3.38156079e-01 -1.36205306e-02 1.92913344e+02] [-3.38119135e-01 9.41090036e-01 4.99937497e-03 1.77239287e+02] [ 1.45087146e-02 -9.90071878e-05 9.99894738e-01 1.32362643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2371056809999 meters 0.019446509207113806 Centerline is valid? [True, True] Translation: X:192.94, Y:177.23, Z:13.24 [[ 9.41104388e-01 3.37841628e-01 -1.36221984e-02 1.92939015e+02] [-3.37804718e-01 9.41202967e-01 4.99482538e-03 1.77230047e+02] [ 1.45087135e-02 -9.90092064e-05 9.99894738e-01 1.32368350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2671056809999 meters 0.019558231143388918 Centerline is valid? [True, True] Translation: X:192.96, Y:177.22, Z:13.24 [[ 9.41533798e-01 3.36653132e-01 -1.33707498e-02 1.92963608e+02] [-3.36617544e-01 9.41628726e-01 4.89609260e-03 1.77217036e+02] [ 1.42385670e-02 -1.09007704e-04 9.99898621e-01 1.32352802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2971056809999 meters 0.01971477855352596 Centerline is valid? [True, True] Translation: X:192.99, Y:177.21, Z:13.23 [[ 9.42062424e-01 3.35133025e-01 -1.42913910e-02 1.92988916e+02] [-3.35092202e-01 9.42170810e-01 5.23265749e-03 1.77205718e+02] [ 1.52185677e-02 -1.40556334e-04 9.99884181e-01 1.32344872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3271056809999 meters 0.020245599667963403 Centerline is valid? [True, True] Translation: X:193.01, Y:177.19, Z:13.23 [[ 9.43695946e-01 3.30552310e-01 -1.31579662e-02 1.93013510e+02] [-3.30517334e-01 9.43787653e-01 4.81228745e-03 1.77190392e+02] [ 1.40090388e-02 -1.92400235e-04 9.99901850e-01 1.32339592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3571056809999 meters 0.02096659502627772 Centerline is valid? [True, True] Translation: X:193.04, Y:177.18, Z:13.23 [[ 9.44442027e-01 3.28424942e-01 -1.28962998e-02 1.93038296e+02] [-3.28391176e-01 9.44530047e-01 4.71436894e-03 1.77177199e+02] [ 1.37292590e-02 -2.17417120e-04 9.99905726e-01 1.32348266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3871056809999 meters 0.021720894468124263 Centerline is valid? [True, True] Translation: X:193.06, Y:177.16, Z:13.23 [[ 9.46089002e-01 3.23734948e-01 -1.05491491e-02 1.93063568e+02] [-3.23712087e-01 9.46147784e-01 3.85419504e-03 1.77161781e+02] [ 1.12287917e-02 -2.31524450e-04 9.99936928e-01 1.32345018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.4171056809999 meters 0.021918754983240894 Centerline is valid? [True, True] Translation: X:193.09, Y:177.15, Z:13.23 [[ 9.46485569e-01 3.22586398e-01 -1.01529661e-02 1.93090183e+02] [-3.22565137e-01 9.46539994e-01 3.71122186e-03 1.77150055e+02] [ 1.08073781e-02 -2.37625038e-04 9.99941570e-01 1.32339921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.4471056809999 meters 0.022016487328712125 Centerline is valid? [True, True] Translation: X:193.12, Y:177.14, Z:13.23 [[ 9.46459743e-01 3.22690940e-01 -9.19300525e-03 1.93115487e+02] [-3.22673546e-01 9.46504365e-01 3.35711189e-03 1.77140548e+02] [ 9.78452919e-03 -2.11031659e-04 9.99952108e-01 1.32338041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.4771056809999 meters 0.02188956318571984 Centerline is valid? [True, True] Translation: X:193.14, Y:177.13, Z:13.23 [[ 9.46123072e-01 3.23694184e-01 -8.55615950e-03 1.93143074e+02] [-3.23679167e-01 9.46161741e-01 3.12343243e-03 1.77132418e+02] [ 9.10654768e-03 -1.85700906e-04 9.99958517e-01 1.32344672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.5071056809999 meters 0.021109113251377026 Centerline is valid? [True, True] Translation: X:193.17, Y:177.13, Z:13.24 [[ 9.44681013e-01 3.27956838e-01 -4.70061675e-03 1.93171324e+02] [-3.27952352e-01 9.44692705e-01 1.71725184e-03 1.77127902e+02] [ 5.00382283e-03 -8.06768877e-05 9.99987478e-01 1.32378434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.5371056809999 meters 0.020182518975930173 Centerline is valid? [True, True] Translation: X:193.20, Y:177.12, Z:13.24 [[ 9.43553372e-01 3.31207069e-01 -2.98508841e-03 1.93199617e+02] [-3.31205272e-01 9.43558093e-01 1.09195559e-03 1.77122841e+02] [ 3.17826774e-03 -4.16413591e-05 9.99994948e-01 1.32403958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.56710568099993 meters 0.019433791297325104 Centerline is valid? [True, True] Translation: X:193.23, Y:177.12, Z:13.24 [[ 9.40821945e-01 3.38896690e-01 -1.76081255e-03 1.93228838e+02] [-3.38896081e-01 9.40823593e-01 6.42387178e-04 1.77122049e+02] [ 1.87431688e-03 -7.63948179e-06 9.99998243e-01 1.32433857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.5971056809999 meters 0.019639908355155177 Centerline is valid? [True, True] Translation: X:193.26, Y:177.12, Z:13.24 [[ 9.38135996e-01 3.46266699e-01 -4.75133985e-04 1.93257482e+02] [-3.46266654e-01 9.38136117e-01 1.74967913e-04 1.77117991e+02] [ 5.06325913e-04 3.79358105e-07 9.99999872e-01 1.32396458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.62710568099993 meters 0.019880274620420742 Centerline is valid? [True, True] Translation: X:193.28, Y:177.11, Z:13.24 [[ 9.36997954e-01 3.49334779e-01 2.14391501e-04 1.93284654e+02] [-3.49334771e-01 9.36997979e-01 -7.56227512e-05 1.77110574e+02] [-2.27302061e-04 -4.03604287e-06 9.99999974e-01 1.32401901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.6571056809999 meters 0.020194221316756623 Centerline is valid? [True, True] Translation: X:193.31, Y:177.10, Z:13.24 [[ 9.35962799e-01 3.52098869e-01 1.57019985e-04 1.93311803e+02] [-3.52098866e-01 9.35962812e-01 -5.07030438e-05 1.77101466e+02] [-1.64817352e-04 -7.83039595e-06 9.99999986e-01 1.32385652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.68710568099993 meters 0.020621527067629028 Centerline is valid? [True, True] Translation: X:193.34, Y:177.09, Z:13.24 [[ 9.35201959e-01 3.54114595e-01 3.86270422e-04 1.93339167e+02] [-3.54114570e-01 9.35202039e-01 -1.33762651e-04 1.77094029e+02] [-4.08608193e-04 -1.16888915e-05 9.99999916e-01 1.32385808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.7171056809999 meters 0.022862808979847937 Centerline is valid? [True, True] Translation: X:193.37, Y:177.09, Z:13.24 [[ 9.32824879e-01 3.60328802e-01 9.48444519e-04 1.93368217e+02] [-3.60328640e-01 9.32825361e-01 -3.42554440e-04 1.77089898e+02] [-1.00816533e-03 -2.22084190e-05 9.99999492e-01 1.32378560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.74710568099994 meters 0.021523774651621422 Centerline is valid? [True, True] Translation: X:193.39, Y:177.08, Z:13.23 [[ 9.32820701e-01 3.60340859e-01 7.21853044e-05 1.93393814e+02] [-3.60340859e-01 9.32820704e-01 -1.95452895e-05 1.77075543e+02] [-7.43789131e-05 -7.77906392e-06 9.99999997e-01 1.32315710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.7771056809999 meters 0.02139856714912441 Centerline is valid? [True, True] Translation: X:193.42, Y:177.07, Z:13.23 [[ 9.33366874e-01 3.58923157e-01 -6.67424284e-04 1.93419738e+02] [-3.58923075e-01 9.33367113e-01 2.44026003e-04 1.77065601e+02] [ 7.10538460e-04 1.17881881e-05 9.99999748e-01 1.32314697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.80710568099994 meters 0.02067000454062485 Centerline is valid? [True, True] Translation: X:193.45, Y:177.05, Z:13.23 [[ 9.34632747e-01 3.55607942e-01 -2.14921210e-03 1.93445787e+02] [-3.55607080e-01 9.34635218e-01 7.83834946e-04 1.77053030e+02] [ 2.28746726e-03 3.16772319e-05 9.99997383e-01 1.32293523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8371056809999 meters 0.019307905666860546 Centerline is valid? [True, True] Translation: X:193.47, Y:177.03, Z:13.22 [[ 9.37890566e-01 3.46923098e-01 -2.37687655e-03 1.93469641e+02] [-3.46922029e-01 9.37893578e-01 8.61592189e-04 1.77034554e+02] [ 2.52816349e-03 1.65116507e-05 9.99996804e-01 1.32248023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8671056809999 meters 0.019092563520012127 Centerline is valid? [True, True] Translation: X:193.49, Y:177.02, Z:13.22 [[ 9.42219649e-01 3.34991197e-01 -1.74128422e-03 1.93492527e+02] [-3.34990592e-01 9.42221257e-01 6.36641207e-04 1.77016447e+02] [ 1.85394421e-03 -1.65420213e-05 9.99998281e-01 1.32245691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8971056809999 meters 0.019989645754292375 Centerline is valid? [True, True] Translation: X:193.52, Y:177.00, Z:13.23 [[ 9.44244863e-01 3.29240823e-01 -1.45577010e-03 1.93517245e+02] [-3.29240400e-01 9.44245985e-01 5.28154899e-04 1.77002563e+02] [ 1.54849522e-03 -1.94092207e-05 9.99998801e-01 1.32262618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9271056809999 meters 0.022578654525890085 Centerline is valid? [True, True] Translation: X:193.54, Y:176.98, Z:13.22 [[ 9.47776356e-01 3.18934458e-01 -8.88698418e-04 1.93541671e+02] [-3.18934295e-01 9.47776773e-01 3.23587072e-04 1.76983316e+02] [ 9.45490786e-04 -2.32517725e-05 9.99999553e-01 1.32249623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9571056809999 meters 0.02399592895583157 Centerline is valid? [True, True] Translation: X:193.57, Y:176.97, Z:13.22 [[ 9.49047198e-01 3.15129661e-01 -1.64714392e-03 1.93565992e+02] [-3.15129099e-01 9.49048626e-01 5.97253264e-04 1.76970502e+02] [ 1.75143189e-03 -4.77585580e-05 9.99998465e-01 1.32240058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9871056809999 meters 0.026200692540463855 Centerline is valid? [True, True] Translation: X:193.59, Y:176.96, Z:13.22 [[ 9.50822605e-01 3.09730408e-01 -1.85686236e-03 1.93591695e+02] [-3.09729686e-01 9.50824416e-01 6.71444498e-04 1.76956033e+02] [ 1.97351685e-03 -6.32992101e-05 9.99998051e-01 1.32229608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0171056809999 meters 0.02645639731436576 Centerline is valid? [True, True] Translation: X:193.62, Y:176.95, Z:13.22 [[ 9.50976630e-01 3.09250915e-01 -2.70568999e-03 1.93617613e+02] [-3.09249370e-01 9.50980474e-01 9.82634687e-04 1.76946081e+02] [ 2.87693903e-03 -9.77296985e-05 9.99995857e-01 1.32195385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0471056809999 meters 0.026131395892582104 Centerline is valid? [True, True] Translation: X:193.64, Y:176.94, Z:13.22 [[ 9.50655348e-01 3.10233556e-01 -3.09034520e-03 1.93644972e+02] [-3.10231555e-01 9.50660365e-01 1.11935884e-03 1.76937143e+02] [ 3.28513137e-03 -1.05401873e-04 9.99994598e-01 1.32185062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0771056809999 meters 0.0242598884199468 Centerline is valid? [True, True] Translation: X:193.67, Y:176.93, Z:13.22 [[ 9.49271487e-01 3.14442885e-01 -3.05231713e-03 1.93673535e+02] [-3.14440969e-01 9.49276390e-01 1.10091438e-03 1.76931659e+02] [ 3.24366728e-03 -8.52930701e-05 9.99994736e-01 1.32167986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.1071056809999 meters 0.022905392419148785 Centerline is valid? [True, True] Translation: X:193.70, Y:176.93, Z:13.22 [[ 9.47936550e-01 3.18448844e-01 -2.57504066e-03 1.93701748e+02] [-3.18447495e-01 9.47940046e-01 9.28804308e-04 1.76925228e+02] [ 2.73676082e-03 -6.04323041e-05 9.99996253e-01 1.32169109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.1371056809999 meters 0.02169834288364838 Centerline is valid? [True, True] Translation: X:193.73, Y:176.92, Z:13.22 [[ 9.46565482e-01 3.22506329e-01 -1.85926027e-03 1.93730081e+02] [-3.22505624e-01 9.46567307e-01 6.75202254e-04 1.76919283e+02] [ 1.97767199e-03 -3.95012518e-05 9.99998044e-01 1.32158634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.1671056809999 meters 0.0201737678575809 Centerline is valid? [True, True] Translation: X:193.76, Y:176.92, Z:13.22 [[ 9.42710950e-01 3.33610637e-01 8.81977846e-05 1.93760373e+02] [-3.33610636e-01 9.42710954e-01 -2.56971551e-05 1.76917820e+02] [-9.17178622e-05 -5.19872943e-06 9.99999996e-01 1.32177635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.1971056809999 meters 0.02063191434503613 Centerline is valid? [True, True] Translation: X:193.79, Y:176.92, Z:13.22 [[ 9.39860787e-01 3.41550287e-01 2.25878620e-03 1.93788478e+02] [-3.41549333e-01 9.39863501e-01 -8.07247128e-04 1.76915946e+02] [-2.39866620e-03 -1.27870005e-05 9.99997123e-01 1.32218447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.2271056809999 meters 0.022856007733531997 Centerline is valid? [True, True] Translation: X:193.82, Y:176.92, Z:13.22 [[ 9.34709437e-01 3.55382657e-01 4.62979529e-03 1.93820546e+02] [-3.55378790e-01 9.34720899e-01 -1.66043355e-03 1.76918711e+02] [-4.91765570e-03 -9.33081466e-05 9.99987904e-01 1.32230468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.2571056809999 meters 0.025204863291066026 Centerline is valid? [True, True] Translation: X:193.85, Y:176.91, Z:13.22 [[ 9.31805567e-01 3.62923817e-01 4.96870044e-03 1.93850367e+02] [-3.62919468e-01 9.31818804e-01 -1.78237776e-03 1.76914854e+02] [-5.27679584e-03 -1.42408598e-04 9.99986067e-01 1.32204243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.2871056809999 meters 0.026617032870448656 Centerline is valid? [True, True] Translation: X:193.88, Y:176.91, Z:13.22 [[ 9.30975880e-01 3.65054459e-01 4.37642969e-03 1.93878807e+02] [-3.65051139e-01 9.30986156e-01 -1.56339480e-03 1.76908254e+02] [-4.64511969e-03 -1.42137793e-04 9.99989201e-01 1.32178997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.31710568099993 meters 0.028185716837713176 Centerline is valid? [True, True] Translation: X:193.90, Y:176.89, Z:13.21 [[ 9.32614867e-01 3.60841063e-01 4.82054471e-03 1.93904305e+02] [-3.60836955e-01 9.32627316e-01 -1.72668418e-03 1.76894303e+02] [-5.11883023e-03 -1.29099344e-04 9.99986890e-01 1.32125114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.3471056809999 meters 0.03045574794014855 Centerline is valid? [True, True] Translation: X:193.93, Y:176.88, Z:13.21 [[ 9.33749914e-01 3.57877986e-01 5.86906424e-03 1.93931000e+02] [-3.57871875e-01 9.33768348e-01 -2.09621949e-03 1.76884017e+02] [-6.23053723e-03 -1.43028259e-04 9.99980580e-01 1.32123830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37710568099993 meters 0.03613164754702852 Centerline is valid? [True, True] Translation: X:193.96, Y:176.88, Z:13.21 [[ 9.34424713e-01 3.56018132e-01 1.00770203e-02 1.93959566e+02] [-3.55999996e-01 9.34479021e-01 -3.60041241e-03 1.76878212e+02] [-1.06985762e-02 -2.23104862e-04 9.99942744e-01 1.32141377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.4071056809999 meters 0.039950000474547886 Centerline is valid? [True, True] Translation: X:193.99, Y:176.87, Z:13.21 [[ 9.33966796e-01 3.57173548e-01 1.15360280e-02 1.93988077e+02] [-3.57149902e-01 9.34037998e-01 -4.11893822e-03 1.76872406e+02] [-1.22462643e-02 -2.73139724e-04 9.99924974e-01 1.32144046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.43710568099993 meters 0.04788635597702642 Centerline is valid? [True, True] Translation: X:194.02, Y:176.87, Z:13.22 [[ 9.33633039e-01 3.57888120e-01 1.56666297e-02 1.94018895e+02] [-3.57844609e-01 9.33764396e-01 -5.59370408e-03 1.76870736e+02] [-1.66308612e-02 -3.83752021e-04 9.99861624e-01 1.32153496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.4671056809999 meters 0.05282692348952917 Centerline is valid? [True, True] Translation: X:194.04, Y:176.86, Z:13.22 [[ 9.35419127e-01 3.53031305e-01 1.89724711e-02 1.94044998e+02] [-3.52966508e-01 9.35611440e-01 -6.77327244e-03 1.76861232e+02] [-2.01420383e-02 -3.60798290e-04 9.99797063e-01 1.32189799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.49710568099994 meters 0.062096527652840315 Centerline is valid? [True, True] Translation: X:194.07, Y:176.84, Z:13.22 [[ 9.41532675e-01 3.35995670e-01 2.49625964e-02 1.94068926e+02] [-3.35877633e-01 9.41863530e-01 -8.90538595e-03 1.76839792e+02] [-2.65035303e-02 3.34037425e-07 9.99648720e-01 1.32182167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5271056809999 meters 0.06839960349903014 Centerline is valid? [True, True] Translation: X:194.10, Y:176.82, Z:13.22 [[ 9.44220773e-01 3.28231362e-01 2.66703127e-02 1.94095455e+02] [-3.28093455e-01 9.44597331e-01 -9.51667869e-03 1.76824913e+02] [-2.83163786e-02 2.35490691e-04 9.99598983e-01 1.32166293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.55710568099994 meters 0.07710630555443562 Centerline is valid? [True, True] Translation: X:194.12, Y:176.81, Z:13.21 [[ 9.48286434e-01 3.16041541e-01 2.95056594e-02 1.94120782e+02] [-3.15867186e-01 9.48745128e-01 -1.05167966e-02 1.76806632e+02] [-3.13170952e-02 6.53065917e-04 9.99509286e-01 1.32135000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5871056809999 meters 0.08182941187198253 Centerline is valid? [True, True] Translation: X:194.15, Y:176.80, Z:13.21 [[ 9.49786631e-01 3.11235140e-01 3.22186684e-02 1.94147505e+02] [-3.11024606e-01 9.50332525e-01 -1.14798141e-02 1.76795070e+02] [-3.41913701e-02 8.82575287e-04 9.99414914e-01 1.32132826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6171056809999 meters 0.08409686348051311 Centerline is valid? [True, True] Translation: X:194.18, Y:176.79, Z:13.21 [[ 9.50580552e-01 3.08649674e-01 3.36451141e-02 1.94176096e+02] [-3.08418513e-01 9.51175243e-01 -1.19865563e-02 1.76787046e+02] [-3.57020463e-02 1.01741123e-03 9.99361961e-01 1.32102626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 8085.86 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%| | 0/13921 [00:00